Danfoss VLT 5000 Series Manual page 74

I I I I I CPOS
The CPOS command queries the actual comman-
ded position of the axis related to the actual zero
point. The commanded position is understood to
be the temporary set position which is re-calcula-
ted every ms by the positioning control during a
positioning procedure or a movement in rotation
mode.
The command position can be queried indepen-
dently of the operating condition (position control
during standstill, positioning process, speed con-
trol or synchronization).
Summary
reads the actual command position of the axis
Syntax
res = CPOS
Return value
res = Absolute commanded position in User Units
(UU) related to the actual zero point
NB!
If a set and active temporary zero point (set
via SET ORIGIN) exists, then the position
value is relative to this zero point.
Command group
I/O
Cross Index
APOS, DEF ORIGIN, SET ORIGIN, POSA, POSR
Parameter: POSFACT_Z (23), POSFACT_N (26)
Syntax-Example
PRINT CPOS
/* actual command position of axis */
Program sample
CPOS_01.M
GOSUB_01.M
74
VLT ® 5000 SyncPos option
I I I I I CSTART
The CSTART command is starting the drive in
speed control mode.
Acceleration/deceleration, as well as the speed
should be set via the ACC, DEC and CVEL com-
mands prior to starting.
CSTART does not contains the command MOTOR
ON which turns on the motor control. When using
CSTART an explicit calling up of MOTOR ON is
necessary after previous use of MOTOR OFF.
Summary
starts the speed mode
Syntax
CSTART
NB!
If no speed value has been defined via
CVEL before the beginning of CSTART, then
the default velocity 0 is used – this means
that the motor will not rotate, but the PID controller
is active.
All CVEL commands following the start of speed
mode will be carried out immediately, i.e. a corres-
ponding speed change will take place immediate-
ly, with the defined acceleration or deceleration
(ACC/DEC).
Command group
ROT
Cross Index
ACC, DEC, CVEL, CSTOP
Syntax-Example
CSTART /* rpm mode start */
Program sample
CMODE_01.M
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