Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 36

[St.1067] Error detection (R: M32407+32n/Q: M2407+20n)
• This signal turns on with detection of a warning or error, and can be used to judge whether there is a warning or error or not.
The applicable warning code is stored in the "[Md.1003] Warning code (R: D32006+48n/Q: D6+20n)" with detection of a
warning. The applicable error code is stored in the "[Md.1004] Error code (R: D32007+48n/Q: D7+20n)" with detection of an
error. Refer to the following for details of warning codes and error codes.
MELSEC iQ-R Motion controller Programing Manual (Common)
• This signal turns off when the "[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)" turns on.
[St.1067] Error detection signal
(R: M32407+32n/Q: M2407+20n)
[Rq.1147] Error reset command
(R: M34487+32n/Q: M3207+20n)
[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)
• This signal turns on when an error occurs at the servo amplifier side, and can be used to judge whether there is a servo
error or not. However, servo warnings are not detected. When an error is detected at the servo amplifier side, the minor
error (error code: 1C80H) is stored in the "[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)" storage register. The
error code read from the servo amplifier is stored in "[Md.1019] Servo amplifier display servo error code (R: D32028+48n/
Q: #8008+20n)". Refer to the following for servo amplifier error codes.
Servo amplifier Instruction Manual
• This signal turns off when the "[Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)" turns on or the
servo power supply turns on again.
[St.1068] Servo error detection
(R: M32408+32n/Q: M2408+20n)
[Rq.1148] Servo error reset
command
(R: M34488+32n/Q: M3208+20n)
[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)
This signal turns on when it is necessary to confirm the home position address.
■When not using an absolute position system
• This signal turns on in the following cases:
• Multiple CPU system power supply on or reset
• Servo amplifier power supply on
• Home position return start (Unless a home position return is completed normally, the home position return request signal does not turn off.)
• This signal turns off by the completion of home position return.
■When using an absolute position system
• This signal turns on in the following cases:
• When not executing a home position return once after system start.
• Home position return start (Unless a home position return is completed normally, the home position return request signal does not turn off.)
• Erase of an absolute data in Motion CPU according to causes, such as memory error
• When servo error (AL.25) occurs
• When servo error (AL.E3) occurs
• When servo error(AL.2B) occurs
• When warning (error code: 093CH, 093EH) occurs
• When minor error (error code: 197EH) occurs
• When the "rotation direction selection" of servo parameter is changed.
• This signal turns off by the completion of the home position return.
CAUTION
• When using the absolute position system function, on starting up, and when the Motion controller or absolute position motor has been replaced, always
perform a home position return. In the case of the absolute position system, use the sequence program to check the home position return request before
performing the positioning control. Failure to observe this could lead to an accident such as a collision.
2 POSITIONING DEDICATED SIGNALS
34
2.1 Internal Relays
Error detection
ON
OFF
OFF
Servo error detection
ON
OFF
OFF
ON
ON