133
Command, function and parameter description
Section 6-3
6-3-56
DRV_CLEAR
Type:
Servo Driver Command
Syntax:
DRV_CLEAR
Description:
The DRV_CLEAR command clears the alarm status of the Servo Driver. This
command is not capable of clearing all the possible alarm states. Some
alarms can only be cancelled by turning OFF the power supply (both the MC
Unit as the Servo Driver), and then turning it ON again.
Please refer to 8-2 Error Handling for further details on Servo Driver alarms.
!Caution
Be sure that no Parameter Unit or Personal Computer Software is connected
to the Servo Driver when executing this command. Otherwise the program
task will be paused until the connection of the other device to the Servo Driver
is removed.
See also:
DRV_STATUS
6-3-57
DRV_READ
Type:
Servo Driver Function
Syntax:
DRV_READ(
parameter
[
, selection
]
)
Description:
The DRV_READ function reads the specified parameter of the Servo Driver.
DRV_READ is able to read Pn-type and Un-type parameters and also can
return Servomotor specifics which normally can be accessed using Fn011.
The Servo Driver Pn parameters are divided into two groups:
• Selection parameters, which contain hexadecimal value. One example is
for instance the Pn50A (input signal selection 1)
• Value parameters, which contain integer values. One example is for
instance the Pn205 (absolute encoder multi-turn limit setting)
Please note that executing a DRV_READ will temporarily disable the Servo
Driver Front Panel display.
!Caution
Be sure that no Parameter Unit or Personal Computer Software is connected
to the Servo Driver when executing this command. Otherwise the program
task will be paused until the connection of the other device to the Servo Driver
is removed.
Arguments:
parameter
The number of the parameter to be read. Note that the parameter numbers
are hexadecimal. For selection = 2, the following data can be read:
The format of the data can be found in the Servo Driver manual.
selection
The selection of the parameter type of the Servo Driver to be read.
If the selection argument is omitted, the Pn parameter will be read.
See also:
DRV_WRITE, HEX (PRINT), hexadecimal input ($)
0
Motor type (Fn011-F)
1
Motor capacity (Fn011-P)
2
Encoder type (Fn011-E)
3
Driver specification (Fn011-Y)
0
Pn parameter
1
Un parameter
2
Fn011 function information (Servomotor specification)