Specifications

BASIC commands
PROGRAMMING MANUAL 113
Revision 5.0
3.2.174 MERGE
/i
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
Type Axis parameter
Syntax MERGE
Description The MERGE parameter is a software switch that can be used to enable or
disable the merging of consecutive moves. When MERGE is ON and the next
move already in the next move buffer (NTYPE), the axis will not ramp down to
0 speed but will load up the following move enabling a seamless merge. The
default setting of MERGE is OFF.
It is up to the programmer to ensure that merging is sensible. For example,
merging a forward move with a reverse move will cause an attempted instan-
taneous change of direction.
MERGE will only function if the following are all true:
1. Only the speed profiled moves MOVE, MOVEABS, MOVECIRC,
MHELICAL, REVERSE, FORWARD and MOVEMODIFY can be merged
with each other. They cannot be merged with linked moves CONNECT,
MOVELINK and CAMBOX.
2. There is a move in the next move buffer (NTYPE).
3. The axis group does not change for multi-axis moves.
When merging multi-axis moves, only the base axis MERGE axis parameter
needs to be set.
Note: If the moves are short, a high deceleration rate must be set to avoid the
TJ1-MC__ decelerating in anticipation of the end of the buffered move.
Arguments N/A
Example MERGE = OFF ' Decelerate at the end of each move
MERGE = ON ' Moves will be merged if possible
See also AXIS.