January 2012 6.6 Reading and Writing Axis Information 673
Module 9049 Read position value and speed value of an axis
Module 9049 reads the position value or speed value of an axis
Call:
PS B/W/D/K <>Logical axis number>
PS B/W/D/K <>Desired axis information>
2: Actual position in the reference system
3: Following error
8: Offset of the axis due to kinematic compensation in real
time
9: Distance traversed [mm] since the last lubricating pulse
10: Actual speed
11: Nominal speed
CM 9049
PL D <>Axis information>
For 2, 3, 8: Value in 0.0001 mm or 0.0001°
For 9, 10, 11: Value in mm/min or °/min
Error recognition:
Marker Value Meaning
NN_GenApiModule
Error
0 Axis information read
1 No axis information read, error code in
NN_GenApiModuleErrorCode
NN_GenApiModule
ErrorCode
2 Interrogated axis number or axis
information invalid
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