Danfoss MCO 305 Design Manual page 19

MCO 305 Design Guide
Application Example: A Bottle Box Palletizer
The following samples show a palletizer stacking
boxes with bottles. The boxes are unloaded using a
pack gripper. The three positioning modes are used
in this sample and explained in three steps.
NOTE: The following are just examples and the
presented settings and programs might not cover
the complete functionality required by a real
application.
It is assumed that the motor and encoder connec-
tions are checked and that all basic parameter
settings such as motor data, encoder data and PID
controller are done. Instructions for setting up para-
meters can be found in FC 300 Operating
Instructions and MCO 305 Operating Instructions.
Absolute Positioning
Absolute Positioning is explained with following function of the palletizer: The horizontal axis has two fixed
target positions; one is above the pick-up and the other one is above the pallet. The horizontal axis is con-
trolled with absolute positioning between the pick-up position and the deliver position.
Parameter Settings and Commands for Palletizer Application
The following MCO 305 parameters are relevant for
absolute positioning:
Command Description
Absolute Positioning (ABS)
ACC Sets acceleration
DEC Sets deceleration
HOME Move to device zero point (reference switch) and set
as the real zero point.
POSA Positions axis absolutely
VEL Sets velocity for relative and absolute motions and
set maximum allowed velocity for synchronizing
__ Functions and Examples __
®
MG.33.L5.02 – VLT is a registered Danfoss trademark
32-0* Encoder 2 – Slave
32-6* PID-Controller
32-8* Velocity & Acceleration
33-0* Home Motion
33-4* Limit Handling
Syntax Parameter
ACC a a = acceleration
DEC a a = deceleration
HOME –
POSA p p = position in UU
VEL v v = scaled velocity value
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