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

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Basic Program Examples Section 11-2
11-2-2 Starting and Stopping MECHATROLINK Communications
Overview
This program starts MECHATROLINK communications (establishes a con-
nection) based on the MECHATROLINK communications settings and the
scan list set in the PCU's Common Parameters; the program can also stop
communications (release the connection).
While the PCU connection is established, MECHATROLINK communications
will be stopped automatically if normal communications are not established
with all of the axes registered in the scan list within the preset timeout time.
(If the PCU cannot start communications with an axis registered in the scan
list within 10 seconds, an MLK Initialization Error will occur. This sample pro-
gram contains a timer function that stops communications before the MLK Ini-
tialization Error is detected.)
This program uses the MECHATROLINK communications settings and the
scan list that are already set in the PCU's Common Parameters.
This sample program uses the following parts of the CPU Unit's I/O memory.
CPU Bus Unit Area
CIO 1500 to CIO 1524
These word addresses are contained in the CPU Bus Unit Area words allo-
cated to unit number 0.
Work Area (WR Area)
W303.00 to W303.04
These Work Area bits are used to show the progress of function execution
and the execution status.
Timer Area
TIM0000
Used as a watchdog timer to monitor the establishment of a connection.
This program uses the CONNECT Bit in the Common Operating Memory
Area to start and stop MECHATROLINK communications.
When the Start Communications condition goes ON, MECHATROLINK com-
munications are started (a connection is established). Likewise, when the
Stop Communications condition goes ON, MECHATROLINK communications
are stopped (the connection is released).
In this sample program, only Axis 1 is registered in the scan list.
If MECHATROLINK communications start normally with Axis 1, Work Area bit
W303.03 will be turned ON.
The connection will be stopped and Work Area bit W303.04 will be turned ON
if MECHATROLINK communications do not start with Axis 1 5 seconds after
execution of CONNECT.
Since the PCU will continue MECHATROLINK communications while the
CONNECT Bit (CIO 1501.00) is ON, the CONNECT Bit is programmed as a
self-holding bit in the ladder program. If an error occurs that stops communi-
cations, such as a communications error, the PCU will release the connection
regardless of the status of the CONNECT Bit.
To reestablish the connection after eliminating the cause of the error, the
CONNECT Bit must be turned OFF and then ON again. When releasing the
connection after an error occurs, use W303.02 to turn OFF the self-holding
circuit that holds the CONNECT Bit.