Omron CS1W-MCH71 -, Руководство по эксплуатации

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Operating Mode
Section 7-2
The MC Unit operates as shown in the table below when the operating mode
of the CPU Unit is changed:
CPU Unit Status The MC Unit operates as shown in the table below when the CPU Unit is in
the following state:
Note Output signals will not change even when Servo OFF is executed.
7-2 Operating Mode
This section describes the MC Unit internal modes, the function for controlling
the MC Unit from the CPU Unit using manual/automatic modes, and CPU Unit
ladder programming.
MC Unit Internal Modes The MC Unit has three internal modes: RUN, CPU and Tool Modes.
CPU Unit operating mode
change
MC Unit operation
RUN Mode or MONITOR Mode
→
PROGRAM Mode
All the axes decelerate and stop.
*Note that, however, there will be no influence
on the MC Unit operation when the MC Unit is in
Tool Mode. (The CPU Unit does not control the
MC Unit in Tool Mode.)
Other than the above There is no influence on the MC Unit operation.
CPU Unit status MC Unit operation
CPU Unit fatal error:
An error such as memory error
occurred during operation and the
operation cannot be continued.
• When “CPU stopping” is notified, Servo OFF (See note.) is executed
.
• This error is stored in the error log.
• From this point on, no commands can be accepted from the CPU Unit. Note that,
however, various operations can be received from the Support Tool. (Event commu-
nications can be used.)
Load rejection:
Load is rejected from applications
in debugging.
• When “Load rejection” is notified, the MC Unit interprets all the inputs from the CPU
Unit as all “0”. Due to this, the program operation, the JOG operation, and so on,
decelerate and stop.
Bus error: • When the Bus error is detected, Servo OFF (See note.) is executed.
• The error is stored in the error log.
• From this point on, no commands can be accepted.
CPU WDTUP: • When “WDT UP” is detected, the same processing as for CPU Unit fatal error is
executed.
Power interruption: • When “Power interruption” is detected, Servo OFF (*1) is executed.
• From this point on, no commands can be accepted.
CPU standby:
(When CPU Unit is turned ON)
• This is ignored because there is no influence on execution of MC Unit functions.
Restarting CPU Bus Unit during
operation
• User turned ON AR
• Routing table transfer (communi-
cation unit)
• When Restart is detected, Servo OFF is executed on all the tasks and axes.
• After that, the same processing as for powering ON is executed.
Verification error:
When CPU Unit is turned ON
• “Verification error” is notified.
• The error is stored in the error log.
• From this point on, no commands can be accepted.