MC_ReadActualVelocity_ISD51xAxisEnableBOOLAXIS_REF_-ISD51xBOOLValidBOOLBusyBOOLDD_ERROR_ISD51xErrorInfoDINTVelocityError130BE291.10Illustration 6.35 MC_ReadActualVelocity_ISD51xVariablenameDatatypeDefaultvalueDescriptionVAR_IN_OUTAxis AXIS_REF_ISD51x Reference to the axis.Seechapter 6.5.4.1 AXIS_REF_ISD51x.VAR_INPUTEnable BOOL FALSE Get the value of theparameter continuouslywhile enabled.VAR_OUTPUTValid BOOL The function block has avalid output.Busy BOOL The function block is notfinished and new outputvalues are to be expected.Error BOOL An error has occurredwithin the function block.ErrorInfo DD_ERROR_ISD51x Error identification andinstance identifier.See chapter 6.5.2.3 ErrorIndication.Velocity DINT The value of the actualvelocity [user-definedvelocity unit].Table 6.13 MC_ReadActualVelocity_ISD51x6.5.4.13 MC_ReadActualTorque_ISD51xThis function block provides the value of the actual torqueif Enable is set (see chapter 7.12.5 Parameter 52-31: TorqueActual Value (0x6077)). Valid is TRUE when the data-outputTorque is valid. If Enable is reset, the data loses its validity,all outputs are reset, and new data is available.The output Torque is a signed value.The output data is available immediately.MC_ReadActualTorque_ISD51xAxisEnableBOOLAXIS_REF_-ISD51xBOOLValidBOOLBusyBOOLDD_ERROR_ISD51xErrorInfoINTTorqueError130BE290.10Illustration 6.36 MC_ReadActualTorque_ISD51xVariablenameDatatypeDefaultvalueDescriptionVAR_IN_OUTAxis AXIS_REF_ISD51x Reference to the axis.Seechapter 6.5.4.1 AXIS_REF_ISD51x.VAR_INPUTEnable BOOL FALSE Get the value of theparameter continuouslywhile enabled.VAR_OUTPUTValid BOOL The function block has avalid output.Busy BOOL The function block is notfinished and new outputvalues are to be expected.Error BOOL An error has occurredwithin the function block.ErrorInfo DD_ERROR_ISD51x Error identification andinstance identifier.See chapter 6.5.2.3 ErrorIndication.Torque INT The value of the actualtorque or force [perthousand of rated torque].Table 6.14 MC_ReadActualTorque_ISD51xProgramming VLT® Integrated Servo Drive ISD® 510 System184 Danfoss A/S © 01/2017 All rights reserved. MG36D10266
