4. Motion Control Instructions 4.4.13. DMC_ReadParameter DMC_ReadParameter is applied to read the parameter value of the servo axis. User could specify the index and sub-index of the parameter desired to be read. Explanation of the Instruction: Explanation of input and output parameter of the instruction: Notes: 1. The data type of D device is identical to that of the read parameter when “Value” uses D device and the touch panel is used to monitor the parameter value. 2. How to get the corresponding index and subindex of a servo parameter: Click “Parameter Edit” on the pull-down menu and find out the corresponding index and subindex of the parameter as illustrated in the following figure.
As figure 1 shows, the servo parameter P6-10 corresponds to subindex 260a (hex) and subindex 0, which are both hexadecimal values. You can directly enter 9738 or 260AH in the CANopen Builder software. And the software will automatically convert 260A into 9738 if you enter 260AH as figure 2 displays. DVP-MC operating manual 4-45 API Read parameters Controller 13 DMC ReadParameter _ 10MC11T Parameter Data Available Explanation name type device Axis The node address of servo drive UINT Constant, D Execute This instruction is executed when” Execute” turns Off –> On.
BOOL M,I,Q, Constant Index To read the index of the parameter UINT Constant, D Sub-Index To to read the sub-index of the parameter UINT Constant, D Done When reading the parameter content is finished, "Done" turns on; when “execute” turn on -> off, "Done" is reset. BOOL M,Q Error If any error is detected, "Error" turns on; when "Execute" turns on -> off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to section 5.3. UINT D Data Type To read the data type of the parameter. 1: Byte 2: word 4: Double Word. UINT D Value The already read parameter value UDINT D