Omron trajexia CJ1W-MCH72 Operation Manual page 154

All BASIC commands
!Caution
4-2-80 DRIVE_RESET
!Caution
4-2-81 DRIVE_STATUS
Example IF DRIVE_READ($100,2,1) THEN
PRINT "The Speed loop gain is: ";VR(1)
ELSE
PRINT "The speed loop gain could not be read"
ENDIF
See also DRIVE_WRITE, HEX, $ (HEXADECIMAL INPUT).
Be sure that no Parameter Unit or Personal Computer Software is connected to the
Servo Driver when executing this command. Otherwise the program task will be paused
until the connection of the other device to the Servo Driver is removed.
/i
Type Axis command
Syntax DRIVE_RESET
Description The DRIVE_RESET command resets the Servo Driver connected via
the MECHATROLINK-II bus. 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
Be sure that no Parameter Unit or Personal Computer Software is connected to the
Servo Driver when executing this command. Otherwise the program task will be paused
until the connection of the other device to the Servo Driver is removed.
/i
Type Axis parameter (read-only)
Syntax DRIVE_STATUS
Description For MECHATROLINK-II axes, this parameter is set from the STATUS
field in the MECHATROLINK-II communication frame and is updated
every servo period. Those bits can be seen in the drive configuration
window in Trajexia Studio, and can be used in programs. The explana-
tion of each bit is given in the table below. (Note: Only bits relevant to
MECHATROLINK-II axes are listed.) For the detailed explanation for
these status bits, see the MECHATROLINK-II manual.
/i
Bit
0 Alarm
1 Warning
2 Ready
3 Servo on
4 Power on
5 Machine Lock
6 Home Position
7 At Position/Speed
Description (MECHATROLINK-II)
Section 4-2
143