Specifications

Communication protocols
PROGRAMMING MANUAL 209
Revision 5.0
• 10 is the start address of the analog outputs
• 0 is the number of analog outputs
Depending on the actual GRT1-ML2 configurations, gaps are introduced in
the available digital I/O ranges. In the example above, the range of
distributed digital inputs and outputs is [32–127], but there are gaps in the
digital inputs in the ranges [40–95] and [108–127], and there are gaps in the
digital outputs in the ranges [32–63], [80–95] and [104–127]. These digital
inputs and outputs are virtual. Virtual digital inputs always have value 0
(OFF). Virtual outputs can be set ON or OFF and they can be used in
programming, but they do not have a physical representation and cannot
activate a device.
4.8.3 GRT1-ML2 status word
The GRT1-ML2 status flags give the status of the connection between the
GRT1-ML2 and the SmartSlice I/O Units, and the status of the SmartSlice I/
O Units. The status flags are 1 word in size. Their information is transferred
to the TJ1-MC__ as part of the input data.
The table below gives the meaning of the bits in the status word.
/i
To read the status word, use the command
MECHATROLINK(unit,36,station,vr)
where:
• unit is the number of the MECHATROLINK-II Master Unit in the Motion
Controller system
• station is the station address of the GRT1-ML2 set with the rotary
switches
• vr is the VR memory address where the read status word is put. Use -1
to print the status word to the Command Line Terminal interface.
Every servo cycle the status word is checked and a bitwise AND is
performed with the status word and the status error mask. If the result of this
AND operation is not 0, the WDOG is switched off. This can be used to
detect particular errors in GRT1-ML2 and stop the controller operation if they
occur.
To set the status error mask, use the command
MECHATROLINK(unit,37,station,value)
Bit Flag Description
0 SmartSlice I/O Bus Communication
Error
Monitors the status of SmartSlice I/O commu-
nication
1 − Reserved
2 SmartSlice I/O Unit Warning
0: Normal
1: Error detected
Indicates a minor SmartSlice I/O Unit error.
This flag goes ON when there is an error in
any one of the connected SmartSlice I/O
Units.
3 − Reserved
4 SmartSlice I/O Unit Alarm
0: Normal
1: Error detected
Indicates a major SmartSlice I/O Unit error.
This flag goes ON when there is an error in
one of the connected SmartSlice I/O Units.
5−11 − Reserved
12 Unit Maintenance
0: Normal
1: Error (monitor value reached)
Monitors the operating time threshold that is
set with the Unit power ON time monitor func-
tion
13 Automatic Restore Monitor
0: Restore successful
1: Restore failed
Indicates whether or not the automatic
parameter restore to the SmartSlice I/O Units
was completed successfully
14 Communication Unit Error
0: Normal
1: Error occurred
This flag is ON if one of the other flags (bits 0
to 13) is ON
15 I/O Refreshing
0: I/O communication stopped
1: I/O communication normal
Indicates whether I/O data is exchanged nor-
mally
Bit Flag Description