MC_ReadParameter (FB)

FUNCTION_BLOCK MC_ReadParameter

It will support the Parameters defined as “standard” in the PLCopen. These parameters will be transfered to the units as used for PLCopen function blocks

When a drive based axis implementation is used, the function block returns the value of a drive specific parameter or a PLCopen parameter. When the Central Motion Control axis implementation is used, a parameter according to the list PLCopen parameter is returned

Parameter No(PN)	Name	DataType	Min.	Max.	Default	R/W	Comments
1	CommandedPosition	DINT				R	Commanded Position
2	SWLimitPos	DINT	-2147483647	2147483647	2147483647	R/W	Positive Software limit switch position
3	SWLimitNeg	DINT	-2147483647	2147483647	-2147483647	R/W	Negative Software limit switch position
4	EnableLimitPos	BOOL	FALSE	TRUE	FALSE	R/W	Enable positive software limit switch
5	EnableLimitNeg	BOOL	FALSE	TRUE	FALSE	R/W	Enable negative software limit switch
6	EnablePostLagMonitoring	BOOL	FALSE	TRUE	TRUE	R/W	Enable monitoring of position lag (following error)
7	MaxPositionLag	DINT	1	2147483647***		R	Maximal position lag
8	MaxVelocitySystem	DINT			32767	R	Maximal allowed velocity of the axis in the motion system
9	MaxVelocityAppl	DINT	0**	32767	32767	R/W	Maximal allowed velocity of the axis in the application
10	ActualVelocity	DINT	-32767	32767		R	Actual velocity
11	CommandedVelocity	DINT	-32767	32767		R	Commanded Velocity
12	MaxAccelerationSystem	DINT			32767	R	Maximal allowed acceleration of the axis in the motion system
13	MaxAccelerationAppl	DINT	10	32767	32767	R/W	Maximal allowed acceleration of the axis in the application
14	MaxDecelerationSystem	DINT			32767	R	Maximal allowed deceleration of the axis
15	MaxDecelerationAppl	DINT	10	32767	32767	R/W	Maximal allowed deceleration of the axis
16	MaxJerk	DINT	0*	2147483647	2147483647	R/W	Maximal allowed jerk of the axis
2001	MODULO_NOMINATOR	DINT	1	2147483647	1	R/W	ABB specific parameter. Used for Central Motion Control implementation: Gearbox modifier to MODULO_RANGE
2002	MODULO_DENOMINATOR	DINT	1	2147483647	1	R/W	ABB specific parameter. Used for Central Motion Control implementation: Gearbox modifier to MODULO_RANGE
2003	EnableLimit2Decelerate	BOOL	FALSE	TRUE	FALSE	R/W	Enable software limit switches to decelerate
2004	EnableLimitAbort	BOOL	FALSE	TRUE	FALSE	R/W	Enable that software limit switches will abort ongoing movement
2005	EnableLimitVelocity	BOOL	FALSE	TRUE	FALSE	R/W	If the velocity is limited the unmoved position will be covered whenever possible
2006	SWLimit2DecPos	LREAL	-2147483647	2147483647	2147483647	R/W	Used as end position for EnableLimit2Decelerate
2007	SWLimit2DecNeg	LREAL	-2147483647	2147483647	2147483647	R/W	Used as end position for EnableLimit2Decelerate
2008	MaxPositionGapLL	LREAL	0	214748364700	0	R/W	Used to stop the ongoing movement if position is behind

*0 means: no limitation of jerk is performed.

**Axis will stay in stop.

***Is modified by CMC_Axis_Control_Parameter, the maximum Value is calculated in increments, the value which is delivered by ReadParameter will be given in [u].

InOut:

Scope	Name	Type	Comment
Input	Enable	BOOL	Read continuously on “TRUE”
	ParameterNumber	WORD	Number of the parameter
Output	Valid	BOOL	Value is available
	Busy	BOOL	The function block with Busy = TRUE has control on the axis
	Error	BOOL	Signals that error has occurred within function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
	Value	DINT	Value of the specified parameter in the datatype
Inout	Axis	Axis_Ref	Reference to axis