Thank you for your help Martin. SINA_PARA_S worked to retrieve the smoothed speed.
Now I just have to figure out how to perform the request of the speed continuously. 

ChrisRun

I have a S210 motor drive where I have applied "Actual speed smoothing time" = 2 ms (Parameter View "p1441[0]").

When I record a trace on the drive, I can easily view the data in the signal "Actual speed smoothed" (given in RPM).

However, I cannot figure out how to access the same smoothed data in my technology object (PositioningAxis). I know that I need to access the value stored in r21 / r0021, but I don't know how to do so - although I assume it is simple.

Can anyone guide me in the right direction of how to access "r"-values in SCL?

(I am using a 1516TF-3 PLC with telegram 105 to the S210 drive)

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Split from Access Actual Speed Smoothing in SCL.