Specifying The Axes To Connect - Omron CJ1W-NC271 - 12-2009 Operation Manual

MECHATROLINK Communications Control
Timing Chart
Axis 1 Communications Status Flag (n+22 00)
Axis 2 Communications Status Flag (n+22 01)
6-3-5

Specifying the Axes to Connect

A timing chart for rejoin processing is provided below for Position Control
Units with unit version 2.0 or later. In this example, axes 1 and 2 are regis-
tered in the scan list. After a connection is established, a communications
error occurs for axis 2 (i.e., either a sync communications alarm or a commu-
nications alarm).
CONNECT (n+1 00)
REJOIN (n+1 15)
Unit Error Flag (n+15 12)
Unit Busy Flag (n+16 14)
Connection Status Flag (n+16 15)
Axis 2 Error Flag (b+4)
When a communications error occurs for axis 2, the Axis 2 Error Flag and Axis 2
Communications Status Flag will turn OFF.
After removing the cause of the error, the REJOIN command bit is turned ON to clear the
error for axis 2 and restart MECHATROLINK communications. The Axis Communications
Status Flag turns ON.
n = CIO 1500 + (unit number × 25)
b = First word specified in the Common Parameters for the Axis Operating Input Memory Area + (Axis No. −1) × 25
The Axes to Connect parameter can be used to temporarily disable MECHA-
TROLINK communications for one or more axes registered in the scan list.
This enables starting MECHATROLINK communications without errors occur-
ring for axes that are not connected without changing the scan list. This can
be used, for example, during system design and startup when all axes are not
yet connected.
This function can be used only with Position Control Units with unit version 2.0
or later.
The Axes to Connect parameter is in CIO 1502 + (unit number × 25).
Communications error for axis 2
Section 6-3
Communications restored for axis 2
261