BASIC commands
PROGRAMMING MANUAL 71
Revision 3.0
3.2.86 DRIVE_READ
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3.2.87 DRIVE_RESET
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Type Axis command
Syntax DRIVE_READ(parameter,size,VR)
Description The DRIVE_READ function reads the specified parameter of the Servo Driver
connected to the Trajexia system via the MECHATROLINK-II bus. Upon suc-
cessful execution, this command returns -1 and puts the read value in the VR
memory location specified by the VR parameter. If the command cannot be
executed, the value 0 is returned. The command is executed on the driver for
the base axis set with BASE. It can be changed using the AXIS modifier, like
with all the other axis commands and parameters.
Note: This command waits for the response of the axis, therefore its execution
is slow and the time variable. Do not use this command together with other
commands that require quick execution.
Note: Executing a DRIVE_READ will temporarily disable the Servo Driver
Front Panel display.
Note: DRIVE_READ returns -1 on success. It also returns -1 with no parame-
ter read if the parameter number does not exist or has the wrong size.
Arguments • parameter
The number of the parameter to be read. Note that the parameter num-
bers are hexadecimal. The format of the data can be found in the Servo
Driver manual.
• size
For most parameters the size is normally 2 bytes. Some special parame-
ters 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 successful
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).
Caution
Be sure that no Parameter Unit or Personal Computer Software is
connected to the Servo Driver when executing this command. Oth-
erwise the program task will be paused until the connection of the
other device to the Servo Driver is removed.
Type Axis command
Syntax DRIVE_RESET
Description The DRIVE_RESET command resets the Servo Driver connected via the
MECHATROLINK-II bus.
Arguments N/A
Example No example.
See also N/A
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.
I52E-EN-03.book Seite 71 Freitag, 29. Juni 2007 11:55 11
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