Danfoss MCO 305 Design Manual page 20

MCO 305 Design Guide
Program Example: Absolute Positioning for Palletizer Application
/********************** Absolute Positioning program sample **************************/
// Inputs: 1 Go to pick up position
// 2 Goto deliver position
// 3 Home switch
// 8 Clear Error
// Outputs: 1 In pick up position
// 2 In deliver position
// 8 Error
/****************************** Interrupts **************************************/
ON ERROR GOSUB errhandle
// In case of error go to error handler routine, this must always be included
/****************************
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 "Pick up Position" 0 1073741823 0
LINKGPAR 1901 "Deliver Position" 0 1073741823 0
/****************** Define Home(0) position after power up *************************/
SET I_FUNCTION_3 1
HOME
/****************************** main loop **************************************/
MAIN:
IF (IN 1 == 1) AND (IN 2 ==
OUT 2 0
POSA (GET 1900)
OUT 1 1
ELSEIF (IN 1 == 0) AND (IN
OUT 1 0
POSA (GET 1901)
OUT 2 1
ELSE
MOTOR STOP
ENDIF
GOTO MAIN
/*********************** Sub programs start *************************************/
SUBMAINPROG
/************************* Error handler ****************************************/
SUBPROG errhandle
err = 1
OUT 8 1
WHILE err DO
IF IN 8 THEN
ERRCLR
err=0
ENDIF
ENDWHILE
OUT 8 0
RETURN
/*****************************************************************************/
ENDPROG
/*************************** End of program ************************************/
20
__ Functions and Examples __
Basic settings ***********************************/
// Define input 3 as Home switch input
// Go to Home and set position to 0
0) THEN // Go to pick up position when only input 1 is high
// Reset "In deliver position" output
// Go to position
// Set "In pick up position" output
2 == 1) THEN // Go to deliver position when only input 2 is high
// Reset "In pick up position" output
// Go to position
// Set "In deliver position" output
// Stop if both inputs are low or high.
// Set error flag to remain in error handler until error is reset.
// Set error output
// Remain in error handler until the reset is received
// Reset error when Input 8 is high.
// Clear error
// Reset error flag
// Reset error output
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