Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 48

Error detection
The following error statuses are monitored at the Motion CPU.
■Execution time monitoring of the Motion CPU fixed-cycle processing
Regardless of whether the inter-module synchronization function is used, the Motion CPU fixed-cycle processing (inter-
module synchronization I/O refresh, Motion SFC fixed-cycle event task, motion operation processing, etc.) execution time is
monitored. When Motion CPU fixed-cycle processing is not completed within the motion operation cycle, the number of times
that a Motion CPU fixed-cycle processing cycle error occurs is stored in "Motion CPU operation cycle over counter No.
(SD480)".
When "Over Execute Time (Operation Cycle Over)" in [CPU Parameter]  "RAS Setting"  "Error Detections Setting" is set
to "Detect", "Stop" or "Continue" can be selected for Motion CPU operation processing. When set to "Detect", a moderate
error (error code: 2600H) is output.
■Inter-module synchronization signal error monitor
Inter-module synchronization signal cycle errors are monitored, and a moderate error (error code: 2610H) occurs if there is an
error.
Motion CPU operation processing can bet set to "Stop" or "Continue" when an inter-module synchronization signal error
occurs with [CPU Parameter]  "RAS Setting"  "CPU Module Operation Setting at Error Detected".
When "Synchronous Interrupt Execution Interval Error (CPU module)" is set to "Continue", if the continuation
error is cancelled, the Motion CPU ERROR LED turns OFF but the error factor is not removed. Furthermore,
errors are not detected again even if a synchronous interrupt execution interval error reoccurs.
1 MULTIPLE CPU SYSTEM
46
1.3 Data Communication Between CPU Modules in the Multiple CPU System