BASIC commands
PROGRAMMING MANUAL 142
Revision 3.0
3.2.254 SYSTEM_ERROR
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3.2.255 T_REF
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Type System parameter (read only)
Syntax SYSTEM_ERROR
Description The SYSTEM_ERROR parameter contains system errors that occurred in the
TJ1 system since the last time it was initialized. The bits in the
SYSTEM_ERROR parameter are given in the table below.
Arguments N/A.
Example No example.
See also N/A
Bit Description
0 BASIC error
1 Battery low error
2 - 7 Reserved for future use
8 Configuration unit error (Any unit in the system)
9 Configuration device error (Any device in the system)
10 - 15 Reserved for future use
16 Unit lost error (Any unit in the system)
17 Terminator not fitted
18 Device lost error (Any device in the system)
Type Axis parameter
Syntax T_REF
DAC
Description The T_REF parameter contains the torque reference value which will be
applied to the servo motor. The range of this parameter is defined by the
number of available bits. For MECHATROLINK axes, T_REF takes 32 bits, so
the available range is [-2147483648, 2147483648], which corresponds to a
voltage range [-10V, 10V]. For Flexible axis axes, T_REF takes 16 bits, so
available range is [-32768, 32767], which corresponds to a voltage range [-
10V, 10V]. These ranges can be limited by using the OUTLIMIT parameter.
The actual torque reference is depending on the servo motor.
Arguments N/A
Example T_REF AXIS(0)=1000
See also AXIS, S_REF.
I52E-EN-03.book Seite 142 Freitag, 29. Juni 2007 11:55 11
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