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MG.10.J8.02 – VLT is a registered Danfoss trade mark
Programmable SyncPos motion controller
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 resp. –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 di-
rection 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 Slave encoder type (ENCDODERTYPE = 0..2)
4124 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 Delivers same information as MAVEL does, but
always gives information of real encoder, even
if master is simulated (MENCODERTYPE == 6).
Axis Process Data, Profile generator value
Index Description
4218 Returns all 32 flags of the profile generator.
These are:
PG_FLAG_BUSY 1L
// Flag for busy information
PG_FLAG_COMMANDERR 2L
// Flag for Command Error occurred (not
used)
PG_FLAG_POSREACHED 4L
// Flag for Position reached
PG_FLAG_INDEX_HIT 8L
// Flag for Index observed
PG_FLAG_WRAP_OCC 16L
// Flag for Wraparound occurred (not used)
PG_FLAG_POS_ERR 32L
// Flag for Position Error occurred
PG_FLAG_BRKPT_RCHD 64L
// Flag for Breakpoint reached (not used)
4218 ff
PG_FLAG_FLOATING 128L
// Flag for MOTOR OFF
PG_FLAG_MOVING 1L << 8
// Flag for axes is moving
PG_FLAG_OVERFLOWS 2L << 8
// Flag for overflow of slave position
PG_FLAG_OVERFLOWM 4L << 9
// Flag for overflow of master position
PG_FLAG_POSFLOAT 8L << 8
// Flag for floating in pos control
PG_FLAG_INTERNTST 64L << 8
// Flag for internal use
PG_FLAG_SYNCREADY 1L << 24
// Flag for Synchronization ready
PG_FLAG_SYNCFAULT 2L << 24
// Flag for Synchronization failed
PG_FLAG_SYNCACCUR 4L << 24
// Flag for Accuracy reached (syn)
PG_FLAG_SYNCMMHIT 8L << 24
// Flag for master marker hit
PG_FLAG_SYNCSMHIT 16L << 24
// Flag for slave marker hit
PG_FLAG_SYNCMMERR 32L << 24
// Flag for master marker distance exceeded
PG_FLAG_SYNCSMERR 64L << 24
// Flag for slave marker distance exceeded
PG_FLAG_TESTFLAG 128L << 24
// Flag for internal use
Axis Process Data, CAM profile
Index Description
4220 CINDEX
Actual index into the curve interpolation area
(number of actual interpolation point 0..Intno-1)
4221 CVINDEX
Actual value index used. Is equal to CINDEX if not
starting or stopping is active. In that case the
CVINDEX points into the start or stop path data.
4222 CMAXINDEX
Maximum index allowed (Intno – 1)
4223 CIMPS
Curve position within the actual interpolation in-
terval (integer part of 64 bit value)
4224 CMILEN
Length of interpolation interval in MU units (inte-
ger part of 64 bit value)
4225 CWRAP
Actual curve counter (0 .. CCOUNTER)
4226 CSSTART
Slave start offset of actual curve in qc (for closed
curves always 0).
Software Reference
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