Mitsubishi Electric A173UHCPU Programming Manual page 45

3. POSITIONING SIGNAL
(16) Servo READY signal (M2415+20n)
(a) The servo READY signal comes ON when the servo amplifiers connected
to each axis are in the READY status.
(b) The signal goes OFF in the following cases.
• When M2042 is OFF
• When no servo amplifier is installed
• When the servo parameters have not been set
• When the power supply module has received an emergency stop
input from an external source
• When the M3215+20n signal comes ON and establishes the servo
OFF status
• When a servo error occurs
For details, see Appendix 2.4 "Servo Errors"
A61P A273 A278
UH LX
CPU
MR- -B MR- -B
M
POINT
(1) If the ADU using axis results in a servo error, the servo-off axis varies with
the system settings as indicated below.
(Only when the A273UHCPU is used)
Processing Setting for
ADU Servo Error
System-based servo off
Only own-axis servo off Axis which resulted in a servo error
(2) When an axis driven by an MR- -B becomes subject to a servo error, the
affected axis only goes into the servo OFF status.
(17) Torque control in progress signal (M2416+20n)
Signals for axes whose torque is being controlled are ON.
(18) CHANGE signal (M2417+20n)
(a) The CHANGE signal is controlled by the ON/OFF status of the external
speed-position control change input (CHANGE) switch connected to the
A278LX or A172SENC.
• When speed-position change input is OFF ......... CHANGE signal: OFF
• When speed-position change input is ON........... CHANGE signal: ON
A240 A221 A211 A222 A230P
DY AM-20 AM-20 AM-20
M M M
M M
Communication is normal
Servo READY signal: ON
M
Servo-Off Axis
All axes in the system including the axis
which resulted in a servo error
3 − 14
A278B