Danfoss MCO 305 Design Manual page 103

MCO 305 Design Guide
Tangent (T)
The following segment is straight. The velocity will be constant and the acceleration will be zero.
Trapezoid (CZ)
The following segment will be calculated using a trapezoidal velocity profile (i.e. two segments of constant
acceleration). This curve type can only be used between adjacent tangent segments.
3'rd order (C3)
The following segment will be calculated using a single 3'rd order curve. This curve type can only be used
between adjacent tangent segments.
In the trapezoid curve, the two segments of constant acceleration (magenta line) can be seen. This produ-
ces a sharp change in velocity (blue line) midway through the curve. In the 3'rd order curve, the velocity
change is smoother but there are still sharp changes in the acceleration. In the 5'th order curve, the
changes in both the velocity and acceleration are smoother.
Start Stop Points
Start Stop Points are used to define point pairs for
engaging and disengaging the slave during synchro-
nization. You will need one point pair to specify the
master position where the synchronization should
start and where the engaging should take place. You
can use an additional point pair to specify the
master position where the disengaging should start
and where the synchronization should be stopped.
If → Start Stop is enabled, then Start Stop points will be displayed with yellow flags. The Start point will
be labeled with "a" and have a yellow arrow. The Stop point will be labeled with "b" and have a red arrow.
Selecting a Start Stop pair by clicking on it in the Start Stop Points table will cause the flags to be displayed
in red. This will allow you to identify which pair is which.
Enable → Engage Path and/or →
select the Start Stop pair of interest by clicking on it in the Start Stop Points table. Only one pair of engage
and disengage curves can be displayed at a time.
Enable → Slave Stop to display the slave stop position. This is the position where the engage curve starts
and the disengage curve ends. It will be displayed as a horizontal gray bar.
__ APOSS Tools __
Disengage Path to display the engage and/or disengage curves. Then
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