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
|
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 |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
41000 |
1 |
41000 (0xa028) |
ACTION1.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41001 |
1 |
41001 (0xa029) |
ACTION2.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41002 |
1 |
41002 (0xa02a) |
ACTION3.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41003 |
1 |
41003 (0xa02b) |
ACTION4.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41004 |
1 |
41004 (0xa02c) |
ACTION5.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41005 |
1 |
41005 (0xa02d) |
ACTION6.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41006 |
1 |
41006 (0xa02e) |
ACTION7.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41007 |
1 |
41007 (0xa02f) |
ACTION8.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41008 |
1 |
41008 (0xa030) |
ACTION9.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41009 |
1 |
41009 (0xa031) |
ACTION10.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41010 |
1 |
41010 (0xa032) |
ACTION11.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41011 |
1 |
41011 (0xa033) |
ACTION12.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41012 |
1 |
41012 (0xa034) |
ACTION13.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41013 |
1 |
41013 (0xa035) |
ACTION14.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41014 |
1 |
41014 (0xa036) |
ACTION15.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41015 |
1 |
41015 (0xa037) |
ACTION16.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41016 |
1 |
41016 (0xa038) |
ACTION17.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41017 |
1 |
41017 (0xa039) |
ACTION18.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41018 |
1 |
41018 (0xa03a) |
ACTION19.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41019 |
1 |
41019 (0xa03b) |
ACTION20.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41020 |
1 |
41020 (0xa03c) |
ACTION21.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41021 |
1 |
41021 (0xa03d) |
ACTION22.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41022 |
1 |
41022 (0xa03e) |
ACTION23.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41023 |
1 |
41023 (0xa03f) |
ACTION24.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41024 |
1 |
41024 (0xa040) |
ACTION25.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41025 |
1 |
41025 (0xa041) |
ACTION26.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41026 |
1 |
41026 (0xa042) |
ACTION27.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41027 |
1 |
41027 (0xa043) |
ACTION28.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41028 |
1 |
41028 (0xa044) |
ACTION29.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41029 |
1 |
41029 (0xa045) |
ACTION30.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41030 |
1 |
41030 (0xa046) |
ACTION31.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
41031 |
1 |
41031 (0xa047) |
ACTION32.TASKPARAM |
Signed32 |
Read/Write |
Yes |
|
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 |
- |
