Mitsubishi Electric MELSEC iQ-R Series User Manual page 55

When sending a message manually
To send an EMCY message manually, use 'Command interface (CIF)' (Un\G1000 to Un\G1066).
RCPU
Un\G1000
Set
Read
Un\G1066
Control by the program
'Command execution request' (Y17)
'Command execution completed' (X17)
Un\G1000
(Command code/
Command execution
'Command interface
result code)
(CIF)' (Un\G1000 to
Un\G1066)
Area other than
Un\G1000
 Set the transmit message in 'Command interface (CIF)' (Un\G1000 to Un\G1066) via the program. ( Page 54 Buffer memory area assignment)
 Turn on 'Command execution request' (Y17) via the program.
 FFFFH (CIF busy) is stored in Un\G1000 while the command is being processed.
 When the command execution is finished, 'Command execution completed' (X17) turns on.
 When the process is completed successfully, 000BH (EMCY message transmission succeeded) is stored in Un\G1000.
The receive message is stored in an area other than Un\G1000 of 'Command interface (CIF)' (Un\G1000 to Un\G1066). ( Page 54 Buffer memory area
assignment)
 When the transmission fails, 000CH (EMCY message transmission failed) is stored in Un\G1000.
The receive message is stored in an area other than Un\G1000 of 'Command interface (CIF)' (Un\G1000 to Un\G1066). ( Page 54 Buffer memory area
assignment)
 When the process is completed with an error, 000FH (Error) is stored in Un\G1000.
The error message is stored in an area other than Un\G1000 of 'Command interface (CIF)' (Un\G1000 to Un\G1066). ( Page 162 Command interface (CIF)
(Un\G1000 to Un\G1066))
 After EMCY message transmission is completed, turn off 'Command execution request' (Y17) via the program. When 'Command execution request' (Y17) is
turned off, 'Command execution completed' (X17) is also turned off.
RJ71CN91
CIF
EMCY message
Transmit/Receive
message
SET
Ò Ó
instruction
MOV/TO
instruction
ON
OFF
OFF
000AH
(EMCY message
transmission)
Transmit message
CANopen node
Ö ×
MOV/FROM
instruction
Õ
ON
Execution started
Execution
Ô
completed
Ö
×
FFFFH (CIF busy)
Ø
Ö
×
Ø
RST
Ø
instruction
OFF
OFF
000BH (EMCY message transmission succeeded)
000CH (EMCY message transmission failed)
000FH (Error)
Receive message (Completed successfully)
Receive message (Transmission failed)
Error message
1 FUNCTIONS
1.7 EMCY
1
53