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259
MECHATROLINK Communications Control
Section 6-3
With Position Control Units with unit version 2.0 or later, the rejoin function
can be used to restart MECHATROLINK communications for specific axes
without stopping MECHATROLINK communications for all axes.
Using the Rejoin
Function
The rejoin function is used by turning ON the REJOIN command bit in the
Common Operating Output Memory Area of the Position Control Unit.
When the REJOIN command bit is turned ON, the process to start MECHA-
TROLINK communications is performed in the same way as when a connec-
tion is established. This can be used to restart communications for any axes
registered in the scan list that are not part of the connection or for which axis
operations are not possible due to a communications error.
When using the REJOIN command bit, the axis for which rejoin processing is
to be performed can be specified in the Axes to Connect parameter. Refer to
6-3-5 Specifying the Axes to Connect
for details on the Axes to Connect
parameter.
When rejoining the connection, errors that occur in the Position Control Unit or
the axes will be reset.
Functionality for axis operations after rejoining a connection are the same as
when establishing the connection.
The REJOIN command bit is bit 15 of CIO 1501+ (unit number
×
25). Keep the
REJOIN command bit ON until the Unit Busy Flag turns ON.
Common Operating
Output Memory Area
PLC
(Position
Control Unit)
Servo Drive
Axis 1
Axis 1
Axis 1
Axis 2
Axis 2
Axis 2
Axis 3
Axis 3
Axis 3
Axis 4
Axis 4
Axis 4
Communications
disabled, e.g.,
power interrupted
Releasing Connections
(communications temporarily
stopped for all axes)
Establishing Connections
Rejoining Connections
Axis operation
Axis
operation
possible
Axis
operation
not possible
Axis
operation
possible
Axis
operation
possible
Axis
operation
not possible
Axis
operation
not possible
Axis
operation
not possible
Axis
operation
not possible
Axis
operation
possible
Axis
operation
possible
Axis
operation
possible
Axis
operation
possible
PLC
(Position
Control Unit)
PLC
(Position
Control Unit)
Name
Word
Bit
Contents
REJOIN
n+1
15
Rejoining the connection is
started when this bit is turned
ON.
Содержание CJ1W-NC271 - 12-2009
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Страница 22: ...xxii ...
Страница 58: ...30 Starting Operation Section 2 2 ...
Страница 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Страница 264: ...236 Transferring Servo Parameters Section 5 3 ...
Страница 396: ...368 Linear Interpolation Section 9 7 ...
Страница 648: ...620 List of Error Codes Appendix D ...
Страница 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Страница 684: ...656 Index ...
Страница 686: ...658 Revision History ...