MC_ReadParameter – Read axis parameter

Block SymbolLicensing group: MOTION CONTROL

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.axisRef–uAxis or yAxis–uAxis 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.axisRef–uAxis or yAxis–uAxis 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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