Rockwell Automation GMLC Reference Manual - Manual (Page 783)

Publication GMLC-5.2 - November 1999
746 Using the RIO Adapter Option
Getting System Variable Values
Individual system variable values for any of the motion controller axes
can be taken from the motion controller using a block transfer. The
system variable to be transferred is specified as a value in word 1 of the
BTW data file for the transfer as shown in the following table.
RIO Adapter Block Transfer Write System Variable Numbers (Word 1)
System Variable
Variable
Number
(Hex)
Identical to GML Commander
System Variable
Fault Code 0000 —
Analog Input Voltage† 0001 Analog_Input
Last Keypress 0002 Last_Keypress
Actual Position 0003 Actual_Position
Command Position* 0004 Command_Position
Position Error* 0005 Position_Error
Distance To Go* 0006 Distance_To_Go
Marker Distance 0007 Marker_Distance
Registration Position 0008 Registration_Position
Strobed Position 0009 Strobed_Position
Watch Position 000A Watch_Position
Current Task 000B Current_Task
Status Code 000C —
Free Running Clock 000D Free_Running_Clock
Command Velocity* 000E Command_Velocity
Average Velocity* 000F Average_Velocity
Servo Output Level* 0010 Servo_Output_Level
Axis 0 Soft Registration Position 0011 Soft_Reg_Pos_Axis0