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346
Using Direct Operation
Section 9-4
Timing Chart for
Error/Warning Flag during
Command Execution
If an error occurs due to an illegal command value when a direct operation
command is executed, the command will not be executed, and the timing
chart will be as follows:
If a Servo Drive warning occurs when a movement command is being exe-
cuted, such as the speed command value exceeding the Servo Drive's limit
value, the Error Flag in the above timing chart is replaced by the Warning Flag
(word b, bit 11). After the command has been executed and the Busy Flag has
been ON for at least one CPU Unit cycle time, the Error Flag and Warning
Flag will turn ON at the same time as the Receiving Command Flag and Busy
Flag turn OFF after either one PLC cycle time or after one MECHATROLINK
communications time, whichever is longer.
Timing Chart for Errors or
Warnings during Axis
Operation
When an error occurs during direct operation, such as a limit input during axis
operation, the axis will either decelerate to a stop, immediately stop (emer-
gency stop), or continue operation, depending on the error.
The timing charts when an error occurs during axis operation are provided
below.
2710 hex (10000)
3E8 hex (1000)
0000
0000
Position command value
(words a+2, a+3)
Speed command value
(words a+4, a+5)
RELATIVE MOVEMENT
(word a, bit 04)
AXIS ERROR RESET
(word a, bit 12)
Receiving Command Flag
(word b, bit 00)
Busy Flag (word b, bit 13)
PCU Positioning Completed
Flag (word b, bit 05)
Error Flag (word b, bit 12)
Axis error code (word b+4)
3040 hex (Example: Servo
unlocked)
a = Beginning word of Axis Operating Output Areas specified in Common Para (Axis No.
−
1)
×
25
b = Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25
The Receiving Command Flag and Busy Flag turn
ON for at least one cycle time when the command is
received.
The PCU Positioning Completed Flag will not
change if direction operation is not performed due
to an illegal movement command.
If an illegal movement command is received, the
Error Flag will turn ON, and the movement
command will not be executed. The Error Flag
will turn OFF when the AXIS ERROR RESET Bit
is turned ON.
If an error occurs, after the Busy Flag turns ON,
the Error Flag will turn ON and the axis error code
will be set after either one cycle time or
MECHATROLINK communications cycle,
whichever is longer.
Содержание CJ1W-NC271 - 12-2009
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Страница 4: ...iv ...
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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 ...