Omron CJ1W-NC271 - 12-2009, Operation Manual

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235
Transferring Servo Parameters
Section 5-3
Axis Operating Input Memory Area (Monitoring)
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
The following diagram shows the device setup operation for the Servo Drive.
Timing Chart for DEVICE
SETUP DEVICE SETUP can be executed when the corresponding axis is in Servo
unlocked status and the Busy Flag is not ON. If DEVICE SETUP is executed
while in Servo lock status, a Multistart Error (axis error code: 3050) will occur
and DEVICE SETUP will not be executed.
During DEVICE SETUP processing, the Receiving Command Flag (word b,
bit 00) and Busy Flag (word b, bit 13) remain ON. When DEVICE SETUP exe-
cution is completed, both of these Flags turn OFF. When DEVICE SETUP is
executed, the origin is lost (No Origin Flag turns ON), and the present position
becomes undefined. After DEVICE SETUP is executed, establish the origin
again.
During execution of DEVICE SETUP, the Servo status and Servo Drive output
signals become undefined.
Note DEVICE SETUP cannot be executed if an axis error has occurred. DEVICE
SETUP will be ignored if it is executed during an axis error.
Name Word Bit Contents
Receiving Com-
mand Flag b 00 0: Command reception enabled
0
→
1: Command reception started
1: Receiving command (command recep-
tion disabled)
Busy Flag 13 1: Axis busy (axis operation executing)
11
13 00
MECHATROLINK
CPU Unit PCU Servo Drive
Axis Operating Output
Memory Area
Word a+1
Word b
DEVICE SETUP Bit
Axis Operating Input
Memory Area
Busy Flag, Receiving Command Flag
(ON while executing)
a = Beginning word of Axis Operating Output Areas specified in Common Para (Axis No.
−
1)
×
25
b = Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25
Online
parameters
etc.
etc.
Offline
parameters
Control
processing
Reflected
immediately
Reflected
when power
is turned
ON or
DEVICE
SETUP is
executed.
No Origin Flag (word b, bit 06)
Busy Flag (word b, bit 13)
SVON (Servo ON) Flag
(word b+1, bit 03)
A Multistart Error occurs
if DEVICE SETUP is
executed during Servo
lock status. The Receiving Command
Flag and Busy Flag remain
ON during Servo Drive
setup processing.
Executing DEVICE SETUP
results in no origin (not
established) status.
The Busy Flag remains ON for
at least one cycle time until
Servo Drive setup processing
is completed when the
command for DEVICE SETUP
is received.
If DEVICE SETUP is executed
while in Servo lock status
(SVON Flag ON), the
command is ignored and will
not be executed.
DEVICE SETUP Bit
(word a+1, bit 11)
Receiving Command Flag
(word b, bit 00)