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MECHATROLINK Communications Control
Section 6-3
Timing Chart
A timing chart for rejoin processing is provided below for Position Control
Units with unit version 2.0 or later. In this example, axes 1 and 2 are regis-
tered in the scan list. After a connection is established, a communications
error occurs for axis 2 (i.e., either a sync communications alarm or a commu-
nications alarm).
6-3-5
Specifying the Axes to Connect
The Axes to Connect parameter can be used to temporarily disable MECHA-
TROLINK communications for one or more axes registered in the scan list.
This enables starting MECHATROLINK communications without errors occur-
ring for axes that are not connected without changing the scan list. This can
be used, for example, during system design and startup when all axes are not
yet connected.
This function can be used only with Position Control Units with unit version 2.0
or later.
The Axes to Connect parameter is in CIO 1502 + (unit number
×
25).
CONNECT (n+1 00)
When a communications error occurs for axis 2, the Axis 2 Error Flag and Axis 2
Communications Status Flag will turn OFF.
After removing the cause of the error, the REJOIN command bit is turned ON to clear the
error for axis 2 and restart MECHATROLINK communications. The Axis Communications
Status Flag turns ON.
n = CIO 1500 + (unit number
×
25)
b = First word specified in the Common Parameters for the Axis Operating Input Memory Area + (Axis No.
−
1)
×
25
Communications error for axis 2
Communications restored for axis 2
REJOIN (n+1 15)
Unit Error Flag (n+15 12)
Unit Busy Flag (n+16 14)
Connection Status Flag (n+16 15)
Axis 1 Communications Status Flag (n+22 00)
Axis 2 Communications Status Flag (n+22 01)
Axis 2 Error Flag (b+4)
Summary of Contents for CJ1W-MA - REV 10-2008
Page 3: ...iv ...
Page 5: ...vi ...
Page 21: ...xxii ...
Page 57: ...30 Starting Operation Section 2 2 ...
Page 97: ...70 Wiring Section 3 4 ...
Page 247: ...220 Transferring Servo Parameters Section 5 3 ...
Page 281: ...254 Standard Settings for Servo Drives Using MECHATROLINK Section 6 4 ...
Page 343: ...316 Absolute Encoder Origin Section 8 6 ...
Page 375: ...348 Linear Interpolation Section 9 7 ...
Page 423: ...396 DEVIATION COUNTER RESET Section 10 10 ...
Page 631: ...604 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 641: ...614 Index ...
Page 643: ...616 Revision History ...