Omron CS1W-MC221 - 02-2008 Operation Manual page 323

Interface Specifics
Programming Example
Servo-unlock Bits
296
Servo lock
condition
n+22. 01/ n+15, 03/
n+38. 01 n+23, 03
R1
Busy Flag Manual
Mode Flag
n+7, 09/n+11, 09
Servo-lock Bit
Word
MC221 MC421
n+7 n+11 X axis
n+9 n+13 Y axis
--- n+15 Z axis
--- n+17 U axis
When a Servo-unlock Bit is turned ON, the servo-lock is released. The RUN
command to the Servo Driver will be turned OFF and the position loop will be
released. The bit is ignored if the servo is already unlocked.
The servo-unlock process won't be interrupted even if the deceleration stop
command is executed. A Servo-unlock Bit is ignored if the Busy Flag is ON.
Keep the bit ON until the Servo-lock Flag turns OFF and then turn OFF the bit
when the Servo-lock Flag turns OFF.
Be sure that the servo axis does not fall when the servo is unlocked.
The following can be set for the servo-unlock operation in system parameters:
Output port setting (general output/brake output) and brake ON time. Refer to
3-3 System Parameters for details.
The timing of the servo-lock operation is shown in the following illustrations.
n+15, 00/
n+23, 00
Task
Error
Flag
Axis Bit
10 Output
Section 5-4
Work Bit
DIFU(13) R1
OUT
n+7, 09/
(Locks the
n+11,09
servo.)
I/O Valid mode
Manual or Auto