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

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Axis Operating Input Memory Areas Section 4-8
The PCU turns ON the Receiving Command Flag when an operating com-
mand is received from the CPU Unit, and the flag remains ON for at least CPU
Unit cycle time. The flag turns OFF when the command reception processing
is completed.
If another operating command with the same priority level is started while this
flag is ON, a Multistart Error (axis error code: 3050) will occur. (Refer to
4-7-3
Axis Operating Output Memory Area Priority .)
The Receiving Command Flag status does not change when changing the
target speed during position control/speed control, changing the torque com-
mand value during torque control, switching override enable/disable, changing
the override value, or transferring Servo Parameters.
The Receiving Command Flag is used mainly to determine ON/OFF timing of
the operating command bits when sending more than one operating com-
mand at the same time during axis operation (i.e., while the Busy Flag is ON),
such as changing the target position while using direct operation.
PCU Positioning Completed Flag
Word b
Bit 05
Function This flag turns ON when a PCU operation is completed normally in response
to any of the following positioning commands and the feedback present posi-
tion of the axis has reached a position within the range of the Servo Parame-
ter
Positioning Completion Range 1 (Pn060 for R88D-GN
@
, Pn500 for R88D-
WT @ , and Pn522 for R88D-WN @ -ML2 and SMARTSTEP Junior) specified for
the target position (command position). (The position deviation must be within
the range of
Positioning Completion Range 1 .)
ABSOLUTE MOVEMENT (including INTERRUPT FEEDING), RELATIVE
MOVEMENT (including INTERRUPT FEEDING), ORIGIN SEARCH, or
ORIGIN RETURN.
Operating command
Receiving Command Flag
The Receiving Command Flag remains ON for
either the length of one CPU Unit cycle time or
for the time required by the PCU to process
command reception, whichever is longer.