Operating Mode; Manual Mode/Automatic Mode - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Operating Mode

CPU Unit Status
CPU Unit status
CPU Unit fatal error:
An error such as memory error
occurred during operation and the
operation cannot be continued.
Load rejection:
Load is rejected from applications
in debugging.
Bus error:
CPU WDTUP:
Power interruption:
CPU standby:
(When CPU Unit is turned ON)
Restarting CPU Bus Unit during
operation
• User turned ON AR
• Routing table transfer (communi-
cation unit)
Verification error:
When CPU Unit is turned ON
Note
7-2 Operating Mode
7-2-1

Manual Mode/Automatic Mode

The MC Unit operates as shown in the table below when the operating mode
of the CPU Unit is changed:
CPU Unit operating mode
change
RUN Mode or MONITOR Mode
→ PROGRAM Mode
Other than the above
The MC Unit operates as shown in the table below when the CPU Unit is in
the following state:
• When "CPU stopping" is notified, Servo OFF (See note.) is executed.
• This error is stored in the error log.
• From this point on, no commands can be accepted from the CPU Unit. Note that,
however, various operations can be received from the Support Tool. (Event commu-
nications can be used.)
• When "Load rejection" is notified, the MC Unit interprets all the inputs from the CPU
Unit as all "0". Due to this, the program operation, the JOG operation, and so on,
decelerate and stop.
• When the Bus error is detected, Servo OFF (See note.) is executed.
• The error is stored in the error log.
• From this point on, no commands can be accepted.
• When "WDT UP" is detected, the same processing as for CPU Unit fatal error is
executed.
• When "Power interruption" is detected, Servo OFF (*1) is executed.
• From this point on, no commands can be accepted.
• This is ignored because there is no influence on execution of MC Unit functions.
• When Restart is detected, Servo OFF is executed on all the tasks and axes.
• After that, the same processing as for powering ON is executed.
• "Verification error" is notified.
• The error is stored in the error log.
• From this point on, no commands can be accepted.
Output signals will not change even when Servo OFF is executed.
This section describes the functions that control the MC Unit in Manual Mode
and the ladder program of the CPU Unit that controls the MC Unit in Auto-
matic Mode.
• There are two types of operating modes for MC Unit; one is Manual Mode
and another is Automatic Mode.
• The bit [Manual/Automatic mode] in the allocated bit area switches the
mode between Automatic and Manual.
MC Unit operation
All the axes decelerate and stop.
*Note that, however, there will be no influence
on the MC Unit operation when the MC Unit is in
Tool Mode. (The CPU Unit does not control the
MC Unit in Tool Mode.)
There is no influence on the MC Unit operation.
MC Unit operation
Section 7-2
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