Danfoss VLT5000 SyncPos Operating Instructions Manual page 102

■ ■ ■ ■ ■ 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
MG.10.J8.02 – VLT is a registered Danfoss trade mark
Programmable SyncPos motion controller
Syntax-Example
NOWAIT ON //do not wait until position is reached
POSA 100000
WHILE (AXE ND&2) DO
// as long as the positioning process is active,
// repeat loop
IF IN1 THEN // if input 01 is set
VE L 100 // increase velocity
POSA 100000
WAIT IN1 OFF // Wait until input (key) is off
EN DI F
E N DWH I LE // position reached
Syntax-Example
IF (AXEND&64) THEN
/* set output 01, when axis controller is switched
off */
OUT 1 1
E LS E
OUT 1 0
E N DI F
Program sample
AXE N D_01.M
101