//local variables
VAR
myRetStructRetReadDriveParameter : StructRetReadDriveParameter;
END_VAR;

//r31: Actual torque smoothed
myRetStructRetReadDriveParameter := _readdriveparameter(
logaddress := 256,
parameternumber := 31,
nextcommand := WHEN_COMMAND_DONE,
commandid := _getCommandId()
);

IF myRetstructretreaddriveparameter.functionresult = 16#00000000
THEN
g_r32SmoothTorque := BIGBYTEARRAY_TO_ANYTYPE(
bytearray := myRetStructRetReadDriveParameter.data,
offset := 0
);
END_IF;

有些参数，如速度、加速度和位移可以直接用Axis_1.XX的办法访问，如：直流母线电压，扭矩就需要读取驱动器参数，核心一定要注意g_r32SmoothTorque 的数据类型，用断点的办法跟踪进去，会发现 datalength = 4，用real，不要用lreal,否则读出的数据可能不正确。