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

Page: 263 / 644

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MECHATROLINK Communications Control Section 6-3
Timing Chart
The following diagram shows the timing chart for establishing and releasing a
connection.
In the above example, Servo Drives are registered to axes 1, 2, 4, and 5 in the
scan list (set to 40 hex). Therefore, MECHATROLINK communications start
with the Servo Drives with station addresses No. 1, No. 2, No. 4, and No. 5
when CONNECT is executed.
CONNECT Bit (word n+1, bit 00)
Unit Error Flag (word n+15, bit 12)
Unit Busy Flag (word n+16, bit 14)
Connection Status Flag (word n+16, bit 15)
Axis Communications Status Flags (word n+22)
Receiving Command Flag (word b, bit 00)
Busy Flag (word b, bit 13)
When the PCU starts MECHATROLINK communications as a result of
the CONNECT Bit turning ON, the Connection Status Flag turns ON. The
Axis Communications Status Flags turn ON when the connection is
established for axes registered in the scan list only.
There is no change in status of the Unit Busy Flag, or the Receiving
Command Flags or Busy Flags for the connected axes when a
connection is established or released.
n = CIO 1500 + (unit number
×
25)
b = Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25
MOV
MOV
CPU Unit
n+1
PCU
4 0
0 0
4 0
4 0
4 0
0 0
183C hex
183D hex
183E hex
0 0
0 0
0 0
0 0
1856 hex
1857 hex
No. 1
No. 2
No. 3
No. 4
No. 5
n+16
n+22
WRITE DATA
n = CIO 1500 + (unit number
×
25)
Common Operating Memory Area
CONNECT Bit (word n+1, bit 00)
Axis Communications Status
Flags (word n+22)
Connection Status Flag
(word n+16, bit 15)
When starting to use the
PCU, transfer using the
WRITE DATA Bit.
Scan list
: : :
Communications parameters
Start MECHATROLINK
communications with the
Servo Drives registered in
the scan list according to the
settings for the
communications parameters.
The communications status of
the Servo Drives registered in
the scan list is shown by the Axis
Communications Status Flags.
MECHATROLINK-II
Servo Drives
(station addresses)