Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual page 252

Examples and tips
/i
DRIVE_MONITOR bit Connector signal
6 CN1-44
7 CN1-45
8 CN1-46
12 CN1-40
13 CN1-41
14 CN1-42
15 CN1-43
With this default value, the mapping is as follows for the Junma Servo
Driver:
/i
DRIVE_MONITOR bit Connector signal
2 CN1-2
6 CN1-1
Servo driver inputs mapped into Trajexia I/O space like this are accessed
within the program per axis and cannot be accessed in usual way by using
the IN command. The only way you can use these inputs in the program is to
assign them to the axis parameters DATUM_IN, FHOLD_IN, FWD_IN and
REV_IN. The inputs of the axis Servo Driver are used, depending on the
axis of which the parameters are set.
Example: We have two Sigma-II drivers assigned to controller axes 0 and 3.
For both axes, we want to use input signal CN1-41 to serve as reverse limit
input. We can do this with these commands:
REV_IN AXIS(0) = 29
REV_IN AXIS(3) = 29
Note that even though REV_IN parameters for both axes have the same
value 29, the real inputs used are not the same. For axis 0 the CN1-41 input
of the first driver (assigned to that axis) is used, but for axis 3 the same input
PROGRAMMING MANUAL
Trajexia input
N/A
N/A
N/A
28
29
30
31
Trajexia input
26
27
CN1-41 of the other driver (the one assigned to axis 3) is used. Therefore
we say that those inputs are accessed per axis, they are not unique for the
whole controller. In general, these two inputs have a different status at the
same time. Also note that neither of these two inputs can be accessed using
the command IN. For example the command IN(29) returns the status of
controller software input 29 (unique for all axes), which has a different status
than Servo Driver inputs mapped to the same number.
You can find more information on mapping of MECHATROLINK-II Servo
Drivers inputs into the Trajexia I/O space in the Trajexia Programming
Manual, at the BASIC commands DATUM_IN, FHOLD_IN, FWD_IN and
REV_IN.
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