Danfoss MCO 305 Design Manual page 102

MCO 305 Design Guide
__ APOSS Tools __
Fix points
Fix points are used to define the basic shape of the curve over the length of the master cycle. The CAM-
Editor will fit a mathematical spline through these Fix points in order to create a smooth curve. Note that
you should not define more Fix points than are necessary to adequately produce the final desired curve
profile. Adding more points than necessary will consume controller resources without a corresponding
increase in benefit.
Note that any change made to Fix points using the Fix Points table, can be undone using the Undo toolbar
button.
Edit Fix points
Please see Using the Mouse in Curve Profile Diagram for a description of how to add, delete, and modify Fix
points using the mouse in the curve profile diagram.
Adding Fix points
To add a new Fix point, click the → Add button in the Fix Points table. This will display the dialog for adding
points. Points must be specified as pairs of master and slave values and multiple pairs can be defined at the
same time. The Fix points can be entered in any order; they will be automatically ordered as they are being
added to the curve. If → Snap on Grid is enabled, then the master values will be snapped onto the inter-
polation grid as they are being added.
If a new Fix point is added after the last Fix point, then this will change the master cycle length. When this
happens, the number of interpolation points is changed automatically so that the interpolation interval (i.e.
the distance between interpolation points) remains unchanged. The last Fix point is always snapped to the
interpolation grid in order to avoid a fractional number of interpolation points.
Deleting Fix points
To delete a Fix point, click on the Fix point in the Fix Points table and then press the [Del] key.
Modifying Fix points
To modify a Fix point, double-click on the Fix point in the Fix Points table. If the "Master" or "Slave" column
is clicked, then the Fix point position can be changed. If the "Type" column is clicked, then the Fix point
type can be changed.
Note that a Fix point cannot be moved beyond either of the two adjacent Fix points. The last Fix point can
be moved as far as desired towards the right. If this is done, then the master cycle length is automatically
changed. The number of interpolation points is also changed automatically so that the interpolation interval
(i.e. the distance between interpolation points) remains unchanged. The last Fix point is always snapped to
the interpolation grid in order to avoid a fractional number of interpolation points.
Fix points Types
The Fix point type determines the shape of the single curve profile segment that follows the Fix point.
Segments can either be straight (i.e. tangent) or curved. The CAM-Editor will always try to make a smooth
transition from one segment to the next. For this reason, at least one curve segment is required between
adjacent tangent segments.
In the curve profile diagram, tangent points are displayed as small green squares and all other types of
points are displayed as small red squares.
The following Fix point types are supported:
Curve (C)
The following segment is curved. If it connects adjacent tangent segments, then it will be calculated using a
single 5'th order curve. This provides the smoothest possible transition between the segments since both
the velocity and acceleration will match exactly at both ends of the segment. However, it may require higher
velocities and accelerations than other curve types. If there is more than one consecutive curve segment,
then the series of curve segments will be calculated together using a single cubic spline.
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