Rejoining The Connection - Omron CJ1W-NC271 - 12-2009 Operation Manual

MECHATROLINK Communications Control
Note
6-3-4

Rejoining the Connection

Overview
258
If an axis warning occurs (Warning Flag = 1), the PCU's command response
time is delayed due to the PCU's warning processing. The PCU processing
time required after receiving a command from the CPU Unit until the com-
mand is sent using MECHATROLINK communications is one MECHA-
TROLINK communications cycle if an axis warning has not occurred, and
three MECHATROLINK communications cycles if an axis warning has
occurred. If the machine's operation would be affected by the PCU's com-
mand response time, clear the axis warning status using ERROR RESET or
set the Servo Drive settings so that the warnings will not occur. For details on
the PCU's command response time, refer to Command Response Time in
Appendix A Performance Characteristics.
The rejoin function can be used to rejoin the connection for an axis for which
operations are not possible using MECHATROLINK communications either
when initially establishing the connection or after the connection has been
established.
This function can be used only with Position Control Units with unit version 2.0
or later.
If any axis registered in the scan list is in either of the following conditions, the
error cannot be cleared with the normal error reset procedure and axis opera-
tions will not be possible from the Position Control Unit.
• If an axis cannot be detected and MECHATROLINK communications cannot
be started within 10 s after executing the connection command (An MLK ini-
tialization error (Unit error code: 0020 (hex)) will occur.)
• If a synchronous communications alarm (axis error code: 3010 (hex)) occurs
or a communications alarm (axis error: 3011 (hex)) occurs
To restart communications for the axis for which axis operations are not possi-
ble with Position Control Units with unit version 1.3 or earlier, the connection
must be broken and MECHATROLINK communications must be stopped for
all axes, and then connection must be re-established.
Section 6-3