Omron TJ2-MC64 - PROGRAMMING Programming Manual page 95

BASIC commands
Bit Description (MECHATROLINK-II)
9 Torque Limit
10 Latch Completed (first Latch for Accurax G5)
11 In Range/Speed Limit
12 In Forward Software Limit (G-Series and Accurax G5 only)
13 In Reverse Software Limit (G-Series and Accurax G5 only)
14 Servo Ready (G-Series and Accurax G5 only)
15 Second Latch Completed (Accurax G5 only)
16 to 21 Reserved (internal use only)
/i
For Flexible Axis axes, this parameter holds the status of registration and
auxiliary inputs, as well as registration selection. The explanation of each bit
is given in the second table below. (Note: Only bits relevant to Flexible axis
are listed.)
/i
Bit Description (Flexible Axis)
0 MARK
1 MARKB
2 REG 0 selected current value
3 REG 1 selected current value
4 AUX IN current value
5 REG 0 current value
6 REG 1 current value
7 to 13 Reserved (internal use only)
/i
Arguments N/A
Example PRINT DRIVE_STATUS AXIS(4)
This command will print the current value of DRIVE_STATUS for axis(4).
PROGRAMMING MANUAL
Example BASE(3)
ATYPE = 44
IF (DRIVE_STATUS AND 32)= 32 THEN
PRINT "REG 0 input is ON for axis(3)"
ENDIF
See also AXIS, MARK, MARKB, REGIST.
3.2.100 DRIVE_WRITE
/i
Type Axis command
Syntax DRIVE_WRITE(parameter, size, value [,mode])
Description The DRIVE_WRITE function writes to the specified parameter of the Servo
Drive via the MECHATROLINK-II bus. Upon successful execution, this com-
mand returns -1. If the command cannot be executed, the value 0 is returned.
The command is executed on the Drive for the base axis set with BASE. It
can be changed using the AXIS modifier, as with all other axis commands and
parameters. For some parameters to be written the Drive needs to be pow-
ered off and on again. The DRIVE_RESET command can be used for that
purpose.
Notes:
• This command waits for the response of the axis so, its execution is slow
and the time variable. Do not use this command together with other com-
mands that require quick execution.
• Executing a DRIVE_WRITE will temporarily disable the Servo Drive Front
Panel display.
• DRIVE_WRITE returns -1 on success. It also returns -1 with no parame-
ter read if the parameter number does not exist or has the wrong size.
• Writing of parameters is not possible when registration is active in order
to give priority to registration.
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