These services allow the exchange of adjustment parameters between the processor (project) and the axis control module.
READ_PARAM: explicit reading of the parameters in the axis control module and updating of the adjustment words %MW/D/Fr.m.c.r. via IODDTs.
WRITE_PARAM: explicit writing of parameters in the axis control module. This instruction allows programmed modification of the adjustment values defined in the configuration.
These two instructions are applied to an IODDT variable associated with the TSX CSY 84 module. In the following paragraphs we will take the example of a variable called Serco_Channel of type T_CSY_IND.
Syntax of the instruction READ_PARAM
READ_PARAM (Sercos_Channel): reads the adjustment parameters of the channel associated with the IODDT Sercos_Channel.
Syntax of instruction WRITE_PARAM
WRITE_PARAM (Sercos_Channel): writes the adjustment parameters of the channel associated with the IODDT Sercos_Channel.
The 2 following bits of the IODDT may be used to monitor the exchanges of adjustment parameters between the processor and the module:
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Standard symbol
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Meaning
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Bit
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ADJ_IN_PROGR
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This bit is set to 1 while the exchange is in progress. It is reset to 0 when the exchange has been completed.
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%MWr.m.c.0.2
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ADJ_ERR
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This bit is set to 1 if the parameters transmitted are out of range or erroneous.
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%MWr.m.c.1.2
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