MC_AxUtiReadRegEncTerm_BkPlcMc

	Available from version 3.0

The function block reads the contents of a register from the KL terminal, which is used as encoder interface for the axis.

Inputs

VAR_INPUT
    Execute:        BOOL;
    Select:         INT;
END_VAR

Name	Type	Description
Execute	BOOL	A rising edge at this input starts the read process.
Select	INT	The register number should be transferred here.

Inputs/outputs

VAR_IN_OUT
    Axis:           AXIS_REF_BkPlcMc;
END_VAR

Name	Type	Description
Axis	AXIS_REF_BkPlcMc	Here, the address of a variable of type AXIS_REF_BkPlcMc should be transferred.

Outputs

VAR_OUTPUT
    RegData:        WORD;
    Busy:           BOOL;
    Done:           BOOL;
    CommandAborted: BOOL;
    Error:          BOOL;
    ErrorID:        UDINT;
END_VAR

Name	Type	Description
RegData	WORD	The read value is output here.
Busy	BOOL	Indicates that a command is being processed.
Done	BOOL	Successful loading of the parameter is indicated here.
CommandAborted	BOOL	Indicates abortion of the read operation.
Error	BOOL	The occurrence of an error is indicated here.
ErrorID	UDINT	An encoded indication of the cause of the error is provided here.

Behavior of the function block

On a rising edge at Execute the function block checks the transferred axis interface. A number of problems can be detected and reported during this process:

If one of the pointers ST_TcPlcDeviceInput and ST_TcPlcDeviceOutput is not initialized, the system responds with Error and ErrorID:=dwTcHydErrCdPtrPlcMc.
If the axis is enabled for operation, the system responds with Error and ErrorID:=dwTcHydErrCdNotReady.
If Select is out of the allowed range from 0 to 63, the system responds with Error and ErrorID:=dwTcHydErrCdTblIllegalIndex.
If an I/O module, which does not support parameter communication, is set as nEncoder_Type in the axis parameters, the system responds with Error and ErrorID:=dwTcHydErrCdNotCompatible.

If these checks could be performed without problem, the read operation is initiated.

A falling edge at Execute clears all the pending output signals. If Execute is set to FALSE while the loading process is still active, the process that had started continues unaffected. The signals provided at the end of the operation (RegData, Done, CommandAborted, Error, ErrorID, Done) are made available for one cycle.

	The drive types iTcMc_EncoderKL3002, iTcMc_EncoderKL3042, iTcMc_EncoderKL3062, iTcMc_EncoderKL3162, iTcMc_EncoderKL5101, iTcMc_EncoderKL5111, iTcMc_EncoderKL2521, iTcMc_EncoderKL2531 und iTcMc_EncoderKL2541 support parameter communication.