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28
Starting Operation
Section 2-2
The following diagram shows the operation for the RELATIVE MOVEMENT
command.
Servo Unlock
The Servomotor connected to MECHATROLINK can be set to servo unlock
status by turning ON the SERVO UNLOCK Bit in the Axis Operating Output
Memory Area.
In this operation example, the Common Parameters are set so that the begin-
ning word of the Axis Operating Output Memory Area for axis 1 is allocated in
CIO 100. Therefore, the SERVO UNLOCK Bit for axis 1 is allocated in CIO
10101. Turn ON this bit using the Programming Console.
When the servo unlock operation is performed, the Servomotor is placed in
servo unlock status. The SVON (Servo ON) Flag indicating servo status in the
Axis Operating Memory Areas turns OFF when using an R88D-WT
@
Servo
Drive with a FNY-NS115 MECHATROLINK-II I/F Unit.
In this operation example, the Common Parameters are set so that the begin-
ning word of the Axis Operating Input Memory Area for axis 1 is allocated in
CIO 500. Therefore, the SVON Flag for axis 1 is allocated in CIO 50103.
When the servo unlock status is no longer required, turn OFF the correspond-
ing SERVO UNLOCK Bit in the Axis Operating Output Memory Area.
Stopping MECHATROLINK Communications
Always stop MECHATROLINK communications before turning OFF the power
supply to the Servo Drive. MECHATROLINK communications are stopped by
turning OFF the CONNECT Bit in the Common Operating Memory Area.
For the PCU with unit number 0, the CONNECT Bit is allocated in CIO
150100. Use the Programming Console to turn OFF this bit, which was turned
ON at the start of MECHATROLINK communications.
CIO 102
CIO 103
CIO 104
CIO 105
A120 hex
0007 hex
86A0 hex
0001 hex
CPU Unit
CIO 100
04
CIO 506
CIO 507
Axis Operating Output Memory Area
(Axis 1)
Target position: 0007 A120 hex
= 500,000 pulses
Target speed: 0001 86A0 hex
= 100,000 pulses/s
Axis Operating Input Memory Area
(Axis 1)
Feedback present position
(rightmost word)
Feedback present position (leftmost word)
RELATIVE
MOVEMENT Bit
PCU
MECHATROLINK
Servo Drive/
Servomotor (Axis 1)
100,000 pulses/s
500,000 pulses
CIO 101
01
SERVO UNLOCK Bit
This bit places the Servomotor in servo unlock
status when it is turned ON.
CIO 501
03
SVON Flag
This flag turns ON when the Servomotor is in servo
lock status, and turns OFF when the Servomotor is
in servo unlock status.
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 ...