Omron CS1W-MC221 -, Operation Manual

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Interface Specifics Section 5-4
Servo-lock ON Flags
A Servo-lock ON Flag will turn ON when the servo is locked. The servo lock is
the status in which the Run command is output to the Servo Driver. Execute
positioning commands when this flag is ON; an error will occur if they are exe-
cuted when this flag is OFF.
Timing Chart
No Origin Flags
A No Origin Flag will turn ON when the reference origin isn’t established. Exe-
cute positioning commands in Automatic Mode or origin returns in Manual
Mode while this flag is OFF. An error will occur if operations requiring an origin
are attempted when the flag is OFF.
The No Origin Flag will turn ON in the following cases:
• The power is turned ON and the machine parameter’s origin search
method isn’t set to “set origin at power on” for an incremental axis.
• Data from the absolute encoder was not read properly for an absolute
axis.
• A wiring error, feedback pulse error, or present position counter overflow
resulted when the MC Unit is in origin search operation.
• G29 (ORIGIN UNDEFINED) was executed.
The origin will be established and the No Origin Flag will be turned OFF in the
following cases:
Absolute Axes
• Data is read properly from the absolute encoder.
Word Axis Bit I/O Valid mode
MC221 MC421
n+22 n+38 X axis 02 Input ---
n+25 n+41 Y axis
--- n+44 Z axis
--- n+47 U axis
Signal Meaning
1 The servo is locked.
0 The servo is unlocked.
Servo-lock
(n+7, 09/n+11, 09)
Servo-lock ON
(n+22, 02/n+38, 02)
Busy Flag
(n+22, 01/n+38, 01)
Word Axis Bit I/O Valid mode
MC221 MC421
n+22 n+38 X axis 03 Input ---
n+25 n+41 Y axis
--- n+44 Z axis
--- n+47 U axis