Markb; Mechatrolink - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

BASIC commands
Example IF MARK AXIS(1) THEN
PRINT "Primary registration event for axis 1 occurred"
ENDIF
See also AXIS, REGIST, REG_POS.

3.2.171 MARKB

/i
Type Axis parameter (read-only)
Syntax MARKB
Description The MARKB is set to FALSE when the REGIST command has been exe-
cuted and is set to TRUE when the secondary registration event occurs.
Arguments N/A
Example IF MARKB AXIS(2) THEN
PRINT "Secondary registration event for axis 2 occurred"
ENDIF
See also AXIS, REGIST, REG_POSB.
PROGRAMMING MANUAL

3.2.172 MECHATROLINK

/i
Type System command
Syntax MECHATROLINK(unit,0)
Detects and connects devices on MECHATROLINK-II unit unit. It is neces-
sary to use it to reset the network from a communication problem and to re-
detect servos that have been not detected (EG: when the A letter in the
AXISSTATUS word becomes capital red).
MECHATROLINK(unit,3,VR)
Returns the number of detected MECHATROLINK-II devices after a
MECHATROLINK(unit,0). It is used by the STARTUP program to check that
the number of detected MECHATROLINK-II modules corresponds with the
expected.
MECHATROLINK(unit,4,station,VR)
Returns the address of MECHATROLINK-II device at that "station" number.
The station numbers are a sequence 0..x for all the attached devices. -1 is
returned if no device is allocated to that station. It is used by the STARTUP
program to check that the number of detected MECHATROLINK-II modules
corresponds with the expected.
MECHATROLINK(unit,5,station,VR)
Reads and clears missed message count. A Non-Axis MECHATROLINK-II
device does not report automatically a network problem so, use this command
to poll the inverter and IO modules for checking that the network is alive. This
command will be used in the proposed SHELL program.
Note:
• You can use the command MECHATROLINK(unit,5,station,VR) to mon-
itor the status of a device during a program execution.
If the contents of the VR address is greater than 0 a communication error
with the device occurs and the device can malfunction. You can use this
command to stop your program when the device has an error.
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