MLAxisReadParam

Pipe Network motion icon This function/function block was added in KAS v4.02.

Function Block - Returns the value of the specified axis parameter.

Inputs

Input	Data Type	Range	Unit	Default	Description
AxisID	DINT	1 to 1024	N/A	No default	ID of the Axis block.
ParameterNumber	INT	Enumerated	N/A	No default	See Axis Parameters.

Outputs

Output	Data Type	Range	Unit	Description
OK	BOOL	FALSE, TRUE	N/A	Indicates whether this function block has completed without error.
Value	LREAL	No range	N/A	Value of the axis parameter.

Remarks

None

Axis Parameters

ID	Parameter	Name	R/W	Update Rate Type	Description
1035	ML_AXIS_PARAM_BUS_INTERFACE_TYPE	Bus Interface Type	Read-only	Static	The parameter value is: DRIVE_BUS_INTERFACE_ECAT when the axis is associated with an EtherCAT device. DRIVE_BUS_INTERFACE_SIMULATOR when the axis is simulated.
1500	ML_AXIS_PARAM_BUS_POSITION_DEMAND	Position demand value	Read-only	EtherCAT Cyclic	Drive Position Demand Value 32-bits. There may be a 1 cycle delay.
1501	ML_AXIS_PARAM_BUS_STATUS_WORD	Drive Status Word	Read-only	EtherCAT Cyclic	Drive Axis Status Word 16-bits. DS-402 compatible drives: This is the same as the CANopen Status Word. Stepper Drives: This is the same as the STM Inputs (CoE object 0x6010). See the AKT2G-SM-Lx Object Description. Simulated Drives: N/A There may be a 1 cycle delay.
1502	ML_AXIS_PARAM_BUS_CONTROL_WORD	Drive Control Word	Read-only	EtherCAT Cyclic	Drive Axis Control Word 16-bits. DS-402 compatible drives: This is the same as the CANopen Control Word. Stepper Drives: This is the same as the STM Outputs (CoE object 0x7010). See the AKT2G-SM-Lx Object Description. Simulated Drives: N/A There may be a 1 cycle delay.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

(* Check if Pipe axis is associated with an EtherCAT device or simulated *)
Inst_MLAxisReadParam(PipeNetwork.AXIS1, ML_AXIS_PARAM_BUS_INTERFACE_TYPE);
IF Inst_MLAxisReadParam.OK THEN
   Axis1_Simulated := Inst_MLAxisReadParam.Value = DRIVE_BUS_INTERFACE_SIMULATOR;
END_IF;