Grt1-Ml2 Status Word - Omron GRT1-ML2 Manual

Setup and usage
2.1.3

GRT1-ML2 status word

The GRT1-ML2 status flags give the status of the connection between the
GRT1-ML2 and the SmartSlice I/O Units, and the status of the SmartSlice I/
O Units. The status flags are 1 word in size. Their information is transferred
to the TJ1-MC__ as part of the input data.
The table below gives the meaning of the bits in the status word.
/i
Bit Flag
0 SmartSlice I/O Bus Communication
Error
−
1
2 SmartSlice I/O Unit Warning
0: Normal
1: Error detected
−
3
4 SmartSlice I/O Unit Alarm
0: Normal
1: Error detected
5−11 −
12 Unit Maintenance
0: Normal
1: Error (monitor value reached)
13 Automatic Restore Monitor
0: Restore successful
1: Restore failed
14 Communication Unit Error
0: Normal
1: Error occurred
15 I/O Refreshing
0: I/O communication stopped
1: I/O communication normal
To read the status word, use the command
GRT1-ML2 MANUAL
Description
Monitors the status of SmartSlice I/O commu-
nication
Reserved
Indicates a minor SmartSlice I/O Unit error.
This flag goes ON when there is an error in
any one of the connected SmartSlice I/O
Units.
Reserved
Indicates a major SmartSlice I/O Unit error.
This flag goes ON when there is an error in
one of the connected SmartSlice I/O Units.
Reserved
Monitors the operating time threshold that is
set with the Unit power ON time monitor func-
tion
Indicates whether or not the automatic
parameter restore to the SmartSlice I/O Units
was completed successfully
This flag is ON if one of the other flags (bits 0
to 13) is ON
Indicates whether I/O data is exchanged nor-
mally
MECHATROLINK(unit,36,station,vr)
where:
• unit is the number of the MECHATROLINK-II Master Unit in the Motion
Controller system
• station is the station address of the GRT1-ML2 set with the rotary
switches
• vr is the VR memory address where the read status word is put. Use -1
to print the status word to the Command Line Terminal interface.
Every servo cycle the status word is checked and a bitwise AND is
performed with the status word and the status error mask. If the result of this
AND operation is not 0, the WDOG is switched off. This can be used to
detect particular errors in GRT1-ML2 and stop the controller operation if they
occur.
To set the status error mask, use the command
MECHATROLINK(unit,37,station,value)
where:
• unit is the number of the MECHATROLINK-II Master Unit in the Motion
Controller system
• station is the station address of the GRT1-ML2 set with the rotary
switches
• vr is the value of the status error mask that must be set.
The status error mask value can be read back by means of the command
MECHATROLINK(unit,39,station,vr)
where the arguments of the command are the same as for the command
MECHATROLINK(unit,36,station,vr). The default value of the status error
mask after the controller is turned on or reset is 4000 hex. This triggers the
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