Omron CS1W-MC221 - 02-2008 Operation Manual page 258

Controlling the MC Unit from the CPU Unit
Command Combinations
Command being Deceleration Origin Search
executed Stop
Deceleration
Stop
❍
Origin Search
❍
Reference Origin
Return
❍
Jogging
❍
Error Counter
Reset
Forced
Origin Set
ABS
Initialization
❍
Enable MPG
Servo-lock
Servo-unlock
Present
Position
Preset
Busy Flag
!Caution After executing a command, do not execute another command until the first
Reset and Servo-unlock commands can be received while the Deceleration
Stop command is ON.
The Origin Search, Reference Origin Return, Jogging, and Enable MPG com-
mands are executed on the OFF to ON transition of the bit status, and con-
tinue operation while the control bit is ON.
To interrupt operation, turn the control bit OFF or execute the Deceleration
Stop command.
Operation of the Error Counter Reset, Forced Origin Set, ABS Initialization,
Servo-lock, or Servo-unlock commands cannot be stopped. These commands
are executed to completion once the control bit has been turned ON.
The following table shows which commands can be executed while other
commands are being executed. The symbols (❍: OK; : Not possible) indicate
whether the corresponding command at the top of the table can be made
while the corresponding command on the left side of the table is being exe-
cuted.
Reference Jogging Error Counter
Origin Return Reset
❍
❍
❍
❍
❍
❍
❍
❍
❍
❍
The Busy Flag is turned ON when a command is being executed, and turned
OFF when the command is completed. Deceleration Stop is the only com-
mand that can be received while this flag is ON.
Command
Busy Flag
Sequence programs should be written so that other commands will not be
executed while the commands that cannot be interrupted (Error Counter
Reset, Forced Origin Set, ABS Initialization, Servo-lock, and Servo-unlock)
are being executed.
command has been completed and the Busy Flag has turned OFF.
Forced ABS Enable MPG
Origin Set Initialization
Section 5-2
Servo-lock Servo-unlock Present Posi-
tion Preset
❍
❍
❍
❍
❍
❍
❍
❍
❍
❍
231