![background image](http://html1.mh-extra.com/html/omron/cj1w-nc271-12-2009/cj1w-nc271-12-2009_operation-manual_742348288.webp)
260
MECHATROLINK Communications Control
Section 6-3
n = 1500 + (unit number
×
25)
Common Operating Input
Memory Area
n = 1500 + (unit number
×
25)
The REJOIN command bit can be used when the Connection Status Flag is
ON (i.e., when a connection is established).
When executing processing for an axis to rejoin a connection, the Unit Busy
Flag will turn ON for a minimum of one scan time and until the Axis Communi-
cations Status Flags turn ON for the axes being processed or until a MLK ini-
tialization error (Unit error code: 0020 (hex)) occurs after the REJOIN
command bit is turned ON.
Note
When the REJOIN command is executed, processing to restart MECHA-
TROLINK communications is performed for all specified axes. If there are any
axes for which MECHATROLINK communications cannot be started, commu-
nications errors will not occur for individual axes, but rather an MLK initializa-
tion error (Unit error code: 0020 (hex)) will occur for the entire Unit. If
MECHATROLINK communications cannot be restarted when attempting to
recover from communications errors for only specific axes, the error status will
thus change from one for specific axes before rejoin processing to one for the
entire Unit after rejoin processing. Monitor the status of these error flags to
determine the result of rejoin processing.
Name
Word
Bit
Contents
Unit Busy Flag
n+16
14
0: PCU is not busy.
1: PCU is busy.
Connection Status
Flag
15
0: MECHATROLINK commu-
nications stopped.
1: MECHATROLINK commu-
nications executing.
Axis Communica-
tions Status Flags
n+22
00 to 15
Indicate the communications
status for each axis.
Содержание CJ1W-NC271 - 12-2009
Страница 2: ......
Страница 4: ...iv ...
Страница 6: ...vi ...
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 ...