Mitsubishi Electric RD77MS2 User Manual page 194

Precautions
• Turn "[Cd.183] Execution prohibition flag" OFF after "[Md.503] Pre-reading data analysis status" is set to "2: Completed".
• Because each positioning module operates independently after starting, it operates as follows. (Even though an error
occurs and the module stops, the module where an error has not occurred continues to operate. Even though the stop
signal is input in the program at the same time, the detection timing of the stop signal may not be the same and the stop
position may differ.)
• When the inter-module synchronization is enabled, "[Cd.183] Execution prohibition flag" is read during the processing
caused by the interrupt of the inter-module synchronous interrupt (I44). Therefore, even if "[Cd.183] Execution prohibition
flag" is operated without the inter-module synchronous interrupt (I44), "[Cd.183] Execution prohibition flag" is not read. If
the inter-module synchronous interrupt (I44) is used, the processing is executed without any operation of "[Cd.183]
Execution prohibition flag" in the event. However, the inter-module synchronization start is not guaranteed.
• When the inter-module synchronous interrupt (I44) exceeds the internal operation process time of the Simple Motion
module, the warning "Inter-module synchronization cycle time over" (warning code: 0CC0H) occurs. Even at the time, the
module where an error has not occurred continues to operate.
■RD77MS16 operation example
[Cd.183] Execution
Simple Motion
module 1
Positioning start signal
[Y10-Y1F]
[Md.503] Pre-reading data
[Md.26] Axis operation
[Cd.183] Execution
Simple Motion
Positioning start signal
module 2
[Y10-Y1F]
[Md.503] Pre-reading data
[Md.26] Axis operation
6 INTER-MODULE SYNCHRONIZATION FUNCTION
192
Inter-module
synchronization
cycle
v
Positioning control
prohibition flag
analysis status
status
v
Positioning control
prohibition flag
Standby
analysis status
Standby
status
Inter-module Inter-module
synchronization synchronization
cycle cycle
Analyzing
Standby
Standby Analyzing
Positioning
data
analysis
Analyzing Completed
Analyzing
Positioning Waiting for
data an execution
analysis prohibition OFF
Inter-module Inter-module
synchronization synchronization
cycle cycle
Completed Standby
Position control
Waiting for
an execution
prohibition OFF
Standby
Position control
t
t