MC_ReadHardwareParameter

This function block allows to read parameters from the hardware drive asynchronously via ADS. The function block supports CoE and SoE drives.

Syntax

Definition:

FUNCTION_BLOCK MC_ReadHardwareParameter
VAR_IN_OUT
    Axis               : Reference To  AXIS_REF;
END_VAR
VAR_INPUT
    Execute            : BOOL;
    Index              : UINT;
    SubIndex           : USINT;
    DestinationAddress : PVOID;
    DataSize           : UDINT;
END_VAR
VAR_OUTPUT
    Done               : BOOL;
    Busy               : BOOL;
    Active             : BOOL;
    Error              : BOOL;
    ErrorId            : UDINT;
END_VAR

Inputs

Name	Type	Default	Description
Execute	BOOL		Trigger the command with rising edge.
Index	UINT	0	CoE object index or SoE IDN
SubIndex	USINT	0	CoE sub index or SoE element
DestinationAddress	PVOID	0	Contains the address of the destination buffer.
DataSize	UDINT	0	Contains the size of the destination buffer.

In/Outputs

Name	Type	Description
Axis	Reference To AXIS_REF	Reference to the axis

Outputs

Name	Type	Description
Done	BOOL	Value is successfully read from the target.
Busy	BOOL	Function block is not finished.
Active	BOOL	Function block is active.
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier

Possible error codes

For this function block, the following values, among others, are possible for the ErrorId output:

Error(Hex)	Error(Dec)	Error type	Description
0x8145	33093	Function Block	Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete.
0x8189	33161	Function Block	Invalid reference passed to function block. An invalid reference (or pointer) was used in a function block call. This can happen if a reference type is used before it was initialized.
0x81b1	33201	Function Block	Invalid size passed to function block (e.g., invalid array size or invalid number of elements). An invalid size was passed to the function block (e.g., CamRef.NumberOfPoints less than two on MC_CamTableSelect).

An overview of all NC error codes can be found here:

Other errors

In conjunction with the hardware, the ADS return code ADSERR_DEVICE_BUSY (0x708; 1800) may also occur if the device is busy.

You can find an overview of all ADS return codes here:

ADS Return Codes

Version information

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