Danfoss MCO 305 Design Manual page 178

MCO 305 Design Guide
Command Description
IPOSDIFF overflow handling of incremental
encoders in applications
JERKFINVEL calculates the final velocity for a
jerk-limited stop with maximum
acc/dec.
JERKSTOPDIST calculates the necessary distance for
a jerk-limited stop with max
deceleration
MAPOS queries actual position of the master res = MAPOS
MAPOSDIFF overflow handling of incremental
encoders in applications.
MAVEL queries actual velocity of the master
MENCPOSOFFS syncs the incremental position
counter with the absolute counter in
the encoder
MENCTGREAD reads a RS485 telegram from the
encoder
MENCTGWRITE sends a RS485 telegram to the
encoder
MIPOS queries last index or marker position
of the master
MIPOSDIFF overflow handling of incremental
encoders in applications.
PID completes PID calculation
PRINT output (display) texts and variables
PRINTDEV stops information output
STAT reads axis status
SYNCERR queries actual synchronization error
of the slave
TESTSETDEST defines the memory section for
saving recorded data
TESTSETINDEX specifies system variables for data
recording
TESTSETP specifies recording data for test run
178
__ How to Program __
Syntax
res = IPOSDIFF
oldpos
res = JERKFINVEL
res = JERKSTOPDIST
dec
res = MAPOSDIFF
oldpos
res = MAVEL
res = MENCPOSOFFS
offset
res = MENCTGREAD
array
res = MENCTGWRITE
length array
res = MIPOS
res = MIPOSDIFF x(n)
oldpos
u(n) = PID e(n)
PRINT i or PRINT i;
PRINTDEV nn printlist
res = STAT
res = SYNCERR
TESTSETDEST
arrayname
TESTSETINDEX svi1,
svi2, svi3, ..., svin
TESTSETP ms vi1 vi2
vi3 arrayname
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Parameter
oldpos =
IPOS at a previous time
–
dec = sets deceleration in % or
VELRES units
–
oldpos =
MAPOS at a previous time
–
offset = returns the difference
between absolute and
incremental position
array = user array where the
received payload data should
be put.
length = number of bytes (in the
user array) to be sent
array = the user array
containing the payload data to
send to the encoder.
–
oldpos = MIPOS x(n) at a
previous time
e(n) = actual deviation
i = information
nn = no for the device:
0 = standard
-1 = no output after that
printlist = argument
–
–
arrayname = name of the array
used for the recording
or keyword DYNMEM for recor-
ding data into free memory.
svi1...svin = indices of maximum
20 system variables
(sysvar[...]) to be recorded.
ms = interval in ms
vi 1 ... 3 = indices of the values
to be recorded
arrayname = array used for
recording