Danfoss VLT 5000 Series Manual page 69

MIPOS queries last index or marker
position of the master
IPOS queries last index or marker
position of the slave
MAVEL queries actual velocity of the
master
AVEL queries actual velocity of an
axis
TRACKERR queries actual position error of
the axis
SYNCERR queries actual synchronization
error of the slave
E R R N O reads error number
I N reads input bit-by-bit (individually)
I N B reads input by bytes (units of 8)
INAD reads analog input
INKEY reads key codes of VLT
OUT sets output bit-by-bit (single)
OUTAN sets VLT reference
OUTB sets output by bytes (units of 8)
OUTDA sets analog output (freely available)
PID completes PID calculation
PRINT output (display) texts and
variables
STAT reads axis status
TESTSETP Specify recording data for test run
TESTSTART Start the recording of a test run
TIME reads internal controller time
_GETVEL changes sample time for AVEL
and MAVEL
Interrupt Functions (INT)
DISABLE ... switches interrupt ... off
DISABLE ALL switch off all interrupts except
ON ERROR
ENABLE ... switches interrupt ... on
ENABLE ALL switches all interrupts on
ON COMBIT .. GOSUB
call up a subprogram when Bit n of
the communication buffer is set
ON ERROR GOSUB
calls subroutine in the event of
an error
ON IN .. GOSUB calls subroutine depending on
input signal
ON PARAM .. GOSUB
call up a subprogram when a
parameter is altered
ON PERIOD .. GOSUB
calls subroutine at regular intervals
ON STATBIT call up a subprogram when bit n
of the VLT status is set
ON TIME calls subroutine after single
timing
MG.10.J4.02 – VLT is a registered Danfoss trade mark
®
VLT 5000 SyncPos option
Parameter (PAR)
All global and axis parameters with a parameter
code can be set and read with the following com-
mands. (Parameter code see overview in
Parameter Reference.)
GET reads SyncPos parameter
values (axis, global and user
parameters)
GETVLT reads VLT parameter values
SET sets SyncPos parameter values
(axis, global and user parameter)
SETVLT sets VLT parameter values
LINKAXPAR links axis parameter with LCP
display
LINKGPAR links global parameter with LCP
display
LINKSYSVAR links system variable with LCP
display
Communication option
COMOPTSEND writes in the Communication
option buffer
COMOPTGET reads a Communication option
telegram
PCD pseudo array for direct access
to the fieldbus data area
Relative Motion (REL)
Commands for the relative positioning of the axis
ACC sets acceleration
DEC sets deceleration
POSR positioning relative to the actual
position
VEL sets velocity
Synchronization (SYN)
Commands to synchronize the slave with the
master or the master simulation
MOVESYNCORIGIN
relative shifting of the origin of
synchronization
SYNCV synchronization of velocity
SYNCP synchronization of angle/position
SYNCM synchronization of angle/
position with marker correction
SYNCSTAT queries flag for synchronization
status
SYNCSTATCLR resetting of the flags MERR and
MHIT
PULSACC sets acceleration for the virtual
master
PULSVEL sets velocity for the virtual
master
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