Chapter 10 CPU Function
• Computational error during execution of user programs
In case of the numeric operation error (Ex.: in case the denominator of division operation is 0) occurred
during execution of user programs, the details will be displayed in the error flag and the system will resume
the operation. If the operational time exceeds the operation delay monitoring set time during operation or
equipped I/O modules cannot be normally controlled, the system will be stopped.
• Detection of errors caused by external device failure
The failure of the external control device can be detected by the motion controller’s user program; in case
of detecting failures, the system will be stopped; in case of detecting minor failures, only the detection
status will be displayed and the operation will be continued. (For the detailed use of the function to detect
external device’s failures, refer to the 10.3.5 Failure Diagnosis Function for the External Device.)
The information on failures occurrence is saved in the special relay (F area). Among F area flags, the
information related to the failures are as below.
Bit Flag Name Function Description
%FD2
- _CNF_ER System error
Reports the failure status of the
system.
%FX70 _ANNUM_ER
Failures are detected from the
external device.
%FX72 _BPRM_ER Basic parameters
There are some problems with the
basic parameters.
%FX73 _IOPRM_ER IO parameters
There are some problems with I/O
parameters.
%FX74 _SPPRM_ER
Special module
parameters
Abnormal special module
parameters
%FX75 _CPPRM_ER
Communication
module parameters
Abnormal communication module
parameters
%FX76 _PGM_ER Program error
There are some errors with the
program.
The system Watchdog works.
The system Watchdog works.
%FX85 _ENCPRM_ER
Abnormal encoder parameter
Abnormal axis group parameter
Abnormal EtherCAT parameter
Period error of main task
Period error of periodic task
%FX94
Occupancy rate over
error of task program
The task program occupancy rate
exceeds 100%
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