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9 RAS FUNCTIONS
9.1 Self-Diagnostics Function
Operations at error detection
The operations for when an error is detected are shown below.
Modes at error detection
■Stop mode
In this mode, Motion CPU operation is stopped. All programs are stopped the moment the error is detected, and all external
outputs are turned OFF for modules set to "Stop" in "I/O Assignment Setting" "CPU Module Operation Setting at Error
Detection" (Page 55 CPU parameter).
However, external outputs are retained for modules set to "Continue" in "CPU Module Operation Setting at Error Detection". In
either case, device memory outputs (Y) are retained.
Depending on the error content, positioning of all axes is stopped.
Refer to the following for details on error stop processing.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
■Continue mode
In this mode, Motion CPU operation is continued. Depending on the error content, there may be times when the program for
which the error was detected or positioning control is stopped, however, execution of unrelated programs and positioning
control continues.
Error status at error detection
The error status is categorized into major errors, moderate errors, and minor errors.
The status for which it is not possible to continue program or axis control for the Motion CPU, in full or in part, is categorized
as an error.
*1 Stop/continue can be set in the Multiple CPU parameters for other CPUs.
*2 Refer to the following for details on stopping.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
Setting operation at error detection
Depending on the self-diagnosis content, operation when errors are detected can be set in the CPU parameters.
Refer to CPU parameter for details of setting contents. (Page 55 CPU parameter)
Error
status
Motion CPU
operation
mode
Multiple CPU
system
operation
Program execution
status
Axis control
status
*2
Cause
Major error Stop mode Other CPUs can
be stopped
*1
All programs stop All axes stop There is an error in the Motion CPU hardware, and
operation cannot be continued.
Moderate
error
Program execution or axis operation cannot be
continued due to an incorrect program or parameter
setting, or temporary noise, etc.
Continue mode Continues Complete or partial stop
depending on error content
Continues Axis operation continues, however, programs cannot
be executed due to an incorrect program or
parameter setting.
Minor error Continues Relevant axis
only stops
Axis operation start/continue is not possible due to
incorrect program or parameter settings, or external
signal status. Program execution continues.
Warning Continues An insignificant error is detected such as an incorrect
program or parameter setting, or imperfect control
change timing. Axis operation and program execution
continue as is.
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