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347
Using Direct Operation
Section 9-4
When an Error that Stops (Deceleration/Emergency Stop) Axis Operation
Occurred
Example: Limit Input Error
When a Warning Allowing Axis Operation to Continue Occurred
Example: Parameter Setting Warning during Servo Parameter Transfer
0000
0000
Forward rotation limit input
RELATIVE MOVEMENT
(word a, bit 04)
AXIS ERROR RESET Bit
(word a, bit 12)
Receiving Command Flag
(word b, bit 00)
Busy Flag (word b, bit 13)
PCU Positioning Complet-
ed Flag (word b, bit 05)
Error Flag (word b, bit 12)
Axis error code (word b+4)
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
3000 hex (Example:
Forward rotation limit)
The PCU Positioning Completed Flag turns OFF
during execution of the movement command. This
flag will not turn ON if the executed positioning
command is not completed due to an error.
If an error occurs, the Error Flag will turn ON, the
axis error code stored, and the axis will stop
according to the stopping method set for when
errors occur. The Error Flag will turn OFF when
AXIS ERROR RESET is executed. If an error
occurs, after the Busy Flag turns ON, the Error
Flag and axis error code will remain ON and set
for either one cycle time or MECHATROLINK
communications cycle, whichever is longer.
0000
0000
RELATIVE MOVEMENT
(word a, bit 04)
AXIS ERROR RESET
(word a, bit 12)
WRITE SERVO PARAMETER
(word a+1, bit 12)
Receiving Command Flag
(word b, bit 00)
Busy Flag (word b, bit 13)
PCU Positioning Completed
Flag (word b, bit 05)
Servo Parameter Transferring
Flag (word b, bit 14)
Warning Flag (word b, bit 11)
Axis error code (word b+4)
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
4094 hex (Example:
Parameter setting warning)
The PCU Positioning Completed Flag turns
OFF during execution of the movement
command. This flag will not turn ON if the
executed positioning command is not
completed due to an error.
Axis operation
continues
When a warning occurs, the Warning Flag turns
ON and the axis error code (warning code) is
stored. The Warning Flag will turn OFF when
AXIS ERROR RESET is executed.
If an error occurs, after Busy Flag turns ON, the
Warning Flag will turn ON and the axis error
code will be set after either one cycle time or
MECHATROLINK communications cycle,
whichever is longest.
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 ...