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All BASIC commands
Section 4-2
185
4-2-154 MECHATROLINK
/i
Type
System command
Syntax
MECHATROLINK(0,0)
Detects and connects slaves on the MECHATROLINK-II connection. It
is necessary to use it to reset the network from a communication prob-
lem and to re-detect servos that have been not detected (EG: when the
A letter in the
AXISSTATUS
word becomes capital red).
MECHATROLINK(0,3,VR)
Returns the number of detected MECHATROLINK-II slaves after a
MECHATROLINK(0,0)
. It is used by the
STARTUP
program to check
that the number of detected MECHATROLINK-II stations corresponds
with the expected.
MECHATROLINK(0,4,station,VR)
Returns the address of MECHATROLINK-II slave at that "station"
number. The station numbers are a sequence 0..x for all the attached
slaves. -1 is returned if no slave is allocated to that station. It is used by
the
STARTUP
program to check that the number of detected MECHA-
TROLINK-II stations corresponds with the expected.
MECHATROLINK(0,5,station,VR)
Reads and clears missed message count. A Non-Axis MECHATRO-
LINK-II slave does not report automatically a network problem so, use
this command to poll the Inverter for checking that the network is alive.
Note:
•
You can use the command
MECHATROLINK(0,5,station,VR)
to
monitor the status of a slave during a program execution.
If the contents of the VR address is greater than 0 a communication
error with the slave occurs and the slave can malfunction. You can
use this command to stop your program when the slave has an
error.
Description
Note: This command has two forms, depending upon the function
required: Master and Station Functions.
All
MECHATROLINK
functions return
TRUE
(-1) if the command was
successful or
FALSE
(0) if the command failed.
The functions are separated out into 2 types,
Master
functions that work
on a unit, and
Station
functions that work on a specific
station_address
of a given unit.
All functions that retrieve a value store it in the
VR
variable indicated in
the last parameter. If this parameter has the value -1 then the value is
printed to the command line port.
Arguments
N/A
Example
No example.
See also
N/A
Содержание trajexia CJ1W-MCH72
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Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
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