Danfoss VLT 5000 Series Manual page 71

I I I I I AVEL
This function returns the actual velocity of the axis
in User Units per second. The accuracy of the
values depends on the duration of the measure-
ment (averaging). The standard setting is 20 ms,
but this can be changed by the user with the
_GETVEL command. It is sufficient to call up the
command once in order to work with another
measuring period from then on. Thus, the
command:
var = _GETVEL 100
sets the duration of the measurement to 100 ms,
so that you have a considerably better resolution of
the speed with AVEL and MAVEL, however, in con-
trast, quick changes are reported with a delay of a
maximum of 100 ms.
Summary
queries actual velocity of axis
Syntax
res = AVEL
Return value
res = actual velocity of axis in UU/sec, the value is
signed
Command group
I/O
Cross Index
MAVEL, APOS, _GETVEL
Syntax-Example
PRINT AVEL
/* queries actual velocity of axis and display on the
PC */
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VLT 5000 SyncPos option
I I I I I AXEND
The AXEND command gives the actual status of
the axis or the status of the program execution.
This means for example that you can enquire when
the "position is reached" and a positioning
command (POSA, POSR) has actually been
completed. When Bit 1 is set at "0" the positioning
process is complete and the position reached.
If, however, the positioning command has been
interrupted with MOTOR STOP and continued later
with CONTINUE, then the following bits would be
set at "1":
the Bit 0 for "motor is at a standstill"
the Bit 1 for "positioning process active"
the Bit 3 for "motor is at STOP status"
the Bit 6 for "axis controller switched off"
The AXEND command is especially suitable for
determining whether or not a movement in the
NOWAIT ON condition is terminated. With the help
of the bit operators, the desired information from
the axis status can be filtered out.
Summary
reads info on status of program execution
Syntax
res = AXEND
Return value
res = axis status with the following meaning:
Value Bit
128 7 1 = Motor is reset, i.e. it is ready
to start and is controlling again,
e.g. after ERRCLR, MOTOR
STOP, MOTOR ON
64 6 1 = axis controller is OFF, motor is
off
4 – 5 not in use
8 3
4 Bit 2 1 = speed mode is active
2 Bit 1 1 = positioning procedure is active
1 Bit 0 1 = target position reached; motor
is not in motion
Command group
I/O
Cross Index
WAITAX, STAT
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