Servo Lock And Unlock - Omron CS1W-MC221 - 02-2008 Operation Manual

Servo Lock and Unlock

Speed reference
Accumulated pulses
2) After the N020 speed reference output
has been completed, the error counter
reset is turned ON by some condition.
Program No.
Instructions
(n+2)
from CPU
Unit
Program Number Read
(n+3, 07)
Cycle Start
(n+3, 02)
Status from
Error Counter Reset
MC Unit
(n+7, 04; n+11, 04)
Cycle Start Received Flag
(n+15, 09/n+23, 09)
Program Execution Flag
(n+15, 04; n+23, 04)
Axis Operation Flag
(n+22, 04; n+38, 04)
Busy Flag
(n+22, 01; n+38, 01)
Positioning Completed Flag
(n+22, 05; n+38, 05)
PLC Interface Area
Name MCU
Model
Error Counter Reset MC421
MC221
6-14 Servo Lock and Unlock
Overview
Speed reference
accumulated
pulses
N020 execution
Word
X axis Y axis Z axis
n+11 n+13 n+15
n+7 n+9 ---
Mode: Automatic (servo lock); Automatic or Manual (servo unlock);
Method: Bit designation
This function creates (servo lock) or releases (servo unlock) an MC Unit posi-
tion loop. In addition to the servo lock and unlock operations available for ear-
lier MC Unit models, it is also possible to set general outputs as brake signal
outputs and to turn them ON and OFF in sync with servo lock and unlock. The
ON and OFF times can also be set as required.
1) Accumulated pulses are increased during
N020 execution.
3) After the N020 speed reference out-
put is complete, an error counter reset
check is started. If the error counter re-
set is ON at this time, the error counter
will be reset to 0. After this, program ex-
ecution will be temporarily halted until
the error counter reset is turned OFF. If
the error counter reset is not ON, this
status will be continued until the error
counter enters the in-position range.
N030 execution
Bit
U axis
n+17 04 0 to 1: Error counter reset
--- 0: Functions can be received.
Section 6-14
Time
4) When the error counter reset
is turned OFF, program execu-
tion is restarted from N030.
Description
353