Danfoss MCO 305, Design Manual, Page: 19 / 242

MCO 305 Design Guide
__ Functions and Examples __
MG.33.L4.02 – VLT
®
is a registered Danfoss trademark
19
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Application Example: A Bottle Box Palletizer
The following samples show a palletizer stacking
boxes with bottles. The boxes are unloaded using a
pack gripper. The three positioning modes are used
in this sample and explained in three steps.
NOTE: The following are just examples and the
presented settings and programs might not cover
the complete functionality required by a real
application.
It is assumed that the motor and encoder connec-
tions are checked and that all basic parameter
settings such as motor data, encoder data and PID
controller are done. Instructions for setting up
parameters can be found in FC 300 Operating
Instructions and MCO 305 Operating Instructions.
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Absolute Positioning
Absolute Positioning is explained with following function of the palletizer: The horizontal axis has two fixed
target positions; one is above the pick-up and the other one is above the pallet. The horizontal axis is con-
trolled with absolute positioning between the pick-up position and the deliver position.
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Parameter Settings and Commands for Palletizer Application
The following MCO 305 parameters are relevant for
absolute positioning:
32-0* Encoder 2 – Slave page 183
32-6* PID-Controller page 189
32-8* Velocity & Acceleration page 191
33-0* Home Motion page 193
33-4* Limit Handling page 204
Command Description Syntax Parameter
Absolute Positioning (ABS)
ACC Sets acceleration ACC a a = acceleration
DEC Sets deceleration DEC a a = deceleration
HOME Move to device zero point (reference switch) and set
as the real zero point. HOME –
POSA Positions axis absolutely POSA p p = position in UU
VEL Sets velocity for relative and absolute motions and
set maximum allowed velocity for synchronizing VEL v v = scaled velocity value