Messaging Service
(Original Document)
About us
Introduction
The blocks that use messaging slow down the PLC cycle time because they make READ_VAR and WRITE_VAR type requests to the servodrive.
Motion Function Block
The below table shows you which blocks use the messaging service, by type of servodrive:
Block name
Lexium 15MP/HP
Icla
ATV31
ATV71
Lexium05 / Lexium32
Lexium15 LP
MC_JOG
W 2024:7
W 3029:4
W 3029:5
W 3029:7
W 3029:8
NA
NA
W 3029:4
W 3029:5
W 3029:7
W 3029:8
NA
MC_READACTUALPOSITION
–
R position
–
–
–
–
MC_READACTUALTORQUE
–
NA
R 2002:6
R 6077
R 301E:3
R 6077
MC_READACTUALVELOCITY
–
R velocity
–
–
–
–
MC_STOP
R Stopstate
–
R Stopstate
R Stopstate
–
R Stopstate
MC_TORQUECONTROL
W 2060
NA
NA
W 6071
R 2002:39
no SDO
W 6071
MC_MOVEABSOLUTE
MC_MOVERELATIVE
MC_MOVEADDITIVE
W 6083:0 (ACC)
W 6084:0 (DEC)
W 301D:1A (ACC)
–
–
W 6083:0 (ACC)
W 6084:0 (DEC)
W 6083:0 (ACC)
W 6084:0 (DEC)
MC_READAXISERROR
R 2070:16
R 1002:0
R 1003:1
R 301C:12
R 301C:A
R 3020:7
R 2029:16
R 603F:0
R 2029:16
R 603F:0
R 301C:8
R 301C:C
R 603F:0
R 385D:1
R 1002:0
R 1003:1
MC_HOME
W 607C:0 (Hposition)
W 6099:1 (Hspeed)
W 6098:0 (HType)
W 3028:B (Hposition)
W 3028:4 (Hspeed)
–
–
W 3028:B (Hposition)
W 6099:1 (Hspeed)
W 607C:0 (Hposition)
W 6099:1 (Hspeed)
W 6098:0 (HType)
LXM_GEARPOS
LXM_GEARPOSS
W 3540:1 (GearI)
W 353E:1 (GearO )
NA
NA
NA
no SDO
W 3540:1
W 353E:1
LXM_DOWNLOADMTASK
Equationf(MT)
–
–
–
–
Equationf(MT)
LXM_UPLOADMTASK
Equationf(MT)
–
–
–
–
Equationf(MT)
LXM_STARTMTASK
Task number
–
–
–
–
Task number
Notes
R: Use of READ_VAR messaging service
W: Use of WRITE_VAR messaging service
R 2029:16: Read an SDO-type object with index 2029 and subindex 16
W 3540:1: Write an SDO-type object with index 3540 and subindex 1
NA: Not applicable