Danfoss MCO 305 Design Manual page 92

MCO 305 Design Guide
Command Description
TESTSETP specifies recording data for test run
TESTSTART starts the recording of a test run
TRACKERR queries actual position error of an axis
TIME reads internal controller time
_GETVEL changes sample time for AVEL and
MAVEL
Interrupt Functions (INT)
Command Description
DISABLE ... locks the execution of interrupts
ENABLE ... enables locked interrupts
ON APOS .. call up a subprogram when the slave
position xxx is passed.
ON COMBIT .. call up a subprogram when Bit n of the
communication buffer is set
ON DELETE .. deletes a position interrupt: ON APOS,
ON MCPOS, or ON MAPOS
ON ERROR .. calls subroutine in the event of an error
ON INT . . calls subroutine depending on input
signal
ON MAPOS .. call up a subprogram when the master
position xxx [MU] is passed.
ON MCPOS .. call up a subprogram when the master
position xxx [MU] is passed.
ON PARAM .. calls up a subprogram when a parameter
is altered
ON PERIOD .. calls subroutine at regular intervals
ON STATBIT.. call up a subprogram when bit n of the
FC 300 status is set
ON TIME.. calls subroutine after single timing
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Syntax Parameter
TESTSETP ms vi1 ms = interval in ms
vi2 vi3 arrayname vi 1 ... 3 = indices of the values
to be recorded
arrayname = array used for
recording
TESTSTART no no = number of measurements
to be carried out
res = TRACKERR –
res = TIME –
var = _GETVEL t t = sample time in ms
Syntax Parameter
DISABLE inttyp inttyp = INT, COMBIT, ...
ENABLE inttyp inttyp = INT, COMBIT, ...
ON sign APOS xxx sign = passing direction
GOSUB name xxx = slave position [UU]
name = subprogram
ON COMBIT n n = bit n of communication buffer
GOSUB name name = subprogram
ON DELETE pos pos = value
GOSUB name name = subprogram name
ON ERROR GOSUB name = subprogram name
name
ON INT n GOSUB n = input to be monitored
name name = subprogram
ON sign MAPOS xxx sign = passing direction
GOSUB name xxx = master position
name = subprogram
ON sign MCPOS xxx sign = passing direction
GOSUB name xxx = master position
name = subprogram
ON PARAM n n = parameter number
GOSUB name name = subprogram name
ON PERIOD n n > 20 ms (time for re-call)
GOSUB name n = 0 (switch off function)
name = subprogram
ON STATBIT n n = bit n of the FC status
GOSUB name name = subprogram
ON TIME n GOSUB n = time for re-call
name name = subprogram