1.4 Mechanism of Processing
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1.4.2 Operation When Power Supply Turns On
• FP7 MC Unit reads the "parameters for FP7 MC Unit" stored in the FROM (FlashROM)
within the unit and sets them in the memory areas within the unit.
• FP7 MC Unit starts the communication with the slaves (servo amplifiers) connected to
EtherCAT. Once the links with the slaves (servo amplifiers) are established, it is notified to
FP7 CPU Unit by the input relay (X0).
• When the mode setting switch is set to RUN mode, FP7 CPU Unit checks that the state of
the FP7 system is correct, switches the mode to RUN mode, and executes user programs.
1.4.3 Start/Stop by User Programs
• For FP7 MC Unit, main I/O signals to execute various controls (such as positioning, JOG
operation, home return, and stop) are allocated to the unit memories (UM).
• In the unit memories (UM) "output control area", request signals to perform start and stop
controls are allocated. In the unit memories "Input control area", flags such as busy flag and
error flag to check the start conditions are allocated.
• FP7 MC Unit controls operations by reading or writing data from or to these unit memories.
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