Stop Function Timing Chart - Omron CJ1W-MA - REV 10-2008 Operation Manual

Stop Functions
Axis Operating Input Memory Areas (Monitoring)

10-9-4 Stop Function Timing Chart

RELATIVE MOVEMENT
(word a, bit 04)
DECELERATION STOP
(word a, bit 15)
Speed
Receiving Command Flag
(word b, bit 00)
PCU Positioning Completed
Flag (word b, bit 05)
Busy Flag (word b, bit 13)
Stop Execution Flag
(word b, bit 15)
a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. −1) × 25
b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. −1) × 25
a = Beginning word of Axis Operating Output Areas specified in Common
Parameters + (Axis No. − 1) × 25
Name
Receiving Command
Flag
Busy Flag
Stop Execution Flag
b = Beginning word of Axis Operating Input Areas specified in Common
Parameters + (Axis No. − 1) × 25
The Stop Execution Flag turns ON when DECELERATION STOP or EMER-
GENCY STOP is received, but does not check whether the remaining pulses
in the Servo Drive are within the positioning completion range, unlike the PCU
Positioning Completed Flag in direct operation.
The Stop Execution Flag turns OFF when direct operation, jogging, speed
commands or other movement commands are executed.
The following timing chart is for when DECELERATION STOP is executed.
The timing chart for EMERGENCY STOP is the same, except that operation is
stopped after distributing the pulses remaining in the Servo Drive.
When DECELERATION STOP or EMERGENCY STOP is executed during
direct operation (ABSOLUTE MOVEMENT/RELATIVE MOVEMENT) or ORI-
GIN SEARCH, the PCU Positioning Completed Flag will not turn ON when
operation stops. Even if the stop position for DECELERATION STOP/EMER-
GENCY STOP is within the positioning completion range of the target position
for the initial positioning operation, the PCU Positioning Completed Flag will
not turn ON.
Word Bits
b 00 0: Command reception enabled.
0 → 1: Command reception started.
1: Receiving command (command
reception disabled).
13 1: Axis busy (axis operation executing).
0 → 1: Stop operation completed.
15
Solid line: Command speed
Broken line: Feedback speed
Time
The Receiving Command Flag turns ON for at least
one cycle time when the movement command or
DECELERATION STOP is received.
When DECELERATION STOP is executed during a
positioning operation, the PCU Positioning
Completed Flag will not turn ON.
The Stop Execution Flag will change from ON to
OFF when a movement command is executed.
The Stop Execution Flag will turn ON when
DECELERATION STOP has been received.
The positioning completion range for the pulses
remaining in the Servo Drive is not checked.
Section 10-9
Contents
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