Omron TJ2-MC64 - PROGRAMMING Programming Manual page 94

BASIC commands
Arguments • parameter
The number of the parameter to be read. Note that the parameter num-
bers are hexadecimal. The format of the data can be found in the Servo
Drive 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 Drive manual.
• VR
The VR address where the read parameter is stored upon successful
execution.
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).
Caution
Be sure that no Parameter Unit or Personal Computer Software is
connected to the Servo Drive when executing this command. Oth-
erwise the program task will be paused until the connection of the
other device to the Servo Drive is removed.
3.2.98 DRIVE_RESET
/i
Type Axis command
Syntax DRIVE_RESET
Description The DRIVE_RESET command resets the Servo Drive connected via the
MECHATROLINK-II bus. The command is executed on the Drive 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.
PROGRAMMING MANUAL
See also N/A
Caution
Be sure that no Parameter Unit or Personal Computer Software is
connected to the Servo Drive when executing this command. Oth-
erwise the program task will be paused until the connection of the
other device to the Servo Drive is removed.
3.2.99 DRIVE_STATUS
/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 Intelligent drives configuration window
in Trajexia Studio, and can be used in programs. The explanation 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 Description (MECHATROLINK-II)
0 Alarm
1 Warning
2 Command Ready
3 Servo on
4 Power on
5 Machine Lock
6 Home Position
7 At Position/Speed
8 Output Completed
88