6-1-14 I/O Axis - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Program and Task Configuration
Function item
Present value monitor
Error on the communica-
tion path (Synchronous
communication error,
etc.)

6-1-14 I/O Axis

Function item
Axis control bits
Axis status bits
Present value monitor
PROG axis declaration
Usage in each command If axis No. is specified on axes other than the synchronous master axis, the alarm [2007h: Axis
Present coordinate system FB position
Machine coordinate system FB position
Present coordinate system command posi-
tion
Machine coordinate system command posi-
tion
Counter latch position
Feedback speed 1
Feedback speed 2
Command speed 1
Command speed 2
Error
Torque command value
Workpiece origin shift amount
Origin margin
No. of multi-turns
MECHATROLINK servo status
Absolute position setting value
Does not occur.
The following table describes the differences between axes allocated as I/O
and as servo.
All disabled except for "bit00: Axis alarm reset".
bit Name
00 Axis alarm
01 Machine origin
02 Busy
03 Servo lock
04 No origin
05 Axis started
06 Positioning completed
07 Positioning completed (No.2)
08 Error counter warning
09 Axis machine lock status
10 Counter latch completed
11 M-10 Warning
12 Reserved
13 Command disabled/enabled
14 Axis not used/used
15 In manual/automatic mode
Always 0
If specified, the alarm [201Ah: Axis declaration error] will occur.
reservation disable] will occur.
Specifications
= Present coordinate system command position
= Machine coordinate system command position
Same as for the real axis
Same as for the real axis
Always 0
= Command speed 1
Always 0
Same as for the real axis
Always 0
Always 0
Always 0
Same as for the real axis
Always 0
Same as for the real axis
Always 0
Always 0
Specifications
ON/OFF status
As usual, turns ON/OFF.
Always OFF.
Always OFF.
Always OFF.
Always OFF.
Always OFF.
Always OFF.
Always OFF.
Always OFF.
Always OFF.
Always OFF.
Intelligent I/O turns ON/OFF, as usual.
Always OFF.
As usual, turns ON/OFF.
Always OFF.
Always OFF.
Section 6-1
257