Danfoss MCO 305 Design Manual page 101

MCO 305 Design Guide
CONTINUE
Summary Continues positioning from point of interrupted motion
Syntax CONTINUE
Description By using CONTINUE, positioning and speed motion commands which have been
aborted via the MOTOR STOP command or an error condition or stopped via MOTOR
OFF can be resumed.
The CONTINUE command can be used especially in an error subroutine in
connection with the ERRCLR command, to enable the correct continuation of a
motion procedure following an error abort.
NB!:
However CONTINUE does not continue interrupted synchronization commands.
Command Group CON
Cross Index MOTOR STOP, ERRCLR, ON ERROR GOSUB
Syntax Example CONTINUE
Program Sample MSTOP_01.M
CPOS
Summary Reads the actual command position of an axis
Syntax res = CPOS
Return Value res =
Description The CPOS command queries the actual commanded position of the axis related to
the actual zero point. The commanded position is understood to be the temporary
set position which is re-calculated every millisecond by the positioning control
during a positioning procedure or a movement in rotation mode.
The command position can be queried independently of the operating condition
(position control during standstill, positioning process, speed control or
synchronization).
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,
Parameters: 32-12 User Unit Numerator, 32-11 User Unit Denominator
Syntax Example PRINT CPOS
Program Sample CPOS_01.M, GOSUB_01.M
__ Software Reference __
/* continue interrupted motion procedure */
Absolute commanded position in User Units (UU) related to the actual zero
point
/* actual command position of axis */
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