Vector VEC-VA Series, Programming Manual

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VA Motion Controller Programming Manual
616
output) instructions executed
First_Done (first
execution is complete)
The output parameter to
TRUE represents the first
instruction execution is
complete, the trigger again,
the parameter is still Ture
BOOL
TRUE or
FALSE
Busy (execution)
This parameter indicates
to TRUE output instruction is
executed
BOOL
TRUE or
FALSE
The Active
(control)
When this parameter is
TRUE indicates output
command under the control
shaft
BOOL
TRUE or
FALSE
Error (error
output bit)
This parameter indicates
the instruction execution error
to TRUE
BOOL
TRUE or
FALSE
The ErrorID
(error code)
Instruction execution
error code error
WORD
Count Byte length WORD
0000 ~
FFFF
Data Output Data UDINT
0000 ~
FFFF

Function Description
Service data read module, and read by the specified index subindex manner a node address in
the contents of the address Youwenyouda, slow reading speed, reading normally takes a period of
two sync, applied to non-real time data read operation.
Program Example
In the example below when NS_CC_CANopen_SDO_Read instruction execution alone.
1, variables, and procedures
variable name type of data The initial value
NS_CC_CANopen_SDO_
Read_1
NS_CC_CANopen_SDO
_Read
AXIF01 USINT 1
Excute BOOL FALSE
Index WORD 16 # 2004
SubIndex WORD 16 # 0015
AXIF_no_out WORD
Done BOOL
Busy BOOL
Active BOOL
Error BOOL