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Each MC Unit uses two words as a Fixed DM Area (i.e., an initial setting area)
between DM 1000 and DM 2599.
If an expansion DM area is effective, the area occupies 23 words except from
DM 1000 to DM 2599. The first word of the expansion DM area is specified in the
initial setting area.
Note
Each unit number must be unique. Do not set unit #9 and F.
6-3
Controlling the MC Unit from the PC
This section describes the PC’s ladder programs that control the MC Unit in
manual mode or automatic mode.
Manual and Automatic Modes
There are two ways to control the MC Unit: manual mode or automatic mode.
Automatic mode uses the G-language program in the MC Unit.
In manual mode, the following functions can be used to control each axis. These
functions are called commands here. Refer to
6-5 Interface Bit Specifics
for
details on the control bits that execute each of these commands.
Deceleration Stop
Origin Search
Reference Origin Return
Jogging
Current Position Preset
ABS Initialization
ABS Soft Reset
Enable MPG
Servo Lock
Servo Free
Each command operates independently on each axis. Either the automatic
mode or manual mode can be selected by turning ON or OFF the automatic/
manual mode bit.
6-3-1 Manual Mode
Each command is executed on the up-differentiation (OFF
→
ON transition) of
its control bit. The following shows the commands that have a function when
their control bits are OFF.
Command
ON function
OFF function
Deceleration Stop
Stops other commands.
---
Origin Search
Continues operation.
Stops operation.
Reference Origin Return
p
p
p
Jogging
Enable MPG
Executing the Deceleration Stop command has no effect when no other com-
mands are being executed, but no other commands can be received while the
Deceleration Stop command is left ON.
The Origin Search, Reference Origin Return, Jogging, and Enable MPG com-
mands are executed on up-differentiation and continue operation while the con-
trol bit is ON. To interrupt operation, turn the control bit OFF or execute the
Deceleration Stop command.
Operation of the Current Position Preset, ABS Initialization, ABS Soft Reset,
Servo Lock, and Servo Free commands can’t be stopped. These commands are
processed to completion on the up-differentiation of the corresponding control
bits.
Controlling the MC Unit from the PC
Section 6-3
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