Omron C200H-MC221 -, Operation Manual

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Command Priority When more than one command is executed at the same time, the commands will
be processed in the following order.
1, 2, 3... 1. Deceleration Stop
2. Origin Search
3. Reference Origin Return
4. Jogging
5. Current Position Preset
6. ABS Initialization
7. ABS Soft Reset
8. Enable MPG
9. Servo Lock
10. Servo Free
Deceleration Stop has the highest priority and Servo Free has the lowest.
Busy Flag The Busy Flag is turned ON when a command is being executed, and turned
OFF when the command is completed. Deceleration Stop is the only command
that can be received while this flag is ON.
Command
Busy Flag
It is recommended to write a sequence program that will prevent other com-
mands from being executed while the commands that can’t be interrupted (Cur-
rent Position Preset, ABS initialization, ABS Soft Reset, Servo Lock, and Servo
Free) are being executed.
Caution After executing a command, do not execute another command until the first
command is completed and the Busy Flag is turned OFF.
6-3-2 Automatic Mode
The MC program is executed in automatic mode. Use the following procedure to
operate in automatic mode. This example is for task 1.
1, 2, 3... 1. Set the MC Unit to automatic mode. Turn ON bit 01 of word n+1.
2. Set the program number of the program you want to execute. (Word n+0)
3. Turn ON the Program Number Read bit. Turn ON bit 07 of word n+1.
4. The specified program will be executed when the Cycle Start bit (bit 02 of
word n+1) is turned ON.
Refer to 6-5 Interface Bit Specifics for the reception control bit, program number
read bit, cycle start bit, and automatic/manual mode bit.
Controlling the MC Unit from the PC
Section 6-3