Danfoss MCO 305 Design Manual page 96

MCO 305 Design Guide
– Specify gradients (immediate) – The user must explicitly set the start and end velocities using the
"Set" button. However, the start gradient will be replaced with the actual current velocity when the
curve is activated in the controller. This type of curve is intended to be used when an existing curve
must be replaced by a different curve before the first curve has completed its cycle.
NB!:
Note that not all versions of controllers can support all types of curve profiles.
Master Length and Slave Length
The master length is the distance that the master encoder must travel in order to complete one cycle; it is
the horizontal length of the curve profile. As the master completes one cycle, the slave motor will also
complete one cycle by following the curve profile from the start point to the end point. The slave length will
be the difference in the slave position from the beginning to end of the curve. Note that this is not the same
as the vertical height of the curve. If the slave has returned to its starting position when the master
completes one cycle, then the slave length will be 0 even though the slave has moved during the cycle.
The master length and slave length can be set in three ways:
1. Changing the last Fix point by double clicking on it in the Fix Points table.
2. Moving the last Fix point using the mouse in the curve profile diagram.
3. Pressing the "Set" button in the Curve Data index card.
Both of the first two methods change the master and slave cycle lengths directly. If the "Set" button in the
Curve Data index card is pressed, then a dialog is displayed that allows both the master cycle length and
the number of interpolation intervals (described below) to be changed simultaneously. The slave length
cannot be changed using this dialog.
Note that the user is prevented from shortening the master cycle length beyond certain limits. The last Fix
point cannot be moved to a position preceding
the previous Fix point,
–
any Start Stop point,
–
either of the correction start or end points,
–
or the master marker position.
–
If the last Fix point must be moved beyond these limits, then it will be necessary to first change the limiting
points or positions before moving the last Fix point. For example, if the last Fix point is being blocked by the
master marker position, then move the master marker position first and then move the last Fix point.
Slave Stop Position
This specifies the position to which the slave should run and stop if no "SYNCCSTOP pnum slavepos"
command with the variable "slavepos" was executed in the APOSS program.
This position will also be used if SYNCC starts with a specific number of cycles and does not use a
SYNCCSTOP command.
If → Slave Stop is enabled, then a horizontal grey bar will indicate this position in the curve profile diagram.
Correction Start and End
This specifies the master positions where the master correction should begin and end. Be careful to leave
enough time to correct the synchronization before the processing point is reached.
If → Correction is enabled, then the correction area is shown as a blue-grey bar along the X-axis in the
curve profile diagram.
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