Mitsubishi Electric MELSEC iQ-R Series User Manual page 191

Precautions
• Turn OFF "[Cd.183] Execution prohibition flag" after "2: Completed" is set to "[Md.503] Pre-reading data analysis status".
• Because each positioning module operates independently after the start, the following operation is performed.
- Even if a module stops due to an error, other modules where no error occurs continue to operate.
- Even if stop signals are input at the same time in the program, the stop signal detection timing may not be the same and the stop positions may be different.
• When the inter-module synchronization is enabled, "[Cd.183] Execution prohibition flag" is read in the processing caused
by the interruption of the inter-module synchronous interruption (I44). Therefore, if "[Cd.183] Execution prohibition flag" is
operated without using the inter-module synchronous interruption (I44), it is not read. If the inter-module synchronous
interruption (I44) is used, the processing is performed even when "[Cd.183] Execution prohibition flag" is not used in the
event, but the inter-module synchronous start cannot be guaranteed.
■Operation example of the RD78G16
Motion module 1
Motion module 2
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v
Positioning control
[Cd.183] Execution
prohibition flag
Positioning start signal
[Y10-Y1F]
[Md.503] Pre-reading data
analysis status
[Md.26] Axis operation
status
v
Positioning control
[Cd.183] Execution
prohibition flag
Positioning start signal
[Y10-Y1F]
[Md.503] Pre-reading data
analysis status
[Md.26] Axis operation
status
search engine
Inter-module Inter-module Inter-module
synchronization synchronization synchronization
cycle cycle cycle
Standby Analyzing
Standby
Positioning
data
analysis
Standby Analyzing Completed
Standby Analyzing
Positioning
Execution
data
prohibition OFF
analysis
waiting
6 INTER-MODULE SYNCHRONIZATION FUNCTION
Inter-module Inter-module
synchronization synchronization
cycle cycle
Completed Standby
Analyzing Position control
Execution
prohibition OFF
waiting
Standby
Position control
6
t
t
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