Omron CS1W-MCH71 Operation Manual page 486

Interface Specifics
Effect on Other Functions
System Parameters
Program Example
n+15.00
Unit Ready
n+15.00
Unit Ready
Timing Chart
Word Variable
n+15 OW0303
Function
• The bit [Unit Ready] will be turned ON after the power is turned ON, the
initial processing is completed, and the motion task becomes ready to
receive commands.
• During normal operations, the bit [Unit Ready] will be turned OFF when
an alarm that requires the system stop occurs.
• When the bit [Unit Ready] is OFF, all the commands from the cyclic area
will be ignored.
• Whether the motion program can be actually executed or not depends on
the bit [Command Disabled/Enabled] of the axis declared by PROG com-
mand.
Nil
The MC Unit supports processing of great amounts of data and varieties of
peripheral devices to realize multi-axis applications. Due to the fact, it takes
the MC Unit a certain period of time (8 seconds min.) to get ready for opera-
tion.
Additionally, the MC Unit and CPU Unit establish communications asynchro-
nously. To make the MC Unit receive instructions from PLC without fail, make
sure to send instructions from the CPU Unit to the MC Unit when the bit [Unit
Ready] is ON.
<Example of always using Task 1 and 2 as start tasks>
+0 to 31.15 x+32 to 63.03
In Automatic In Servo Lock
Mode
Note Programs (for arithmetic operation, etc.) that do not use axes may start
motion tasks with the bit [Unit Ready], however, programs that use axes
require interlock for the used axes as shown above.
Nil
Bit
07 External Forced Stop Request
08 External Forced Stop Status
The bit [External Forced Stop Request] indicates the occurrence of a forced
stop request from something other than the input variable. The bit [External
Forced Stop Status] indicates the status of the stop caused by a forced stop
request.
x+32 to 63.13
Command
Disabled/
Enabled
Interlock
Name
Section 7-4
n+4.01
Motion Task 1 Start
n+5.01
Motion Task 2 Start
I/O
Input
Input
441