FB_ReadDriveParameter

The FB_ReadDriveParameter function block can be used to read various parameters of the Beckhoff servo hardware asynchronously.

Supported Beckhoff hardware
AX5xxx	AX8xxx / AMP8xxx / MD8xxx	Compact drive technology (servo)
from FW v2.11 b0001	from FW v1.04 b0001	from FW v01 (AMI8xxx only Drive)

Inputs

VAR_INPUT
   Execute         : BOOL;
   ParameterNumber : E_DriveParameterNumber;
   Mode            : E_ReadWriteMode;
   Interval        : TIME;
   Value           : ANY;
END_VAR

Name	Type	Description
Execute	BOOL	The function block is activated by a positive edge at this input.
ParameterNumber	E_DriveParameterNumber	Specifies which parameter is to be read.
Mode	E_ReadWriteMode	Specifies whether the parameter is to be read once or cyclically (as quickly as possible).
Interval	TIME	In addition to E_ReadWriteMode.Cyclic, an interval time can be specified here in which the parameter is to be read.
Value	ANY	A variable of the correct type must be passed for the parameter. The required type is specified as a comment after the entry in the E_DriveParameterNumber structure.

Inputs/outputs

VAR_IN_OUT
   Axis : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	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;
END_VAR

Name	Type	Description
Valid	BOOL	This output is set if valid information has been written to the "Value" variable.
Busy	BOOL	This output is set when the function block is activated, and remains set until feedback is received.
Error	BOOL	This output is set after the Busy output has been reset when an error occurs in the transmission of the command.
ErrorID	UDINT	In the event of a set error output returns the ADS error code.

Requirements

Development environment	Target platform type	PLC libraries to include	Firmware version	Revision
TwinCAT ≥4024.67	PC or CX (x86 or x64)	Tc2_MC2_Drive ≥V3.3.51.0		≥0032