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6.6 Slave CPU Synchronization
6.6.6 Procedure to Turn ON Power
6.6.6
Procedure to Turn ON Power
Use the following procedure to turn the power supply to the MP3000 OFF and ON again.
1.
Turn ON the power supply to the slave MP3000.
2.
Confirm that the SB000401 system register is 1 (RUN).
3.
Use the application program to set the SLVSC command control bit to 1.
4.
Turn ON the power supply to the master MP3000.
5.
Confirm that the servo axes that are connected to the SVC Function Module at the slave
are stopped.
Note: Confirm that there is no motion command for servo axis movement being executed and check the servo
6.
Set the SLVC command control bit to 0.
This concludes the procedure.
If the execution conditions are met, synchronization of the high-speed scan cycles will start
automatically.
6.6.7
Confirmation That the Slave CPU Is Synchronized
Use the application program to check the status of slave CPU synchronization.
Confirmation Method on the Master
Check bit 7 (SYNC) in the Command Status parameter (IW+1) in the second word of
the input registers that were assigned to the master station.
SYNC = 1: Slave CPU is synchronized.
SYNC = 0: Slave CPU is not synchronized.
Refer to the following sections for details on the command status.
11.3.7 Command Status on page 11-33
IW
IW
IW
IW
Bit 7
SYNC
6-26
axis status.
Input Registers
7
6
5
4
3
+0
I/O Command Response
Master Status
+1
Command Status
Data 1 Low
+2
High
Data 2 Low
+3
Bit 6
Bit 5
SYNCRDY
SBUSY
2
1
0
Bit 4
Bit 3
ALM_CLR
Not used.
_CMP
Bit 2
Bit 1
CMDRDY
D_WAR
Bit 0
D_ALM
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