YASKAWA MP210 Series User Manual page 341

An example of controlling restarting of slave CPU synchronization with the application at a slave device is
described here.
In this example the concept is of a division into three statuses, as shown in the following status transition dia-
gram.
Waiting for completion of slave
Operation: Control bit SLVSC = OFF
Slave CPU synchronous status
Operation: Control bit SLVSC = ON
The following processing is carried out in each of the statuses.
Status
This is the status after turning the power ON.
Waiting for
completion of Set the control bit SLVSC to OFF to enable execution of slave CPU synchronization processing.
slave CPU
The slave status "SYNC" is monitored, and when it becomes ON the status changes to "slave CPU
synchronization
synchronous status".
When the slave CPU synchronous status is established, the control bit SLVSC is set to ON and
restarting of slave CPU synchronization is prohibited.
Slave CPU
Because of this, if the slave CPU asynchronous status is established for some reason the synchronous
synchronous
status will not be automatically restored.
status
The slave status "SYNC" is monitored, and when it becomes OFF the status changes to "Preparing
for slave CPU synchronization restart".
The preparations for restarting slave CPU synchronization are made. This includes the processing to
Preparing for
stop the axes connected to the Motion Modules mounted in the option slots.
slave CPU
synchronization
When the preparations have been completed, the status is changed to "Waiting for completion of
restart
slave CPU synchronization".
On the next page, an example of a ladder application incorporating this processing is presented.
[Conditions] The local station (MP2100M) is allocated to station #1.
INPUT: IW0010
OUTPUT: OW0020 SIZE: 15 words
Register
MW00200
Status
Synchronization restart prep-
MW00201
aration confirmation flag
Temporary register for
DW00000
refreshing the status
Power ON
CPU synchronization
Slave status
SYNC = ON
Details of Processing
SIZE: 15 words
Meaning
0: Waiting for completion of slave CPU synchronization
1: Slave CPU synchronous status
2: Preparing for slave CPU synchronization restart
* Initialization is performed in diagram A, or in the
first scan.
"1" is set for this flag when preparations for restart are com-
pleted.
Ready for slave CPU
synchronization restart
Preparing for slave CPU
synchronization restart
Operation:
Stop motion operations, etc.
Slave status
SYNC = OFF
Remarks
F.3 Operation
F
F-27