Operating The Servomotor From The Pcu - Omron CJ1W-MA - REV 10-2008 Operation Manual

Starting Operation
Ending MECHATROLINK Communications
Turning the Servo Drive Power OFF and ON Again
2-2-6

Operating the Servomotor from the PCU

Starting MECHATROLINK Communications
Servo Lock
The Servo Parameters written to the Servo Drive consist of online and offline
parameters. Online parameters are enabled as soon as they are written,
whereas offline parameters are not.
The input signal selection parameters set here are offline parameters that are
enabled by cycling the power to the Servo Drive or executing the device setup
operation. In this example, the Servo Drive power is cycled. First, stop
MECHATROLINK communications before turning OFF the power supply to
the Servo Drive.
MECHATROLINK communications are stopped by turning OFF the CON-
NECT Bit in the Common Operating Memory Area. For the PCU with unit
number 0, the CONNECT Bit is allocated in CIO 150100. Use the Program-
ming Console to turn OFF this bit, which was turned ON at the start of
MECHATROLINK communications.
CIO 1501
When MECHATROLINK communications stop, the Connection Status Flag in
the Common Operating Memory Area turns OFF. For the PCU with unit num-
ber 0, the Connection Status Flag is allocated in CIO 151615.
15
CIO 1516
Connection Status Flag
After writing Servo Parameters, and when MECHATROLINK communications
have stopped, enable the Servo Parameters by cycling the power to the Servo
Drive. This procedure completes settings for the PCU and Servo Drive.
Unless changes in installation, wiring, or parameter settings are required, the
above operation does not need to be performed a second time.
Perform the operations described in 2-2-4 Starting MECHATROLINK Commu-
nications and then start communications with the Servo Drive connected to
MECHATROLINK.
The servo lock of the Servomotor connected to MECHATROLINK can be set
by turning ON the SERVO LOCK Bit in the Axis Operating Output Memory
Area.
In this operation example, the Common Parameters are set so that the begin-
ning word of the Axis Operating Output Memory Area for axis 1 is allocated in
CIO 100. Therefore, the SERVO LOCK Bit for axis 1 is allocated in CIO
10100. Turn ON this bit using the Programming Console.
00
MECHATROLINK communications stop
when this bit is turned OFF.
CONNECT Bit
This flag turns ON when MECHATROLINK
communications start and turns OFF when
MECHATROLINK communications stop.
Section 2-2
25