Omron trajexia CJ1W-MCH72 Operation Manual page 196

All BASIC commands
4-2-154 MECHATROLINK
/i
Type System command
Syntax MECHATROLINK(0,0)
Detects and connects slaves on the MECHATROLINK-II connection. It
is necessary to use it to reset the network from a communication prob-
lem and to re-detect servos that have been not detected (EG: when the
A letter in the AXISSTATUS word becomes capital red).
MECHATROLINK(0,3,VR)
Returns the number of detected MECHATROLINK-II slaves after a
MECHATROLINK(0,0). It is used by the STARTUP program to check
that the number of detected MECHATROLINK-II stations corresponds
with the expected.
MECHATROLINK(0,4,station,VR)
Returns the address of MECHATROLINK-II slave at that "station"
number. The station numbers are a sequence 0..x for all the attached
slaves. -1 is returned if no slave is allocated to that station. It is used by
the STARTUP program to check that the number of detected MECHA-
TROLINK-II stations corresponds with the expected.
MECHATROLINK(0,5,station,VR)
Reads and clears missed message count. A Non-Axis MECHATRO-
LINK-II slave does not report automatically a network problem so, use
this command to poll the Inverter for checking that the network is alive.
Note:
• You can use the command MECHATROLINK(0,5,station,VR) to
monitor the status of a slave during a program execution.
If the contents of the VR address is greater than 0 a communication
error with the slave occurs and the slave can malfunction. You can
use this command to stop your program when the slave has an
error.
Description Note: This command has two forms, depending upon the function
required: Master and Station Functions.
All MECHATROLINK functions return TRUE (-1) if the command was
successful or FALSE (0) if the command failed.
The functions are separated out into 2 types, Master functions that work
on a unit, and Station functions that work on a specific
station_address of a given unit.
All functions that retrieve a value store it in the VR variable indicated in
the last parameter. If this parameter has the value -1 then the value is
printed to the command line port.
Arguments N/A
Example No example.
See also N/A
Section 4-2
185