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

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MECHATROLINK Communications Control Section 6-3
Note When a connection is released, the PCU immediately stops controlling the
active axes. If a connection is released while another command is being pro-
cessed, the Servo Drive may not respond to the command properly. Make
sure that command processing has been completed (Busy Flag = 0 and Servo
Parameter Transferring Flag = 0) before releasing a connection. When a con-
nection is reestablished after recovering from an error that caused the PCU to
release a connection, confirm that the settings and operating status of the
Servo Drive are correct before restarting operations. (If necessary, transfer
the Servo parameters again and execute DEVICE SETUP.)
6-3-2 MECHATROLINK Communications Status
The MECHATROLINK communications status is given using the following two
status flags allocated in the Common Operating Input Memory Area of the
PCU.
• Connection Status Flag
• Axis Communications Status Flags
Connection Status Flag This status flag turns ON when the PCU has established a connection
(MECHATROLINK communications have started).
The PCU starts MECHATROLINK communications for the axes registered in
the scan list. This status flag will turn ON, however, when CONNECT is exe-
cuted, even if nothing is registered in the scan list.
The Connection Status Flag turns OFF when the connection is released. The
Connection Status Flag is allocated in CIO 1516 + (unit number
×
25), bit 15.
Common Operating Memory Area (Input)
n = CIO 1500 + (unit number
×
25)
Axis Communications
Status Flags These status flags turn ON when a connection has been established between
the PCU and the MECHATROLINK devices connected to the PCU. The Axis
Communications Status Flags are allocated in one word with 16 bits, with one
bit assigned to each of the 16 axes showing the corresponding communica-
tions status.
The PCU connects the axes registered in the scan list to MECHATROLINK
communications, recognizing those axes and monitoring their communica-
tions. Therefore, the Axis Communications Status Flags for axes not regis-
tered in the scan list are always OFF.
Name Word Bits Contents
Connection Status
Flag n+16 15 0: MECHATROLINK communications
stopped.
1: MECHATROLINK communications exe-
cuting.
Word n+16
15
Connection Status Flag
n = CIO 1500 + (unit number
×
25)
This flag turns ON when MECHATROLINK communications start
and turns OFF when MECHATROLINK communications stop.