Programmable SyncPos motion controller
MG.10.J8.02 – VLT is a registered Danfoss trade mark
100
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■ APOS
The APOS command can query the absolute
position of the axis related to the actual zero point.
Summary
reads actual position
Syntax
res = APOS
Return value
res = absolute actual position in user units (UU)
related to the actual zero point
All path information in motion commands are
made in user units and are converted to quad-
counts internally. (See also Numerator and Denomi-
nator, Parameter 23 and 26.)
The user unit (UU) corresponds in standard setting
to the number of Quad counts.
Parameter POSFACT_Z (23) / POSFACT_N (26) = 1
NB!
If a temporary zero point which has been set
via SET ORIGIN exists, then the position
value is relative to this zero point.
Command group
I/O
Cross Index
CPOS, DEF ORIGIN, SET ORIGIN, POSA, POSR
Parameter: POSFACT_Z (23) and POSFACT_N (26)
Syntax-Example
PRINT APOS
/* display the actual position of axis on the PC */
Program sample
APOS_01.M,
GOSUB_01.M, MOTOR_01.M
Software Reference
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■ AVEL
This function returns the actual velocity of the axis in
User Units per second. The accuracy of the values
depends on the duration of the measurement (avera-
ging). The standard setting is 20 ms, but this can be
changed by the user with the _GETVEL command. It
is sufficient to call up the command once in order to
work with another measuring period from then on.
Thus, the command:
var = _GETVEL 100
sets the duration of the measurement to 100 ms,
so that you have a considerably better resolution of
the speed with AVEL and MAVEL, however, in con-
trast, quick changes are reported with a delay of a
maximum of 100 ms.
Summary
queries actual velocity of axis
Syntax
res = AVEL
Return value
res = actual velocity of axis in UU/sec, the value is
signed
Command group
I/O
Cross Index
MAVEL, APOS, _GETVEL
Syntax-Example
PRINT AVEL
/* queries actual velocity of axis and display on the
PC */
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