Y_ReadDriveMemory

The Y_ReadDriveMemory function block reads two or four bytes of data from the specified drive's memory.

Parameters

*	Parameter	Data Type	Description	Default
VAR_IN_OUT
B	Axis	AXIS_REF	Logical axis reference	0
VAR_INPUT
B	Execute	BOOL	Upon the rising edge, all function block inputs are read and the function block is initiated.	0
V	Address	UDINT	Memory address	0
V	DataType	INT	Enumeration with the following values. 0 = Default (UDINT); 1 = UINT, 2 = UDINT; 3 = INT; 4 = DINT	0
VAR_OUTPUT
B	Done	BOOL	Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes FALSE.
B	Busy	BOOL	Set high upon the rising edge of the Execute input, and reset when Done, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error)
B	Error	BOOL	Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low.
E	ErrorID	UINT	If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low.
E	Value	DWORD	The value read from the drive memory register.

If the memory to be written is a 32 bit value, the DataType override is not necessary. 32 bit is assumed to be the default.

DataType is an enumeration with the following values:

0 = default (UDINT,4 bytes),

1 = UINT(2 bytes),

2 = UDINT (4 bytes),

3 = INT (2 bytes),

4 = DINT (4 bytes).

The function block does not validate the memory range, leaving this to the drive.
(Note: because the drive responds to out-of-range conditions with transient errors that are not reported, all writes should be verified by readback.)
Y_ReadDriveMemory on iCube uses 40h-style memory bus addresses. Below are examples of addresses for certain parameters

Sample Addresses:

Address	Function	Bytes	Types	Data Type
0x0100	Speed loop gain	2	Unsigned	UINT (1)
0x0124	Friction compensation	2	Signed	INT (3)
0x0210	Gear ratio	4	Unsigned	USINT (2)
0x0231	Backlash compensation	4	Signed	DINT (4)
0xE51C	Control Mode	2	Unsigned	UINT(1)

Additional memory addresses can be found in the document:

Servodrive Σ-7 series Message communication register specifications Ver1.1.14.0

This is an example of how this FB should be used in the application.