Danfoss VLT Series Programming Manual page 189

Programming
6.5.4.18 MC_ReadParameter_ISD51x and
MC_ReadBoolParameter_ISD51x
This function block returns the value of the specified
parameter. The time taken until valid data is available at
the output depends on several factors, for example:
•
PLC system
•
Cycle times
•
Amount of acyclic data requested
MC_ReadParameter_ISD51x
AXIS_REF_- Axis
ISD51x
BOOL Enable
INT ParameterNumber
Illustration 6.41 MC_ReadParameter_ISD51x
MC_ReadBoolParameter_ISD51x
AXIS_REF_- Axis
ISD51x
BOOL Enable
INT ParameterNumber
Illustration 6.42 MC_ReadBoolParameter_ISD51x
Variable Data Default
name type value
VAR_IN_OUT
Axis AXIS_REF_ISD51x
VAR_INPUT
Enable BOOL FALSE
Parameter- INT 0
Number
VAR_OUTPUT
Valid BOOL
MG36D102
Programming Guide
Valid BOOL
Busy BOOL
Error BOOL
ErrorInfo DD_ERROR_ISD51x
AbortCode DWORD
Value DWORD
Valid BOOL
Busy BOOL
Error BOOL
ErrorInfo DD_ERROR_ISD51x
DWORD
AbortCode
Value BOOL
Description
Reference to the axis.
See
chapter 6.5.4.1 AXIS_REF_IS
D51x.
Get the value of the
parameter continuously
while enabled.
Number of the parameter.
See Table 6.20. All other
numbers are not allowed
and lead to an error.
The function block has a
valid output.
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Variable Data Default
name type value
Busy BOOL
Error BOOL
ErrorInfo DD_ERROR_ISD51x
AbortCode DWORD
Value DWORD/BOOL
Table 6.19 MC_ReadParameter_ISD51x and
MC_ReadBoolParameter_ISD51x
Para- Name Data
meter type
Number
1 Comman- DINT
dedPosition
2 SWLimitPos DINT
3 SWLimitNeg DINT
4 EnableLi- BOOL
mitPos
5 EnableLi- BOOL
mitNeg
7 MaxPosi- UDINT R/
tionLag
8 MaxVelocity- REAL
System
9 MaxVeloci- UDINT R/
tyAppl
10 ActualVe- DINT
locity
11 Comman- DINT
dedVelocity
13 MaxAcceler- UDINT R/
ationAppl
15 MaxDeceler- UDINT R/
ationAppl
Table 6.20 Parameters for MC_ReadParameter_ISD51x,
MC_ReadBoolParameter_ISD51x and MC_WriteParameter_ISD51x
Description
The function block is not
finished and new output
values are to be expected.
An error has occurred
within the function block.
Error identification and
instance identifier.
See chapter 6.5.2.3 Error
Indication.
SDO abort code if there is
an error. Available in the
list of constants:
SdoAbortCodes.
Value of the specified
parameter in the data
type, as specified in
Table 6.20.
R/ Description
W
R Commanded position
R/ Positive software limit
W switch position
R/ Negative software limit
W switch position
R Enable positive software
limit switch
R Enable negative software
limit switch
Maximum position lag
W
R Maximum allowed velocity
of the axis in the motion
system
Maximal allowed velocity of
W the axis in the application
R Actual velocity
R Commanded velocity
Maximal allowed
W acceleration of the axis in
the application
Maximal allowed
W deceleration of the axis in
the application
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