Chapter 10 CPU Function
10.3 Self-Diagnosis Function
The Self-Diagnosis function is the function for the CPU part to diagnose the motion controller system for defects. In case
errors occur during supplying the power to the motion controller system or during operation, it detects errors to prevent
malfunction of the system and preventive maintenance.
10.3.1 Main Task/Periodic Task Cycle Error
Main task/periodic task cycle error is a function to a software error of the motion controller or a periodic error
caused by the user program.
(1) It is used to detect that the program is executed for the time that exceeds the user’s intended period due to an
operation delay caused by the main task/periodic task program error. The main task/periodic task cycle error
detection time is set in the basic parameters of XG5000 as shown below.
(2) While the program is running, the elapsed scan time is monitored, and if the set detection time is exceeded, the
operation of the motion controller is stopped immediately, and an error is generated.
(3) When the main task/periodic task error occurs, the error is cleared if the power is turned on again, or the mode is
switched to Stop mode
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