Examples and tips
PROGRAMMING MANUAL 307
Revision 1.0
' =3 application running
'VR(901) - VR(status_bits) reports next status
' Bit0 Alarm flag
' Bit15 ML communication error with one slave
'VR(902) - "action" send messages to the upper controller
' =0 during initialization
' =1 Push RESET to restart
' =2 Resetting
' =3 System healthy
'VR(903) - VR(diag01) gives feedback of the MECHATROLINK
'initialisation
' Bit0 Could not get the ML slave number
' Bit1 Slave number is uncorrect
' Bit15 Detection OK
'VR(904) - VR(diag02) gives feedback of the MECHATROLINK
'Slaves
' Bitn Slave n not detected
'VR(905) - VR(diag03) gives feedback forUnit detection
' Bitn Unit n detected
'VR(906) - VR(system01) used in system detection
'VR(907) - VR(signal_state) gives feedback on signal state
'VR(908) - "sys_error" system error detected
'VR(909) - "first_error" gives the axis number causing a
'motion error
'VR(910,912 ... 940) - VR(servo_status+axis_n*2) stores
'AXISSTATUS to report to upper controller
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