Danfoss MCO 305, Design Manual, Page: 153 / 242

MCO 305 Design Guide
__ Software Reference __
MG.33.L4.02 – VLT
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153
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SWAPMENC
Summary Swap master and slave encoder internally.
Syntax SWAPMENC s
Parameter s = condition
ON = master encoder input is feedback input
OFF = slave encoder input is feedback input
Description This command allows swapping
of the master and slave
encoders. This is particularly
meaningful if one wishes to
alternately use two motors with
one control.
Prior to the command
SWAPMENC ON/OFF, a MOTOR
OFF must always be executed in
order to avoid a tolerated
position error exceeded. Also,
the controller parameters or axis
parameters must be changed if
both motors are different.
The motor leads can be
switched via relay.
NB! :
In this changeover, no positions are lost, even if the motors are moved by hand
while the other motor is controlled. It is possible to always access the uncontrolled
motor through MAPOS as well.
Command Group INI
Cross Index MAPOS
Syntax Example SWAPMENC ON // Swap slave encoder internally with master encoder
Sample MOTOR OFF
OUT 1 1
// switch motor leads
SET KPROP ... // change axis parameters
SWAPMENC ON // swap encoder internally
MOTOR ON // turn on control again
POSA 10000
// move the motor which is connected to the master encoder
MOTOR OFF
OUT 1 0 // Switch motor leads
SET KPROP ... // Change axis parameters
SWAPMENC OFF // Swap encoder
MOTOR ON // Turn on control again
POSA 0
// Move the motor again which is connected to the slave encoder
Normally the upper socket X56 reads signal from the Master drive and X55 reads
signals from the Slave drive. After a SWAPMENC ON, the master makes a
positioning of 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.