Danfoss MCO 305 Design Manual page 73

MCO 305 Design Guide
Restart program
If the controller executes an Autostart program when it is powered on, then the controller's Autostart
mechanism will be activated. When the Autostart mechanism is active, then the controller will automatically
start the designated Restart program whenever the currently executing program terminates. This will
continue until the Autostart mechanism is deactivated.
The Autostart mechanism will be deactivated if any of the following happen:
1. The user has executed a "break" (i.e. [Esc]) command.
2. A program has terminated with an error (other than one of the errors listed below).
Once deactivated, the Autostart mechanism cannot be reactivated again with powering the controller off
and on again.
The Autostart mechanism will not be deactivated if any of the following errors occur:
1. Position error (error 108)
2. Limit switch error (error 125)
3. Software limit switch error (error 111)
The controller determines which program is the Restart program as follows:
1. If 33-80 Activated Program Number is set (i.e. not -1), then this is the program number of the
Restart program.
2. Otherwise, if 33-5* I_Function_n_13 or 14 is set to a digital input pin, then the controller will wait
until that input pin is activated. Once activated, then 33-5* I_Function_n_15 will determine the
program number of the Restart program.
Note that the pin may not already be activated when the currently executing program terminates;
activation is triggered only on a rising signal.
3. Otherwise, if the Autostart program is the only program to have been executed, then the Autostart
program will be the Restart program (i.e. the Autostart program will be executed repeatedly).
4. Otherwise, there is no Restart program and the controller will not Autostart any program.
The par. 33-80 Activated Program Number is designed to be used for "linking" programs together. The
currently executing program simply needs to set Activated Program Number to specify which program is to
be executed next. Note that if Activated Program Number is not reset, then the current program will be
executed repeatedly.
The parameters 33-5* I_Function Start program and Program select are designed to be used when the next
program to be executed is being selected by some external source (such as a PLC).
NB!:
Please note that the originally designated Autostart program is restarted only if 33-80 Activated
Program Number and 33-5* I_Function Start program have not been used. If either Activated
Program Number or Start program have been used, then the Autostart program will only be
executed once when the controller is powered on. This "one-time" execution can be useful for executing
functions such as HOME. Note that the PRGPAR parameter can still be used to explicitly restart the Autostart
program.
NB!:
The Start program mechanism (33-5* I_Function_n_13 or 14) does not function properly in some
Motion Controllers prior to MCO 5.00. If this affects the application, then please contact your
supplier for updated firmware.
Delete programs
Select any program and click on → Delete if you want to delete that individual program from the controller.
This permanently deletes the program from the controller so you should ensure that you have previously
saved the program on the PC.
Click on → Delete all if you want to delete all the programs in the controller. This permanently deletes the
programs from the controller so you should ensure that you have previously saved the programs on the PC.
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