Omron CS1W-MC221 -, Operation Manual

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Interface Specifics Section 5-4
Programming Example
Servo-lock Bits
These bits are used to lock the servo. The processes listed below are per-
formed when a bit turns ON. The bit is ignored if the servo is already locked.
1,2,3... 1. If an absolute encoder is being used, the present position is read from the
encoder and the origin is established. The No Origin Flag will turn OFF
once the present position has been established.
2. A wiring check is performed the first time the servo is locked after power is
turned ON. If the wiring check is normal, wiring checks won’t be performed
when the servo is locked thereafter.
3. A position loop is formed in the MC Unit.
4. The Run Command Output to the Servo Driver is turned ON. This forms a
position feedback.
The servo-lock process won’t be interrupted even if a deceleration stop is exe-
cuted. The bit is ignored if the Busy Flag is ON.
Keep the bit ON until the Servo-lock Flag turns ON and then turn it OFF when
the Servo-lock Flag turns ON.
The following can be set for the servo-lock operation in system parameters:
Output port setting (general output/brake output), brake OFF time, wiring
check, wiring check time, and wiring check pulses. Refer to
3-3 System
Parameters for details.
!Caution When using an absolute encoder with a G-series Servo Driver, stop the axis
before locking the servo. Position slippage will occur if the servo is locked
while the axis is moving.
The timing of the servo-lock operation is shown in the following illustrations.
n+7, 14/
n+11, 14
n+7, 15/
n+11, 15
OUT
(Sets MPG/Sync
Encoder Ratio
Specifier 1.)
OUT
(Sets MPG/Sync
Encoder Ratio
Specifier 2.)
OUT
(Starts MPG/Sync
Encoder operation.)
Condition for
Ratio Specifier 1
Condition for
Ratio Specifier 2
Enable
MPG/Sync
Encoder
condition
n+7, 08/
n+11, 08
Word Axis Bit I/O Valid mode
MC221 MC421
n+7 n+11 X axis 09 Output Manual
n+9 n+13 Y axis
--- n+15 Z axis
--- n+17 U axis
Signal Function
↑
Starts the servo lock.