Danfoss MCO 305 Design Manual page 94

MCO 305 Design Guide
Positioning Commands
Commands for the absolute and relative positioning of the axis. (Group ABS and REL)
Command Description
Absolute Positioning (ABS)
ACC Sets acceleration
DEC Sets deceleration
POSA Positions axis absolutely
VEL Sets velocity for relative and absolute
motions and set maximum allowed
velocity for synchronizing.
Relative Positioning (REL)
ACC Sets acceleration
DEC Sets deceleration
POSR Positioning relative to the actual position.
VEL Sets velocity
Synchronizing Commands
Commands to synchronize the slave with the master or the master simulation. (Group SYN)
Command Description
DEF SYNCORIGIN Defines master-slave relation for the
next SYNCP or SYNCM command
MOVE Relative shifting of the origin of
SYNCORIGIN synchronization
PULSACC Sets acceleration for master simulation PULSACC a
PULSVEL Sets velocity for master simulation
SYNCV Synchronization of velocity
SYNCP Synchronization of angle/position
SYNCM Synchronization of angle/position with
marker correction
SYNCSTAT Queries flag for synchronization status res = SYNCSTAT
SYNCSTATCLR Resetting of the flags MERR and MHIT
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__ Software Reference __
Syntax
DEF SYNCORIGIN
master slave
MOVE SYNCORIGIN
mvalue
PULSVEL v
SYNCV
SYNCP
SYNCM
SYNCSTATCLR value
®
MG.33.L4.02 – VLT is a registered Danfoss trademark
Syntax Parameter
ACC a a = acceleration
DEC a a = deceleration
POSA p p = position in UU
VEL v v = scaled velocity value
ACC a a = acceleration
DEC a a = deceleration
POSR d d = distance to actual position in
UU
VEL v v = scaled velocity value
Parameter
master = reference position in qc
slave = reference position
mvalue = Relative offset
a = acceleration in Hz/s
v = velocity in pulses per second
(Hz)
–
–
–
value =
8 = SYNCMMHIT
16 = SYNCSMHIT
32 = SYNCMMERR
64 = SYNCSMERR