Omron CS1W-MCH71 -, Operation Manual

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Countermeasures
Section 11-2
Alarm Occurrence Sequence
When an alarm occurs, it is generated in the following sequence.
When a motion task-related alarm occurs:
1,2,3... 1. Task status
The bit [Motion task alarm] is turned ON, and the alarm code is set.
2. Alarm identification data
The bit [Alarm Occurring] is turned ON, and the bit [Motion Task Alarm Oc-
curring] is turned ON.
(Processing Image)
Note The following diagram shows the case where an alarm (nesting error) occurs
in motion task 2.
When an axis-related alarm occurs:
1,2,3... 1. Axis status
The bit [Axis Alarm] is turned ON, and the alarm code is set.
2. Motion task status
The bit [Motion Task Alarm] is turned ON, and the alarm code [2008h: Axis
alarm generated] is set.
3. Alarm identification data:
The bit [Alarm Occurring] is turned ON, the bit [Motion Task Alarm Occur-
ring] is turned ON, and the bit [Axis Alarm Occurring] is turned ON.
(Processing Image)
Note The following diagram shows the case where the alarm [3002h: Positive direc-
tion over travel] occurs on the physical axis 5 when controlling the physical
axes 4 to 6 with motion task 2.
Alarm Identification Data
(1)
(2)
Alarm Occurring
Motion task 1
Alarm Occurring
Motion task 2
Alarm Occurring
:
:
:
:
:
:
Motion task 8
Alarm Occurring
Axis 1
Alarm Occurring
Axis 2
Alarm Occurring
Axis 32
Alarm Occurring
Task Status
Motion task 1
Motion task 1
Motion Task Alarm
Motion task 1 Motion
Task Alarm Code
Motion task 2
Motion task 2
Motion Task Alarm
Motion task 2 Motion
Task Alarm Code
Motion task 8
Motion task 8
Motion Task Alarm
Motion task 8 Motion
Task Alarm Code
Nesting alarm
occurred in
motion task 2