BASIC commands
PROGRAMMING MANUAL 40
Revision 1.0
3.2.36 AXIS_ENABLE
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3.2.37 AXIS_OFFSET
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3.2.38 AXISSTATUS
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Type Axis parameter
Syntax AXIS_ENABLE = ON/OFF
Description The AXIS_ENABLE axis parameter is used to enable or disable particular
axis independently of others. This parameter can be set ON or OFF for each
axis individually. The default value on start-up is ON for all axes. The axis will
be enabled if both AXIS_ENABLE for that axis is ON and WDOG is on. For
MECHATROLINK-II axes setting AXIS_ENABLE to OFF will disable Servo
Drive output to the motor. For Flexible axis Servo axis setting AXIS_ENABLE
to OFF will force both voltage outputs to 0. For Flexible axis Stepper Out and
Encoder Out axes, setting AXIS_ENABLE to OFF will block pulses genera-
tion on the outputs.
Arguments N/A
Example AXIS_ENABLE AXIS(3) = OFF
This command will disable axis 3 independently of other axes in the system.
See also AXIS, DISABLE_GROUP
Type System parameter
Syntax AXIS_OFFSET [SLOT(unit_number)] = offset_value
Description Provides control over the position of axes (on a per unit basis) when they are
assigned at system start-up. The offsets are stored in Flash-ROM of the TJ2-
MC64 and will only become active after the next start-up. The offset specified
will be added to the node address of a MECHATROLINK-II Servo Drive or will
be used as a starting point to search for an unused axis in case of Flexible
axes.
Arguments • unit_number
Unit numbers are 0 to 6, with 0 being the unit immediately to the right of
the TJ2-MC64.
• offset_value
Offset applied during axis number assignment for axes connected to the
unit.
Example AXIS_OFFSET SLOT(1)=16
Axes connected to unit in slot 1 will be assigned from axis 16 upwards.
See also SLOT
WARNING
When using multiple TJ1-ML__ units, do not swap the MECHA-
TROLINK-cables. This can result in different axis allocation. This
can result in serious injury and/or significant damage.
Type Axis parameter (read-only)
Syntax AXISSTATUS
Description The AXISSTATUS axis parameter contains the axis status and is used for the
motion error handling of the controller. The axis status consists of status bits,
which definitions are shown in the table below.
Bit
number
Description Value Character (as used in
Trajexia Studio)
0- 1-
1 Following error warning range 2 w
2 Servo Drive communication error 4 a
3 Servo Drive alarm 8 m
4 in forward limit 16 f
5In reverse limit 32r
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