MC_ReadActualVelocity
The actual axis velocity value can be read with the function block. The actual velocity value is the velocity value that is returned from the servo drive to the axis.
Inputs
VAR_INPUT
Enable : BOOL;
END_VARName | Type | Description |
|---|---|---|
Enable | BOOL | Reads the parameter once or cyclically depending on the ReadMode. |
Inputs/outputs
VAR_IN_OUT
Axis : AXIS_REF;
END_VARName | Type | Description |
|---|---|---|
Axis | Axis data structure that unambiguously addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error state. |
Outputs
VAR_OUTPUT
Valid : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorID : UDINT;
ActualVelocity : LREAL;
END_VARName | Type | Description |
|---|---|---|
Valid | BOOL | Signals with TRUE that the value read at output Value is valid. |
Busy | BOOL | TRUE, as long as the function block is called with Enable = TRUE. |
Error | BOOL | TRUE, if an error occurs. |
ErrorID | UDINT | If the error output is set, this parameter supplies the error number. |
ActualVelocity | LREAL | Current axis velocity |
Requirements
Development environment | Target system type | PLC libraries to include |
|---|---|---|
TwinCAT v3.0.0 | PC or CX (x86 or x64) | Tc2_MC2 |