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 Torque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist	0
Service/Velocity	1
Service/Position	2
Service/No Change	9
Fieldbus A Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design/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 ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs CoE and CANopen
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. 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	-