ACTION#.TASKPARAM

Description

Some tasks require a Task Param value to specify what is acted upon. ACTION#.TASK must be set before ACTION#.TASKPARAM. If ACTION#.TASK is modified, then the range and units of ACTION#.TASKPARAM may be modified, and the value will be defaulted.

Not all tasks require a task param.

Example

This example shows an action which starts a motion task 4 on AXIS1

>> ACTION1.TASK = 5 (Launch motion task)

>> ACTION1.TASKID = 1 (AXIS1)

>> ACTION1.TASKPARAM = 4

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read/Write
Units	N/A
Range	Depends on ACTION#.TASK
Default Value	Depends on ACTION#.TASK
Data Type	Float
Stored in Non-Volatile Memory	Yes

Task Parameter Values for Certain Tasks

Task: Set the Command Source and Op-Mode for an axis.

Command Source and Op-mode combination	Value
Service/Torque	0
Service/Velocity	1
Service/Position	2
Service/No Change	9
Fieldbus/Torque	10
Fieldbus/Velocity	11
Fieldbus/Position	12
Fieldbus/No Change	19
Electronic Gearing/Position	22
Analog/Torque	30
Analog/Velocity	31
Analog/Position	32
Analog/No Change	39
No Change/Torque	90
No Change/Velocity	91
No Change/Position	92

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO Mappable
ACTION1.TASKPARAM	3909h	01h	Signed32	-	1000:1	Read/Write	No
ACTION2.TASKPARAM	3909h	02h	Signed32	-	1000:1	Read/Write	No
ACTION3.TASKPARAM	3909h	03h	Signed32	-	1000:1	Read/Write	No
ACTION4.TASKPARAM	3909h	04h	Signed32	-	1000:1	Read/Write	No
ACTION5.TASKPARAM	3909h	05h	Signed32	-	1000:1	Read/Write	No
ACTION6.TASKPARAM	3909h	06h	Signed32	-	1000:1	Read/Write	No
ACTION7.TASKPARAM	3909h	07h	Signed32	-	1000:1	Read/Write	No
ACTION8.TASKPARAM	3909h	08h	Signed32	-	1000:1	Read/Write	No
ACTION9.TASKPARAM	3909h	09h	Signed32	-	1000:1	Read/Write	No
ACTION10.TASKPARAM	3909h	0ah	Signed32	-	1000:1	Read/Write	No
ACTION11.TASKPARAM	3909h	0bh	Signed32	-	1000:1	Read/Write	No
ACTION12.TASKPARAM	3909h	0ch	Signed32	-	1000:1	Read/Write	No
ACTION13.TASKPARAM	3909h	0dh	Signed32	-	1000:1	Read/Write	No
ACTION14.TASKPARAM	3909h	0eh	Signed32	-	1000:1	Read/Write	No
ACTION15.TASKPARAM	3909h	0fh	Signed32	-	1000:1	Read/Write	No
ACTION16.TASKPARAM	3909h	10h	Signed32	-	1000:1	Read/Write	No
ACTION17.TASKPARAM	3909h	11h	Signed32	-	1000:1	Read/Write	No
ACTION18.TASKPARAM	3909h	12h	Signed32	-	1000:1	Read/Write	No
ACTION19.TASKPARAM	3909h	13h	Signed32	-	1000:1	Read/Write	No
ACTION20.TASKPARAM	3909h	14h	Signed32	-	1000:1	Read/Write	No
ACTION21.TASKPARAM	3909h	15h	Signed32	-	1000:1	Read/Write	No
ACTION22.TASKPARAM	3909h	16h	Signed32	-	1000:1	Read/Write	No
ACTION23.TASKPARAM	3909h	17h	Signed32	-	1000:1	Read/Write	No
ACTION24.TASKPARAM	3909h	18h	Signed32	-	1000:1	Read/Write	No
ACTION25.TASKPARAM	3909h	19h	Signed32	-	1000:1	Read/Write	No
ACTION26.TASKPARAM	3909h	1ah	Signed32	-	1000:1	Read/Write	No
ACTION27.TASKPARAM	3909h	1bh	Signed32	-	1000:1	Read/Write	No
ACTION28.TASKPARAM	3909h	1ch	Signed32	-	1000:1	Read/Write	No
ACTION29.TASKPARAM	3909h	1dh	Signed32	-	1000:1	Read/Write	No
ACTION30.TASKPARAM	3909h	1eh	Signed32	-	1000:1	Read/Write	No
ACTION31.TASKPARAM	3909h	1fh	Signed32	-	1000:1	Read/Write	No
ACTION32.TASKPARAM	3909h	20h	Signed32	-	1000:1	Read/Write	No

EtherNet/IP
Name	ID	Hex	Data Type	Access	Units
ACTION1.TASKPARAM	41000	A028	Signed32	Read/Write	-
ACTION2.TASKPARAM	41001	A029	Signed32	Read/Write	-
ACTION3.TASKPARAM	41002	A02A	Signed32	Read/Write	-
ACTION4.TASKPARAM	41003	A02B	Signed32	Read/Write	-
ACTION5.TASKPARAM	41004	A02C	Signed32	Read/Write	-
ACTION6.TASKPARAM	41005	A02D	Signed32	Read/Write	-
ACTION7.TASKPARAM	41006	A02E	Signed32	Read/Write	-
ACTION8.TASKPARAM	41007	A02F	Signed32	Read/Write	-
ACTION9.TASKPARAM	41008	A030	Signed32	Read/Write	-
ACTION10.TASKPARAM	41009	A031	Signed32	Read/Write	-
ACTION11.TASKPARAM	41010	A032	Signed32	Read/Write	-
ACTION12.TASKPARAM	41011	A033	Signed32	Read/Write	-
ACTION13.TASKPARAM	41012	A034	Signed32	Read/Write	-
ACTION14.TASKPARAM	41013	A035	Signed32	Read/Write	-
ACTION15.TASKPARAM	41014	A036	Signed32	Read/Write	-
ACTION16.TASKPARAM	41015	A037	Signed32	Read/Write	-
ACTION17.TASKPARAM	41016	A038	Signed32	Read/Write	-
ACTION18.TASKPARAM	41017	A039	Signed32	Read/Write	-
ACTION19.TASKPARAM	41018	A03A	Signed32	Read/Write	-
ACTION20.TASKPARAM	41019	A03B	Signed32	Read/Write	-
ACTION21.TASKPARAM	41020	A03C	Signed32	Read/Write	-
ACTION22.TASKPARAM	41021	A03D	Signed32	Read/Write	-
ACTION23.TASKPARAM	41022	A03E	Signed32	Read/Write	-
ACTION24.TASKPARAM	41023	A03F	Signed32	Read/Write	-
ACTION25.TASKPARAM	41024	A040	Signed32	Read/Write	-
ACTION26.TASKPARAM	41025	A041	Signed32	Read/Write	-
ACTION27.TASKPARAM	41026	A042	Signed32	Read/Write	-
ACTION28.TASKPARAM	41027	A043	Signed32	Read/Write	-
ACTION29.TASKPARAM	41028	A044	Signed32	Read/Write	-
ACTION30.TASKPARAM	41029	A045	Signed32	Read/Write	-
ACTION31.TASKPARAM	41030	A046	Signed32	Read/Write	-
ACTION32.TASKPARAM	41031	A047	Signed32	Read/Write	-

PROFINET
Parameter	PNU	Data Type	Access	Units
ACTION1.TASKPARAM	41000	Float	Read/Write	-
ACTION2.TASKPARAM	41001	Float	Read/Write	-
ACTION3.TASKPARAM	41002	Float	Read/Write	-
ACTION4.TASKPARAM	41003	Float	Read/Write	-
ACTION5.TASKPARAM	41004	Float	Read/Write	-
ACTION6.TASKPARAM	41005	Float	Read/Write	-
ACTION7.TASKPARAM	41006	Float	Read/Write	-
ACTION8.TASKPARAM	41007	Float	Read/Write	-
ACTION9.TASKPARAM	41008	Float	Read/Write	-
ACTION10.TASKPARAM	41009	Float	Read/Write	-
ACTION11.TASKPARAM	41010	Float	Read/Write	-
ACTION12.TASKPARAM	41011	Float	Read/Write	-
ACTION13.TASKPARAM	41012	Float	Read/Write	-
ACTION14.TASKPARAM	41013	Float	Read/Write	-
ACTION15.TASKPARAM	41014	Float	Read/Write	-
ACTION16.TASKPARAM	41015	Float	Read/Write	-
ACTION17.TASKPARAM	41016	Float	Read/Write	-
ACTION18.TASKPARAM	41017	Float	Read/Write	-
ACTION19.TASKPARAM	41018	Float	Read/Write	-
ACTION20.TASKPARAM	41019	Float	Read/Write	-
ACTION21.TASKPARAM	41020	Float	Read/Write	-
ACTION22.TASKPARAM	41021	Float	Read/Write	-
ACTION23.TASKPARAM	41022	Float	Read/Write	-
ACTION24.TASKPARAM	41023	Float	Read/Write	-
ACTION25.TASKPARAM	41024	Float	Read/Write	-
ACTION26.TASKPARAM	41025	Float	Read/Write	-
ACTION27.TASKPARAM	41026	Float	Read/Write	-
ACTION28.TASKPARAM	41027	Float	Read/Write	-
ACTION29.TASKPARAM	41028	Float	Read/Write	-
ACTION30.TASKPARAM	41029	Float	Read/Write	-
ACTION31.TASKPARAM	41030	Float	Read/Write	-
ACTION32.TASKPARAM	41031	Float	Read/Write	-