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231
Controlling the MC Unit from the CPU Unit
Section 5-2
Reset and Servo-unlock commands can be received while the Deceleration
Stop command is ON.
The Origin Search, Reference Origin Return, Jogging, and Enable MPG com-
mands are executed on the OFF to ON transition of the bit status, and con-
tinue operation while the control bit is ON.
To interrupt operation, turn the control bit OFF or execute the Deceleration
Stop command.
Operation of the Error Counter Reset, Forced Origin Set, ABS Initialization,
Servo-lock, or Servo-unlock commands cannot be stopped. These commands
are executed to completion once the control bit has been turned ON.
Command Combinations
The following table shows which commands can be executed while other
commands are being executed. The symbols (
❍
: OK;
×
: Not possible) indicate
whether the corresponding command at the top of the table can be made
while the corresponding command on the left side of the table is being exe-
cuted.
Busy Flag
The Busy Flag is turned ON when a command is being executed, and turned
OFF when the command is completed. Deceleration Stop is the only com-
mand that can be received while this flag is ON.
Sequence programs should be written so that other commands will not be
executed while the commands that cannot be interrupted (Error Counter
Reset, Forced Origin Set, ABS Initialization, Servo-lock, and Servo-unlock)
are being executed.
!Caution
After executing a command, do not execute another command until the first
command has been completed and the Busy Flag has turned OFF.
Command being
executed
Deceleration
Stop
Origin Search
Reference
Origin Return
Jogging
Error Counter
Reset
Forced
Origin Set
ABS
Initialization
Enable MPG
Servo-lock
Servo-unlock
Present Posi-
tion Preset
Deceleration
Stop
×
×
×
❍
×
×
×
×
❍
×
Origin Search
❍
×
×
❍
×
×
×
×
❍
×
Reference Origin
Return
❍
×
×
❍
×
×
×
×
❍
×
Jogging
❍
×
×
❍
×
×
×
×
❍
×
Error Counter
Reset
❍
×
×
×
❍
×
×
×
❍
×
Forced
Origin Set
×
×
×
×
×
×
×
×
❍
×
ABS
Initialization
×
×
×
×
❍
×
×
×
❍
×
Enable MPG
❍
×
×
×
❍
×
×
×
❍
×
Servo-lock
×
×
×
×
❍
×
×
×
❍
×
Servo-unlock
×
×
×
×
❍
×
×
×
×
×
Present
Position
Preset
×
×
×
×
❍
×
×
×
×
❍
Command
Busy Flag
Содержание CS1W-MC221 -
Страница 1: ...Motion Control Units Cat No W359 E1 04 CS1W MC221 V1 421 V1 OPERATION MANUAL ...
Страница 2: ...CS1W MC221 V1 421 V1 Motion Control Units Operation Manual Revised February 2008 ...
Страница 3: ...iv ...
Страница 5: ...vi ...
Страница 11: ...xii ...
Страница 15: ...xvi ...
Страница 19: ...xx ...
Страница 27: ...xxviii Conformance to EC Directives 6 ...
Страница 133: ...106 Installation Section 2 2 2 2 4 Dimensions CS1W MC421 CS1W MC221 ...
Страница 173: ...146 Connecting Peripheral Devices Section 2 7 ...
Страница 227: ...200 Command Area Section 3 6 ...
Страница 351: ...324 Interface Specifics Section 5 4 ...
Страница 513: ...486 Absolute Encoder Interface Specifications Section 9 7 ...
Страница 575: ...548 Error Log Section 12 6 ...
Страница 589: ...562 Performance Appendix A ...
Страница 655: ...628 Control Bit Flag Timing Charts Appendix E ...
Страница 683: ...656 Origin Search Patterns Appendix F ...
Страница 685: ...658 Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers Appendix G ...