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Operating Modes Section 4-3
4-3 Operating Modes
4-3-1 Operating Modes
Coordinator and Motion Control Modules have three operating modes that
control the user program.
PROGRAM Programs are not executed and preparations, such as initializing the System
Setup and other settings, transferring programs, checking programs, force-
setting, force-resetting, and checking wiring can be executed prior to program
execution. Motion Control Module built-in I/O refreshing and Coordinator Mod-
ule cyclic refreshing are, however, executed in this mode.
MONITOR Programs are executed, but some operations, such as online editing and
changing present values in I/O memory, are enabled for trial operation and
other adjustments.
RUN Programs are executed but some operations, such as online editing and
changing the present values in I/O memory using CX-Programmer, cannot be
performed. The CX-Programmer can monitor the program execution status
(program and I/O memory monitoring). The main system operation is per-
formed in RUN mode.
Note (1) The operating mode of Motion Control Modules cannot be changed inde-
pendently in Sync Mode. Always change the operating mode of the Co-
ordinator Module in Sync Mode.
(2) To debug Motion Control Module programs, change the Coordinator Mod-
ule to ASync Mode under the System Setup and change the operating
mode for that Motion Control Module.
4-3-2 Status and Operations in Each Operating Mode
PROGRAM, RUN, and MONITOR are the three FQM1 operating modes. The
following tables list status and operations for each mode.
Note The following table shows the relationship of operating modes to tasks.
Mode Program
execu-
tion
(See
note.)
I/O
refresh
External
outputs
I/O Memory CX-Programmer operations
Cleared
areas
Retained
areas
I/O
Memory
monitor-
ing
Program
monitor-
ing
Program transfers Program
check
System
Setup
changes
Program
changes
Force-
set/reset
Chang-
ing timer/
counter
SV
Chang-
ing timer/
counter
PV
Chang-
ing I/O
Memory
PV
FQM1 to
com-
puter
Com-
puter to
FQM1
PROGRAM Stopped Exe-
cuted
OFF Clear Retained OK OK OK OK OK OK OK OK OK OK OK
RUN Per-
formed
Exe-
cuted
Con-
trolled by
program
Controlled by pro-
gram
OK OK OK ××××××××
MONITOR Per-
formed
Exe-
cuted
Con-
trolled by
program
Controlled by pro-
gram
OK OK OK ×××OK OK OK OK OK
Mode Cyclic task status Interrupt task status
PROGRAM Disabled Stopped
RUN Enabled Executed if interrupt condition is
met.
MONITOR