Omron CS1W-MCH71 Operation Manual page 14

Re-execution of WAIT Command
Previous versions
(Unit Ver. 2.1 and earlier)
If the program is stopped while
WAIT command execution is in
effect (i.e., when the deceleration
stop bit is ON) and then re-started
by setting the Start Mode to 1, the
program is started from the next
block after the WAIT command.
Main Power Status
Previous versions
(Unit Ver. 2.1 and earlier)
The main power status (ON/OFF)
is written to a system variable.
Servo Driver Status
Previous versions
(Unit Ver. 2.1 and earlier)
The Servo Driver warning and
alarm codes are stored in the error
log.
The Servo status (torque limit, limit
inputs, etc.) is output to system
variables (SW021C and SW021D
for axis 1.)
Current (Unit Ver. 3.0)
If the program is stopped while WAIT command
execution is in effect (i.e., when the deceleration
stop bit is ON) and then re-started by setting the
Start Mode to 1, the WAIT command is re-exe-
cuted.
Current (Unit Ver. 3.0)
The main power status (ON/OFF) is written to
both a system variable and a status bit for each
axis.
Example for Axis 1:
• x+32 bit 12: Main power ON bit (reserved in
previous unit versions)
0: Main power OFF
1: Main power ON
The servo can be effectively locked from the
CPU Unit after confirming that this bit is ON.
Current (Unit Ver. 3.0)
In addition to the functionality supported in previ-
ous unit versions, Servo Driver warning codes,
alarm codes, and status (torque limit, limit
inputs, etc.) are also output to the following out-
put variables that were reserved in previous unit
versions.
OW0210: Axis 1 Warning code/alarm code
OW0211: Axis 1 Status
(same as SW021C)
OW0212: Axis 1 Status
(same as SW021D)
to
OW026D: Axis 32 Warning code/alarm code
OW026E: Axis 32 Status
(Same as SW07EC)
OW026F: Axis 32 Status
(Same as SW07ED)
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