Danfoss MCO 305 Design Manual page 46

MCO 305 Design Guide
POSR (GET 1900)
OUT 1 1
flag = 1 // Set "flag" to ensure that distance is only traveled once.
ELSEIF (IN 1 == 0) AND (flag == 1) THEN
MOTOR STOP
flag = 0
GOSUB engage
ENDIF
GOTO MAIN
/********************** Sub programs start ********************************/
SUBMAINPROG
/******************* Engage mechanical brake ******************************/
SUBPROG engage
OUT 11 0
DELAY (GET 1901)
// Wait to ensure that brake is engaged before releasing the motor.
MOTOR OFF
RETURN
/***************** Disengage mechanical brake *****************************/
SUBPROG disengage
MOTOR ON
DELAY (GET 1902)
// Wait to ensure that motor is magnetized before opening the brake.
OUT 11 1
RETURN
/********************** Error handler *************************************/
SUBPROG errhandle
OUT 11 0 // Close mechanical brake in case of error.
err = 1 // Set error flag to remain in error handler until error is reset.
OUT 8 1 // Set error output.
WHILE err DO // Remain in error handler until the reset is received.
IF IN 8 THEN
ERRCLR
err=0
ENDIF
ENDWHILE
OUT 8 0
flag = 0
RETURN
/*********************************************************************/
ENDPROG
/************************* End of program *******************************/
46
__ Functions and Examples __
// Go to position.
// Set "In position" output.
// Stop once when input 1 is low
// Stop if input is low.
// Reset "flag" to enable new positioning.
// Close mechanical brake after stop.
// Close mechanical brake.
// Stop position control and coast the motor.
// Enable drive and start position control.
// Open mechanical brake.
// Reset error when Input 8 is high.
// Clear error.
// Reset error flag.
// Reset error output.
// Reset "flag" to enable new positioning.
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