Danfoss MCO 305 Design Manual page 183

MCO 305 Design Guide
Communication Option Commands
Command Description
COMOPTSEND writes in the Communication option
buffer
COMOPTGET reads a Communication option telegram
PCD pseudo array for direct access to the field
bus data area
Speed Control Commands
Commands to obtain a permanently driving axis with constant speed. (Group ROT)
Command Description
CSTART starts the continuous movement in RPM
mode
CSTOP stops the drive in speed mode
CVEL sets the velocity for speed regulation
Positioning Commands
Commands for the absolute and relative positioning of the axis. (Group ABS and REL)
Command Description
Absolute Positioning (ABS)
ACC Sets acceleration
DEC Sets deceleration
POSA Positions axis absolutely
VEL Sets velocity for relative and absolute
motions and set maximum allowed
velocity for synchronizing.
Relative Positioning (REL)
ACC Sets acceleration
DEC Sets deceleration
POSR Positioning relative to the actual position.
VEL Sets velocity
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Syntax Parameter
COMOPTSEND no no = number of words to be
array send
array = name of an array (at
least the size of no)
COMOPTGET no no = number of words to be read
array
array = name of an array (at
least the size of no)
PCD[n] n = index
Syntax Parameter
CSTART –
CSTOP –
CVEL v v = velocity value
Syntax Parameter
ACC a a = acceleration
DEC a a = deceleration
POSA p p = position in UU
VEL v v = scaled velocity value
ACC a a = acceleration
DEC a a = deceleration
POSR d d = distance to actual position in
UU
VEL v v = scaled velocity value
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