Danfoss VLT5000 SyncPos Operating Instructions Manual page 98

Input/Output Commands (I/O)
Commands for setting and re-setting the outputs,
reading the inputs, reading movement information,
reading system data and entering and outputting
user information.
APOS reads actual position
AXE N D reads info on status of program
execution
CPOS reads set position
MAPOS queries actual position of the
master
M I PO S queries last index or marker
position of the master
IPOS queries last index or marker
position of the slave
MAVE L queries actual velocity of the
master
AVE L queries actual velocity of an
axis
TRACKE R R queries actual position error of
the axis
SYNCER R 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
I N KEY 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)
PI D completes PID calculation
PR I NT output (display) texts and
variables
STAT reads axis status
TESTSETP Specify recording data for test run
TESTSTART Start the recording of a test run
T I M E reads internal controller time
_G ETVE L changes sample time for AVEL
and MAVE L
MG.10.J8.02 – VLT is a registered Danfoss trade mark
Programmable SyncPos motion controller
Interrupt Functions (INT)
DISAB LE ... switches interrupt ... off
DISAB LE ALL switch off all interrupts except
ON ER ROR
ENAB LE ... switches interrupt ... on
ENAB LE ALL switches all interrupts on
ON APOS .. GOSUB
call up a subprogram when the
slave position xxx is
ON DELETE .. GOSUB
Deletes a position-interrupt: ON
APOS, ON MCPOS or ON MAPOS
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 MAPOS .. GOSUB
call up a subprogram when the
master position xxx (qc) is
passed.
ON MCPOS .. GOSUB
call up a subprogram when the
master position xxx (MU) is
passed.
ON PARAM .. GOSUB
call up a subprogram when a
parameter is altered
ON PERIOD .. GOSUB
calls subroutine at regular intervals
ON STATB IT call up a subprogram when bit n
of the VLT status is set
ON TIME calls subroutine after single
timing
passed.
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