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

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MECHATROLINK Communications Control Section 6-3
Common Operating
Output Memory Area
n = 1500 + (unit number
×
25)
The Axes to Connect parameter is valid only when establishing a connection
or when rejoining a connection.
Example
This example shows how to use a scan list in which axes 1 to 5 are registered
and connect only axes 1, 2, and 5.
• Establishing a Connection for All Axes (n+2 = 0000 (Hex))
Axes 1, 2, and 5: MECHATROLINK communications started
Axes 3 and 4: MECHATROLINK communications not started
In this case, the connection cannot be established for axes 3 and 4, causing
an MLK initialization error (Unit error code: 0020 (hex)) to occur in the Posi-
tion Control Unit.
• Establishing a Connection for All Axes Except Axes 3 and 4 (n+2 = 000C
(Hex))
Axes 1, 2, and 5: MECHATROLINK communications started
Axes 3 and 4: MECHATROLINK communications not started
In this case, axes 3 and 4 are treated as if they are not registered in the scan
list and an MLK initialization error does not occur in the Position Control Unit.
Note The Axes to Connect parameter is valid only when using the CONNECT or
REJOIN command bits in the Common Operating Memory Area. When estab-
lishing connections from the CX-Motion-NCF, the Axes to Connect parameter
is ignored and processing to start MECHATROLINK communications is per-
formed for all axes registered in the scan list.
If MECHATROLINK communications cannot be started when establishing a
connection from the CX-Motion-NCF, an MLK initialization error (Unit error
code: 0020 (hex)) regardless of the setting of the Axes to Connect parameter.
Provide interlock circuits to allow for this as required by the system.
Name Word Bit Contents
Axes to connect n+2 00 The following settings apply if axis 1
is registered in the scan list:
0: MECHATROLINK communica-
tions started for axis 1
1: MECHATROLINK communica-
tions not started for axis 1
01 Same as above for axis 2
02 Same as above for axis 3
03 Same as above for axis 4
04 Same as above for axis 5
05 Same as above for axis 6
06 Same as above for axis 7
07 Same as above for axis 8
08 Same as above for axis 9
09 Same as above for axis 10
10 Same as above for axis 11
11 Same as above for axis 12
12 Same as above for axis 13
13 Same as above for axis 14
14 Same as above for axis 15
15 Same as above for axis 16