Mitsubishi Electric MELSEC iQ-R16MTCPU - Motion CPU Operating Status; Initial Processing

2 COMMON PARAMETERS
2.4 Motion CPU Operating Status
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2.4 Motion CPU Operating Status
This section describes the Motion CPU operating status and details of all processes. The operation for when the Motion CPU
is started with the rotary switch set to "0: Normal mode" are shown below. Refer to each function for details on operation when
started with rotary switch set to other than "0: Normal mode".
Initial processing
Initial processing the pre-processing used to start Motion CPU control. Initial processing is performed once only when the
CPU module status is one of those shown in the table below. When initial processing is complete, the Motion CPU transitions
to the operating status based on "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)". Details of initial process are shown in the
table below.
: Execute, : Don't execute
Initial processing item Motion CPU status
When Multiple CPU
system power
supply turned ON
When resetting
Multiple CPU
system
At STOP to RUN/
When making test
mode request
Executing file transmission at boot 
R series common
parameters reading and
check
System parameter 
CPU parameter
Module parameter
Motion CPU common
Parameter reading
*1
Basic setting 
Servo network setting
Limit switch output setting 
High-speed input request signal setting 
Mark detection setting
Manual pulse generator connection setting
Vision system parameter 
Head module setting 
Refresh (END/I45 executing) setting
Motion control
Parameter reading
*1
Axis setting
parameter
Fixed parameter 
Home position return data
JOG operation data 
External signal parameter 
Expansion parameter 
Speed-torque control data 
Optional data monitor setting
Pressure control data
Override data
Vibration suppression command
filter data
Servo parameter 
Parameter block
Synchronous
control parameter
Input axis parameter 
Synchronous parameter
Machine control
parameter
Machine common parameter
Machine parameter
G-code control
parameter
G-code control system parameter 
G-code control axis parameter 
G-code control work parameter 
System configuration check 
I/O module, intelligent function module initialization 
Initialization of devices outside latch range 
Motion SFC program, servo program reading 