MC_ReadParameter –  Read axis parameter

Block SymbolLicensing group: MOTION CONTROL
PIC

Function Description

The block MC_ReadParameter displays actual value of various system variables of the connected axis on its Value output. The user chooses from a set of accessible variables by setting the ParameterNumber input. The output value is valid only while the block is activated by the logical Enable input.

The block displays the parameters and outputs of RM_Axis block and is implemented for sake of compatibility with the PLCOpen specification.

Inputs

uAxis

Axis reference (only RM_Axis.axisRefuAxis or yAxisuAxis connections are allowed)

Reference

Enable

Block function is enabled

Bool

ParameterNumber

Parameter ID

Long (I32)

1 ....

Commanded position

2 ....

Positive sw limit switch

3 ....

Negative sw limit switch

7 ....

Maximal position lag

8 ....

Maximal velocity (system)

9 ....

Maximal velocity (appl)

10 ...

Actual velocity

11 ...

Commanded velocity

12 ...

Maximal acceleration (system)

13 ...

Maximal acceleration (appl.)

14 ...

Maximal deceleration (system)

15 ...

Maximal deceleration (appl.)

16 ...

Maximal jerk

1000 .

Actual position

1001 .

Maximal torque/force

1003 .

Actual torque/force

1004 .

Commanded torque/force

Outputs

yAxis

Axis reference (only RM_Axis.axisRefuAxis or yAxisuAxis connections are allowed)

Reference

Valid

Output value is valid

Bool

Busy

Algorithm not finished yet

Bool

Error

Error occurred

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

Value

Parameter value

Double (F64)

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