Delta DVP-15MC Series, Operation Manual

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DVP-15MC Series Motion Controller Operation Manual
8-182
_8
Communication Instructions
8.14.1.1 DMC_ReadParameter_CANopen
FB/FC Explanation Applicable model
FB
DMC_ReadParameter_CANopen is used to read a parameter value of a
slave. DVP15MC11T
DVP15MC11T-06

Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation
timing
Axis
Specify the slave which
is to be controlled by the
instruction
USINT
1~127
(The variable value
must be set)
When Execute
changes from
FALSE to TRUE
Execute
The instruction is
executed when
Execute
changes from FALSE to
TRUE.
BOOL
TRUE or FALSE
(FALSE)
Index
The index of a
parameter to be read
UINT 0
When Execute
changes from
FALSE to TRUE
SubIndex
The subindex of a
parameter to be read
USINT 0
When Execute
changes from
FALSE to TRUE

Output Parameters
Parameter name Function Data type Valid range
Done TRUE when the instruction execution is completed. BOOL TRUE / FALSE
Busy TRUE when the instruction is being executed. BOOL TRUE / FALSE
Active TRUE when the axis is being controlled. BOOL TRUE / FALSE
Error TRUE when there is an error. BOOL TRUE / FALSE
ErrorID
Contains error codes when an error occurs. Please
refer to section 12.2 for the corresponding error
code.
WORD
Data Type
The data type of the read parameter.
1: Byte,
2: Word,
4: Double Word
USINT
Data The value of the parameter which has been read UDINT
DMC_ReadParameter_CANopen
Ax is Done
DMC_ReadP arameter_CANopen_instanc e
Ex ecut e Busy
Ac tive
Error
ErrorI D
Dat aType
Data
Index
SubIndex