Mitsubishi Q12PRHCPU, Руководство пользователя

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5
- 93 5.5 Tracking Function
5.5.7 Tracking Mode
5
REDUNDANT SYSTEM FUNCTIONS
(3) Asynchronous Tracking Mode
In this mode, the control system CPU prioritizes program operation over tracking
processing.
If the previous tracking is not complete while executing the END processings, the
control system CPU module suspends the next tracking and starts the program
operation.
(a) Tracking when Control System is in RUN, Standby System is in STOP and
System is in Backup Mode
Diagram 5.55 Tracking Operation Timing When Program Execution Time Tracking Processing Time
Diagram 5.56 Tracking Operation Timing When Program Execution Time Tracking Processing Time
0
1) tracking when program run time tracking time
Control system
CPU module
END
Run
program 1)
END
0
Run
program 2)
END
0 0
Run
program 3)
Scan time
Prepare Tracking
data 1) Prepare Tracking
data 2)
Prepare Tracking
data 3)
Tracking
processing 1)
Adjust Tracking
data 1)
Tracking
processing 2)
Adjust Tracking
data 2)
Tracking
processing 3)
Device data for new control system CPU module
Run program
Non - executed
END
Error occurrence
Incomplete
Send
Receive
Send
Receive
Send
Receive
New Standby system
CPU module
Standby system
CPU module
New Control system
CPU module
2) Tracking when program run time < tracking time
Control system
CPU module
END END END 0
END/0
Run
program 2)
Scan time
Prepare Tracking
data 1)
Adjust Tracking
data 1)
0
END/0
Run
program Run
program
Run
program
Prepare Tracking
data 2)
Adjust Tracking
data 2)
0
Prepare Tracking
data 3)
Tracking
processing 1) Tracking
processing 2)
Receive
Send Send
Receive
Standby system
CPU module
Run
program 1)