Omron trajexia CJ1W-MCH72 Operation Manual page 153

All BASIC commands
4-2-78 DRIVE_MONITOR
4-2-79 DRIVE_READ
142
Example No example.
See also N/A
/i
Type Axis parameter
Syntax DRIVE_MONITOR
Description This parameter contains the monitored data of the Servo Driver
connected to the system via the MECHATROLINK-II bus. The data to
be monitored is selected using DRIVE_CONTROL and can be
displayed in the Trajexia Studio scope or used inside a program. The
monitored data is updated each SERVO_PERIOD. The command is
executed on the driver for the base axis set by BASE. The base axis
can be changed with the AXIS modifier, as with all the other axis
commands and parameters.
Arguments N/A
Example No example.
See also N/A
/i
Type Axis command
Syntax DRIVE_READ(parameter, size, VR)
Description The DRIVE_READ function reads the specified parameter of the Servo
Driver connected to the Trajexia system via the MECHATROLINK-II
bus. Upon successful execution, this command returns -1 and puts the
read value in the VR memory location specified by the VR parameter. If
the command cannot be executed, the value 0 is returned. The com-
mand is executed on the driver for the base axis set with BASE. It can
be changed using the AXIS modifier, like with all the other axis com-
mands and parameters.
Note: This command waits for the response of the axis, therefore its
execution is slow and the time variable. Do not use this command
together with other commands that require quick execution.
Note: Executing a DRIVE_READ will temporarily disable the Servo
Driver Front Panel display.
Note: DRIVE_READ returns -1 on success. It also returns -1 with no
parameter read if the parameter number does not exist or has the wrong
size.
Arguments • parameter
The number of the parameter to be read. Note that the parameter
numbers are hexadecimal. The format of the data can be found in
the Servo Driver manual.
• size
SIze of the parameter is specified in bytes. For most parameters the
size is normally 2 bytes. Some special parameters may be 4 bytes
long. Sizes for each parameter can be found in the Servo Driver
manual.
• VR
The VR address where the read parameter is stored upon success-
ful execution.
Section 4-2