BASIC commands
PROGRAMMING MANUAL 127
Revision 1.0
3.2.185 MECHATROLINK
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Example IF MARKB AXIS(2) THEN
PRINT "Secondary registration event for axis 2 occurred"
ENDIF
See also AXIS, REGIST, REG_POSB.
Type System command
Syntax MECHATROLINK(unit,0)
Detects and connects devices on MECHATROLINK-II Master Unit unit. It is
necessary 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 stations 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 stations
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.
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.
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 suc-
cessful 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
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