Read Parameters with MC_ReadParameter

MC_ReadParameter is used to read a specific parameter of the selected axis. Value will be constantly updated while the Enable input is true. The ParameterNumber input value can be changed to read another parameter while the function block is enabled.

  • LS_Connect must be executed before this function block can be used.

  • The examples in this topic can be found in the XMC_SingleAxis_FBs.zip downloadable from Example Applications.

Element Name Element Type Description
Enable Input Level detected request to execute the function block.
Axis Input/Output Axis reference variable. This can not be a constant.
ParameterNumber Input Specify the number of the parameter to read. See Parameter Number table for parameter numbers.
Valid Output Status that the current outputted value is valid.
Busy Output Indicates the function block is currently being executed.
Error Output Indicates whether an error occurs or not.
ErrorID Output Error Identification number.
Value Output Value of the parameter number.
No. Parameter Item Note OS**
0 Basic Setting Unit 0: pulse, 1: mm, 2: inch, 3:degree -
1 1 Pulse per revolution 1 ~ 4,294,967,295[pulse] -
2 1 Travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] -
3 Speed command unit 0: Unit/sec, 1: Unit/min, 2: rpm -
4 Speed limit value LREAL Positive number [Unit/s, rpm] Change according to Unit, Pulses per rotation, Travel per rotation, Speed command unit -
5 Emergency stop deceleration 0 or LREAL Positive number [Unit/s2] -
6 Encoder select 0:Incremental Encoder,1:Absolute Encoder -
7 Gear ratio (Motor) 1 ~ 65,535 -
8 Gear ratio (Machine) 1 ~ 65,535 -
9 Operation mode of the reverse rotation 0: Deceleration stop, 1: Prompt stop -
46 Position Control Range Expansion 0: Disable, 1: Enable -
47 Operation mode of Speed Control 0: CSP(Cyclic Sync. Position), 1: CSV(Cyclic Sync. Velocity) -
48 Coordinate Systems Operation maximum allowable acceleration 0 or LREAL Positive number [Unit/s2] -
49 Coordinate Systems Operation maximum allowable deceleration 0 or LREAL Positive number [Unit/s2] -
27 NC Spindle Control Setting Identifying range to reach the spindle rotation command speed 0~100% -
28 Identifying RPM to reach the spindle rotation zero speed 0 ~ 100rpm -
30 NC Spindle Select the Spindle Encoder 0: Not Use, 1: Motor ENC, 2: Built-in ENC1, 3: Built-in ENC2, 4: EtherCAT ENC V1.30
10 Expansion Setting S/W upper limit LREAL* [units] -
11 S/W low limit LREAL* [units] -
12 Infinite running repeat position LREAL Positive number [Unit] -
13 Infinite running repeat 0:disabled,1:enabled -
14 Command Inposition range 0 or Long real (LREAL) positive number*1) [Unit] -
15 Exceeding value of tracking error 0 or Long real (LREAL) positive number*1) [Unit] -
16 Current position compensation amount 0 or Long real (LREAL) positive number*1) [Unit] -
17 Current speed filter time constant 0 ~ 100 -
18 Error reset monitoring time 1 ~ 1000 [ms] -
19 S/W limit during speed control 0: Not detect , 1: detect -
20 Tracking error level 0: Warning, 1: Alarm -
21 Jog high speed LREAL Positive number (Jog low speed ~speed limit ) [Unit/s] -
22 Jog low speed LREAL Positive number ( < Jog high speed) [Unit/s] -
23 JOG Acceleration 0 or LREAL Positive number [Unit/s2] -
24 JOG Deceleration 0 or LREAL Positive number [Unit/s2] -
25 JOG Jerk 0 or LREAL Positive number [Unit/s3] -
26 Override mode 0: Specified by ratio, 1: Specified by unit -
29 Backlash compensation amount 0 or Long real (LREAL) positive number*1) [Unit] V1.30
31 Axis Setting Number of pulses per rotation of the spindle EtherCAT encoder 1 ~ 4294967295 V1.30
32 Spindle EtherCAT encoder position variable 0: I device, 1: M device V1.30
33 Spindle EtherCAT encoder position address 0~4095 (Spindle EtherCAT encoder position variable = 0: I) 0~524287 (Spindle EtherCAT encoder position variable = 1: M) V1.30
34 The P Gain of the Spindle Positioning Mode 1~500 Hz V1.30
35 The Feed Forward Gain of the Spindle Positioning Mode 0~100 % V1.30
36 NC Spindle Home Setting How to conduct the homing operation 0: Servo drive supported, 33:Reverse direction, Z phase, 34: Forward direction, Z phase, 35: Set the homing of the current position V1.30
37 Switch navigation speed of the homing operation LREAL Positive number V1.30
38 Zero navigation speed of the homing operation Zero navigation speed of the origin operation ≤ Switch navigation speed of the origin ≤ Limit value of speed V1.30
39 Acceleration/deceleration of the homing operation 0 or LREAL Positive number [Unit/s2] V1.30
40 Z phase variable 0: I device, 1: M device V1.30
41 Z phase address

0~131071 (Z phase variable = 0: I)

0~16777215 (Z phase variable = 0: M)

V1.30
42 Orientation velocity Long real (LREAL) positive number*) (≤ Limit value of speed) V1.30
43 Orientation direction 0:forward direction , 1:reverse direction V1.30
44 Orientation offset 0~360 V1.30
100 Built-in Encoder Setting Encoder 1 unit 0: pulse, 1: mm, 2: inch, 3:degree -
101 Encoder 1 pulse per rotation 1 ~ 4,294,967,295[pulse] -
102 Encoder 1 travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] -
103 Encoder 1 pulse input

0:CW/CCW 1 multiplier,

1:PULSE/DIR 1 multiplier

2: Pulse/Dir 2 multiplier,

3: Phase A/B 1 multiplier

4: Phase A/ B 2 multiplier,

5: Phase A/B 4 multiplier

-
104 Encoder 1 max. value (Encoder1 min. value + 1) ~ 2147483647 -
105 Encoder 1 Min. value -2147483648~(Encoder1 Max. value-1) -
106 Encoder 1 input filter value

0: Disable

1: 500kPPS

2: 200kPPS

3: 100kPPS

4: 10kPPS

5: 1kPPS

6: 0.1kPPS

-
107 Encoder 1 Speed unit 0: Unit/sec, 1: Unit/min, 2: rpm V1.10
108 Encoder 1 position filter time constant 0 ~ 1000 ms V1.10
109 Encoder 1 Position Latch 0: Disable, 1: Able V1.40
200 Encoder 2 unit 0: pulse, 1: mm, 2: inch, 3:degree -
201 Encoder 2 1 pulse per rotation 1 ~ 4,294,967,295[pulse] -
202 Encoder 2 1 travel per rotation 0.000000001 ~ 4,294,967,295 [Unit] -
203 Encoder 2 pulse input

0:CW/CCW 1 multiplier

1:PULSE/DIR 1 multiplier

2: Pulse/Dir 2 multiplier

3: Phase A/B 1 multiplier

4: Phase A/ B 2 multiplier

5: Phase A/B 4 multiplier

-
204 Encoder 2 max. value (Encoder2 min. value + 2) ~ 2147483647 -
205 Encoder 2 Min. value -2147483648~(Encoder2 Max. value-1) -
206 Encoder 2 input filter value

0: Disable

1: 500kPPS

2: 200kPPS

3: 100kPPS

4: 10kPPS

5: 1kPPS

6: 0.1kPPS

-
207 Encoder 2 Speed unit 0: Unit/sec, 1: Unit/min, 2: rpm V1.10
208 Encoder 2 position filter time constant 0 ~ 1000 ms V1.10
209 Encoder 2 Position Latch 0: Disable, 1: Able V1.40

Notes:

* - LREAL range: 2.2250738585072e-308 ~ 1.79769313486232e+308, LREAL positive range: 0 < x ≤1.79769313486232e+308

** - OS version is the version information to which the parameter is applicable.

//Set axis reference

Axis1 := 1;

 

IF (_AX01_RDY) THEN /

//Example of MC_ReadParameter fb

INST_READPARAMETER(Enable:=Execute_Read, Axis:=Axis1,

ParameterNumber:=INST_READPARAMETER.ParameterNumber,

ErrorID=>INST_READPARAMETER.ErrorID, Value=>INST_READPARAMETER.Value);

END_IF;

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

LM518