Aposs Command Groups - Danfoss MCO 305 Design Manual

MCO 305 Design Guide

APOSS Command Groups

All commands are described in detail and alphabetically ordered as well as complemented with short
examples in the manual MCO 305 Command Reference.
Initialization Commands
Commands to initialize the axes and MCO 305 start up and define the zero point(s). (Group INI)
Command Description
DEFCORIGIN sets the command position as real zero
point.
DEFMORIGIN sets the current master position as the zero
point for the master
DEFORIGIN sets the actual position as zero point
DELETE ARRAYS deletes all arrays in the RAM
ERRCLR clears error
HOME moves to machine zero point
INDEX moves to next index position
MOTOR OFF turns off motor control
MOTOR ON turns on motor control
RSTORIGIN resets temporary zero point
SAVE ARRAYS save arrays in the EPROM
SAVE AXPARS save current axis parameters in the EPROM
SAVE GLBPARS save current global parameters in the EPROM SAVE GLBPARS
SAVEPROM saves memory in EPROM
SETMORIGIN set the current position as the zero point for
the master
SETORIGIN sets temporary zero point
Control Commands
Commands for controlling the program flow and for structuring the programs. (Group CON)
Command Description
CONTINUE continues positioning from point of interrup-
tion, e.g. following a motor-stop
DELAY time delay
DIM declaration of a global array
EXIT desired, premature program termination
GOSUB calling up a subroutine
GOTO jumping within a program
IF THEN conditional program execution
... ELSE IF THEN ... with conditional alternative branching
... ELSE ... with alternative branching
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Syntax Parameter
DEFCORIGIN
–
DEFMORIGIN –
DEFORIGIN –
DELETE ARRAYS –
ERRCLR –
HOME –
INDEX –
MOTOR OFF –
MOTOR ON –
RSTORIGIN –
SAVE ARRAYS –
SAVE AXPARS –
–
SAVEPROM
SETMORIGIN value value = absolute position
SETORIGIN p p = absolute position
Syntax Parameter
CONTINUE –
DELAY t t = delay in ms
DIM array [n] array = name
n = number of elements
EXIT –
GOSUB name name = subroutine name
GOTO label label = target position
IF condition THEN condition = branching criteria
command
ELSEIF condition command = one or more
THEN command program commands
ELSE command
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