MCO 305 Design Guide
__ Functions and Examples __
22
MG.33.L4.02 – VLT
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SUBPROG errhandle
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
// Reset error when Input 8 is high.
ERRCLR
// Clear error.
err=0
// Reset error flag.
ENDIF
ENDWHILE
OUT 8 0
// Reset error output.
flag = 0
// Reset "flag" to enable new positioning.
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:
32-0*
Encoder 2 – Slave
page 183
32-6* PID-Controller
page
189
32-8* Velocity
&
Acceleration page
191
33-4* Limit
Handling
page
204
Command
Description
Syntax
Parameter
Touch Probe
ON INT
Defining an interrupt input.
ON INT n
GOSUB name
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
ACC
Sets acceleration.
ACC a
a = acceleration
DEC
Sets deceleration.
DEC a
a = deceleration
POSR
Positioning relative to the actual
position.
POSR d
d = distance to actual position in UU
CVEL
Sets velocity for speed controlled
motor movements.
CVEL v
v = velocity value (negative value for
reversing)
CSTART
Starts the speed mode.
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Summary of Contents for MCO 305
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