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

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Axis Operating Input Memory Areas Section 4-8
Busy Flag
Word b
Bit 13
Function This flag turns ON to indicate that the Position Control Unit is executing one of
the following operating commands. The flag will turn ON when the operation
command is started and remain ON for at least one cycle time of the CPU
Unit. For commands associated with axis operations, the Busy Flag remains
ON during the axis operation.
ABSOLUTE MOVEMENT (including INTERRUPT FEEDING), RELATIVE
MOVEMENT (including INTERRUPT FEEDING), ORIGIN SEARCH, ORI-
GIN RETURN, PRESENT POSITION PRESET, JOG (JOG ON, JOG
OFF), DECELERATION STOP, EMERGENCY STOP, SERVO LOCK,
SERVO UNLOCK, SPEED CONTROL, TORQUE CONTROL, DEVICE
SETUP, ERROR RESET, or DEVIATION COUNTER RESET.
For operating commands associated with axis operations, the Busy Flag sta-
tus when the axis operation is completed (axis stops) depends on the operat-
ing command, as follows:
• ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, ORIGIN SEARCH, or
ORIGIN RETURN:
The Busy Flag turns OFF when the axis feedback position reaches the
Servo Parameter
Positioning Completion Range 1 (Pn060 for R88D-
GN @ , Pn500 for R88D-WT @ , and Pn522 for R88D-WN @ -ML2 and
SMARTSTEP Junior) set for the target stop position. (The Busy Flag turns
OFF at the same time as the PCU Positioning Completed Flag turns ON.)
• Jogging Stopped (JOG Bit OFF), DECELERATION STOP, EMERGENCY
STOP (Including Error Stop), or DEVIATION COUNTER RESET:
The Busy Flag turns OFF regardless of the axis feedback position when
the command position reaches the target (stop) position (i.e., when send-
ing the command to the Servo Drive is completed).
Speed
Solid line: Command speed
Broken line: Feedback speed
Time
Busy Flag
The Busy Flag turns OFF at comple-
tion of sending the command (i.e.,
when the command present position
stops changing) when the axis stops
due to jogging stop (JOG Bit OFF),
DECELERATION STOP, or EMER-
GENCY STOP (including error stop). When positioning for ABSOLUTE
MOVEMENT, RELATIVE MOVEMENT,
ORIGIN SEARCH, or ORIGIN RETURN
stops, the Busy Flag will not turn OFF until
the feedback present position is within the
Positioning Completion Range for the
command position.