Yaskawa MP2300S Basic Module - Manual (Page 303)

7.3 Operation
7.3.6 Management to Resume Slave CPU Synchronization
7-25
Slave CPU Synchronous Function
The example below shows how the slave side application controls the slave CPU synchronous resumption.
In this example, the status is divided into three parts, and resumption is considered in a state transition diagram.
In each state, the following processes are carried out:
An example in which this process is executed using a ladder application is shown in the next page.
[Conditions] Local station (MP2300S) is assigned to st#1.
INPUT: IW0800, SIZE: 15W
OUTPUT: OW0810, SIZE: 15W
State Process Description
Waiting state for the
completion of slave
CPU synchronization
Where the power was turned ON.
Sets a control bit SLVSC=OFF, allowing you to execute the slave CPU synchronous process.
If SYNC is turned ON while monitoring slave status “SYNC”, changes the state to “slave CPU syn-
chronous state”.
Slave CPU synchronous
state
When entering slave CPU synchronous state, turns ON the control bit SLVSC, and prohibits the
slave CPU synchronous resumption.
Thus, even when entering slave CPU asynchronous state, automatic recovery is not carried out.
If SYNC is turned OFF while monitoring slave status “SYNC,” changes the state to “Preparation for
slave CPU synchronous resumption.”
Preparation state for
slave CPU synchronous
resumption Prepares for the resumption of slave CPU synchronization. In particular, stops an axis connected to
the motion module attached to an optional slot.
If ready, changes the state to “Waiting state for the completion of the slave CPU synchronization.”
Register Meaning Remarks
MW00200 State
0: Waiting for the completion of slave CPU synchronization
1: Slave CPU synchronous state
2: Preparation state for slave CPU synchronous resumption
Note: Initialized at figure A or the first scan.
MW00201
Check flag of preparation for a
synchronous resumption
When resumption preparation is completed, set to 1.
DW00000
Temporary for updating condi-
tion
–
Turn ON the power
Waiting for completion of
slave CPU synchronization
Operation: Control bit SLVSC=OFF
Slave Status
SYNC=ON
Slave CPU synchronous state
Operation: Control bit SLVSC=ON
Preparation for slave CPU
synchronous resumption completed
Preparation state for the slave
CPU synchronous resumption
Operation: Motion stops, etc.
Slave Status
SYNC=OFF