Omron CJ1W-NC271 - 12-2009, Operation Manual

Page: 443 / 687

415
Stop Functions
Section 10-9
EMERGENCY STOP can be executed for an axis that is servo-locked as long
as SERVO UNLOCK or DEVIATION COUNTER RESET is not being executed
and the command bits for these commands are not ON and as long as an axis
error has not occurred.
When executing EMERGENCY STOP, make sure that the EMERGENCY
STOP Bit remains ON until the Receiving Command Flag or Stop Execution
Flag in the Axis Operating Input Memory Area turns ON.
All axis operation commands except for SERVO UNLOCK and DEVIATION
COUNTER RESET will be ignored during EMERGENCY STOP execution or
while the EMERGENCY STOP Bit is ON.
Axis Operating Output Memory Areas (Operating Commands)
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
Axis Operating Input Memory Areas (Monitoring)
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
The Stop Execution Flag turns ON when DECELERATION STOP or EMER-
GENCY STOP is received, but does not check whether the remaining pulses
in the Servo Drive are within the positioning completion range, unlike the PCU
Positioning Completed Flag in direct operation.
The Stop Execution Flag turns OFF when direct operation, jogging, speed
commands or other movement commands are executed.
10-9-4 Stop Function Timing Chart
The following timing chart is for when DECELERATION STOP is executed.
The timing chart for EMERGENCY STOP is the same, except that operation is
stopped after distributing the pulses remaining in the Servo Drive.
Speed
Movement command EMERGENCY
STOP executed
Time
Regardless of the previous control mode,
EMERGENCY STOP is executed after switching
to position control.
When pulses remain in the Servo Drive's deviation
counter, after EMERGENCY STOP is executed, the
remaining pulses are distributed and operation is
stopped.
The Servomotor is set to Servo lock status after
operation stops.
Name Word Bits Contents
EMERGENCY STOP a+1 15 0
→
1: Starts emergency stop.
Name Word Bits Contents
Receiving Command
Flag b 00 0: Command reception enabled.
0
→
1: Command reception started.
1: Receiving command (command
reception disabled).
Busy Flag 13 1: Axis busy (axis operation executing).
Stop Execution Flag 15 0
→
1: Stop operation completed.