pd displays Parameter Database values (Integers are displayed as decimal numbers). pdx displays Parameter Database values (Integers are displayed in hexadecimal format).
Pd dataid, unit, unit2, array_index, node
-or-
Pdx dataid, unit, unit2, array_index, node
Prerequisites
None
Parameters
dataid
A required numeric expression that specifies an Integer identification code for the parameter to be accessed. For example, the parameter for setting the system “test speed” is 601.
unit
An optional numeric expression that specifies an Integer unit number for the parameter to be accessed. For many parameters, e.g. the Controller, only a single unit exists. For parameters that refer to devices with multiple possible units, e.g. multiple robots driven by a single controller, this parameter ranges from 1 to n. If not specified, this value defaults to 1.
unit2
An optional numeric expression that specifies an Integer sub unit number for the parameter to be accessed. The use of the sub unit number is not very common and this parameter is normally just defaulted to 1.
array_index
An optional numeric expression that specifies an Integer array index for parameters that have multiple values. For example, for a robot with multiple axes, the “joint maximum soft stop limits” (dataid 16077) is an array with one value for each joint. If not specified, this value defaults to 0, which displays all possible array values.
node
An optional numeric expression that specifies an Integer servo network node number. If omitted, the command operates normally. If present, the command is executed on the specified servo network node. Used for testing and debugging the servo network.
Remarks
As described in the Controller Software Introduction, all of the key variables for configuring and monitoring the operation of the system are stored in a unified Parameter Database. pd or pdx can be used to display all accessible values in the Parameter Database.
If the parameter contains numeric values, the values are represented as text numbers separated by commas (in the case of numeric arrays). If the parameter contains a string value, each string is delimited by double quotes and array elements are separated by commas.
The output of these commands is display as:
dataid, unit, unit2, array_index, description = values
dataid, unit, unit2, and array_index correspond to the parameters described above.
description is a quoted string label for dataid.
values is a list of one or more numeric or string values, separated by commas.For the pd command, integer values are displayed in decimal format. For the pdx command, integer values are displayed in hexadecimal format.
Examples
pd 16077
16077, 1, 1, 0, "Joint max soft stop limit" = 720, 720, 600, 720
pd 16077,,,3
16077, 1, 1, 3, "Joint max soft stop limit" = 600
pd 101
101, 1, 1, 0, "Controller model" = "G3400"
pdx 2003
2003, 1, 1, 0, "Axis mask" = &HF
See Also