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All BASIC commands
Section 4-2
143
!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.
4-2-80 DRIVE_RESET
/i
!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.
4-2-81 DRIVE_STATUS
/i
Arguments
•
parameter
The number of the parameter to be read. Note that the parameter
numbers are hexadecimal. The format of the data can be found in
the Servo Driver 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 Driver
manual.
•
VR
The VR address where the read parameter is stored upon success-
ful 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)
.
Type
Axis command
Syntax
DRIVE_RESET
Description
The
DRIVE_RESET
command resets the Servo Driver connected via
the MECHATROLINK-II bus. The command is executed on the driver 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.
See also
N/A
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 drive configuration
window in Trajexia Studio, and can be used in programs. The explana-
tion 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.
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