Instruction manual

4. SERVO SYSTEM CPU DEVICES

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(6) All-axes servo START command (M2042) .....Signal sent from SCPU to PCPU

This signal is used to enable servo operation.

• Servo operation ENABLED ............When M2042 is switched ON, the servo

OFF signal is OFF, and there are no

active servo errors.

• Servo operation DISABLED ...........When M2042 switches ON, the servo

OFF signal is ON, or a servo error is

detected.

All-axes servo

START command

Servo ON

OFF

All-axes servo

START accept flag

OFF

POINT

Once M2042 is switched ON, it will not switch OFF even if the CPU is stopped.

(7) REAL/VIRTUAL mode switching request flag (M2043)

........................................................................Signal sent from SCPU to PCPU

This flag is used for switching between the REAL and VIRTUAL modes.

(a) To switch from the REAL to the VIRTUAL mode, turn M2043 ON after the

M9074 PCPU READY flag comes ON.

• An error check occurs when M2043 is switched from OFF to ON.

If no error is detected, switching to the VIRTUAL mode occurs, and the

M2044 REAL/VIRTUAL Mode Determination flag switches ON.

• If an error is detected, switching to the VIRTUAL mode will not occur. In

this case, the M2045 REAL/VIRTUAL Mode Switching Error flag will

switch ON, and the error code will be stored at the D9193 error code

storage error.

(b) To switch from the VIRTUAL to the REAL mode, turn M2043 OFF.

• If an "all-axes stopped" status exists at the virtual servomotors, switching

to the REAL mode will occur, and M2044 will go OFF.

• Switching to the REAL mode will not occur if any of the virtual

servomotor axes are in motion. In this case, M2045 will switch ON, and

an error code will be stored at the D9193 error code storage error.

VIRTUAL modes, see Chapter 9.