Omron CJ1W-MA - REV 10-2008, Operation Manual

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177
Axis Operating Output Memory Areas Section 4-7
❍
: Execution possible
×
: A multistart error (axis error code: 3050) will occur and the function will not
be executed.
---: Execution not possible (ignored)
Note: The above table assumes that the conditions required for executing jog-
ging, origin searches, origin returns, absolute/relative movements
(including interrupt feeding), speed control, or torque control, such as
command values and origin establishment, have been met.
Executing Multiple Functions Simultaneously
The following table shows the PCU operations when multiple functions are
executed at the same time for the same axis during a servo lock (including
executing other functions while the Receiving Command Flag is ON.
DECELERATION STOP
❍ ❍ ❍
--- --- --- --- --- --- --- --- --- --- --- ---
JOG
❍ ❍ ❍ ❍
---
× × × × × × × × ×
---
ORIGIN SEARCH
❍ ❍ ❍ ❍ × × × × × × × × × ×
---
ORIGIN RETURN
❍ ❍ ❍ ❍ × × × × × × × × × ×
---
POSITION CONTROL (ABSO-
LUTE MOVEMENT)
❍ ❍ ❍ ❍ × × × ❍ ❍ × ❍ ❍ × ×
---
POSITION CONTROL (RELA-
TIVE MOVEMENT)
❍ ❍ ❍ ❍ × × × ❍ ❍ × ❍ ❍ × ×
---
INTERRUPT FEEDING
❍ ❍ ❍ ❍ × × × × × × ❍ ❍ × ×
---
SPEED CONTROL
❍
---
❍ ❍ × × × ❍ ❍ ❍ ❍ ❍ × ×
---
TORQUE CONTROL
❍
---
❍ ❍ × × × ❍ ❍ ❍ ❍ ❍ × ×
---
PRESENT POSITION PRESET
❍ × ❍ ❍ × × × × × × × × × × ×
DEVICE SETUP --- --- --- --- --- --- --- --- --- --- --- --- --- --- ---
SERVO LOCK
❍
--- --- ---
× × × × × × × × × × ×
Function to be executed (See note.)
Executing function
SER
V
O
UNLOCK
DEVIA
T
ION CO
UNTER
RESET
EM
ERGENCY ST
OP
DEC
E
LERA
T
ION
ST
OP
JO
G
O
R
IG
IN SE
A
RCH
O
R
IG
IN RET
U
R
N
AB
SOLUT
E
M
O
VEM
ENT
RELA
T
IVE M
O
VEM
ENT
INTERR
UPT
FEEDING
SPEED CON
T
R
O
L
T
O
R
Q
UE CONTR
O
L
PRESENT POSITION PRESET DEVICE SETUP SER
V
O
LOCK
Function Operation for simultaneous execution
SERVO UNLOCK Takes priority over any other function executed at the
same time.
All other operations are disabled while the SERVO
UNLOCK Bit is ON.
DEVIATION COUNTER
RESET Takes priority over any other function executed at the
same time except for SERVO UNLOCK.
The following functions will not be started while the DEVI-
ATION COUNTER RESET Bit is ON.
EMERGENCY STOP Executed before any other function executed at the same
time, except SERVO UNLOCK or DEVIATION COUNTER
RESET.
All other operation functions are disabled while the
EMERGENCY STOP Bit is ON.