MC_ReadActVel

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Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Reads the actual velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP of the axis.

Inputs

Input	Data Type	Range	Unit	Default	Description
Enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive.	BOOL	FALSE, TRUE	N/A	No default	Request to read the axis's actual velocity.
Axis	AXIS_REF	1, 256	N/A	No default	Name of a declared instance of the AXIS_REF library function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances.. See Axis Name and Number. See AXIS_REF Structure.

Input

Data Type

Range

Unit

Default

Description

Enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive.

BOOL

FALSE, TRUE

N/A

No default

Request to read the axis's actual velocity.

Axis

AXIS_REF

1, 256

N/A

No default

Name of a declared instance of the AXIS_REF library function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances..

See Axis Name and Number.
See AXIS_REF Structure.

Outputs

Output	Data Type	Range	Unit	Description
Valid	BOOL	FALSE, TRUE	N/A	Indicates the value at the ActualVelocity output is available.
Busy	BOOL	FALSE, TRUE	N/A	Indicates this function block is executing.
Error	BOOL	FALSE, TRUE	N/A	Indicates an invalid input was specified.
ErrorID	INT	-32768 to +32767		Indicates the error if Error output is TRUE. See PLCopen Function Block ErrorIDs.
ActualVelocity	LREAL		User unit/sec	Actual velocity of the axis. Oscillations may be seen because this is an instant velocity, not an average velocity.

Remarks

This function or function block returns cached data.
See Program a Multi-Core Controller.

See Function Blocks - General Rules about how inputs and outputs work.

Figure 1: MC_ReadActVel

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            * MC_ReadActVel S
            T example *);
Inst_MC_ReadActVel( TRUE, Axis1 ); //Inst_MC_ReadActVel is an instance of MC_ReadActVel function block
			
ActualVel := Inst_MC_ReadActVel.ActualVelocity; // store ActualVelocity output into a user defined variable