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

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Absolute Encoder Origin Section 8-6
Executing DEVICE SETUP
The absolute value data for the axis for which DEVICE SETUP was executed
is read.
W-series Servo Drives Starting MECHATROLINK Communications (When a Connection Has
Been Established)
Absolute value data is read for all axes of the Servomotors with absolute
encoders that are registered in the scan list.
DEVICE SETUP (word a+1, bit 11)
SERVO LOCK (word a+1, bit 00)
SERVO UNLOCK (word a+1, bit 01)
Present Position Preset (word a, bit 08)
Busy Flag (word b, bit 13)
Positioning Completed (word b, bit 05)
No Origin Flag (word b, bit 06)
Servo ON (word b+1, bit 03)
Command Present Position (words b+8, b+9)
Once the connection has been established, the zero point position offset
will be set, and the origin will not be established (the No Origin Flag will be
OFF) if the offset is enabled using the device setup with MECHATROLINK
in communications status. Then, the origin will be updated using the set
present position offset when SERVO LOCK is executed.
Absolute value data Preset data Rereading absolute value data
n = Beginning word of Common Operating Memory Area: n = 1500 + (unit number
×
25)
a = Beginning word of Axis Operating Output Memory Areas specified in Common Para (Axis No.
−
1)
×
25
b = Beginning word of Axis Operating Input Memory Areas specified in Common Para (Axis No.
−
1)
×
25
Feedback Present Position (words b+6, b+7)
Absolute value data Preset data
Rereading absolute value data
CONNECT Bit (word n+1, bit 00)
Connection Status Flag (word n+16, bit 15)
Positioning Completed (word b, bit 05)
Present Position Preset (word a, bit 08)
Busy Flag (word b, bit 13)
Feedback Present Position (words b+6, b+7)
Command Present Position (words b+8, b+9)
The absolute value data will be read and the origin
will be established when the CONNECTION Bit is
set and MECHATROLINK is in communications
status (the Connection Status Flag is ON).
n = Beginning word of Common Operating Memory Area: n = 1500 + (unit number
×
25)
b = Beginning word of Axis Operating Input Memory Areas specified in Common Para (Axis No.
−
1)
×
25
Preset data
Preset data
Rereading absolute value data
Rereading absolute value data
The origin will not be established (the No Origin
Flag will be ON) and the present position will
become invalid data when the CONNECT Bit is
OFF and the MECHATROLINK communications
are stopped (the Connection Status Flag is
OFF).
No Origin Flag (word b, bit 06)
Absolute
value data
Absolute
value data
Position data
invalid
Position data
invalid