Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 35

[St.2120] Machine error detection (M43904+32m)
• This signal turns on with detection of a machine related 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.2023] Machine warning code (D53171+128m)"
with detection of a machine related warning. The applicable error code is stored in the "[Md.2022] Machine error code
(D53170+128m)" with detection of a machine related error. Refer to the following for details of warning codes and error
codes.
MELSEC iQ-R Motion Controller Programming Manual (Common)
• The signal turns OFF when the "[Rq.2240] Machine error reset command (M43616+32m)" turns ON.
[St.2120] Machine error detection
(M43904+32m)
[St.1067] Error detection
(machine configuration axes)
(R: M32407+32n/Q: M2407+20n)
[St.1068] Servo error detection
(machine configuration axes)
(R: M32408+32n/Q: M2408+20n)
[Rq.2240] Machine error reset command
(M43616+32m)
[St.2122] Machine WAIT (M43906+32m)
• This signal turns ON when waiting for the conditions to turn ON/OFF the bit device specified by WAIT-ON/OFF.
• When the specified bit device is turned ON/OFF due to conditions being established, "[St.2122] Machine WAIT
(M43906+32m)" turns OFF, and positioning is executed.
• When a stop factor such as an error occurs while waiting for the conditions to turn the specified bit device ON/OFF,
"[St.2122] Machine WAIT (M43906+32m)" turns OFF, and the waiting for conditions status is cancelled.
• When vibration supression command filter (acceleration/deceleration process after interpolation) is set while waiting for the
conditions to turn the specified bit device ON/OFF, "[St.2122] Machine WAIT (M43906+32m)" turns ON before the actual
positioning operation is completed because of the delay caused by the filter.
• Refer to WAIT-ON/OFF for details of WAIT-ON/OFF. (Page 104 WAIT-ON/OFF)
CAUTION
The machine WAIT signal should not be turned ON/OFF by the user.
• If the machine WAIT signal is turned OFF using the program or by a user operation, no error will occur but the condition of the devices and the machine are
not reliable. Depending on the program settings, unpredictable operations can occur.
[St.2123] Joint interpolation velocity limiting (M43907+32m)
• This signal turns ON while speed is adjusted by the joint interpolation speed limit function during machine program
operation.
• When speed is adjusted by the joint interpolation speed limit function, this signal turns ON at positioning start completion
and at the start of each point. From then onwards, the signal turns OFF by either switching to a control method other than
joint interpolation or a joint interpolation control that does not use the joint interpolation speed limit function to adjust speed,
or by positioning completion or by stop completion due to a stop cause.
[St.2127] Machine start accept flag
(M43911+32m)
[Md.2078] Machine execute point No.
(D53271+128m)
Interpolation control method
[St.2123] Joint interpolation velocity
limiting (M43907+32m)
• Refer to joint interpolation speed limit for details of the joint interpolation speed limit function. (Page 99 Joint
interpolation speed limit)
ON
OFF
Error detection
ON
OFF
OFF
OFF
*1 *1
ON
1 2 3
Linear Joint Joint
interpolation interpolation interpolation
ON
OFF
*1: Point where speed is adjusted by the joint interpolation speed limit function
ON
*1
4 5 6
Linear Joint Joint
interpolation interpolation interpolation
4 MACHINE CONTROL DEDICATED SIGNALS
*1
Stop cause
OFF
7
Joint
interpolation
4.1 Internal Relays
4
33