Using Direct Operation; Starting Direct Operation - Omron CJ1W-NC271 - 12-2009 Operation Manual

Using Direct Operation

Axis Operating Input Memory Areas (Monitoring)
9-4 Using Direct Operation
9-4-1

Starting Direct Operation

1,2,3...
Executing ABSOLUTE
MOVEMENT
Name
Receiving Command
Flag
PCU Positioning Com-
pleted Flag
No Origin Flag
Error Flag
Busy Flag
Feedback present posi-
tion
Command present posi-
tion
b = Beginning word of Axis Operating Input Areas specified in Common
Parameters + (Axis No. −1) × 25
The Receiving Command Flag turns ON for at least one cycle time when the
command to start direct operation is received by the PCU. Use the Receiving
Command Flag when starting and changing target positions to control the
ON/OFF timing for ABSOLUTE MOVEMENT and RELATIVE MOVEMENT.
Two methods for starting direct operation are available, as follows:
1. When the ABSOLUTE MOVEMENT Bit turns ON
2. When the RELATIVE MOVEMENT Bit turns ON
When starting direct operation, make sure that the ABSOLUTE MOVE-
MENT/RELATIVE MOVEMENT Bit remains ON until the Receiving Command
Flag or the Busy Flag in the Axis Operating Input Memory Area turns ON.
Direct operation commands will be ignored if the SERVO UNLOCK, DEVIA-
TION COUNTER RESET, EMERGENCY STOP, or DECELERATION STOP
Bit is ON. Be sure these bits remain OFF while performing direct operation.
ABSOLUTE MOVEMENT positions the axis at the specified position using the
position command value in the Axis Operating Output Memory Area as abso-
lute data. If ABSOLUTE MOVEMENT is started without the origin established
(No Origin Flag = 1), a Present Position Unknown Error (axis error code:
3030) will occur, and positioning will not be executed.
The positioning range for ABSOLUTE MOVEMENT is any absolute position
for which the travel amount from the present position is between
−2,147,483,648 and 2,147,483,647 (command units).
Word Bits
b 00 0: Command reception enabled.
0 → 1: Command reception started.
1: Receiving command (command
reception disabled).
0 → 1: Positioning is completed.
05
06 0: Origin established.
1: No origin established.
12 0: No axis error.
1: Axis error has occurred.
13 1: Axis busy (axis operation executing)
b+6 --- Present position:
b+7 Feedback present position (rightmost
word)
Feedback present position (leftmost
word)
b+8 --- Present position:
b+9 Command position (rightmost word)
Command position (leftmost word)
Section 9-4
Contents
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