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BASIC commands

PROGRAMMING MANUAL 107

Revision 3.0

3.2.171 MARKB

3.2.172 MECHATROLINK

Example IF MARK AXIS(1) THEN

PRINT "Primary registration event for axis 1 occurred"

ENDIF

See also AXIS, REGIST, REG_POSB.

Type System command

Syntax MECHATROLINK(unit,0)

Detects and connects devices on MECHATROLINK-II unit unit. It is neces-

sary to use it to reset the network from a communication problem and to re-

detect servos that have been not detected (EG: when the A letter in the

AXISSTATUS word becomes capital red).

MECHATROLINK(unit,3,VR)

Returns the number of detected MECHATROLINK-II devices after a

MECHATROLINK(unit,0). It is used by the STARTUP program to check that

the number of detected MECHATROLINK-II modules corresponds with the

expected.

MECHATROLINK(unit,4,station,VR)

Returns the address of MECHATROLINK-II device at that "station" number.

The station numbers are a sequence 0..x for all the attached devices. -1 is

returned if no device is allocated to that station. It is used by the STARTUP

program to check that the number of detected MECHATROLINK-II modules

corresponds with the expected.

MECHATROLINK(unit,5,station,VR)

Reads and clears missed message count. A Non-Axis MECHATROLINK-II

device does not report automatically a network problem so, use this command

to poll the inverter and IO modules for checking that the network is alive. This

command will be used in the proposed SHELL program.

Note:

• You can use the command MECHATROLINK(unit,5,station,VR) to mon-

itor the status of a device during a program execution.

If the contents of the VR address is greater than 0 a communication error

with the device occurs and the device can malfunction. You can use this

command to stop your program when the device has an error.

I52E-EN-03.book Seite 107 Freitag, 29. Juni 2007 11:55 11

Omron TJ1-MC04 - PROGRAMMING 1 User Manual

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