What is required to get MC_ReadActualVelocity and MC_ReadAcutalTorque to operate? In my testing they always return 0. Is there a way for these function to read S-0-0084/S-0-0040 configured in AT so they update the data cyclically.
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No, it is not possible to get these data at the FB by configure the two parameter at the AT.
The FB will read Motion-App internal values. Some are already "connected" to the drive parameter (via AxisProfile), some not (e.g. velocity, torque). With the implementation of further operation-modes this "connection" will be done.
For the velocity this will come with the next RM22.03. For the torque sometime later.
Velocity mode is now available with RM22.03 (V1.14).