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Danfoss MCO 305 Design Manual
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Danfoss MCO 305 Design Manual

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MCO 305 Design Guide
Contents
How to Read this MCO 305 Design Guide..................................5
Introduction to VLT Motion Control Option MCO 305 ..............11
Functions and Examples ......................................................... 17
How to Read this Design Guide ......................................................................5
Available Literature for FC 300, MCO 305, and MCT 10 Motion Control Tool ..........6
Symbols and Conventions .............................................................................7
Abbreviations ..............................................................................................7
Definitions ..................................................................................................8
What is VLT Motion Control Option MCO 305?................................................. 11
System Overview ....................................................................................... 12
Configuration Examples .............................................................................. 13
Interface between MCO 305, FC 300 and other Option Modules......................... 14
Control Loops ............................................................................................ 14
Encoder .................................................................................................... 15
Program Execution ..................................................................................... 15
Positioning ................................................................................................ 17
Application Example: A Bottle Box Palletizer................................................... 19
Absolute Positioning ................................................................................... 19
Relative Positioning .................................................................................... 21
Touch Probe Positioning .............................................................................. 22
Synchronizing............................................................................................ 24
Velocity Synchronization (SYNCV) ................................................................ 24
Application Example: Suit Case Conveyor Belt ................................................ 24
Position/Angle Synchronization (SYNCP) ........................................................ 26
Application Example: Packaging with Fixed Product Distances........................... 27
Marker Synchronization (SYNCM) ................................................................. 31
Application Example: Packaging with Varying Product Distance and Slip ............. 31
CAM Control .............................................................................................. 35
Stamping of Boxes with Use-by Date ............................................................ 36
Printing of Cardboard Boxes with Marker Correction ........................................ 38
If the Sensor Distance is Larger than one Master Cycle Length ......................... 40
Slave Synchronization with Marker ............................................................... 41
CAM Box................................................................................................... 44
Mechanical Brake Control ............................................................................ 45
®
MG.33.L4.02 – VLT
is a registered Danfoss trademark
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  • Page 1 MCO 305 Design Guide Contents How to Read this MCO 305 Design Guide........5 How to Read this Design Guide ..............5 Available Literature for FC 300, MCO 305, and MCT 10 Motion Control Tool ..6 Symbols and Conventions ................7 Abbreviations ....................7 Definitions ....................8 Introduction to VLT Motion Control Option MCO 305 ....11...
  • Page 2 MCO 305 Design Guide Limited-Jerk ....................47 PC Software Interface ............53 Specifics of the User Interface ..............53 File Menu ....................55 Edit Menu ....................56 Development Menu ..................57 Controller Menu ..................62 Testrun Menu .................... 67 CAM-Editor Menu ..................70 Settings Menu ...................
  • Page 3 MCO 305 Design Guide Parameter Reference............177 FC 300, MCO 305, and Application Parameters ..........177 FC 300 Parameters Overview ..............179 Application Settings.................. 181 MCO Parameters ..................182 MCO Basics Settings ................. 183 MCO Advanced Settings ................193 MCO Data Readouts ................. 211 Parameter Lists..................
  • Page 5 How to Read this Design Guide This Design Guide will introduce all aspects of your MCO 305. Please read also the Operating Instructions, in order to be able to work with the system safely and professionally, particularly observe the hints and cautionary remarks.
  • Page 6 Available Literature for FC 300, MCO 305, and MCT 10 Motion Control Tool The MCO 305 Operating Instructions provide the necessary information for built-in, set-up, and optimize the controller.
  • Page 7 MCO 305 Design Guide __ How to Read this Design Guide __ Symbols and Conventions Symbols used in this Design Guide: NB!: Indicates something to be noted by the reader. Indicates a general warning. Indicates a high-voltage warning. Indicates default setting.
  • Page 8 MCO 305 Design Guide __ How to Read this Design Guide __ Definitions MLONG An upper or lower limit for many parameters: -MLONG = -1,073,741,824 MLONG = 1,073,741,823 Online / Offline Parameters Changes to online parameters are activated immediately after the data value is changed. Changes to offline parameters are not activated until you enter [OK] on the LCP.
  • Page 9 MCO 305 Design Guide __ How to Read this Design Guide __ Virtual Master Virtual master is an encoder simulation which serves as a common master signal for synchronization of up-to 32 axes. ® MG.33.L4.02 – VLT is a registered Danfoss trademark...
  • Page 10 MCO 305 Design Guide __ How to Read this Design Guide __ User Units The units for the drive or the slave and the master, respectively, can be defined by the user in any way desired so that the user can work with meaningful measurements.
  • Page 11 FC 312 and FC 312 with MCO 305 is an intelligent drive offering highly accurate and dynamic motion control featuring, Synchronization (electronic shaft), Positioning and electronic CAM control. In addition the pro- grammability offers the possibility to implement a variety of application functions such as monitoring and intelligent error handling.
  • Page 12 MCO 305 Design Guide __ Introduction to VLT Motion Control Option MCO 305 __ System Overview The MCO 305 system includes at least the following elements: FC 300. MCO 305 module. Motor/geared motor. Feedback encoder. Encoder must be mounted on motor shaft when operating FC 300 in Flux closed loop, feedback encoder for positioning and synchronizing can be mounted anywhere in the application.
  • Page 13 MCO 305 Design Guide __ Introduction to VLT Motion Control Option MCO 305 __ Configuration Examples One encoder used as motor feedback for closed loop Flux control as well as position feedback. One encoder used as motor feedback for closed...
  • Page 14 FC 300 is an “amplifier” in the MCO 305 control loop and it must therefore be optimized for the connected motor and load before the MCO 305 PID can be set-up. FC 300 can be operated in open loop or closed loop within the MCO 305 control loop, see example below: Guideline for optimizing MCO 305 PID can be found in MCO 305 Operating Instructions.
  • Page 15 (minimum 20 encoder increments per controller sample). Program Execution MCO 305 can store multiple programs, up-to 90. Only one of these programs can be executed at a time, there are three ways to control which program to execute: Via parameter 33-80 Activated Program Number.
  • Page 16 MCO 305 Design Guide __ Introduction to VLT Motion Control Option MCO 305 __ A temporary program can be executed from the program editor (MCT10/APOSS), temporary programs are only stored in RAM and are thus lost at power-down. The temporary program can also be executed in a special Debug mode where it is possible to influence the program execution as well as reading out data and variables, see on-line help of APOSS for further details.
  • Page 17 Index tables, for example filling material into trays on a rotating table. Conveyors, for example when cutting material to length. Hoists, for example a lift stopping at different levels. MCO 305 offers three main positioning types Absolute Relative Touch Probe...
  • Page 18 MCO 305 Design Guide __ Functions and Examples __ Relative Positioning Relative positioning is always relating to the actual position, it is therefore possible to execute a positioning procedure without defining the absolute zero point. If the starting position is 100.000, with a relative positioning to 150.000 the target position is 250.000 (100.000 + 150.000), the moving distance is thus 150.000.
  • Page 19 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 32-0* Encoder 2 – Slave page 183...
  • Page 20 MCO 305 Design Guide __ Functions and Examples __ Program Example: Absolute Positioning for Palletizer Application /********************** Absolute Positioning program sample **************************/ Inputs: Go to pick up position Goto deliver position Home switch Clear Error // Outputs: 1 In pick up position...
  • Page 21 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 32-0* Encoder 2 – Slave...
  • Page 22 This is controlled with Touch probe positioning where the touch probe detects the top of the stack in order to calculate the deliver position on top of the stack. Parameter Settings and Commands for Touch Probe Application The following MCO 305 parameters are relevant for 32-0* Encoder 2 – Slave...
  • Page 23 MCO 305 Design Guide __ Functions and Examples __ Program Example: Touch Probe Positioning for Palletizer Application /******** Touch probe positioning sample program for palletizer application example *********/ Inputs: Go to position Touch probe Clear Error Outputs: In position Error...
  • Page 24 It is assumed that the motor and encoder connections are checked and that all basic parameter settings such as motor data, encoder data and PID controller are done. Instructions for setting up parameters can be found in FC 300 Operating Instructions and MCO 305 Operating Instructions. ®...
  • Page 25 MCO 305 Design Guide __ Functions and Examples __ Parameter Settings and Commands for Conveyor Belt Application The following MCO 305 parameters are relevant for 32-0* Encoder 2 – Slave page 183 velocity synchronization: 32-3* Encoder 1 – Master page 186...
  • Page 26 MCO 305 Design Guide __ Functions and Examples __ man_vel = man_vel + GET 1901 done = 1 ELSEIF (IN 4 == 1) AND (done == 0) THEN // Decrease manual velocity by 1 step when input 3 is set...
  • Page 27 It is assumed that the motor and encoder connections are checked and that all basic parameter settings such as motor data, encoder data and PID controller are done. Instructions for setting up parameters can be found in FC 300 Operating Instructions and MCO 305 Operating Instructions. Parameter Settings and Commands for Packaging Application...
  • Page 28 MCO 305 Design Guide __ Functions and Examples __ Command Description Syntax Parameter DEF SYNCORIGIN Defines master-slave relation for the DEFSYNCORIGIN master = reference position in qc next SYNCP or SYNCM command master slave slave = reference position MOVESYNCORIGIN Relative shifting of the origin of...
  • Page 29 MCO 305 Design Guide __ Functions and Examples __ SYNCP // Start position synchronizing mode old_offset = GET SYNCPOSOFFS WHILE (IN 1 == 1) DO // Stay in synchronizing mode while input 1 = 1 IF (IN 4 == 1) THEN...
  • Page 30 MCO 305 Design Guide __ Functions and Examples __ SUBPROG Enb_step Next_step = 1 // Enable next offset step RETURN /***************************** Error handler ***********************************/ SUBPROG errhandle err = 1 // Set error flag to remain in error handler until error is reset.
  • Page 31 MCO 305 Design Guide __ Functions and Examples __ Marker Synchronization (SYNCM) Marker synchronization (SYNCM) is extended position synchronizing where an additional position correction is done to align a slave marker with a master marker. Master and slave marker signals can be the encoder zero pulse or external sensors connected to digital inputs.
  • Page 32 Instructions for setting up parameters can be found in FC 300 Operating Instructions and MCO 305 Operating Instructions. Parameter Settings and Commands for Packaging Application The following MCO 305 parameters are relevant for 32-0* Encoder 2 – Slave page 183...
  • Page 33 MCO 305 Design Guide __ Functions and Examples __ Program Example: Marker Synchronization /********************* Marker synchronizing sample program ************************/ // Inputs: Start/stop synchronization Measure slave marker distance Measure master marker distance Master marker Slave marker Clear Error // Outputs: Within synchronizing accuracy, set accuracy window in parameter 33-13 Marker measurement active.
  • Page 34 MCO 305 Design Guide __ Functions and Examples __ IF (skip_first == 0) THEN // Do not use first value as it might be invalid skip_first = 1 ELSE marker_number = marker_number + 1 // Increment counter total_dist = total_dist + marker_distance...
  • Page 35 MCO 305 Design Guide __ Functions and Examples __ CAM Control In order to realize CAM control, you need – depending on the application – at least one curve which describes the slave position in relation to the master position, as well as the engaging and disengaging behavior.
  • Page 36 MCO 305 Design Guide __ Functions and Examples __ Stamping of Boxes with Use-by Date The following example explains step by step how to Slave positions [degrees] edit the curve for this application of the CAM con- stamp beginning 120°, end 240°...
  • Page 37 MCO 305 Design Guide __ Functions and Examples __ Define Fix points for the conveyor belt (master) and the roller (slave). The function Snap on Grid should be activated. Master and slave must run synchronously with the same velocity between the position 1500 and 2500.
  • Page 38 MCO 305 Design Guide __ Functions and Examples __ Printing of Cardboard Boxes with Marker Correction If the boxes are not always transported at the exact same distance from each other, markers will be required that can recognize a box and correct the synchronization.
  • Page 39 MCO 305 Design Guide __ Functions and Examples __ 13. Take a look at the curve profile in order to determine when the correction of the synchro- nization may begin at the earliest and when it must be finished. The vertical green line...
  • Page 40 MCO 305 Design Guide __ Functions and Examples __ If the Sensor Distance is Larger than one Master Cycle Length In many applications, the marker cannot be placed within one master cycle length, for example in the case of the following equipment for the production...
  • Page 41 MCO 305 Design Guide __ Functions and Examples __ Thus, it would be better to install the sensor in such a way that the distance to the processing point is either smaller or substantially larger than one master cycle length; here, for example, at a distance of 3900. Then it is possible to correct from 2500 to 1000.
  • Page 42 MCO 305 Design Guide __ Functions and Examples __ How to Edit a curve for the Slave Synchronization Set the FC 300 with the required parameters and save these parameters with Parameters Save to file with the extension “CNF”. This CNF file must be open in the CAM-Editor.
  • Page 43 MCO 305 Design Guide __ Functions and Examples __ Activate the diagram of the Velocity to see the corresponding velocity curve as it is shown in this figure: Enter the Cycles/min Master = 20 in the index card Curve Info. This is the (maxi- mum) number of cardboard boxes that can be processed per minute.
  • Page 44 MCO 305 Design Guide __ Functions and Examples __ 16. Load the CNF file with the modified parameters and the – automatically generated – curve arrays into the FC 300 by means of Parameters Restore from file. Program Example: Slave Synchronization with Marker In order to determine the master position, a switch on the master is required that indicates the zero position.
  • Page 45 In applications controlled by MCO 305 involving an electro-mechanical brake it normally makes sense to control the brake from the MCO 305 application program to avoid situations when the position controller of MCO 305 attempts to move the motor while the brake is still engaged.
  • Page 46 MCO 305 Design Guide __ Functions and Examples __ POSR (GET 1900) // Go to position. OUT 1 1 // Set "In position" output. flag = 1 // Set "flag" to ensure that distance is only traveled once. ELSEIF (IN 1 == 0) AND (flag == 1) THEN...
  • Page 47 MCO 305 Design Guide __ Functions and Examples __ Limited-Jerk Understanding Limited-Jerk Movements Limited-jerk movements are similar to normal Trapezoidal movements except that the user may control the "gentleness" of the acceleration and deceleration ramps. This allows the user to limit the "jerk" caused by the "instantaneous"...
  • Page 48 MCO 305 Design Guide __ Functions and Examples __ The user can control the "gentleness" of the acceleration ramp using 4 parameters: Parameter Limited Jerk JERKMIN: Acceleration ramp-up constant. This specifies the number of milliseconds required to ramp the acceleration up from 0 to maximum acceleration.
  • Page 49 MCO 305 Design Guide __ Functions and Examples __ A Limited-jerk movement can be used in three different situations: 1. Stopping from the current velocity and acceleration (where the final position is not important). 2. Changing from the current velocity and acceleration to a specified constant velocity (where the positions are not important).
  • Page 50 MCO 305 Design Guide __ Functions and Examples __ The chart below shows a stopping movement that begins from a negative velocity and a very high decelera- tion. (It is a deceleration because the speed is slowing down.) However, because the initial deceleration is so high, the motor is unable to stop without overshooting 0 velocity and ‘coming back’.
  • Page 51 MCO 305 Design Guide __ Functions and Examples __ This chart is similar to the previous example except that it begins with a positive acceleration. In this case, the curve must start with an acceleration ramp-down segment (using JERKMIN2). Once the acceleration reaches 0, then the curve can continue as before.
  • Page 52 MCO 305 Design Guide This chart shows a typical ‘short’ movement where maximum velocity cannot be reached. In this case, the curve ramps-up the acceleration (using JERKMIN) for as long as possible. This may or may not reach maximum acceleration, depending on how far away the target position is.
  • Page 53 PC User Interface. For programming the MCO 305 the VLT Motion Control Tool MCT 10 is used. With that you also start the integrated APOSS software for developing control programs and for editing curves.
  • Page 54 MCO 305 Design Guide __ PC Software Interface __ The context menus are closed automatically when the selected function is being executed or if you click on any other location on the screen with the left mouse button. Edit Window In this window you can write your program with the assistance of the functions in the Edit menu just like in a text editor.
  • Page 55 MCO 305 Design Guide __ PC Software Interface __ Function Keys Frequently used functions are allocated to the function keys, e.g. with [F12] you can call-up the Command List for comfortable programming. Or with [F1] you can access the on-line help. The other function keys will be mentioned at the corresponding situation.
  • Page 56 MCO 305 Design Guide __ PC Software Interface __ Edit Menu The Edit menu offers the necessary editing help for programming. Most of these commands can also be reached via certain keys and key combinations, as is usual in Windows.
  • Page 57 MCO 305 Design Guide __ PC Software Interface __ Development Menu This menu provides functions to run, break, continue, or to run the programs step-by-step for debugging. The debug mode and the possibility to change the variables during program execution make programming easier.
  • Page 58 MCO 305 Design Guide __ PC Software Interface __ Debugging Single step processing (Tracing) is particularly suitable for testing newly developed programs and can be helpful when searching for errors. Prepare Singlestep Click on Development Prepare Singlestep and the program opened is prepared for the debug...
  • Page 59 MCO 305 Design Guide __ PC Software Interface __ End Debug With Development End Debug the program execution is ended immediately and you exit the debug mode. The marking of the program lines is removed, but the breakpoints are still displayed so that they can be used again with the next debugging.
  • Page 60 The Syntax Check produces a debug file in addition to checking the syntax. This file will be called “temp.ad$”. Convert (VLT5000 -> MCO 305) This converter checks your previous programs, gives a summery of the required changes, and adds comments where changes have to be done.
  • Page 61 MCO 305 Design Guide __ PC Software Interface __ Position Drive Or you can use the teach-in function and click on Position drive: in the dialog field the actual position of the axis is displayed. Click on the forwards > or on the backwards <...
  • Page 62 MCO 305 Design Guide __ PC Software Interface __ Controller Menu With these functions you can manage your programs: You can save or delete the programs in the option EEPROM and can mark a program for Autostart. Programs Click on Controller Programs and the dialog shows all the connected controllers.
  • Page 63 MCO 305 Design Guide __ PC Software Interface __ The source coding is saved in Flash EPROM. If insufficient space is available for the source coding in Flash EPROM a message is displayed and other program files must be erased before saving the new program file.
  • Page 64 MCO 305 Design Guide __ PC Software Interface __ Delete all Programs Click on Delete all if you want to delete all the programs in the FC 300. Make sure beforehand that you have saved the programs on the PC or in the archive for safety reasons.
  • Page 65 MCO 305 Design Guide __ PC Software Interface __ Reset Parameter If you want the standard settings for all parameters, simply click on Controller Reset Parameters. NB!: The global and I/O parameters will also be reset to the default settings if you do this.
  • Page 66 With Reset Complete not only all parameters, but also the programs and arrays are erased and the MCO 305 is reset to the basic default setting . . . NB!: . . . and this happens immediately – not only after the controller has been turned on and off as is the case when you delete EEPROM.
  • Page 67 MCO 305 Design Guide __ PC Software Interface __ Testrun Menu The Testrun menu offers the functions Execute Testrun from the entry of the test run parameters up to the graphic representation of the test run results. If you have used TESTSETP to define a test run with different parameters, you can also graphically display these results after execution (TESTSTART) with Testrun Display Recording.
  • Page 68 100 measurement points are sufficient for an optimal graph. The number of maximum possible measurement points is limited by the internal memory of the MCO 305 and also by any programs that are stored there. If the memory is not sufficient for the desired number of...
  • Page 69 MCO 305 Design Guide __ PC Software Interface __ Starting the Testrun Click on Testrun Execute testrun and the dialog field with the test run parameters is opened. The test run parameters last saved and the current axis parameters are already entered.
  • Page 70 MCO 305 Design Guide __ PC Software Interface __ Evaluating Motion Figures Check the maximum position, the maximum velocity, the number of "overshoots", and the duration of the building-up process. For each graph the most important test run parameters, the corresponding maximum values and actual...
  • Page 71 MCO 305 Design Guide __ PC Software Interface __ CAM-Editor Window The CAM-Editor window is divided into four sectors: – Curve profile diagram along with the Curve profile toolbar, – Control section containing checkboxes for dis- playing and hiding various attributes of the Curve profile diagram and buttons for managing the CNF file as a whole.
  • Page 72 MCO 305 Design Guide __ PC Software Interface __ Offline Mode: Managing the CNF File Use the functions of MCT 10 Motion Control Tool for New, Load and Save CNF as. Save CNF: The current data is saved as a CNF file, overwriting the previous version of the file (i.e. stores them back into the MCT 10 database).
  • Page 73 MCO 305 Design Guide __ PC Software Interface __ How to Insert or Delete Fix Points in the Table Fix Points can be added by clicking the “Add” button in the Fix Points table. This will display the dialog for adding points. Points must be specified as pairs of master and slave values and multiple pairs can be defined at the same time.
  • Page 74 MCO 305 Design Guide __ PC Software Interface __ If the Start point is greater than the Stop point, then the engaging/disengaging operation will “wrap around” the master cycle. If no start stop points have been defined, the slave will be engaged with the set maximum velocity in the case of SYNCCSTART.
  • Page 75 MCO 305 Design Guide __ PC Software Interface __ Index cards Curve Data, Curve Info, and Parameter Before you edit a curve, you should always first load the parameters of your control into the CAM-Editor. You can save the parameters including the arrays into a CNF-file with MCT 10.
  • Page 76 MCO 305 Design Guide __ PC Software Interface __ Slave Stop Position Determine the position where the slave should run to and stop if no SYNCCSTOP pnum slavepos command with the variable slavepos was set in the program. This position will also be used if SYNCC starts with a specific number of cycles and does not use a SYNCCSTOP command.
  • Page 77 MCO 305 Design Guide __ PC Software Interface __ Interval Size and Interval Time (ms) The Interval Size is derived from the number of intervals per master cycle length. The time in (ms) for an interval is also derived from the number of intervals per master cycle length. It should not be smaller than 30 ms.
  • Page 78 MCO 305 Design Guide __ PC Software Interface __ Maximum number of labels The maximum number of labels determines how much memory is available for internal hyper-links. Internal hyper-links are automatically created for all branches of the program (GOTO, IF, LOOP, REPEAT, WHILE, GOSUB) during compiling.
  • Page 79 How to Program Programming the MCO with the APOSS Macro-language The following chapters describe how to program the FC 300 with MCO 305 using APOSS. Beginners should read the basic explanations on the programming language APOSS, i.e. program layout, command structure, interrupt, elements of the programming language, and arithmetic.
  • Page 80 MCO 305 Design Guide __ How to Program __ Next step is initializing: setting parameters, flags, SET POSERR 100000000 // Parameters and variables. For example: SET 1990 10000 SETVLT 205 50 offset = 0 // Flags/variables sync_flag = 0 VEL 100...
  • Page 81 MCO 305 Design Guide __ How to Program __ Tips for Increasing Program Readability Use of capital and small initial letters (i.e. all commands capital letters, all variables small). Placement of spacing between command parts. Place comments in your program. The comments are between /* …...
  • Page 82 MCO 305 Design Guide __ How to Program __ Debugging Development Messages -> Log file can be used to start the logging of messages to a file. Note that “Stop logging” will be enabled if logging has been started. Click on Development Syntax Check.
  • Page 83 MCO 305 Design Guide __ How to Program __ If during the execution of this command an interrupt is triggered and in the corresponding procedure the following command is executed: target = 0 then, in this instance, problems will arise. This is because after processing the interrupt procedure the pro- gram jumps back to the main program and then the intermediate result which still exists is stored in target: Thus, the 0 in target is overwritten once again.
  • Page 84 MCO 305 Design Guide __ How to Program __ ON INT / ON COMBIT / ON STATBIT If two (input) interrupts occur simultaneously, then the one with the lower number is executed first, however the other is not lost. After the interrupt procedure is completed the other is called up accordingly.
  • Page 85 MCO 305 Design Guide __ How to Program __ Constants Constants can be used anywhere where parameters or values are expected. Constants are usually entered in integral numbers, for example: value = 5000 Constants … – are integer number values between –2 to +2 billion, –...
  • Page 86 MCO 305 Design Guide __ How to Program __ The DIM statement specifies the arrays to be subsequently used. If no arrays have been previously created then they will be created now. If arrays had been previously defined then it is important that the information corresponds with the original definition.
  • Page 87 MCO 305 Design Guide __ How to Program __ Inform yourself about the type of assignment operation which is structured in accordance with the Bit/Byte commands and about the priorities of the operators and the operations. NB!: All arithmetical operations are integer number operations.
  • Page 88 MCO 305 Design Guide __ How to Program __ Comparison Operations and Logical Operations Comparison operations Logical operations > greater than < less than >= greater than or equal to <= less than or equal to the same as not equal...
  • Page 89 All commands are described in a general overview in groups and subsequent alphabetically ordered, in detail and complemented with short examples. Initialization Commands Commands to initialize the axes and MCO 305 start up and define the zero point(s). (Group INI) Command Description...
  • Page 90 MCO 305 Design Guide __ Software Reference __ Control Commands Commands for controlling the program flow and for structuring the programs. (Group CON) Command Description Syntax Parameter CONTINUE continues positioning from point of interrup- CONTINUE – tion, e.g. following a motor-stop...
  • Page 91 MCO 305 Design Guide __ Software Reference __ Command Description Syntax Parameter #INCLUDE compiler directive: embedding further data #INCLUDE file file = name of the file to be included Input/Output Commands Commands for setting and re-setting the outputs, reading the inputs, reading movement information, reading system data, and entering and outputting user information.
  • Page 92 MCO 305 Design Guide __ Software Reference __ Command Description Syntax Parameter TESTSETP specifies recording data for test run TESTSETP ms vi1 ms = interval in ms vi2 vi3 arrayname vi 1 … 3 = indices of the values to be recorded...
  • Page 93 All parameters with a parameter code can be set and read with the following commands. Parameter code see overview in Parameter Reference. (Group PAR) Command Description Syntax Parameter reads parameter values (MCO 305 and res = GET par par = parameter identification application parameters) GETVLT reads FC 300 parameter values...
  • Page 94 MCO 305 Design Guide __ Software Reference __ Positioning Commands Commands for the absolute and relative positioning of the axis. (Group ABS and REL) Command Description Syntax Parameter Absolute Positioning (ABS) Sets acceleration ACC a a = acceleration Sets deceleration...
  • Page 95 MCO 305 Design Guide __ Software Reference __ CAM Commands Commands for the synchronization in CAM-Mode (CAM control). Command Description Syntax Parameter CURVEPOS Retrieve slave curve position that res = CURVEPOS – corresponds to the current master position of the curve...
  • Page 96 32-85 Default Acceleration. NB!: If the MCO 305 is used to control FC 300, then the ramps should always set via the option card and not in the FC 300. The FC 300 ramps must always be set to minimum.
  • Page 97 MCO 305 Design Guide __ Software Reference __ APOS Summary Reads actual position Syntax res = APOS Return Value res = absolute actual position related to the actual zero point All path information in motion commands are made in user units and are converted to quad-counts internally.
  • Page 98 MCO 305 Design Guide __ Software Reference __ AVEL Summary Queries actual velocity of axis. Syntax res = AVEL Return Value res = actual velocity of axis in UU/s, the value is signed Description This function returns the actual velocity of the axis in User Units per second. The accuracy of the values depends on the duration of the measurement (averaging).
  • Page 99 MCO 305 Design Guide __ Software Reference __ AXEND Summary AXEND reads info on status of program execution. Syntax res = AXEND Return Value res = axis status with the following meaning: Value 1 = Motor is reset, i.e. it is ready to start and is controlling again, e.g.
  • Page 100 MCO 305 Design Guide __ Software Reference __ COMOPTGET Summary Reads a Communication option telegram Syntax COMOPTGET no array Parameter array = the name of an array which must be at least the size of no no = number of words to be read...
  • Page 101 MCO 305 Design Guide __ Software Reference __ CONTINUE Summary Continues positioning from point of interrupted motion Syntax CONTINUE Description By using CONTINUE, positioning and speed motion commands which have been aborted via the MOTOR STOP command or an error condition or stopped via MOTOR OFF can be resumed.
  • Page 102 MCO 305 Design Guide __ Software Reference __ CSTART Summary Starts the speed mode Syntax CSTART Description The CSTART command is starting the drive in speed control mode. Acceleration/deceleration, as well as the speed should be set via the ACC, DEC and CVEL commands prior to starting.
  • Page 103 MCO 305 Design Guide __ Software Reference __ CURVEPOS Summary Retrieve slave curve position that corresponds to the current master position of the curve. Syntax res = CURVEPOS Return Value res = Slave position in CAM units (UU) absolute to the current zero point.
  • Page 104 32-85 Default Acceleration. NB!: If you work with the MCO 305 then you should always set the ramps via the option card and not in the FC 300. The FC ramps must always be set to minimum.
  • Page 105 MCO 305 Design Guide __ Software Reference __ DEFMCPOS Summary Define initial position of the master Syntax DEFMCPOS p Parameter position in Master Units (MU) Description DEFMCPOS defines the initial position of the master (in MU) in the CAM-Mode and thus the point where the curve begins as soon as the master pulses are being counted.
  • Page 106 MCO 305 Design Guide __ Software Reference __ DEF ORIGIN Summary Sets the current position as zero point Syntax DEF ORIGIN Description With the DEF ORIGIN command the current position is set as the zero point. All absolute positioning commands (POSA) then refer to this zero point.
  • Page 107 MCO 305 Design Guide __ Software Reference __ DELAY Summary Time delay Syntax DELAY t Parameter t = time delay in milliseconds (maximum MLONG) Description The DELAY command leads to a defined program delay. This parameter gives the delay time in milliseconds.
  • Page 108 Via a DIM instruction at the commencement of the program, it is possible to declare one or more arrays (= Variable fields). Arrays are valid for all programs. If arrays are not yet available in the MCO 305 memory, then the arrays are allocated via the DIM instructions. Arrays which are already available in the memory are checked to see if their size corresponds to the current DIM commands.
  • Page 109 MCO 305 Design Guide __ Software Reference __ DISABLE … interrupts Summary Locks the execution of interrupts. Syntax DISABLE inttyp NB!: DISABLE cannot be called up during interrupt procedures. (The system automatically switches back to enabled after an interrupt.) Parameter...
  • Page 110 MCO 305 Design Guide __ Software Reference __ Interrupt handling within an Interrupt During the execution of an interrupt subroutine at first a DISABLE ALL will automatically be done internally. This blocks the execution of all other interrupts, but keeps upcoming interrupt requests still in mind. At the end of the ‘current’...
  • Page 111 MCO 305 Design Guide __ Software Reference __ ENABLE ... interrupts Summary Enables locked interrupts. Syntax ENABLE inttyp NB!: ENABLE cannot be called up during interrupt procedures. (The system automati- cally switches back to enabled after an interrupt.) Parameter inttyp = ALL...
  • Page 112 MCO 305 Design Guide __ Software Reference __ ERRNO Summary System variable with the actual error code Syntax res = ERRNO Description ERRNO is a system variable which is available in all the programs, and contains the momentary error code. All error codes are explained in the chapter Troubleshooting.
  • Page 113 Return Value res = parameter value Description Reads the value of a parameter, a MCO 305 parameter, or an application para- meter. Parameters are addressed with a code, for example KPROP for the Proportional Factor, or POSERR for the Tolerated Position Error. A complete list of the codes can be found in the Parameter Reference.
  • Page 114 MCO 305 Design Guide __ Software Reference __ GETVLTSUB Summary Reads a VLT parameter with index number Syntax res = GETVLTSUB par indxno Parameter = parameter number indxno = index number Return Value res = parameter value Description GETVLTSUB reads VLT parameters with index numbers, for example FC 300 parameter 5-40, and return the corresponding value.
  • Page 115 MCO 305 Design Guide __ Software Reference __ GOTO Summary Jump to a program label Syntax GOTO label Parameter label = identification of program target position Description The GOTO command enables an unconditional jump to the indicated program position and the program processing at this position will be carried out.
  • Page 116 MCO 305 Design Guide __ Software Reference __ HOME Summary Move to device zero point (reference switch) and set as the real zero point. Syntax HOME Description The HOME command is moving the drive to the machine reference switch, which must be placed at the machine zero or reference position.
  • Page 117 MCO 305 Design Guide __ Software Reference __ IF . . THEN . . , ELSEIF . . THEN . . ELSE . . ENDIF Summary Conditional single or multiple program branching. (When the conditions are fulfilled, then . . . , else . . . )
  • Page 118 MCO 305 Design Guide __ Software Reference __ Summary Reads status of digital input Syntax res = IN n Parameter n = input number 1 – 10 or 1 – 12 (option inputs) 18, 19, 27, 29, 32, 33 Return Value...
  • Page 119 MCO 305 Design Guide __ Software Reference __ Summary Reads one byte from digital inputs Syntax res = INB n Parameter n = input byte: 0 = input 1 (LSB) - 8 (MSB) 1 = input 33 (LSB) - 18 (MSB)
  • Page 120 MCO 305 Design Guide __ Software Reference __ INKEY Summary Reads in a key signal. Syntax INKEY (p) Parameter p is the maximum waiting time, defined . . . p = 0 wait for key code p > 0 wait of max. p milliseconds p <...
  • Page 121 MCO 305 Design Guide __ Software Reference __ IPOS Summary Queries last index or marker position of the slave Syntax res = IPOS Return Value res = last slave position (index or marker) absolute to actual zero point. The position input is made in user units (UU) and corresponds in the standard setting (parameter 32-12 UU Numerator and 32-11 UU Denominator = 1) to the number of qc.
  • Page 122 MCO 305 Design Guide __ Software Reference __ SUBPROG slave_int int_pos = APOS // Latching APOS for testing, how exact it would be ... DELAY 2 // Wait 2 ms, to be sure, that IPOS is correct updated triggered_pos = IPOS // Latching IPOS for a later handling etc.
  • Page 123 MCO 305 Design Guide __ Software Reference __ LINKSYSVAR Summary Link system variable with LCP display Syntax LINKSYSVAR indx parno "text" Parameter indx = Index of the system variable SYSVAR parno = LCP-Parameter number 19-00 to 19-99 text = descriptive text for display...
  • Page 124 MCO 305 Design Guide __ Software Reference __ MAPOS Summary Queries current actual position of the master Syntax res = MAPOS Return Value res = master position to absolute actual zero point in qc Description With the MAPOS command it is possible to query the actual master position (absolute to the actual zero position).
  • Page 125 MCO 305 Design Guide __ Software Reference __ MIPOS Summary Query last index or marker position of the master Syntax res = MIPOS Return Value res = last index or marker position of the master absolute to actual zero point in qc...
  • Page 126 MCO 305 Design Guide __ Software Reference __ MOTOR OFF Summary Turns off motor control Syntax MOTOR OFF Description The motor control can be disabled by using the MOTOR OFF command. After MOTOR OFF, the drive axis can be moved freely, as long as there is no motor brake.
  • Page 127 MCO 305 Design Guide __ Software Reference __ MOVESYNCORIGIN Summary Relative shifting of the origin of synchronization Syntax MOVESYNCORIGIN mvalue Parameter mvalue = Relative offset in relation to the Master in qc Value range: (–MLONG / par. 33-11 SYNCFACTS) – (MLONG / par. 33-11 SYNCFACTS) Description The command shifts the origin of synchronization in relation to the master.
  • Page 128 MCO 305 Design Guide __ Software Reference __ NOWAIT Summary Wait / Do not wait after a POSA/POSR command Syntax NOWAIT s Parameter s = condition: ON = continue program execution while going to target position OFF = hold program execution until target position is reached Description The NOWAIT command defines the program flow for positioning commands.
  • Page 129 MCO 305 Design Guide __ Software Reference __ ON APOS .. GOSUB Summary Call up a subprogram when the slave position xxx is passed. Syntax ON sign APOS xxx GOSUB name Parameter sign = + = when the slave position xxx is passed in positive direction –...
  • Page 130 MCO 305 Design Guide __ Software Reference __ ON COMBIT .. GOSUB Summary Call up a subprogram when Bit n of the communication buffer is set. Syntax ON COMBIT n GOSUB name Parameter Bit n of communication buffer –32 = n =32, n!= 0...
  • Page 131 MCO 305 Design Guide __ Software Reference __ Re-routing of an It is possible to ‘re-route’ a position interrupt to another subprogram. This does not ON ... APOS ... define a new interrupt, but just modifies the subprogram, which has to be GOSUB executed in case of interrupt detection.
  • Page 132 MCO 305 Design Guide __ Software Reference __ ON ERROR GOSUB Summary Definition of an error subroutine Syntax ON ERROR GOSUB name Parameter name = name of the subroutine Description By using the ERROR GOSUB instruction, a subroutine will be defined, which can be called up in case of error.
  • Page 133 MCO 305 Design Guide __ Software Reference __ ON INT . . GOSUB Summary Defining an interrupt input Syntax ON INT n GOSUB name Parameter number of the input to be monitored; (input area –8 … 8 and FC 300 inputs 18 …...
  • Page 134 MCO 305 Design Guide __ Software Reference __ ON MAPOS .. GOSUB Summary Call up a subprogram when the master position xxx (MU) is passed. Syntax ON sign MAPOS xxx GOSUB name Parameter sign = + = when the master position xxx is passed in positive direction –...
  • Page 135 MCO 305 Design Guide __ Software Reference __ ON MCPOS .. GOSUB Summary Call up a subprogram when the master position xxx (MU) is passed. Syntax ON sign MCPOS xxx GOSUB name Parameter sign = + = when the master position xxx is passed in positive direction –...
  • Page 136 MCO 305 Design Guide __ Software Reference __ ON PARAM .. GOSUB Summary Call up a subprogram when a parameter is altered. Syntax ON PARAM n GOSUB name Parameter parameter number name = subroutine name Description The instruction ON PARAM can be used to respond when parameters are altered via the LCP display and to call up a subprogram.
  • Page 137 MCO 305 Design Guide __ Software Reference __ ON STATBIT .. GOSUB Summary Call up a subprogram when bit n of the FC 300 status is set. Syntax ON STATBIT n GOSUB name Parameter Bit n of the status word...
  • Page 138 MCO 305 Design Guide __ Software Reference __ ON TIME Summary One-time access of a subroutine. Syntax ON TIME n GOSUB name Parameter = time in ms, after which the subroutine is called up (maximum MLONG) name = name of the subroutine Description After expiration of the time set the corresponding subroutine is called up.
  • Page 139 0 = OFF 1 = ON Description The 8 (6) digital outputs of the MCO 305 option, the digital and relay outputs of FC 300, and the relay outputs of MCB 105 can be set and re-set by using the OUT command.
  • Page 140 The command MOTOR OFF must be executed previously. Thus, monitoring of the position error is no longer active. Command Group Cross Index MOTOR OFF, MCO 305 Operating Instructions, FC 300 Design Guide Syntax Example MOTOR OFF /* turn off controller */ OUTAN 0X2000...
  • Page 141 MCO 305 Design Guide __ Software Reference __ OUTDA Summary Sets FC 300 analog output. Syntax OUTDA n v Parameter output number (42) value (0 – 100000) NB!: Parameter 6-50 must be set to “MCO controlled”. Description With the OUTDA command it is possible to control the analog output of the FC 300 control card.
  • Page 142 MCO 305 Design Guide __ Software Reference __ Summary Calculates PID filter. Syntax u(n) = PID e(n) Parameter e(n) = actual deviation (error) for which the PID filter should be used Return Value u(n) = result of the PID calculation Description A PID filter can be calculated with this function.
  • Page 143 MCO 305 Design Guide __ Software Reference __ POSA CURVEPOS Summary Move slave to the curve position corresponding to the master position Syntax POSA CURVEPOS Description This command acts like POSA and moves the slave to the corresponding position on the curve, which is given by the actual master position.
  • Page 144 MCO 305 Design Guide __ Software Reference __ PRINT Summary Information output Syntax PRINT i or PRINT i; Parameter i = information, for example, variables, text, CHR (n) separated by commas. The CHR command returns the ASCII characters corresponding to a certain number.
  • Page 145 MCO 305 Design Guide __ Software Reference __ PULSACC Summary Set acceleration for the virtual master. Syntax PULSACC a NB!: Changes in the acceleration in PULSACC are only valid after the next PULSVEL command. Parameter a = acceleration in Hz/s...
  • Page 146 MCO 305 Design Guide __ Software Reference __ REPEAT .. UNTIL .. Summary Conditional loop with end criteria (Repeat ... until condition fulfilled) Syntax REPEAT UNTIL Condition Parameter condition = Abort criteria Description The REPEAT..UNTIL construction enables any number of repetitions of the enclosed program section, dependent on abort criteria.
  • Page 147 MCO 305 Design Guide __ Software Reference __ SAVEPROM Summary saves memory in EEPROM Syntax SAVEPROM Description When changing array elements or application parameters (group 19-**) while the program is running SAVEPROM offer the possibility of saving the values which have been changed.
  • Page 148 MCO 305 Design Guide __ Software Reference __ SETCURVE Summary Set CAM curve. Syntax SETCURVE array Parameter array = name of the array or of the curve Description SETCURVE defines the actual used curve, which is described in 'array' . This command has to be used, before the commands CURVEPOS, SYNCCxx, SYNCCSTART, or SYNCCSTOP can be used.
  • Page 149 MCO 305 Design Guide __ Software Reference __ SETMORIGIN Summary Set any position as the zero point for the master. Syntax SETMORIGIN value Parameter value = absolute position Description With the SETMORIGIN command you can set any position as the new zero point for the master.
  • Page 150 MCO 305 Design Guide __ Software Reference __ SETVLT Summary Sets a FC 300 parameter Syntax SETVLT par v Parameter par = parameter number = parameter value Description With the SETVLT command FC 300 parameters can be changed temporarily and thus the configuration of the FC 300 can also be changed temporarily.
  • Page 151 MCO 305 Design Guide __ Software Reference __ STAT Summary Query axis and control status. Syntax res = STAT Return Value res = Axis and Control status (4-Byte value): Byte 3 MSB Bit 0 1 = MOVING Bit 1 1 = OVERFLOW Slave Encoder...
  • Page 152 MCO 305 Design Guide __ Software Reference __ SUBMAINPROG . . ENDPROG Summary Subroutine section definition Syntax SUBMAINPROG ENDPROG Description The code word SUBMAINPROG begins the subroutine section, and the code word ENDPROG ends this specific program. The term subroutine means command sequences that, via the GOSUB instructions, can be called up and executed from various program positions.
  • Page 153 1000. And then after a SWAPMENC OFF then slave makes the positioning. The two drives need not necessarily be Master and Slave. They can just be two different motors with one FC 300 / MCO 305. ® MG.33.L4.02 – VLT...
  • Page 154 MCO 305 Design Guide __ Software Reference __ SYNCC Summary Synchronization in CAM-Mode Syntax SYNCC num Parameter num = number of curves to be processed; 0 = the drive remains in CAM-Mode until another mode is started with commands such as MOTOR STOP, CSTART, POSA, etc.
  • Page 155 MCO 305 Design Guide __ Software Reference __ SYNCCMM Summary Synchronization in CAM-Mode with master marker correction Syntax SYNCCMM num Parameter num = number of curves to be processed; 0 = the drive remains in CAM-Mode until another mode is started with commands such as MOTOR STOP, CSTART, POSA, etc.
  • Page 156 MCO 305 Design Guide __ Software Reference __ SYNCCMS Summary Synchronization in CAM-Mode with slave marker correction. Syntax SYNCCMS num Parameter num = number of curves to be processed; 0 = the drive remains in CAM-Mode until another mode is started with commands such as MOTOR STOP, CSTART,, POSA, etc.
  • Page 157 MCO 305 Design Guide __ Software Reference __ SYNCCSTOP Summary Stop slave after the CAM synchronization Syntax SYNCCSTOP pnum slavepos Parameter pnum = Start stop points number pnum > 0 Engaging begins when the corresponding point A is reached, provided the master moves in positive direction;...
  • Page 158 MCO 305 Design Guide __ Software Reference __ SYNCERR Summary Queries actual synchronization error of the slave Syntax res = SYNCERR Return Value res = actual synchronization error of the slave in UU and a) as an absolute value when the value of the accuracy window is defined with a plus sign in the parameter SYNCACCURACY;...
  • Page 159 MCO 305 Design Guide __ Software Reference __ SYNCM Summary Angle/position synchronization with the master with marker correction Syntax SYNCM Description The SYNCM command functions just like the SYNCP command by making an angle/position synchronization with the master, but also makes a marker correction.
  • Page 160 MCO 305 Design Guide __ Software Reference __ SYNCP Summary Angle/position synchronization with the master Syntax SYNCP Description The command completes an angle/position synchronization with the master. In doing so the position according to the gear factors to the master is kept synchro- nous, that means after an external disturbance the program subsequently tries to recover the corresponding stretch.
  • Page 161 MCO 305 Design Guide __ Software Reference __ Syntax Example SYNCP /* normal synchronization of the position */ CVEL 50 /* achieve velocity before synchronization */ CSTART WAITT 500 SYNCP SYNCSTAT Summary Flag to query synchronization status. Syntax res = SYNCSTAT...
  • Page 162 MCO 305 Design Guide __ Software Reference __ Example: Distance between two master markers par. 33-17 = 30000 Master Marker Tolerance Window par. 33-21 SYNCMWINM = 1000 The flag is set at 31000 if no marker is identified. These flags are deleted for every SYNCM command.
  • Page 163 MCO 305 Design Guide __ Software Reference __ SYNCV Summary Velocity synchronization with the master Syntax SYNCV NB!: SYNCV should only be called up once since the synchronizing continues until the next motion or stop command. All additional SYNCV commands cause the synchronization to start over again from the beginning and this is not normally intended, as you reset the actual synchronization error.
  • Page 164 Description System Process Data Input Byte 0 (inputs 1..8 from MCO 305) Input Byte 1 (inputs 18..33 from CC) Input byte 2 (inputs 9..10 / 12 from MCO 305) Output Byte 0 Top 2 bytes which are provided by the APOSS command STAT Internal millisecond counter.
  • Page 165 MCO 305 Design Guide __ Software Reference __ Index Description Axis Process Data 4107 Internal current velocity (ACTPOS – last ACTPOS) (qc/1 ms) 4108 Internal Master velocity (see above) 4109 Current frequency of the master simulation (1/1000 Hz) (see PULSVEL)
  • Page 166 MCO 305 Design Guide __ Software Reference __ Index Description Axis Process Data, Profile Generator Values PG_FLAG_SYNCMMHIT 8L << 24 // Flag for master marker hit PG_FLAG_SYNCSMHIT 16L << 24 // Flag for slave marker hit PG_FLAG_SYNCMMERR 32L << 24...
  • Page 167 MCO 305 Design Guide __ Software Reference __ Index Description Axis Process Data / CAM profile 4275 PFG_G_JSTATE Contains the state of the Limited Jerk Movement state machine. These could be: PGS_JRK_ STOPPED // Stopped PGS_JRK_VEL_CONST // Constant velocity (i.e. target velocity)
  • Page 168 MCO 305 Design Guide __ Software Reference __ TESTSETP Summary Specify recording data for test run Syntax TESTSETP ms vi1 vi2 vi3 arrayname Parameter = interval in milliseconds between two measurements vi 1–3 = indices of the three values to be recorded. The agreements for the system array apply.
  • Page 169 MCO 305 Design Guide __ Software Reference __ TESTSTART Summary Start the recording of a test run. Syntax TESTSTART no Parameter no = number of measurements to be carried out If an array does not have sufficient space for no. measurements, the error Error 171 "Array too small"...
  • Page 170 MCO 305 Design Guide __ Software Reference __ TRACKERR Summary Queries actual position error of the axis Syntax res = TRACKERR Return Value res = actual trailing of the axis in UU Description Queries the difference between the CPOS and APOS, i.e., it tracks the...
  • Page 171 MCO 305 Design Guide __ Software Reference __ Summary Set velocity for relative and absolute motion. Syntax VEL v par. Maximum Velocity Command Velocity [RPM] Velocity solution Parameter v = scaled velocity value Description The velocity for the next absolute and relative positioning procedure is determined...
  • Page 172 MCO 305 Design Guide __ Software Reference __ VLTCONTROL Summary Sets the VLT control word in MOTOR OFF state Syntax VLTCONTROL control word value Parameter value Description VLTCONTROL allows setting the VLT control word while the system is in MOTOR OFF state.
  • Page 173 MCO 305 Design Guide __ Software Reference __ WAITAX Summary Wait till target position is achieved Syntax WAITAX Description The WAITAX command has been designated for use with an active NOWAIT mode. By use of this command in NOWAIT ON condition, it is possible to wait for further program processing after a positioning command, until the axis has achieved its set position.
  • Page 174 MCO 305 Design Guide __ Software Reference __ WAITNDX Summary waits until the next index position is reached Syntax WAITNDX t Parameter t = time-out in ms Description Waits for the index while checking time-out. The program waits until either the index of the axis is found or the time (time-out) is exceeded.
  • Page 175 MCO 305 Design Guide __ Software Reference __ WAITT Summary Time delay Syntax WAITT t Parameter t = delay time in milliseconds (maximum MLONG) Description The WAITT command is suitable for achieval of a defined program time delay. The inputted parameter shows the delay time in milliseconds.
  • Page 176 The INCLUDE instruction is therefore not a genuine command that causes a reaction within the MCO 305, but an instruction for the translation program – a Compiler Directive. The #INCLUDE instruction can be placed in any program position, as many times as desired within a program.
  • Page 177 MCO 305 Design Guide Parameter Reference FC 300, MCO 305, and Application Parameters Basically there are these main parameter types: FC 300 parameters, MCO 305 parameters, and application parameters (group 19-**): – FC 300 and MCO 305 Parameters The parameters concerning the Frequency Converter are described in FC 300 Design Guide. The follo- wing section describes all the parameters which are necessary or helpful using the MCO 305.
  • Page 178 And all MCO 305 programs and arrays are deleted! Reading and Writing Parameters From the application program there is read access to all FC 300 parameters including MCO 305 parameters and application parameters (group 19-**). There are two commands for reading parameters: GET is used to read all MCO 305 related parameters i.e.
  • Page 179 Parameter changes made by SET or SETVLT are only stored in RAM and will be lost at power down, exception: The application parameters (group 19-**) are automatically stored at power down. The other MCO 305 parameters (group 32-** and 33-**) can be saved by means of the SAVE AXPARS command.
  • Page 180 MCO 305 Design Guide __ Parameter Reference __ Par. number New selections New default 3-41 0.01 s 3-42 3-51 3-52 3-61 3-62 3-71 3-72 4-10 “Both Directions” 5-10 [0] No operation 5-11 5-12 5-13 5-30 [51] MCO Controlled [51] MCO Controlled...
  • Page 181 MCO 305 Design Guide __ Parameter Reference __ Application Settings 19-90 .. 19-99 Read only Application 19-** Application Parameters Parameters 19-00 ...19-89 Application Parameters Range Range -2147483648 – 2147483647 -2147483648 – 2147483647 (Range depends on the data linked to the read-out...
  • Page 182 MCO 305 Design Guide __ Parameter Reference __ MCO Parameters For a better overview the MCO Parameters are divided into groups: 32-** MCO Basic Settings 32-0* Encoder 2 - Slave page 183 32-3* Encoder 1 - Master page 184 32-5*...
  • Page 183 MCO 305 Design Guide __ Parameter Reference __ MCO Basics Settings Analog incremental encoder (32-00 = [2]): The resolution must be set in sinusoidal signal periods per revolution. 32-0* Encoder 2 - Slave page 183 Encoder resolution can be found on encoder name- 32-3* Encoder 1 –...
  • Page 184 1 … MLONG 8192 are interconnected. Function Select On [1] if the MCO 305 is connected to just The encoder resolution is used to calculate velocity one absolute encoder. in RPM (rounds per minute). Note: Parameter only visible when par. 32-02...
  • Page 185 MCO 305 Design Guide __ Parameter Reference __ par. User Unit Numerator 32-10 Rotational Direction User Unit par. User Unit Denomintor POSDRCT Scaling determines how many quad-counts make up a Option user unit. For example, if it is 50375/1000, then one UU No action corresponds to exactly 50.375 qc.
  • Page 186 MCO 305 Design Guide __ Parameter Reference __ Motor Revolution 32-3* Encoder 1 - Master provided that: Gearing Factor Revolution Output Following parameters configures the interface for Encoder = Incremental encoder (in the case the encoder 1: of absolute encoders, the multi-...
  • Page 187 (encoder or MCO 305) is allowed to gene- rate the data signal when multiple MCO 305’s are interconnected. 32-33 Absolute Resolution Select On [1] if the MCO 305 is connected to just one absolute encoder. MENCODERABSRES Note: Parameter only visible when par. 32-32 Range [Unit] 1 –...
  • Page 188 (Par. 102) for the Select [1] if all 3 channels A,B, and Index should MCO 305. Choose [3] for MCO 305 feedback from be monitored. feedback source given in Par. 102. This can be internal 24V encoder, Encoder option, or resolver Select [2] if 2 channels A,B should be monitored.
  • Page 189 MCO 305 Design Guide __ Parameter Reference __ 32-63 Limit Value for Integral Sum 32-6* PID-Controller KILIM Optimize the controller using the following control parameters: Range 0 – 1000 1000 32-60 Proportional Factor 0 = Integral off KPROP Range Function 0 –...
  • Page 190 MCO 305 Design Guide __ Parameter Reference __ When working with a normal PID algorithm the 32-68 Reverse Behavior for Slave FFVEL must always be the same as the D factor in REVERS order to achieve typical dampening D. Option...
  • Page 191 Target REGWMAX REGWMAX REGWMIN If you work with the MCO 305 then you should always set the ramps via the option card and not in Control OFF the FC 300. The FC 300 ramps must always be set to minimum.
  • Page 192 MCO 305 Design Guide __ Parameter Reference __ 32-82 Ramp Type Movements with limited jerk start with acceleration zero and increase acceleration by maximum Jerk RAMPTYPE until the maximum acceleration which is defined by Option par. 32-81 Shortest Ramp is reached. Then the movement continues with maximum acceleration.
  • Page 193 MCO 305 Design Guide __ Parameter Reference __ MCO Advanced Settings NB!: Parameter Jerk Duration JERKMIN it is not 33-0* Home Motion page 193 implemented in the velocity axis parameter dialog field and must be set 33-1* Synchronization page 194 therefore in the program, e.g.
  • Page 194 MCO 305 Design Guide __ Parameter Reference __ Function NB!: Since the program always searches for HOME_OFFSET is used to introduce an offset com- the reference switch in the same direction pared to the reference switch or index pulse. After of rotation (depending on sign) this homing, the drive is positioned to HOME_OFFSET.
  • Page 195 MCO 305 Design Guide __ Parameter Reference __ 25/11 4096 4096 Function 1000 1000 The synchronization is described with a ratio of qc (Master : Slave); SYNCFACTM determines the syn- 2048 par. Syncfactor Master chronization factor for the master. par.
  • Page 196 MCO 305 Design Guide __ Parameter Reference __ Examples Function See par. 33-10 Synchronizing Factor Master . Defines how large the difference between the actual master and slave position can be during a position synchronization (SYNCP and SYNCM), so 33-12 Position Offset for Synchronization that the required accuracy is still fulfilled.
  • Page 197 MCO 305 Design Guide __ Parameter Reference __ For example: during changes in par. 33-12 Position Function Offset for Synchronization, or at the start of syn- The Marker Number for Master (par. 33-15) and chronization, or during the correction of deviation Slave must be set according to the ratio between for marker evaluation.
  • Page 198 MCO 305 Design Guide __ Parameter Reference __ 33-18 Slave Marker Distance Slave Marker Type is only valid for synchronizations with marker correction (SYNCM and SYNCCMS) or SYNCMPULSS if the command MIPOS should be used in the Range [Unit] program.
  • Page 199 MCO 305 Design Guide __ Parameter Reference __ 33-22 Slave Marker Tolerance Window Function SYNCMWINS SYNCMSTART defines whether at start the synchro- nization should be made to the leading, subsequent Range [Unit] or closest marker impulse of the master. 0 – par. 33-18 Slave Marker Distance...
  • Page 200 MCO 305 Design Guide __ Parameter Reference __ 33-24 Marker Number for Fault Standard Table encoder resolution _filt [ s] SYNCFAULT 39500 Range 38600 19500 0 – 10000 19000 1000 9500 Function 1024 9300 Defines how often during a marker synchronization...
  • Page 201 MCO 305 Design Guide __ Parameter Reference __ 33-27 Offset Filter Time 4 = The Filter Time for Marker Correction (par. 33-29) is used instead of the Offset Filter SYNCOFFTIME Time (par. 33-27) to calculate the time Range [Unit] constant for the correction value filter (G_Korrektur) 0 –...
  • Page 202 MCO 305 Design Guide __ Parameter Reference __ The Filter Time for Marker Correction and SYNCMSTART 1,6) were observed or the master parameters 33-27 Offset Filter Time and 33-28 velocity is reached and the first two markers Marker Filter Configuration are used to influence (SYNCMSTART 2,3,4,5) has been observed.
  • Page 203 MCO 305 Design Guide __ Parameter Reference __ 33-30 Maximum Marker Correction NB!: Be aware, that SYNCERR equals to actual SYNCMMAXCORR (new) master command position minus Range [Unit] actual position of the slave plus pending errors of filtering and pending corrections.
  • Page 204 MCO 305 Design Guide __ Parameter Reference __ POSLIMIT is only active if par. 33-44 33-4* Limit Handling SWPOSLIMACT is set. If a positioning command is Parameters for determination the limit switches entered which exceeds the limits set, then it is not behavior.
  • Page 205 MCO 305 Design Guide __ Parameter Reference __ Function Function By setting this parameter to [1] the FC300 is infor- Once the target window has been reached the posi- med that the Positive Software End Limit is to be tion is read twice with an interval of par. 33-45 monitored.
  • Page 206 Home switch no [1]: Defines digital input_n of If no input for the program start is set, the pro- MCO 305 as home switch. Behavior after gram with auto identification will be started. reaching see HOME_TYPE.
  • Page 207 5, and 6 will be evaluated binary and the result will be used as a program number. Function Input Level Binary value Defines function of digital input 4 of MCO 305. 33-54 Terminal X57/5 Digital Input high I_FUNCTION_5 high 2²...
  • Page 208 Digital output function Select Terminal No function No function Moving 'no' Function Moving 'nc' Defines function of digital input 10 of MCO 305. Error 'no' Error 'nc' 33-60 Terminal X59/1 and X59/2 Mode Brake control 'no' IOMODE Brake control 'nc' Option NOTE: 8 outputs are only available if par.
  • Page 209 The output is activated (24 V) in the case of an Function abort or option error if par. 33-83 ERRCOND is Defines function of digital output 3 of MCO 305. set to [1] or [3]. NB!: 33-66 Terminal X59/4 Digital Output...
  • Page 210 Autostart (auto identification). This 113 will be activated if FC 300 is not enabled (e.g. parameter can also be changed and stored with trip) while MCO 305 is in the MOTOR ON state other programs or via the display. (position control).
  • Page 211 0-20 to 0-24. But at index [n] only "MCO PCD[n] Read" can be selected. This selection defines that the correspon- ding sub indices will be produced by the MCO 305. default setting value for use in communication via serial communication port ®...
  • Page 212 MCO 305 Design Guide __ Parameter Reference __ 34-56 Track Error 34-4* Inputs & Outputs 34-40 Digital Inputs Function Queries the actual position error of the axis in UU Function (in consideration of the signs); corresponds to Read out status of the digital inputs.
  • Page 213 34-71 MCO Alarm Word 2 34-70 MCO Alarm Word 1 Function Function Displays MCO 305 alarm word for readout of MCO Displays MCO 305 alarm word for readout of MCO errors in MCT 10. errors in MCT 10. Par. 34-71 cannot be readout while motor is Par.
  • Page 214 MCO 305 Design Guide __ Parameter Reference __ Parameter Lists The parameters are determined by parameter numbers. We recommend using the alphabetical overview as a guide; then you will be able to find detailed information very quickly using the number.
  • Page 215 MCO 305 Design Guide __ Parameter Reference __ MCO Basics Settings, Parameter List Par. No. Parameter name Parameter description Default Changes 4-set-up Conver- Type setting during sion index operation 32-0* Encoder 2 - Slave 32-00 ENCODERTYPE Incremental Signal Type [1] RS422...
  • Page 216 MCO 305 Design Guide __ Parameter Reference __ Par. No. Parameter name Parameter description Default Changes 4-set-up Conver- Type setting during sion index operation 32-62 KINT Integral Factor TRUE 1 set-up Uint32 32-63 KILIM Limit Value for Integral Sum 1000...
  • Page 217 MCO 305 Design Guide __ Parameter Reference __ MCO Advanced Settings, Parameter List Par. No. Parameter name Parameter description Default Changes 4-set-up Conver- Type setting during sion operation index 33-0* Home Motion 33-00 HOME_FORCE Force HOME [0] not forced 'TRUE'...
  • Page 218 MCO 305 Design Guide __ Parameter Reference __ Par. No. Parameter name Parameter description Default Changes 4-set-up Conver- Type setting during sion operation index 33-4* Limit Handling 33-40 ENDSWMOD Behavior at End Limit [0] Call error TRUE 1 set-up Uint8...
  • Page 219 MCO 305 Design Guide __ Parameter Reference __ Par. No. Parameter name Parameter description Default Changes 4-set-up Conver- Type setting during sion operation index 33-66 O_FUNCTION_4 Terminal X59/4 Digital [0] no function 1 set-up Uint8 TRUE Output 33-67 O_FUNCTION_5 Terminal X59/5 Digital...
  • Page 220 MCO 305 Design Guide __ Parameter Reference __ Par. No. Parameter Name Parameter description Default Changes 4-Setup Conver- Type setting during sion operation Index 34-26 PCD 6 Read from MCO 1 set-up Uint16 34-27 PCD 7 Read from MCO 1 set-up...
  • Page 221 MCO 305 Design Guide Troubleshooting Warnings and Error Messages All messages are shown in the LCP display of the FC 300 in short and in the APOSS software in plain text. You can find brief information on the error messages in the table or detailed information in the following section.
  • Page 222 MCO 305 Design Guide __ Troubleshooting __ Error Error text Description Too many inter. Too many interrupt functions. No ext. 24V External supply is missing. Too many gosub Too many nested GOSUB commands Too many return Too many RETURN commands.
  • Page 223 MCO 305 Design Guide __ Troubleshooting __ Error 109 Error 113 Index not found FC not enabled At reference or index search, the encoder index FC 300 is not ready but the PID controller is active. pulse could not be found within a motor rotation.
  • Page 224 MCO 305 Design Guide __ Troubleshooting __ Error 118 Error 152 Reset by CPU Too many return The processor has been stopped and a re-set has There are either more RETURN than corresponding automatically been executed (watchdog). GOSUB commands in the program, or there is a...
  • Page 225 MCO 305 Design Guide __ Troubleshooting __ Error 171 Error 190 Array too small Memory locked An attempt was made to describe an array element The program memory is write-protected and that is located outside of the defined array limits.
  • Page 226 MCO 305 Design Guide __ Troubleshooting __ APOSS Software Messages Controller is executing a program or command! The APOSS software messages are arranged in alphabetical order. Letters following a % sign When the controller is executing a command or represent variables which can be used in plain text program it is not available for additional at the corresponding locations.
  • Page 227 MCO 305 Design Guide Appendix Get a General Idea of Program Samples Some samples are delivered with the software. Double click on the file name opens the sample in APOSS software. Some samples are described in the manual "Operation Instructions" or in the chapter "Functions and Samples"...
  • Page 228 MCO 305 Design Guide __ Appendix __ File name or Where to find? Description topic Online Manual or help Software DIM_01.M Records and displays of a speed-diagram. DORIG_01.M Defines different current positions as the real zero point. Enc-S.m APOSS Software Encoder test program.
  • Page 229 MCO 305 Design Guide __ Appendix __ File name or Where to find? Description topic Online Manual or help Software ORIG_01.M Searching the real zero point after a continuous motion in speed mode. OUT_01.M Sets some outputs according to the current position.
  • Page 230 MCO 305 Design Guide __ Appendix __ SYNCPOS > MCO 305 Parameters There are some new parameters in this version. Because of the redesign of the parameter numbers, all parameter are listed with the new and SYNCPOS parameter number. The new parameters are marked “new”.
  • Page 231 MCO 305 Design Guide __ Appendix __ Parameter Code Parameter Name Par. No. SYNC- new par. Unit Default setting par. no. I_PRGSTART Input for program start (103) 33-50 … – I_REFSWITCH Input for reference switch (45) 33-50 … – IOMODE...
  • Page 232 MCO 305 Design Guide __ Appendix __ Parameter Code Parameter Name Par. No. SYNC- new par. Unit Default setting par. no. SYNCACCURACY Size of the precision window for 33-13 (55) 1000 position synchronization SYNCFACTM Synchronization factor master 33-10 (49) (M:S)
  • Page 233 MCO 305 Design Guide __ Appendix __ What’s New in the Update Version New and Extended Parameters Par. 32-50 Source Slave Choose Feedback Source for Slave. Par. 32-82 Ramp Type Another ramp type '2' for all movements with limited jerk.
  • Page 234 MCO 305 Design Guide __ Appendix __ Technical Reference This section documents data structures and compiler details which are only required in exceptional cases by the user. For example, if an automatically generated programming is to be modified like a curve profile.
  • Page 235 MCO 305 Design Guide __ Appendix __ These points have to lie on interpolation points, so possibly the PC software has to adjust them according to the interpolation resolution. This should not be a real restriction, because the interpolation points are normally very dense.
  • Page 236 MCO 305 Design Guide __ Appendix __ Index Name Unit Value Description IndexFIP (dec) IndexSTP + Index to Fix point Part STPno*2 IndexINP (dec) IndexFIP + Index to Interpolation Point Part FixPointNo * 3 IndexSTPInd (dec) IndexINP + Index to StartStop Interpolation Indices...
  • Page 237 MCO 305 Design Guide __ Appendix __ Index Name Unit Value Description Fix Point FixPoint_1.master Fix point no. 1 - master coordinate FixPoint_1.slave Fix point no. 1 - slave coordinate FixPoint_1.type (dec) Fix point no. 1 - type of point (C = Curve Point,...
  • Page 238 MCO 305 Design Guide __ Appendix __ Index Arrays versus Variables ........86 Reading and Writing Arrays .........86 Assignment Operation ..........88 #INCLUDE ............176 Autostart ..............63 AVEL ..............98 AXEND ..............99 Axis Parameters ............64 _GETVEL ............176 Axis Process Data .........164, 165 CAM profile ............
  • Page 239 MCO 305 Design Guide __ Appendix __ Compiler .............. 77 ENCODERABSRES ..........184 Configuration Examples.......... 13 ENCODERABSTYPE..........183 Constants ............. 85 ENCODERCLOCK..........184 Context Menus ............53 ENCODERDATLEN ..........184 CONTINUE ............101 ENCODERDELAY ..........184 Continue Program..........57 ENCODERFREQ............ 184 Control Commands ..........
  • Page 240 IF . . THEN . . , ELSEIF . . THEN . . ELSE . . ENDIF ..117 MAVEL ............... 124 Import ..............55 MCO 305 ..............11 IN..............118 MCO 305 Parameters ........... 177 INAD ..............118 MCO Advanced Settings........193 INB..............119 MCO Basics Settings ..........183 INDEX..............
  • Page 241 MCO 305 Design Guide __ Appendix __ OUT ..............139 Synchronization with Marker ........39 OUTAN ............... 140 Touch Probe Positioning for Palletizer Application..23 OUTB ..............140 Velocity Synchronizing ........25 OUTDA ............... 141 Program Execution..........15 Program Layout.............79 Program Samples Overview ........227 Programming Language, elements ......84...
  • Page 242 SYNCMTYPS ............198 SYNCMWINM ............198 SYNCMWINS ............199 SYNCOFFTIME ............. 201 Variables ..............85 SYNCP ............... 160 Change Online ...........58 SYNCPOS > MCO 305 parameters ......230 Maximum number ..........77 SYNCPOSOFFS ............ 196 Read ..............58 SYNCREADY............200 VEL..............171 SYNCSTAT ............161 VELMAX..............