Danfoss MCO 305 Design Manual page 91

MCO 305 Design Guide
Command Description
#INCLUDE compiler directive: embedding further data
Input/Output Commands
Commands for setting and re-setting the outputs, reading the inputs, reading movement information,
reading system data, and entering and outputting user information. (Group I/O)
Command Description
APOS reads actual position
AVEL queries actual velocity of an axis
AXEND reads info on status of program
execution
CPOS reads set position
ERRNO reads error number
IN reads input bit-by-bit (individually)
INB reads input by bytes (units of 8)
INAD reads analog input
INKEY reads key codes of FC 300
IPOS queries last index or marker position of
the slave
MAPOS queries actual position of the master
MAVEL queries actual velocity of the master
MIPOS queries last index or marker position of
the master
OUT sets digital outputs bit-by-bit (single)
OUTAN sets FC 300 reference
OUTB sets digital outputs by bytes (units of 8) OUTB n v
OUTDA sets FC 300 analog outputs
PID completes PID calculation
PRINT output (display) texts and variables
PRINT DEV stops information output
STAT reads axis status
SYNCERR queries actual synchronization error of
the slave
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Syntax Parameter
#INCLUDE file file = name of the file to be
included
Syntax Parameter
res = APOS –
res = AVEL –
res = AXEND –
res = CPOS –
res = ERRNO –
res = IN n n = input number
res = INB n n = input number
res = INAD n n = number of analog input
INKEY p p = 0 (wait for key code)
p > 0 (wait for max. p ms)
p < 0 (no wait for key code)
res = IPOS –
res = MAPOS –
res = MAVEL –
res = MIPOS –
OUT n s n = output number
s = condition ON / OFF
OUTAN v v = bus reference
n = output byte
v = value
OUTDA n v n = output number
v = value
u(n) = PID e(n) e(n) = actual deviation
PRINT i or PRINT i; i = information
PRINT DEV nn nn = no for the device
printlist 0 = standard
-1 = no output after that
printlist = argument
res = STAT –
res = SYNCERR –
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