Danfoss MCO 305 Design Manual page 235

MCO 305 Design Guide
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. So for example if we have rotating master which makes one revolution per cycle and
we choose a cycle length of 3600 MU (1 MU = 1/10 degree). Let us further assume, that we choose the
number of interpolation points as 1200, than you have a resolution of 3 MU = 3/10 degree for defining your
start and stop points.
Fixed Point Section
This section contains the fix points, which were the basis for the interpolation calculation. These points
always consist of the following triple
Master coordinate
Slave coordinate
Type of point (tangent, curve)
These points are defined by the user in MU units (see internal description). If you want to avoid, that the
real interpolation curve misses your fix points, you have to choose them in such a manner that they lay on
an interpolation point (see above). This can be forced through a snap function within the PC software.
Interpolation Point Section
This section contains a list of slave coordinates. They belong to master coordinates which are of equal
distance, given by the interpolation resolution.
Indices of Start/Stop Points
Here we have the indices of the start/stop points (see above) within the interpolation array. These are
necessary for the ease of start and stop recognition. We are waiting until start index for example equals the
actual index and direction of movement is correct. If both is true, we start synchronization. The same is
true for stopping.
Start Stop Velocities
To be able to calculate an appropriate starting or stopping path, we need the velocity we have to reach at
end (start) or we will have at the beginning (stop) in UU/MU units (Slave units per Master units).
Start / Stop Paths
This is the place for the interpolation points of the actual start and stop path. These points are calculated
when a SYNCCSTART or SYNCCSTOP command is executed, but we have to reserve the room right now.
CAM Array Definition
Index Name
General
1 Identification
2 VersioNumber
3 CurveType
4 CurveName 1
5 CurveName 2
6 CurveName 3
7 CurveName 4
8 IndexCIF
9 IndexSTP
__ Appendix __
Unit Value
(dec) 999.000.001
(dec) 100
(dec) 0
(4char) Nona
(4char) meCu
(4char) rve0
(4char) 0001
(dec) 16
(dec) 27
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Description
Number to identify array
Version as decimal (1.00 = 100)
0 = symmetrical;
1 = compatible
Name of curve total 16 char.
default is:
NonameCurve00001
Index to Curve Information Part
Index to Start/Stop point Part
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