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

-