MC_ReadActualVelocity

MC_ReadActualVelocity 1:

The actual axis position can be read with the function block MC_ReadActualVelocity.

Inputs


VAR_INPUT
    Enable   : BOOL;
END_VAR

Enable

The command is executed as long as Enable is active.

Outputs


VAR_OUTPUT
    Valid          : BOOL;
    Busy           : BOOL;
    Error          : BOOL;
    ErrorID        : UDINT;
    ActualVelocity : LREAL;
END_VAR

Valid	Indicates that ActualVelocity is valid.
Busy	Indicates that the function block is active.
Error	Becomes TRUE if an error occurs.
ErrorID	If the error output is set, this parameter supplies the error number
ActualVelocity	Current axis velocity

Inputs/outputs


VAR_IN_OUT
    Axis    : AXIS_REF;
END_VAR

Axis

Axis data structure

The axis data structure of type AXIS_REF addresses an axis uniquely within the system. Among other parameters it contains the current axis status, including position, velocity or error status.