Danfoss MCO 305 Design Manual page 165

MCO 305 Design Guide
Index Description Axis Process Data
4107 Internal current velocity (ACTPOS – last ACTPOS) (qc/1 ms)
4108 Internal Master velocity (see above)
4109 Current frequency of the master simulation (1/1000 Hz) (see PULSVEL)
4110 Determines whether the master simulation is active or not (1 or 0)
4111 Actual set value which is output by the control through the position controller (between –FFFFF and FFFFF
or –1048575 and 1048575 decimal)
4113 Current used timer for the PID loop (TIMER).
4114 Current used Timer for the profile generator (PROFTIME).
4115 Specifies, whether negative references should be read (!=0) out or not (=0) .
4116 Specifies, whether reference with 0-10V and direction output should be read out (>0). If so these
parameter contains the output number, which is used (1–8).
4117 Actual acceleration of the virtual master.
4118 Target frequency for virtual master (unit see above).
4119 Vlamode (abs / relative ?)
4120 Number of qc between index-pulses
4121 Type of z pulse SYNCMTYPM
4122 User reference value given by OUTAN , scaling see REG_REFERENCE
4123 Internal parameter: slave encoder type (ENCDODERTYPE = 0..2)
4124 Internal parameter: master encoder type (MENCODERTYPE = 0..6)
4125 Slave encoder resolution
4126 Master encoder resolution
4127 Defines whether amplifier is set to stop mode (!=0) or to idle (==0) in case of motor off.
4128 Internal parameter: delivers same information as MAVEL does, but always gives information of real
encoder, even if master is simulated (MENCODERTYPE == 6).
Index Description Axis Process Data, Profile Generator Values
4218 Returns all 32 flags of the profile generator. These are:
PG_FLAG_BUSY
PG_FLAG_COMMANDERR
PG_FLAG_POSREACHED
PG_FLAG_INDEX_HIT
PG_FLAG_WRAP_OCC
PG_FLAG_POS_ERR
PG_FLAG_BRKPT_RCHD
PG_FLAG_FLOATING
PG_FLAG_MOVING
PG_FLAG_OVERFLOWS
PG_FLAG_OVERFLOWM
PG_FLAG_POSFLOAT
PG_FLAG_INTERNTST
PG_FLAG_SYNCREADY
PG_FLAG_SYNCFAULT
PG_FLAG_SYNCACCUR
__ Software Reference __
1L // Flag for busy information
2L // Flag for Command Error occurred (not used)
4L // Flag for Position reached
8L // Flag for Index observed
16L // Flag for Wraparound occurred (not used)
32L // Flag for Position Error occurred
64L // Flag for Breakpoint reached (not used)
128L // Flag for MOTOR OFF
1L << 8 // Flag for axes is moving
2L << 8 // Flag for overflow of slave position
4L << 8 // Flag for overflow of master position
8L << 8 // Flag for floating in pos control
64L << 8 // Flag for internal use
1L << 24 // Flag for Synchronization ready
2L << 24 // Flag for Synchronization failed
4L << 24 // Flag for Accuracy reached (syn)
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