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9 RAS FUNCTIONS
9.2 Safety Functions
9.2 Safety Functions
Processing time monitor and check
The time taken for Motion operation and Motion SFC program execution can be monitored with a special register. The Motion
CPU internal processing timing and corresponding processing time monitor devices are shown in the following diagram.
The Motion CPU uses the self-diagnostic function to check the processing time for all processing. Details of the processing
time check and the action taken when an error occurs are shown below.
Operation cycle check
If the total time (Motion operation cycle (SD522)) taken for fixed-cycle system processing, Motion SFC fixed-cycle tasks, and
Motion operation exceeds the "Motion setting operation cycle (SD523)", the "[St.1046] Operation cycle over flag (R: M30054/
Q: M2054)" turns ON. Depending on the control conditions, the amount of time taken for Motion operation may exceed the
operation cycle, even if the operation cycle setting is the "Default setting".
• The following operations are performed if an operation cycle over condition is detected.
• If an operation cycle over condition is detected, monitor the special register which stores the processing time, and take the
following measures to ensure that the time taken for the Motion operation does not exceed the set operation cycle.
• Use the following procedure to turn the "[St.1046] Operation cycle over flag (R: M30054/Q: M2054)" OFF.
Command updating to the servo amplifier stops for cycles for which an operation cycle over condition occurs,
leading to abnormal machine noises and vibrations, and impact.
• "[St.1046] Operation cycle over flag (R: M30054/Q: M2054)" turns ON
• Latching (updating stopped) of the time within each operation cycle for processing time monitor devices is performed.
• Change the operation cycle to a larger value in [Motion CPU Common Parameter] [Basic Setting] "Operation Cycle" setting.
• Reduce the number of event task and NMI task command executions in the Motion SFC program.
• Turn the Multiple CPU system power supply from ON to OFF.
• Reset the Multiple CPU system.
• Perform a reset with the user program.
*1: The "Motion operation cycle (SD522)" maximum value latches to the "Motion maximum operation cycle (SD524)".
*2: The "Scan time (SD520)" and "Scan time (SD562, SD563)" maximum values latch to the "Maximum scan time (SD521)"
and "Maximum scan time (SD564, SD565)".
*3: The processing time when an operation cycle over occurs latches to the following special registers.
•
"Fixed-cycle system processing time (SD581)"
→
"Fixed-cycle system processing time within operation cycle (SD595)"
• "CPU refresh (I45 executing) processing time (SD583)"
→
"CPU refresh (I45 executing) time within operation cycle (SD597)"
• "Motion SFC fixed-cycle task (0.222ms to 14.222ms task individually) processing time (SD570 to SD580)"
→
"Motion SFC
fixed-cycle task (0.222ms to 14.222ms task individually) operation cycle (SD584 to SD594)"
• "Motion operation task processing time (SD582)"
→
"Motion operation task time within operation cycle (SD596)"
*4: The EI/DI status can be monitored as an "EI flag (SM752)" as the Motion SFC event task monitor.
Motion operation cycle (SD522)
Motion setting operation cycle (SD523)
Fixed-cycle system
processing
Processing priority
Motion SFC fixed-cycle
task
CPU refresh (I45
executing) processing
: Motion SFC processing
: System processing
Scan time(SD520, SD521, SD562 to SD565)
Motion operation
processing
Motion SFC normal
task/main cycle
processing
Time
Motion SFC normal task
processing time (SD566 to SD569)
Motion operation task
processing time
(SD582, SD596)
Fixed-cycle system processing time
(SD581, SD595)
CPU refresh (I45 executing)
processing time(SD583, SD597)
Motion SFC fixed-cycle
task processing time
(SD570 to SD580,
SD584 to SD594)
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