Danfoss MCO 305, Design Manual, Page: 97 / 242

MCO 305 Design Guide
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MG.33.L4.02 – VLT
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97
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APOS
Summary Reads actual position
Syntax res = APOS
Return Value res = absolute actual position 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 Denominator, parameters 32-12
and 32-11.)
The user unit (UU) corresponds in standard setting to the number of Quad counts.
1
11 - 32 par.
12 - 32 par.
Parameter
Denomintor Unit User
Numerator Unit User
Description The APOS command can query the absolute position of the axis related to the
actual zero point.
If a temporary zero point which has been set via SET ORIGIN exists, then the
position value is relative to this zero point.
NB!:
The read out using APOS may or may not be equal to the target position or
commanded position. The error or deviation may be due to the mechanics involved
and truncated decimal values in the User Units.
APOS is affected by the parameters 32-12 and 32-11, and by commands SET
ORIGIN p, DEF ORIGIN.
Example:
POSA 2000
PRINT "Actual Position Reached", APOS
Output:
Actual Position Reached 2000
(depending on PID settings a small deviation may
occur)
Initial
0
175MD515
After Positioning
0
175MD516
Example with SET ORIGIN
SET ORIGIN 2000
POSA 2000
PRINT "Actual Position”, APOS
Output:
Actual Position 2000
After Execution
0
2000
175MD517
Initial
0
175MD515
Program on execution sets the original 2000 qc as the origin and then moves the
drive by 2000 qc more for positioning command.
Command Group I/O
Cross Index CPOS, DEF ORIGIN, SET ORIGIN, POSA, POSR,
Parameters: 32-12 User Unit Numerator , 32-11 User Unit Denominator
Syntax Example PRINT APOS /* display the actual position of axis on the PC */
Program Sample APOS_01.M, GOSUB_01.M, MOTOR_01.M