Omron CJ1W-NC271 - 12-2009, Operation Manual

Page: 371 / 687

343
Using Direct Operation
Section 9-4
Axis Operating Input Memory Areas (Monitoring)
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
The Receiving Command Flag turns ON for at least one cycle time when the
command to start direct operation is received by the PCU. Use the Receiving
Command Flag when starting and changing target positions to control the
ON/OFF timing for ABSOLUTE MOVEMENT and RELATIVE MOVEMENT.
9-4 Using Direct Operation
9-4-1 Starting Direct Operation
Two methods for starting direct operation are available, as follows:
1,2,3... 1. When the ABSOLUTE MOVEMENT Bit turns ON
2. When the RELATIVE MOVEMENT Bit turns ON
When starting direct operation, make sure that the ABSOLUTE MOVE-
MENT/RELATIVE MOVEMENT Bit remains ON until the Receiving Command
Flag or the Busy Flag in the Axis Operating Input Memory Area turns ON.
Direct operation commands will be ignored if the SERVO UNLOCK, DEVIA-
TION COUNTER RESET, EMERGENCY STOP, or DECELERATION STOP
Bit is ON. Be sure these bits remain OFF while performing direct operation.
Executing ABSOLUTE
MOVEMENT ABSOLUTE MOVEMENT positions the axis at the specified position using the
position command value in the Axis Operating Output Memory Area as abso-
lute data. If ABSOLUTE MOVEMENT is started without the origin established
(No Origin Flag = 1), a Present Position Unknown Error (axis error code:
3030) will occur, and positioning will not be executed.
The positioning range for ABSOLUTE MOVEMENT is any absolute position
for which the travel amount from the present position is between
−
2,147,483,648 and 2,147,483,647 (command units).
Name Word Bits Contents
Receiving Command
Flag b 00 0: Command reception enabled.
0
→
1: Command reception started.
1: Receiving command (command
reception disabled).
PCU Positioning Com-
pleted Flag 05 0
→
1: Positioning is completed.
No Origin Flag 06 0: Origin established.
1: No origin established.
Error Flag 12 0: No axis error.
1: Axis error has occurred.
Busy Flag 13 1: Axis busy (axis operation executing)
Feedback present posi-
tion b+6
b+7 --- Present position:
Feedback present position (rightmost
word)
Feedback present position (leftmost
word)
Command present posi-
tion b+8
b+9 --- Present position:
Command position (rightmost word)
Command position (leftmost word)