Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 46

■Link between inter-module synchronization function and CPU fixed scan communication
When the following are set in GX Works3, CPU fixed scan communication operates based on the fixed scan interval set with
the inter-module synchronization function, enabling control with the timing of both inter-module synchronization function and
CPU fixed scan communication aligned.
• Set "Cooperate" in [System Parameter]  [Multiple CPU Setting]  "Communication Setting Between CPU"  "Fixed Scan
Communication Function"  "Fixed Scan Interval Setting of Fixed Scan Communication"  "Fixed Scan Communication
Function and Inter-Module Synchronization Function".
If using both the fixed scan communication function and inter-module synchronization function, set "Fixed
Scan Communication Function and Inter-Module Synchronization Function" to "Cooperate". If set to "Not
cooperated", a moderate error (error code: 2222H) occurs, and the Motion CPU does not RUN.
Inter-module synchronization function operation when CPU operating status changes
■Operation at power supply ON, reset
• Normal startup (RUN)
If there are no setting errors in the parameters etc. after analyzing inter-module synchronization function related settings
(system parameters, CPU parameters, module parameters) written to the Motion CPU when turning the Multiple CPU
system power supply ON or when cancelling a reset, the inter-module synchronization function operates.
• Abnormal stop (STOP)
When parameter inconsistencies between Multiple CPUs or network parameter setting errors, etc. occur, or if module
hardware errors have occurred when analyzing inter-module synchronization function related settings (system parameters,
CPU parameters, module parameters) written to the Motion CPU when turning the Multiple CPU system power supply ON
or when cancelling a reset, the inter-module synchronization function does not operate, and a stop error occurs. When this
happens, I/O refresh is not performed.
■Operation at STOP (RUN  STOP)
• Normal stop
I/O refresh continues even during a STOP condition. With a normal stop operation such as STOP, Motion CPU output is
turned OFF, and a stop command is issued to each module. Refer to the User's Manual for each module for details on
operation when the module stops normally.
Inter-module synchronization cycle
Scan
CPU module
Output module
(Inter-module synchronization
target)
Output module
(Not inter-module synchronization
target)
1 MULTIPLE CPU SYSTEM
44
1.3 Data Communication Between CPU Modules in the Multiple CPU System
If performing key operation, RUN to STOP is recognized
when CPU module END processing is performed.
Inter-module synchronization
Scan
Normal control Synchronous
END
program interrupt prgrm.
Output
Output
As the module is in the STOP condition, the inter-module
synchronization interrupt program does not run
RUN to STOP
cycle
Normal control
program
The execution of all programs, including inter-module
synchronous interrupt programs, is stopped with the
STOP operation.
Hold/
Clear
Hold/
Clear
Output and deceleration stop are performed for all modules,
including the target module of inter-module synchronization,
when the STOP operation is performed.
(Refresh is performed at END processing during STOP status)
Inter-module synchronization cycle
END