Omron CJ1W-MA - REV 10-2008, Руководство по эксплуатации

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MECHATROLINK Communications Control Section 6-3
while an origin search is being performed for a motor with an absolute en-
coder on another axis.
6-3 MECHATROLINK Communications Control
MECHATROLINK communications control used for the PCU is described
here.
6-3-1 Establishing Connections
Establishing a connection refers to starting communications between the PCU
and the MECHATROLINK devices registered in the scan list. Connections are
established by turning ON the CONNECT Bit in the Common Operating Out-
put Memory Area. When CONNECT is executed, the PCU executes ERROR
RESET (UNIT ERROR RESET or AXIS ERROR RESET) for the PCU itself
and all the axes registered in the scan list.
For any error that occurs in an axis, ERROR RESET is executed when the
connection with the corresponding axis is established. Therefore, if the cause
of an error is removed, unless an error occurs due to connection processing,
the PCU will start MECHATROLINK communications with all errors reset
when CONNECT is executed.
The PCU status is initialized when a connection is established, as follows:
• PCU Positioning Completed Flag OFF
• Origin not established (No Origin Flag ON)
When using Servomotors with absolute encoders for which the encod-
er type is set to absolute encoder in the axis parameters, however, the
origin is established (No Origin Flag OFF) by reading the absolute val-
ue data when the connection is established.
• Stop Execution Flag OFF
For details on errors when establishing connections, refer to 6-3-3 MECHA-
TROLINK Communications Errors . The CONNECT Bit is allocated in
CIO 1501 + (unit number
×
25), bit 00.
Common Operating Memory Area (Output)
n = CIO 1500 + (unit number
×
25)
If the CONNECT Bit is turned OFF while a connection is established, the PCU
will stop MECHATROLINK communications (connection released).
When a connection is released, the active axis is put in the Servo free run
state.
For all axes registered in the scan list, the status that is input in the Axis Oper-
ating Input Memory Areas for each axis becomes the initial status (non-exe-
cuting status), except for the Error Flag and axis error code. For example, the
No Origin Flag turns ON because the origin is not established.
Name Word Bits Contents
CONNECT Bit n+1 00 0
→
1: Establishes connection.
1
→
0: Releases connection.
Word n+1
00
n = CIO 1500 + (unit number
×
25)
CONNECT Bit
MECHATROLINK communications start when this bit is turned ON.