Specifications

Communication protocols
PROGRAMMING MANUAL 210
Revision 5.0
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
• value is the value of the status error mask that must be set.
The status error mask value can be read back by means of the command
MECHATROLINK(unit,39,station,vr)
where the arguments of the command are the same as for the command
MECHATROLINK(unit,36,station,vr). The default value of the status error
mask after the controller is turned on or reset is 4000 hex. This triggers the
WDOG when an error occurs in the GRT1-ML2. 4000 hex equals 0100 0000
0000 0000 binary. Bit 14 is the overall error bit, which is set to 1 when an
error occurs.
4.8.4 Table registration
The table registration function registers the configuration of the SmartSlice I/
O Units that are connected to the GRT1-ML2 in a table in the GRT1-ML2.
This allows for a comparison of the actual configuration when the power is
turned on with the registered configuration.
• To enable the registered table, make sure that unit dipswitch 1 (REGS) is
set to ON before the power is turned on.
• To disable the registered table, make sure that unit dipswitch 1 (REGS)
is set to OFF before the power is turned on. In this case, the GRT1-ML2
automatically detects the actual I/O configuration and starts the
communication.
Create a new registration table
To register the table, make sure the power of the GRT1-ML2 and the
SmartSlice I/O Units is on, and set unit dipswitch 1 (REGS) on the GRT1-
ML2 from OFF to ON. If the registration table is refreshed, the old
registration table is erased.
The configuration information that is registered contains these items:
• The order of the SmartSlice I/O Units connected to the GRT1-ML2.
• The I/O size (input or output, number of bits) of each SmartSlice I/O Unit.
The configuration information does not contain the model numbers of the
SmartSlice I/O Units.
Comparison of the actual configuration and the registered table
When unit dipswitch 1 is set to ON, an I/O configuration table is registered in
the GRT1-ML2, and the GRT1-ML2 is turned on, the GRT1-ML2
automatically compares the actual I/O configuration and the registered table.
If a registered SmartSlice I/O Unit cannot participate in he I/O
communication, or if the GRT1-ML2 detects an unregistered SmartSlice I/O
Unit, a verification error occurs. In this case, the concerned SmartSlice I/O
Units do not participate in the I/O communication. The I/O communication
starts with the other SmartSlice I/O Units.
Note
It is recommended to register the I/O configuration table when all
SmartSlice I/O Units are communicating, that is, when the TS LED
is lit green.