Omron CJ1W-NC271 - 12-2009, Operation Manual

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Basic Program Examples
Section 11-2
11-2-4 Servo Lock/Unlock
Overview
This sample program executes the Servo Lock/Unlock function on a Servo
Drive connected through MECHATROLINK communications.
Also, timeout processing will be performed when the Servo Lock function has
been executed but the Servo Lock did not engage for the axis within a preset
time.
Execute this sample program only after starting MECHATROLINK communi-
cations (establishing a connection).
In this example, the Servo Lock/Unlock function is executed on the Servo
Drive registered as axis 1 using the SERVO LOCK Bit or SERVO UNLOCK Bit
in the Axis Operating Output Memory Area.
The Axis Operating Output/Input Memory Areas are based on the settings of
the Common Parameter Area, as shown below. The application example in
11-3-1 Initial PCU Settings shows a sample program that can be used to
make the following settings.
Beginning word of Axis Operating Output Memory Area: CIO 0000
(Axis 1 Operating Output Memory Area: CIO 0000 to CIO 0024)
Beginning word of Axis Operating Input Memory Area: CIO 1000
(Axis 1 Operating Input Memory Area: CIO 1000 to CIO 1024)
This sample program uses the following parts of the CPU Unit's I/O memory
in addition to the CIO Area words listed above.
Work Area (WR Area)
W305.00 to W305.05
These Work Area bits are used to show the progress of function execution
and the execution status.
Timer Area
TIM0001
Used as a watchdog timer to monitor the execution of the Servo Lock function.
This sample program alternately executes the Servo Lock and Servo Unlock
functions each time that the Servo Lock Switch execution condition goes from
OFF to ON.
If the Axis 1 Servo Lock is not engaged within 5 seconds after the Servo Lock
function is executed, a Servo Lock Execution Timeout will occur, bit W305.05
will be turned ON for one cycle, and the Servo Unlock function will be exe-
cuted.