Danfoss MCO 305 Design Manual page 21

MCO 305 Design Guide
Relative Positioning
Relative Positioning is explained with following function of the palletizer: When leaving the deliver position
the vertical axis just needs to move up one box height so that it is clear of the stack before the horizontal
axis can move back to the pick-up position. This is done by relative positioning to "box height" in the "up-
direction".
Parameter Settings and Commands for Palletizer Application (Relative Positioning)
The following MCO 305 parameters are relevant for
relative positioning:
Command Description
Relative Positioning (REL)
ACC Sets acceleration
DEC Sets deceleration
POSR Positioning relative to the actual position
VEL Sets velocity
Program Example: Relative Positioning for Palletizer Application
/********** Relative positioning sample program for palletizer application example **********/
// Inputs: 1
// 8
// Outputs: 1
// 8
/*************************** Interrupts *****************************************/
ON ERROR GOSUB errhandle
// In case of error go to error handler routine, this must always be included
/************************ Define flags *****************************************/
flag = 0
/*********************
VEL 80 // Sets positioning velocity related to par. 32-80 Maximum velocity.
ACC 100 // Sets positioning acceleration related to par. 32-81 Shortest ramp.
DEC 100 // Sets positioning deceleration related to par. 32-81 Shortest ramp.
/******************* Define application parameters *********************************/
LINKGPAR 1900 "Box high" 0 1073741823 0
/************************** main loop *****************************************/
MAIN:
IF (IN 1 == 1) AND (flag == 0) THEN
OUT 1 0
POSR (GET 1900)
OUT 1 1
flag = 1
ELSE
MOTOR STOP // Stop if input is low.
flag = 0
ENDIF
GOTO MAIN
/********************** Sub programs start **************************************/
SUBMAINPROG
/************************ Error handler *****************************************/
SUBPROG errhandle
__ Functions and Examples __
Go to position
Clear Error
In position
Error
Basic settings ****************************************/
// Go to position once (ensured by flag) when input 1 is high.
// Reset "In position" output.
// Go to position.
// Set "In position" output.
// Set "flag" to ensure that distance is only traveled once.
// Reset "flag" to enable new positioning.
®
MG.33.L5.02 – VLT is a registered Danfoss trademark
32-0* Encoder 2 – Slave
32-6* PID-Controller
32-8* Velocity & Acceleration
Syntax Parameter
ACC a a = acceleration
DEC a a = deceleration
POSR d d = distance to actual position in UU
VEL v v = scaled velocity value
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