Specifications

BASIC commands
PROGRAMMING MANUAL 83
Revision 5.0
3.2.110 ETHERNET
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3.2.111 EX
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Description The ERRORMASK axis parameter contains a mask value that is ANDed bit
by bit with the AXISSTATUS axis parameter on every servo cycle to deter-
mine if a motion error has occurred. If the result of the AND operation is not
zero, the motion error has occurred.
When a motion error occurs the enable switch (WDOG) will be turned off, the
MOTION_ERROR parameter will have value different than 0 and the
ERROR_AXIS parameter will contain the number of the first axis to have the
error.
Check the AXISVALUES parameter for the status bit allocations. The default
setting of ERRORMASK is 268.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, MOTION_ERROR, WDOG.
Caution
It is up to the user to define in which cases a motion error is gener-
ated. For safe operation it is strongly recommended to generate a
motion error when the Following Error has exceeded its limit in all
cases. This is done by setting bit 8 of ERRORMASK
Type System command
Syntax ETHERNET(function, unit_number, parameter [,values])
Description The command ETHERNET is used to read and set certain functions of Ether-
net communications. The ETHERNET command should be entered on the
command line of the terminal window of Trajexia Studio in disconnected
mode.
Note: The commands with parameters 4,5,7,9,10 and 12 take effect immedi-
ately after execution. The commands with parameters 0,2,3 and 8 require a
power cycle to Trajexia to enable the new parameters.
Arguments • function
0 = Read, 1 = Write.
• unit_number
-1.
• parameter
0 = IP Address
1 = Addressing mode: Static (1) or Dynamic (0) (Only static addressing is
supported)
2 = Subnet Mask
3 = MAC address
4 = Default Port Number (initialised to 23), see also section 4.2.1.
5 = Token Port Number (initialised to 3240)
7 = ModbusTCP mode: Integer (0) or IEEE floating point (1)
8 = Default Gateway
9 = Data configuration: VR variables (0) or TABLE (1)
10 = ModbusTCP Port Number (initialised to 502)
11 = ARP cache (read-only).
12 = Default FINS Port Number (initialised to 9600), see also section
4.2.2.
• values
The required parameter for a write.
Example ETHERNET(1,-1,0,192,200,185,2)
Set the Trajexia IP address to 192.200.185.2.
See also N/A
Type System command
Syntax EX[(option)]
Description Resets the controller as if it were being powered up again.
There are two types of reset performed by the EX command. EX without the
argument, or EX(0) does the software reset of the controller. EX(1) does the
hardware reset of the controller
Arguments N/A
Example No example.