Initial Processing - Mitsubishi Electric FATEC MELSEC iQ-R Training Manual

6.6.1

Initial processing

This program checks all parameters and starts all axes servo.
When the CPU module is set to the RUN status, the PLC READY signal will turn on. When
the PLC READY signal turns on, the program will check the servo parameters and
positioning data.
If the CPU module and RD77MS do not have any problems, the READY signal will turn on.
When the READY signal turns on, turn on the all axes servo ON command from the
demonstration machine operation panel, and the CPU module will send the all axes servo
ON command and start the servo amplifiers to complete the preparation for positioning.
(1) Input and output signal
PLC READY signal
READY signal
All axes servo ON
POINT
The BUSY signal turns ON even when position control of movement amount 0 is executed.
However, since the ON time is short, the ON status may not to be detected in the program.
Therefore, a direct device is used in this practice.
Item Axis 1 Axis 2 Axis 3
Y0
X0
Y1
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