Timing Charts - Omron CS1W-MC221 - 02-2008 Operation Manual

Servo Lock and Unlock
PLC Interface Area
Name MCU
Model
Servo Lock MC421
MC221
Servo Unlock

6-14-1 Timing Charts

Servo Lock
CPU Unit to
Servo Lock
MC Unit
(n+7, 09; n+11, 09)
Command output to
servo driver
MC Unit to
external device
Brake signal output
Wiring check pulse output
Servo Lock ON Flag
(n+22, 02; n+38, 02)
Busy Flag
MC Unit to CPU Unit
(n+22, 01; n+38, 01)
Positioning Completed
Flag
(n+22, 05; n+38, 05)
Servo Unlock
Servo Unlock
CPU Unit to
(n+7, 10; n+11, 10)
MC Unit
Command output to
MC Unit to servo driver
external device
Brake signal output
Servo Lock ON Flag
(n+22, 02; n+38, 02)
MC Unit to
Busy Flag
(n+22, 01; n+38, 01)
CPU Unit
Positioning Completed
Flag
(n+22, 05; n+38, 05)
354
If the machine parameters are set for a wiring check to be performed, it will be
performed at powerup and with the first servo lock. If everything is normal, the
wiring check will not be performed with the next servo lock.
Servo lock and unlock are executed from the PLC Interface Area.
Word
X axis Y axis Z axis
n+11 n+13 n+15
n+7 n+9 ---
The following timing charts show the servo lock and servo unlock functions
when the brake signal is set and the wiring check is enabled.
Leave servo unlock ON until Servo Lock ON Flag turns OFF.
For timing charts with and without the brake signal and wiring check set, refer
to the explanations of servo lock and unlock in 5-3 PLC Interface Area.
Bit
U axis
n+17 09 : Begin servo lock
---
10 : Begin servo unlock
Retain until Servo Lock Flag turns ON. The Busy Flag
will not turn OFF until the wiring check is completed,
even if the servo lock is turned OFF.
Tb0ff: Brake OFF time (system parameters)
Ts: Wiring check time (system parameters)
1) When a position loop is created by the turning
ON of the Servo Lock Bit from the CPU Unit, the
command output and brake signal are turned ON
simultaneously (brake release).
2) After Tboff, the wiring check is started.
3) If the wiring check pulses are output in the CW
direction, and travel is normal in that direction
within Ts, then the wiring check will be performed
in the CCW direction. The wiring check is judged
normal if the positioning is in-position within Ts.
4) The Busy Flag is then turned OFF.
Tbon: Brake ON time
1) The brake signal is turned OFF (brake
the Servo Unlock Bit from the CPU Unit.
2) After Tbon, the command output to the servo
driver is turned OFF when the position loop is
released.
Section 6-14
Description
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