MC_ReadActualVelocity

This function block reads the current axis actual velocity.
In case of an invalid actual velocity value, the Velocity output is set to 0 and the Valid output is set to FALSE.

Syntax

Definition:

FUNCTION_BLOCK MC_ReadActualVelocity
VAR_IN_OUT
    Axis     : Reference To  AXIS_REF;
END_VAR
VAR_INPUT
    Enable   : BOOL;
END_VAR
VAR_OUTPUT
    Valid    : BOOL;
    Busy     : BOOL;
    Error    : BOOL;
    ErrorId  : UDINT;
    Velocity : LREAL;
END_VAR

Inputs

Name	Type	Description
Enable	BOOL	Read the actual velocity continuously while Enable = TRUE.

In/Outputs

Name	Type	Description
Axis	Reference To AXIS_REF	Reference to the axis

Outputs

Name	Type	Description
Valid	BOOL	Valid output available at function block
Busy	BOOL	Function block is not finished and new output values are to be expected.
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier
Velocity	LREAL	Actual velocity ([PosUnit]/s)

Further information

Alternatively, the actual velocity can be read from the PLC using the AXIS_REF structure.

myAxis.McToPlc.Act.Velocity

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5500 MC3 Base >= v4.0.6