On the input side:
- Execute - While is TRUE, the FB is executed (BOOL).
- ParameterNumber - Indicates the objects of the slave devices (DWORD).
Values of the parameters are sent to Motion module via network. We have access to them via device objects.
List of all objects device for MR-J5-_G are listed in the technical documentation - MR-J5-G/MR-J5W-G User's Manual (Object Dictionary).
The contents of Parameter No. (ParameterNumber) when setting the object of the slave device are shown below:
When setting the size of the objects of the slave devices, specify 1 byte (08H)/ 2 bytes (10H)/ 4 bytes (20H)/ 8 bytes (40H). If "00H" is specified the parameter read is performed with default size.
The example of ReadParameter input setting for Pr. PT05 - Homing Speed:
ParameterNumber := 24850000H
- ReadCount - Indicates the number of reading times of parameters. Carries out continuous read until Enable (Enable) becomes FALSE as 0 is set. Reload is executed at the timing which the Parameter No. is changed (WORD).
- Axis - Axis information available from AxisRef structure (AxisRef).
On the output side:
- Valid - This variable becomes TRUE when the output value is valid (BOOL).
- Busy - Indicates that the FB is in execution (BOOL).
- Error - When TRUE, it indicaes that and error has occured in the FB (BOOL).
- ErrorID - The error code generated in the FB is returned (WORD).
- SDOErrorID - When an error occurs in SDO communication, this variable returns the response code (SDO Abort Code) (DWORD).
- Value - This variable outputs the read value from the specified parameters. This value is stored as LREAL type even when the target parameters are integer data (LREAL).
- SDOStatus - Stores the processing status of transient request (WORD).
- ReadCounter - Stores the number of reading times for the parameters (WORD).