Danfoss MCO 305 Design Manual page 22

MCO 305 Design Guide
SUBPROG errhandle
err = 1
OUT 8 1
WHILE err DO
IF IN 8 THEN
ERRCLR
err=0
ENDIF
ENDWHILE
OUT 8 0
flag = 0
RETURN
/*****************************************************************************/
ENDPROG
/********************* End of program *****************************************/
Touch Probe Positioning
Touch Probe is explained with following function of the palletizer:
When the horizontal axis is in the deliver position the vertical axis has numerous target positions depending
on the height of the already stacked boxes, which again depends on the box height and the number of
layers of boxes. 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
touch probe positioning:
Command Description
Touch Probe
ON INT Defining an interrupt input.
ACC Sets acceleration.
DEC Sets deceleration.
POSR Positioning relative to the actual
position.
CVEL Sets velocity for speed controlled
motor movements.
CSTART Starts the speed mode.
22
__ Functions and Examples __
// 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.
// Reset "flag" to enable new positioning.
Syntax
ON INT n
GOSUB name
ACC a
DEC a
POSR d
CVEL v
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®
MG.33.L4.02 – VLT is a registered Danfoss trademark
32-0* Encoder 2 – Slave
32-6* PID-Controller
32-8* Velocity & Acceleration
33-4* Limit Handling
Parameter
n = number of the input to be monitored
1 - 8 = reaction to the rising edge
–1 - 8 = reaction to the falling edge
name = subroutine name
a = acceleration
a = deceleration
d = distance to actual position in UU
v = velocity value (negative value for
reversing)
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