zub machine control AG: APOSS Axis Positioning and Synchronizing Language for Windows for Positioning and Synchronizing of drives and controls, CANopen, I/O modules.

List of commands	APOSS
Initialization of the Control (INI)	Commands to initialize the axes and the control unit start up and define the zero point(s).
DEFCORIGIN	Set command position as zero point.
DEFMORIGIN	Set the current master position as the zero point for the master.
DEFORIGIN	Sets the actual position as real zero point
DELETE ARRAYS	Delete all arrays in the RAM.
ERRCLR	Clear error
HOME	Moves to machine zero point.
INDEX	Moves to next index position.
MOTOR OFF	Turns off motor control.
MOTOR ON	Turns on motor control.
RSTORIGIN	Resets temporary zero point.
SAVE ARRAYS	Save arrays in the EPROM.
SAVE AXPARS	Save axis parameters in the EPROM.
SAVE GLBPARS	Save current global parameters in the EPROM.
SAVEPROM	Saves memory in EPROM.
SETMORIGIN	Set any position as the zero point for the master.
SETORIGIN	Sets temporary zero point.
Control Commands (CON)	Commands to control the program flow and to structure the programs.
CONTINUE	Continue interrupted position or velocity commands.
DELAY	Time delay
DIM	Declaration of a global array.
EXIT	Cancel program execution.
GOSUB	Calls a subroutine.
GOTO	Jump to a program label.
IF THEN	Conditional program execution
.. ELSE ..IF .. THEN	... with single alternative branch
.. ELSE	... with multiple alternative branch
.. ENDIF	End of the conditional program execution
LOOP	Define number of loops.
MOTOR STOP	Motor-stop with a programmed delay (with ramp).
NOWAIT ON/OFF	On/off switch for waiting for the command execution.
REPEAT..	Beginning of repeat loop
REPEAT .. UNTIL	Conditional loop … end criteria
SUBMAINPROG .. ENDPROG	Start / end of program subroutine section.
SUBPROG .. RETURN	Start / end of a subroutine code section.
SYSVAR	System variable (Pseudo array) reads system values.
WAITAX	Wait until target position is reached.
WAITI	Wait until defined input state is present.
WAITNDX	Wait until the next index position is reached.
WAITP	Wait until a certain position is reached.
WAITT	Wait a defined period of time.
WHILE .. DO .. ENDWHILE	Conditional loop with commencement criteria.
#INCLUDE	Compiler directive: embedding further data.
Absolute Motion (ABS)	Commands for the absolute positioning of the axes / axis.
ACC	Sets acceleration.
DEC	Sets deceleration / braking ramp.
LINA	Synchronously positions axis absolutely.
POSA	Positions axis absolutely.
VEL	Sets velocity for relative and absolute motion and maximum allowed velocity for synchronizations.
Relative Motion (REL)	Commands for the relative positioning of the axes / axis.
ACC	Sets acceleration.
DEC	Sets deceleration
LINR	Synchronized relative positioning of several axes.
POSR	Positioning relative to the actual position.
VEL	Sets the velocity.
Speed Control Commands (ROT)	Commands to obtain a permanently driving axis with constant speed.
CSTART	starts the continuous movement in RPM mode
CSTOP	stops the drive in speed mode
CVEL	sets the velocity for speed regulation
Input/Output Commands (I/O)	Commands for setting and re-setting the outputs, reading the inputs:
IN	Reads input bit-by-bit (individually).
INAD	Reads analog input and process data objects (PDO) of CAN objects.
INB	Reads input by bytes (units of 8).
INKEY	Reads ASCII-character from interface (RS232).
OUT	Sets digital outputs bit-by-bit (single).
OUTAN	Sets analog output (allocated to an axis).
OUTB	Sets digital outputs by bytes (units of 8).
OUTDA	Sets analog output (freely available) and an output, which is initialized as a drive.
Virtual inputs and outputs	In addition there are virtual inputs and outputs including the commands for that (starting with firmware 6.6.07)
System State Functions (SYS)	Commands for querying system status information and commands for configuring and using arrays for recording test results.
APOS	reads actual position
APOSDIFF	overflow handling of incremental encoders in applications
AVEL	queries actual velocity of an axis
AXEND	reads info on status of program execution
CPOS	reads set position
CPOSDIFF	overflow handling of incremental encoders in applications
ERRAX	number of the axis which triggers the error
ERRNO	reads error number
IPOS	queries last index or marker position of the slave
IPOSDIFF	overflow handling of incremental encoders in applications
JERKFINVEL	calculates the final velocity for a jerk-limited stop with maximum acceleration/deceleration
JERKSTOPDIST	calculates the necessary distance for a jerk-limited stop with maximum deceleration
MAPOS	queries actual position of the master
MAPOSDIFF	overflow handling of incremental encoders in applications
MAVEL	queries actual velocity of the master
MIPOS	queries last index or marker position of the master
MIPOSDIFF	overflow handling of incremental encoders in applications
PID	completes PID calculation
PRINT	output (display) texts and variables
PRINTDEV	stops information output
STAT	reads axis status
SYNCERR	queries actual synchronization error of a slave axis
TESTSETDEST	defines the memory section for saving recorded data
TESTSETINDEX	specifies system variables for data recording
TESTSETP	specifies recording data for test run
TESTSETTIME	defines the sampling period for data recording
TESTSETTYPE	defines “one time” or “cyclic” recording
TESTSTART	starts the data recording
TESTSTOP	stops the data recording
TIME	reads internal controller time
TRACKERR	queries actual position error of an axis
VLTCOMMAND	allows control word and references to be sent to Danfoss VLT via RS485
VLTCOMSTATE	polls for the result of the last parameter transaction>
VLTREAD	reads parameters from a Danfoss VLT via RS485
VLTSTATUS	reads status and actual speed of Danfoss VLT over RS485
VLTWRITE	writes parameters to a Danfoss VLT over RS485
_GETVEL	changes sample time for AVEL and MAVEL
Interrupt Functions (INT)
DISABLE	locks the execution of interrupts
DISABLE ALL	locks the execution of interrupts (except ON ERROR)
ENABLE … inttyp	enables locked interrupts
ENABLE ALL	enables all locked interrupts
ON ON CANINPUT id GOSUB	calls up a subprogram when a CAN telegram type 'id' arrives
ON CANMSG GOSUB	verifies arrival of a buffered CAN message
ON COMBIT .. GOSUB	calls up a subprogram when Bit n of the communication buffer is set
ON DELETE .. GOSUB	deletes a position-interrupt: ON posint GOSUB
ON ERROR GOSUB	calls subroutine in the event of an error
ON INT .. GOSUB	calls subroutine depending on input signal
ON KEYPRESSED .. GOSUB	interrupts when a character appears via the serial interface when any key is pressed
ON PARAM .. GOSUB	calls up a subprogram when a parameter is altered
ON PERIOD .. GOSUB	calls subroutine at regular intervals
ON posint GOSUB	calls up a subprogram when a position interrupt occurs:
	ON APOS	when the slave position xxx is passed
	ON IPOS	when the distance between the last marker position and the actual position is reached
	ON MAPOS	when the master position xxx [qc] is passed
	ON MCPOS	when the master position xxx [MU] is passed
	ON MIPOS	when the distance between two markers is reached
ON posint SETOUT (TOIN)	Simulates a cam box (all types of position interrupts)
ON STATBIT	calls up a subprogram when bit n of the status word is set
ON TIME	calls subroutine after single timing
Continuous Path Control	This option is only available with MOCON-HCTL.
ARC	arc in a path sequence
MOVE .. ENDMOVE	start / end of a path command sequence
MVEL	sets velocity for path motion
VEC	straight line in a path sequence
Parameter (PAR)	Parameter Handling
GET	reads parameter values (axis and global parameter)
LINKPDO	link the system variable with PDO and copy in the internal parameters
LINKSDO	copying an internal object in the PDO
SET	sets parameter values (axis and global parameter)
CAN Basic Library	This library contains all the functions necessary to do raw CAN telegram transfer.
CANDEL	erases all objects
CANIN	reads an object
CANOUT	sends message (active)
DEFCANIN	defines a receive object
DEFCANOUT	defines a transmit object in the CAN controller
	Buffered Message Transfer
INGLB	reads Glb CAN message
INMSG	reads CAN message (polling)
MSGVAL	supplies the long value of the last message
ON CANINPUT	calls up a subprogram when a CAN telegram type 'id' arrives
OUTMSG	sends CAN message (polling)
USRSTAT	sets user status
SDO2	Starting with version 6.4.61 a second SDO is supported to communicate with debug devices like SDO monitors.
CANopen Master Library	This library has functions to support the usage of CANopen Slaves like I/O modules or encoders or even drives.
CANIN (> 100)	Gathers all Transmit-PDOs of digital input modules or CAN drive status by using only one CAN telegram.
CANINI	Initializes the necessary objects (PDOs) for data exchange of CANopen nodes, or enables extended CANINI, CANIN function.
SDOREAD	Reads SDO of a connected CANopen device.
SDOREADSEG	Segmented read of SDOs (unpacked).
SDOREADSEGP	Segmented read of SDOs (packed).
SDOSTATE	Checks the result of an active communication.
SDOWRITE	Sets SDO of a connected CANopen device.
Parameter CANSYNCTIMER	Defines the cycle time for sending SYNC telegrams on the CAN bus.
	The following functions support master functionality:
IN	Reads status of digital input.
INB	Reads one byte from digital inputs.
OUT	Set or re-set digital outputs.
OUTB	Alteration of the condition of a digital output byte.
SET ENCODERTYPE	Set parameter ENCODERTYPE.
SET DRIVETYPE	Set parameter DRIVETYPE.
CANopen Slave Library	This library contains all functions which are necessary to act as a CANopen Slave.
LINKPDO	Link the system variable with RxPDO and copy in the internal parameters, or link part of an array into the PDO.
LINKSDO	Link TxPDO with internal system variable, or link part of an array out of the PDO.
PDO	Pseudo array for direct access to the CANopen PDOs.
SYSVAR	System variable (Pseudo array) reads system values.
Synchronization Commands (SYN)	Commands to synchronize the slave with the master or the master simulation.
DEFSYNCORIGIN	defines master-slave relation for the next SYNCP or SYNCM command
MOVESYNCORIGIN	relative shifting of the origin of synchronization
PULSACC	sets acceleration for the virtual master
PULSVEL	sets velocity for virtual master
SYNCM	synchronization of angle/position with marker correction
SYNCMARKERSTART	resets a marker or resets marker handling
SYNCP	synchronization of angle/position
SYNCSTAT	queries flag for synchronization status
SYNCSTATCLR	resetting of the flags MERR and MHIT
SYNCV	synchronization of velocity
CAM Mode (CAM)	Commands for synchronization in CAM-Mode (CAM control)
CURVEPOS	retrieve slave curve position that corresponds to the current master position of the curve
DEFMCPOS	define initial position of the master
POSA CURVEPOS	move slave to the curve position corresponding to the master position
SETCURVE	sets CAM curve
SYNCC	synchronization in CAM mode
SYNCCMM	synchronization in CAM mode with master marker correction
SYNCCMS	synchronization in CAM mode with slave marker correction
SYNCCSTART	starts slave for synchronization in CAM mode
SYNCCSTOP	stops slave after the CAM synchronization
machine control AG

List of commands

APOSS

Initialization of the Control (INI)

Commands to initialize the axes and the control unit start up and define the zero point(s).

Control Commands (CON)

Commands to control the program flow and to structure the programs.

Absolute Motion (ABS)

Commands for the absolute positioning of the axes / axis.

Relative Motion (REL)

Commands for the relative positioning of the axes / axis.

Speed Control Commands (ROT)

Commands to obtain a permanently driving axis with constant speed.

Input/Output Commands (I/O)

Commands for setting and re-setting the outputs, reading the inputs:

System State Functions (SYS)

Commands for querying system status information and commands for configuring and using arrays for recording test results.

TESTSETDEST

Interrupt Functions (INT)

Continuous Path Control

This option is only available with MOCON-HCTL.

Parameter (PAR)

Parameter Handling

CAN Basic Library

This library contains all the functions necessary to do raw CAN telegram transfer.

Buffered Message Transfer

CANopen Master Library

This library has functions to support the usage of CANopen Slaves like I/O modules or encoders or even drives.

CANopen Slave Library

This library contains all functions which are necessary to act as a CANopen Slave.

Synchronization Commands (SYN)

Commands to synchronize the slave with the master or the master simulation.

CAM Mode (CAM)

Commands for synchronization in CAM-Mode (CAM control)