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Danfoss MCO 305 Design Manual Download Page 227

MCO 305 Design Guide 

 

MG.33.L4.02 – VLT

®

 is a registered Danfoss trademark 

227

 

Appendix

†

 Get a General Idea of Program Samples 

Some samples are delivered with the software. Double click on the file name opens the sample in APOSS 
software.

Some samples are described in the manual "Operation Instructions" or in the chapter "Functions and 
Samples" in this Design Guide. Please use the online help for more details. 

All samples can be copied and pasted into the APOSS software. Please read the safety instructions before 

using the samples! 

Where to find? 

Description 

File name or 
topic 

Online 

help 

Manual or 

Software 

 Absolute 

Positioning 

x Design 

Guide 

page 20

Absolute Positioning for Palletizer Application. 

ACC_01.M 

x

Comparison of some position controlled moves with different 
acceleration (but the same velocity). 

 APOS_01.M 

x

 

Displays the current motor position during a move. 

AXEND_01.M 

x

Displays the status of an axis during various conditions of 
movement. 

 CAM Box 

x

Design Guide 

page 44

CAM Box 

CHR_01.M 

x

Demonstrates the use of ASCII characters 

 CMODE_01.M 

x

 

Carries out different speed controlled continuous movements. 

COM_OPT

x

Program for sending and receiving 8 bytes of data via a 
communication option using PPO type 2. 

 CPOS_01.M 

x

 

Displays the internal calculated command position of an axis during 
a speed or position controlled motion. 

DELAY_01.M 

x

Demonstration of a program delay and the influence of an interrupt 
during the delay. Definition of the interrupt sources and the 
corresponding subroutines (interrupt handlers). 

Summary of Contents for MCO 305

Page 1: ...ecution 15 Functions and Examples 17 Positioning 17 Application Example A Bottle Box Palletizer 19 Absolute Positioning 19 Relative Positioning 21 Touch Probe Positioning 22 Synchronizing 24 Velocity...

Page 2: ...MCO with the APOSS Macro language 79 Program Layout 79 Command Structure 81 Error Handling 81 Debugging 82 Interrupts 82 Elements of the Programming Language 84 Arithmetic Operators 86 Software Refer...

Page 3: ...Parameter Lists 214 Troubleshooting 221 Warnings and Error Messages 221 APOSS Software Messages 226 Appendix 227 Get a General Idea of Program Samples 227 SYNCPOS MCO 305 Parameters 230 What s New in...

Page 4: ......

Page 5: ...eviations and definitions used in this manual Page divider for How to Read this Design Guide Chapter Introduction to MCO 305 informs you about the functionality and features of the MCO 305 gives a sys...

Page 6: ...has changed since previous releases in What is new Experienced users will find detailed informa tion in the technical reference material for example the Array Structure of CAM Profiles Plus the manual...

Page 7: ...ional factor Parameter Options Values for use to select the parameter options are written in brackets e g 3 Keys The names of keys and function keys are printed in brackets for example the control key...

Page 8: ...ts Incremental encoders 4 quad counts correspond to one sensor unit Absolute encoders 1 1 1 qc correspond to one sensor unit Through edge detection a quadrupling of the incre ments is produced by both...

Page 9: ...__ How to Read this Design Guide __ MG 33 L4 02 VLT is a registered Danfoss trademark 9 Virtual Master Virtual master is an encoder simulation which serves as a common master signal for synchronizati...

Page 10: ...12 32 par UU Unit User 1 par 32 12 User Unit Numerator POSFACT_Z par 32 11 User Unit Denominator POSFACT_N Scaling determines how many quad counts make up a user unit For example if it is 50375 1000 t...

Page 11: ...ler optimizing MCO 305 is based on event controlled programming using a structured text programming language developed and optimized for this application FC 312 and FC 312 can be delivered as an all i...

Page 12: ...module Motor geared motor Feedback encoder Encoder must be mounted on motor shaft when operating FC 300 in Flux closed loop feedback encoder for positioning and synchronizing can be mounted anywhere i...

Page 13: ...foss trademark 13 Configuration Examples One encoder used as motor feedback for closed loop Flux control as well as position feedback One encoder used as motor feedback for closed loop Flux control co...

Page 14: ...I O option MCB 103 Status of inputs can be read and outputs can be controlled via the MCO 305 application program Up download of MCO 305 application programs and configuration data is done via the FC...

Page 15: ...time there are three ways to control which program to execute Via parameter 33 80 Activated Program Number Via digital inputs parameters 33 50 through 33 59 33 61 and 33 62 Via PC software One program...

Page 16: ...cuted in a special Debug mode where it is possible to influence the program execution as well as reading out data and variables see on line help of APOSS for further details When connecting a PC with...

Page 17: ...l into trays on a rotating table Conveyors for example when cutting material to length Hoists for example a lift stopping at different levels MCO 305 offers three main positioning types Absolute Relat...

Page 18: ...hen the touch probe input is activated that means the target position is the position of the touch probe the positioning distance Touch probe positioning is thus relative positioning relating to a tou...

Page 19: ...lute 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...

Page 20: ...sition 0 1073741823 0 Define Home 0 position after power up SET I_FUNCTION_3 1 Define input 3 as Home switch input HOME Go to Home and set position to 0 main loop MAIN IF IN 1 1 AND IN 2 0 THEN Go to...

Page 21: ...distance to actual position in UU VEL Sets velocity VEL v v scaled velocity value Program Example Relative Positioning for Palletizer Application Relative positioning sample program for palletizer app...

Page 22: ...f 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 a...

Page 23: ...flag when input 1 is high OUT 1 0 Reset In position output CVEL 80 Set constant velocity CSTART Start with constant velocity tp_active 0 Reset tp_active to enable new touch probe positioning flag 1 S...

Page 24: ...locity multiplied by the gear ratio and the actual velocity is measured by the slave encoder position deviations will not be corrected Note however that using the Integral part of the PID controller w...

Page 25: ...00 Sets maximum slave velocity related to parameter 32 80 Maximum velocity ACC 100 Sets slave acceleration related to parameter 32 81 Shortest ramp DEC 100 Sets slave deceleration related to parameter...

Page 26: ...tiplied by the gear ratio also considering any position off set The slave position is controlled based on this set point and the actual position feedback from the slave encoder Any position deviation...

Page 27: ...needs to be homed prior to starting synchronization There are 3 ways to ensure that the teddies are aligned with the boxes when starting Adjust the physical position of the home reference switch Adjus...

Page 28: ...ing Sample Program Inputs 1 Start stop synchronization 2 Start homing 3 Home switch 4 Increase offset 5 Decrease offset 8 Clear Error Outputs 1 Within synchronizing accuracy set accuracy window in par...

Page 29: ...ease_offset IF Next_step THEN Check if next offset step is enabled IF GET 1901 0 THEN Absolute offset new_offset old_offset GET 1900 Read existing offset and add step value SET SYNCPOSOFFS new_offset...

Page 30: ...remain in error handler until error is reset OUT 8 1 Set error output OUT 2 0 Reset home done output in case of error WHILE err DO Remain in error handler until the reset is received IF IN 8 AND NOT I...

Page 31: ...orrection see parameter 33 23 for a detailed description of the available options Homing procedures are thus not necessary prior to starting as the marker correcting will automatically align the slave...

Page 32: ...ication The following MCO 305 parameters are relevant for marker synchronization 32 0 Encoder 2 Slave page 183 32 3 Encoder 1 Master page 186 32 6 PID Controller page 189 32 8 Velocity Acceleration pa...

Page 33: ...lave marker type to external sync_flag 0 main loop MAIN IF IN 1 1 AND sync_flag 0 THEN Start synchronizing once when input 1 is high SYNCM Start marker synchronizing mode sync_flag 1 done flag ELSE MO...

Page 34: ...old_mipos THEN Check if a new marker was detected marker_distance new_mipos old_mipos Calculate marker distance IF marker_distance 0 THEN Change sign if negative marker_distance marker_distance 1 END...

Page 35: ...axis Interpolation Tangent Points Accuracy and Array Interpolation The CAM Editor calculates the curve from Fix points with the help of a spline interpolation This is optimized to a minimum torque In...

Page 36: ...evolutions Gearing factor 25 11 Incremental encoder directly on the master drive encoder resolution 4096 The drive pulley has 20 teeth revolution 2 teeth correspond to 10 mm thus 1 revolution correspo...

Page 37: ...ile as a CNF file by clicking the Save CNF As button You will see the name of the curve and the number of array elements in the title bar You will need the latter for the DIM instruction during progra...

Page 38: ...and disengaging in the list o Start Stop Points We make the assumption that engaging takes place at the beginning of the box and disenga ging is to take place until the end of the box 11 In the index...

Page 39: ...imit and then the illustration of the o Acceleration and of the o Acc Limit 15 Click the Save CNF As button to save the CNF file for example marker 16 Load the CNF file with the modified parameters an...

Page 40: ...This is the maximum permitted distance for making corrections In this example it is 6375 4000 2375 and thus the same correction range as in the previous example Problematic Situations in the Determina...

Page 41: ...ows Subtract a value x from the actual distance so that the distance becomes than the master cycle length for example 4100 200 3900 You also subtract the value x from the master position i e 1000 200...

Page 42: ...ulley 11 revolutions Gearing factor 25 11 Incremental encoder directly on the master drive encoder resolution 4096 The drive pulley has 20 teeth revolution 2 teeth correspond to 10 mm thus 1 revolutio...

Page 43: ...tion and define the permitted tolerance for the appearance of the markers and the external marker type 2 for the slave Par 33 18 Slave Marker Distance 3900 Par 33 22 Slave Marker Tolerance Window 200...

Page 44: ...om the sensor SETCURVE slavesync Set curve for the slave synchronization CSTART Go to start CVEL 10 Go forward slowly until photoelectric beam appears oldi IPOS oldi last marker position of the slave...

Page 45: ...ay output 1 set to MCO controlled par 5 40 0 and connect the brake as shown below Program Example for Relative Positioning with Mechanical Brake Inputs 1 Go to position 8 Clear Error Outputs 1 In posi...

Page 46: ...brake is engaged before releasing the motor MOTOR OFF Stop position control and coast the motor RETURN Disengage mechanical brake SUBPROG disengage MOTOR ON Enable drive and start position control DE...

Page 47: ...t of heavy loads As an example the following chart shows the acceleration velocity and position curves for a Trapezoidal movement from one position to another position The sharp changes in acceleratio...

Page 48: ...mp up constant will be used whenever the acceleration is being ramped up It is not used only to ramp up from 0 to maximum acceleration Similarly JERKMIN2 is used whenever the acceleration is being ram...

Page 49: ...aller than JERKMIN3 and JERKMIN3 smaller than JERKMIN4 This was done so that the various segments of the curves can be visually distinguished in the charts The four JERKMIN values have been labeled si...

Page 50: ...stant deceleration seg ment very short in this example and a decele ration ramp down segment to 0 velocity using JERKMIN4 Changing to a Constant Velocity This chart shows a movement that begins from a...

Page 51: ...up segment using JERKMIN The curve finishes in the normal way with a constant acceleration segment and an acceleration ramp down segment to constant velocity using JERKMIN2 Moving to a Specified Posit...

Page 52: ...urn around and go back to the target position Since it must turn around the curve starts with a deceleration ramp up segment using JERKMIN3 to maximum deceleration This will slow the speed down until...

Page 53: ...and can not be changed while APOSS is running When APOSS is started by MCT 10 then APOSS will connect to only a single drive Hence all the features that allow APOSS to switch drives or connect to mul...

Page 54: ...the standard functions of the Esc key you can also use this key at any time to abort a program running under APOSS NB A rotating drive will slow down with the maximum allowed deceleration Short Cuts K...

Page 55: ...T 10 requests it then the source code is also downloaded to the drive Export Import The Export Import buttons allows a directly accessing to the m files in MTC 10 online mode Clicking on File o Export...

Page 56: ...tions and supplemented by some useful functions Click on Edit o Find or press Cntl F and enter the term searched Use F3 to jump from one site found to the next one Click on o Mark All instead of o Fin...

Page 57: ...aded into the temporary sector of the RAM this is overwritten with each subsequent execute command Thus when programming you have a quick and uncomplicated process to test the programs NB However it i...

Page 58: ...t stop with Singlestep The program tries to recover the ON PERIOD features later on and this could be problematic Read Variables or Change Variables Online In the debug mode the current value of the v...

Page 59: ...tween all variables used in the pro gram Mark the expression to be monitored and select the format in which it should be displayed decimal hexadecimal binary Then click on OK You can add more expressi...

Page 60: ...ith teach in programming You can find detailed information on all commands in this dialog field Simply click on Help or press F1 and you get information to the marked command In operation mode offline...

Page 61: ...to load and start the programs All currently available controllers will be displayed in a tree view Select the desired control ler and click on OK to connect to that controller If no controllers are...

Page 62: ...tomatically NB When an attempt is made to save a new program and a program is already active then the new program cannot be saved In this case a dialog is presented that will allow a Break to be sent...

Page 63: ...ing Autostart program will be started If the Autostart program is aborted by the user APOSS it will not start again unless a new cold start is made In this case no programs are started due to inputs o...

Page 64: ...parameters including the axis parameters are reset to default settings set in the factory There are two possibilities to set or change the parameters Set or Change Axis Parameters Online Click on Cont...

Page 65: ...iles in case of restoring from file If the parameters of multiple controllers are to be saved then simply select another controller and o Save again Click on Parameters o Restore from file and select...

Page 66: ...on Data contain additional to user parameters and arrays the application programs or o Option Parameters MCO 305 parameters individually in the EEPROM of the LCP Controller Reset Parameters Arrays or...

Page 67: ...eters in the dialog field If possible only change one parameter per measurement and check the effect this has Distance Set the path of motion in user units and utilize the entire duration of the measu...

Page 68: ...sampling interval which is suitable for the system and for the frequency converter for example 20 to 30 ms For dynamic applications the sampling interval can be decreased to 1 ms for servo motors the...

Page 69: ...gures are plotted automatically Clear Error Clicking this button will clear any currently pending error conditions in the motor controller If there are pending error conditions then the Start button w...

Page 70: ...course of acceleration the dark curve shows the desired trapeze shaped set curve during acceleration and deceleration Current graph The blue line shows the actual motor current CAM Editor Menu The cu...

Page 71: ...rious attributes of the Curve profile diagram and buttons for managing the CNF file as a whole Please use the online help for more details Continuous Recalc Auto Scale and Snap on Grid Continuous Reca...

Page 72: ...Please read the online help for more details Curve Profile Toolbar The Curve Profile window contains the following toolbar From left to right Zoom Reset Zoom in out Undo Redo Full size Snap on Grid Pr...

Page 73: ...This allows the CAM Editor to generate a spline between the two tangents Hence tangent points will always only come in pairs To change a sector from a curve to a tangent simply double click on the Ty...

Page 74: ...me time Unlike Fix points which must be ordered Start Stop pairs can be entered in any order Start Stop points can be deleted by clicking on desired point in the Start Stop Points table to select it T...

Page 75: ...Number of Intervals The master length and number of intervals can be set in three ways 1 Changing the last fixpoint by double clicking on it in the Fix Points table 2 Moving the last Fix point using...

Page 76: ...position of the curve where the marker is detected is calculated from the master marker position and the marker distance This position is shown as a green line in the curve profile and allows you to...

Page 77: ...ve markers in par 33 18 The position of the curve where the marker is detected is calculated from the master marker position and the marker distance This position is shown as a green line in the curve...

Page 78: ...e sizes larger than 65 000 bytes Colors Editor In order to provide greater clarity different colors can be assigned to the various program sections such as comment key word number etc Select the type...

Page 79: ...the entire command in your program With teach in programming you simply move the axis can be simply moved to the desired position and store the position which has been reached In this manner you can...

Page 80: ...18 on waiting for digital input 18 clear the error sync_flag 0 ERRCLR RETURN ENDPROG Sequential Command Processing In general a command is processed to the end before a new command is begun This mean...

Page 81: ...r such potential problems use the debug mode Error Handling Possible errors like timeout position error or an emergency stop must be considered and error handling subroutines must be programmed for th...

Page 82: ...n is set ON PARAM Interrupt when a parameter n is changed General Processing of Interrupt Procedures After every internal APOSS command a query is made whether an interrupt event has occurred It is i...

Page 83: ...e ON PERIOD function is executed Response Times The existence of an interrupt is checked in a special function which is also used as a watch dog control For this reason this is generally called up in...

Page 84: ...rrupt Nesting It is not possible for one interrupt to be suspended by another Accordingly while one interrupt is being processed a second interrupt cannot be processed The only exception is the ON ERR...

Page 85: ...es must be allocated a value 4 Byte before use in a command Variable identification names can be of any length can consist of letters numerals and underlines must not contain any country specifics suc...

Page 86: ...ple DIM xpos 20 ypos 20 zpos 20 offs 50 Indexes The elements of an array are designated by a corresponding index in square brackets xpos 5 Indexes are allowed from 1 to the size of the array defined T...

Page 87: ...250 mod 16 10 Mathematic modulo rest of an integer division rnd Division expr1 rnd expr2 250 rnd 16 16 Division with round off opposite to truncating abs Absolute amount Abs expr abs 5 5 Absolute amo...

Page 88: ...array value Value 3 1 Bit 3 is set at 1 value 4 1 32 Field 1 8 1 Bit 8 is set at 1 field 1 128 1 32 Value b1 72 The lowest byte of value is set at 72 Value 72 1 4 Value b2 128 Second byte of value is...

Page 89: ...letes all arrays in the RAM DELETE ARRAYS ERRCLR clears error ERRCLR HOME moves to machine zero point HOME INDEX moves to next index position INDEX MOTOR OFF turns off motor control MOTOR OFF MOTOR ON...

Page 90: ...motor stop with a programmed delay with ramp MOTOR STOP NOWAIT on off switch for waiting for the command execution NOWAIT s s condition ON OFF REPEAT beginning of repeat loop REPEAT REPEAT UNTIL condi...

Page 91: ...D n n number of analog input INKEY reads key codes of FC 300 INKEY p p 0 wait for key code p 0 wait for max p ms p 0 no wait for key code IPOS queries last index or marker position of the slave res IP...

Page 92: ...buffer is set ON COMBIT n GOSUB name n bit n of communication buffer name subprogram ON DELETE deletes a position interrupt ON APOS ON MCPOS or ON MAPOS ON DELETE pos GOSUB name pos value name subprog...

Page 93: ...er text display text SET sets parameter values MCO 305 and application parameter SET par v par par identification v parameter value SETVLT sets FC 300 parameter values SETVLT par v par parameter numbe...

Page 94: ...v v scaled velocity value Synchronizing Commands Commands to synchronize the slave with the master or the master simulation Group SYN Command Description Syntax Parameter DEF SYNCORIGIN Defines maste...

Page 95: ...rresponding to the master position POSA CURVEPOS SETCURVE set CAM curve SETCURVE array array array or curve name SYNCC synchronization in CAM Mode SYNCC num num number of curves to be processed 0 driv...

Page 96: ...ated to the parameters 32 81 Shortest Ramp and 32 80 Maximum Velocity as well as 32 83 Velocity Resolution NB If acceleration has not been defined previous to a motion command then the maximum acceler...

Page 97: ...APOS may or may not be equal to the target position or commanded position The error or deviation may be due to the mechanics involved and truncated decimal values in the User Units APOS is affected by...

Page 98: ...ment averaging The standard setting is 20 ms but this can be changed by the user with the _GETVEL command It is sufficient to call up the command once in order to work with another measuring period fr...

Page 99: ...completed When Bit 1 is set at 0 the positioning process is complete and the position reached If however the positioning command has been interrupted with MOTOR STOP and continued later with CONTINUE...

Page 100: ...ve Process data PCD s 1 4 of PPO type 2 4 and PCD s 1 8 of PPO type 5 are not assigned a parameter number by parameters 9 15 and 9 16 but are used as a free data area which can be used in a APOSS prog...

Page 101: ...mmary Reads the actual command position of an axis Syntax res CPOS Return Value res Absolute commanded position in User Units UU related to the actual zero point Description The CPOS command queries t...

Page 102: ...not rotate but the PID controller is active All CVEL commands following the start of speed mode will be carried out immediately i e a corresponding speed change will take place immediately with the de...

Page 103: ...00 After the SYNCC command is stopped we continue to update these values if Start Behavior for Sync 2000 NB The position is only defined if a SETCURVE has been set before NB If a temporary zero point...

Page 104: ...tart the movement in speed control mode Command Group ROT Cross Index ACC DEC CSTART CSTOP Parameter 32 80 Maximum Velocity Syntax Example CVEL 100 Program Sample CMODE_01 M DEC Summary sets decelerat...

Page 105: ...n to the master curve position indicated irrespective of what the MAPOS is When a DEFMCPOS 500 is issued master s physical position is made as the position 500 of the curve When a DEFMCPOS 500 is issu...

Page 106: ...origin 0 Initial 0 175MD515 After Execution After DEF ORIGIN 0 175MD518 Program Sample DORIG_01 M ORIG_01 M DEF SYNCORIGIN Summary Defines master slave relation for the next SYNCP or SYNCM command Syn...

Page 107: ...ime than is available for the delay then the interruption procedure will be carried out to the end before the command following the DELAY instruction is commenced Command Group CON Cross Index WAITT W...

Page 108: ...stored in the non volatile memory and their contents are permanent even when the power supply is switched off insofar as it is saved with SAVEPROM or SAVE ARRAYS In contrast to variables arrays have...

Page 109: ...still exist but is not processed anymore Exception DISABLE ALL The detection is still running in the background and the interrupt is captured in case of a non edge sensitive or a message oriented inte...

Page 110: ...e following example If the execution of an interrupt should lock the request and execution of other interrupt types a selective DISABLE e g DISABLE INT can be done In this case the selective interrupt...

Page 111: ...r the ENABLE command Command Group INT Cross Reference ON INT ON COMBIT ON STATBIT ON PARAM ON PERIOD ON TIME DISABLE interrupts Syntax Examples ENABLE ALL Switch on all interrupts ENABLE COMBIT Switc...

Page 112: ...code Program Sample ERROR_01 M IF_01 M INDEX_01 M EXIT Summary Premature program termination Syntax EXIT Description The EXIT command ends a program where active positioning procedures are being carri...

Page 113: ...etting tolerated position error PRINT GET I_FUNCTION_9_4 reads input 4 for abort Program Sample GETP_01 M GETVLT Summary Reads a VLT parameter Syntax res GETVLT par Parameter par parameter number Retu...

Page 114: ...ex can be found in the FC 300 Operating Instructions Command Group PAR Cross Index SETVLTSUB Syntax Example PRINT GETVLTSUB 540 0 reads index 01 of the parameter 5 40 Function Relay GOSUB Summary Call...

Page 115: ...ped to position is identified with a label A label can consist of one or more characters and may not be identical to a variable name or a command word A label must also be unique i e it may not be use...

Page 116: ...rences switch and stops at the next index pulse encoder zero pulse or external marker 1 Like 0 but without searching for the index pulse 2 Like 0 but leaving the switch without reversing the direction...

Page 117: ...ut and the program continued after ENDIF The branching conditions that are checked after IF or ELSEIF can be made up of one or more comparison operations Any number of ELSEIF branching can occur withi...

Page 118: ...ing Instructions as well as from the FC 300 manual The inputs 5 and 6 are also used as marker inputs for the master and slave encoders Command Group I O Cross Index INB OUT OUTB Parameters 33 60 Termi...

Page 119: ...her inputs are low res 2 1 2 2 6 Program Sample INB_01 M INB_02 M OUTB_01 M INDEX Summary Move to index position of the encoder Syntax INDEX Description Movement to the index position of the encoder w...

Page 120: ...o on 4096 Reset 8192 Hand on 16384 Off 32768 Combinations send the corresponding values OK and Cancel 48 Auto on and key 4608 NB The keys keep their FC 300 functions unless they are disabled in parame...

Page 121: ...ed in a controller cycle of typically 1 ms the actual position value is hardware stored in real time a buffer in an internal processor register when the configured signal is high Then it will be copie...

Page 122: ...hat means changes via the LCP display are active at once Description With LINKGPAR free internal application parameter can be linked with the LCP display Subsequently it is possible to change this par...

Page 123: ...AR 30 19 91 Motor voltage LOOP Summary Defined loop repetition Syntax LOOP n label Parameter n number of loop repetitions label identification of target program position Description A single or multip...

Page 124: ...MAVEL Return Value res actual velocity of the master in qc s the value is signed Description This function returns the actual velocity of the master drive in qc s with qc referring to the master enco...

Page 125: ...is initiated ON INT 5 GOSUB and within this interrupt it is operated with MIPOS you should use before reading of MIPOS a delay of 2 milliseconds DELAY 2 within the interrupt subroutine So it can be en...

Page 126: ...g error is reset at the execution of MOTOR ON NB The MOTOR ON command is not suitable for re activation of position control following an error For this purpose the ERRCLR command is to be used Command...

Page 127: ...chronization in relation to the master While SET SYNCPOSOFFS sets the offset position absolutely MOVESYNCORIGIN always relates to the last one and shifts the offset position relatively If you have to...

Page 128: ...the target position during the positioning procedure NOWAIT OFF Allows the execution of the program line by line i e the positioning takes place and the processor waits till it is over and then does t...

Page 129: ...rols as well as for CAM controls and CAM boxes For example in order to replace the increasing slave position in the case of open curves after each cycle by a recurring reference point NB An ON APOS in...

Page 130: ...errupt then it will be ignored and thus lost Portability In the case of COMOPTGET and COMOPTSEND the offset of 2 Word is retained for compatibility reasons Command Group INT Cross Index SUBPROG RETURN...

Page 131: ...B hitzero Interrupt 4 ON APOS 0 GOSUB hitzero Interrupt 5 ON INT 3 GOSUB hitinfo Interrupt 6 ON DELETE 0 GOSUB hitinfo ON APOS 99999 GOSUB hitinfo New defined position interrupt Result All the positio...

Page 132: ...e at the start of a program so that it has validity for the entire program The subroutine to be called up must be defined within the identified SUBMAINPROG and ENDPROG program The identification of an...

Page 133: ...PROG and ENDPROG identified program The identification of an interrupt and the call up of the corresponding subroutine requires a maximum of 2 milliseconds Interrupt from FC 300 input add additional 2...

Page 134: ...ed in positive or negative direction For example in order to set an output at any point in the case of a linear drive slave with a traversing range from 0 to 10000 UU NB An ON MAPOS Interrupt can be d...

Page 135: ...e one could change parameters online depending on the position NB A DEFMCPOS or a SETCURVE must always be placed in front of the command ON MCPOS GOSUB since otherwise the curve position is not known...

Page 136: ...pt then it will be ignored and thus lost Command Group INT Cross Index SUBPROG RETURN DISABLE interrupts ENABLE interrupts Priorities of Interrupts NOWAIT Syntax Sample ON PARAM 32 67 GOSUB poserr whe...

Page 137: ...on The instruction ON STATBIT is used to call up a subprogram when bit n of FC 300 status is set These 32 bits of the FC 300 status consist of the FC 300 status word the byte 2 of the internal status...

Page 138: ...he program flow continues normally NB The precision with which the time is kept depends on the hardware used and the remaining program Typically the precision is r1 ms In General The subroutine to be...

Page 139: ...in par 5 00 NB If an illegal combination or a pin number is used for X n which can not be set then error 171 will be reported But there is no check if an input is used instead of an output or vice ve...

Page 140: ...Summary Alteration of the condition of a digital output byte Syntax OUTB n v Parameter n output byte 0 1 8 1 27 29 v value 0 255 Description With the OUTB command the condition of the digital outputs...

Page 141: ...n Guide parameter 6 50 Syntax Example condition parameter 650 is set to MCO controlled OUTDA 42 50000 set FC 300 output to 10 mA PCD Summary Pseudo array for direct access to the field bus data area S...

Page 142: ...efault allocation of the factors Command Group I O Syntax Example e INAD 53 u PID e PRINT input e output u POSA Summary Positioning in relation to actual zero point Syntax POSA p Parameter p Position...

Page 143: ...Fix points of a curve Master Slave 0 500 700 1000 0 500 300 1200 Say the current master position is 800 the darkened vertical line Case 1 Current Master Position is 800 and current slave position is 2...

Page 144: ...This automatic line feed can be suppressed with a semi colon after the last output element Command Group I O Cross Index INKEY Syntax Example PRINT Information is important print text information PRI...

Page 145: ...l master mode provided it is followed by a PULSVEL command Command Group SYN Cross Index PULSVEL Example The virtual master signal should correspond to an encoder signal of 1024 counts revolution The...

Page 146: ...1 command line n UNTIL A 1 Abort condition Program Sample REPEA_01 M DIM_01 M ONINT_01 M OUT_01 M INKEY_01 M RST ORIGIN Summary Erase temporary zero point Syntax RST ORIGIN Description A previously wi...

Page 147: ...ommand SAVE AXPARS NB The EEPROM can only handle execution of this command up to 10000 times Command Group INI Syntax Example PRINT please wait SAVEPROM PRINT Thanks SET Summary sets a parameter Synta...

Page 148: ...a DEFMCPOS or by a new SETCURVE outside of SYNCC mode If SYNCC is active If SETCURVE is used while SYNCC is active the CMASTERCPOS will not be changed All other parameters like 32 11 User Unit Denomin...

Page 149: ...arameter p absolute position in relation to the real zero point Description Any absolute position can temporarily be set as a new reference point for absolute positioning command POSA by use of the SE...

Page 150: ...change par 3 03 maximum reference high to 60 Hz Conversion index 3 Multiplied with 10 during transmission SETVLT 3 03 60000 SETVLTSUB Summary Sets a FC 300 parameter with index number Syntax SETVLTSUB...

Page 151: ...active Bit 6 1 Reference switch active Bit 5 1 Start switch active Bit 2 1 axis control switched off Bit 0 1 3 4 not in use Explanation i e the axis is within the tolerance range of the control windo...

Page 152: ...M INCL_01 M STAT_01 M SUBPROG name RETURN Summary Subroutine definition Syntax SUBPROG name RETURN Parameter name subroutine name Description The instruction SUBPROG identifies the beginning of a sub...

Page 153: ...y 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 encode...

Page 154: ...e master are only counted after the next master marker NB SYNCC does not start the slave drive nor does it interrupt on going motions e g CVEL only SYNCCSTART does NB The drive remains in CAM Mode unt...

Page 155: ...are possible In this case a FIFO is used for the marker correction see example The marker can be the zero pulse of the encoder or an external 24 V signal NB SYNCCMM does not start the slave drive nor...

Page 156: ...e Marker Distance Syntax Example SETCURVE curve SYNCCMS 0 Synchronization in CAM Mode with slave marker correction SYNCCSTART Summary Start slave for synchronization in CAM Mode Syntax SYNCCSTART pnum...

Page 157: ...ere the slave is supposed to stand after disengaging NB When moving forward disengaging begins at point A and is finished at point B vice versa when moving backward NB If the program is closed without...

Page 158: ...synchronization is running ahead negative result or running behind positive result NB Up to option card version 5 00 SYNCERR only functions in synchronization mode As soon as you exit SYNCM or SYNCP t...

Page 159: ...eters could lead to overdefinition it is important to ensure that these values are logical match one another and are consistent with the information on the gear factors par 33 15 33 16 Marker Number f...

Page 160: ...position The slave is accelerated so long until the calculated position has been reached or until it is close enough to the reference position to reach it NB As soon as the deviation between the posit...

Page 161: ...r SYNCACCURACY is set or not at every marker pulse of the slave SYNCP or when a marker pulse of the master and a marker pulse of the slave exist SYNCM If it is set the ready counter is increased and t...

Page 162: ...SYNCSMERR in the slave NB These flags are automatically reset during the next successful marker correction and in the event of a new start of SYNCM or through the command SYNCSTATCLR Command Group SY...

Page 163: ...onization process neither the pre set velocity VEL nor the pre set acceleration ACC or DEC are exceeded The parameters of the gear factors used for synchronization are par 33 10 Synchronizing Factor M...

Page 164: ...mmand STAT 22 Internal millisecond counter Value which is also supplied by the APOSS command TIME 28 Actual motor current 1 100 Amp parameter 16 14 30 Motor voltage 1 10 V parameter 16 12 31 FC 300 st...

Page 165: ...er type ENCDODERTYPE 0 2 4124 Internal parameter master encoder type MENCODERTYPE 0 6 4125 Slave encoder resolution 4126 Master encoder resolution 4127 Defines whether amplifier is set to stop mode 0...

Page 166: ...n SETCURVE and updated after SYNCCxx see also CURVEPOS 4231 GETCMDVEL Gives command velocity intgr part 128 with sign see also 4186 4240 PFG_G_STARTKORR Contains the first correction value after SYNCM...

Page 167: ...eleration constant will cross 0 velocity PGS_JRK_DEC_DOWN_CROSS 12 Deceleration ramp down will cross 0 velocity 4276 PFG_G_VCMDSIGNED Signed reference velocity qc st identical to SYSVAR 4186 but with...

Page 168: ...ke sure that the size of the array is sufficient for the recording You need 6 elements for the header 1 element for the number and 3 elements for each measurement Thus for 100 measurements you need 30...

Page 169: ...pressed TESTSTART 200 Start recording 200 measurements Syntax Example NOWAIT ON Do not wait until the position is reached VEL 50 POSA 100000 Start positioning with velocity 50 WHILE APOS 50000 DO Wai...

Page 170: ...oss Index APOS CPOS par 32 67 Max Tolerated Position Error Syntax Example PRINT TRACKERR query actual position error of the axis Sample POSA 500 WHILE 1 DO PRINT Command Position CPOS PRINT Actual Pos...

Page 171: ...ave velocity in synchronizing mode is also limited by the VEL command NB If no velocity has been set prior to a positioning or synchronizing command then the value of par 32 84 Default Velocity will b...

Page 172: ...ol word is not influenced at all The user is responsible for the control word As long as the system is in that mode OUTAN only influences reference but not control word It can be only returned to norm...

Page 173: ...WAITI n s Parameter n input number 1 8 or 16 33 s expected condition ON High Signal OFF Low Signal Description The WAITI command waits before continuing the processing until the specified input has go...

Page 174: ...d Group CON Cross Index WAITI WAITP INDEX Syntax Example CVEL 1 CSTART WAITNDX 10000 Waits a maximum of 10 s for the axis to reach the index position OUT 1 1 WAITP Summary waits until a certain positi...

Page 175: ...ith start criteria While condition is fulfilled repeat Syntax WHILE condition DO ENDWHILE Parameter condition abort criteria Description By using the WHILE ENDWHILE construction you can repeat the enc...

Page 176: ...d path commands inadmissible Description The INCLUDE instruction tells the Compiler to include the contents of the given file in the corresponding program position during the translation of the progra...

Page 177: ...manual initialization of the FC 300 or by means of the setup copy function see in FC 300 operating instruction for further details The parameters can also be reset to default settings in menu Controll...

Page 178: ...s 5 The frequency converter is now programmed according to default settings This method initializes all except 15 00 Operating Hours 15 03 Power up s 15 04 Over temp s 15 05 Over volt s NB When you c...

Page 179: ...aved in an EEPROM and thus retained at power down Parameters changed from the APOSS application program with the command SETVLT are only stored in RAM and thus lost at power down Parameters changed fr...

Page 180: ...2 MCO 0 20 mA 53 MCO 4 20 mA 52 MCO 0 20 mA 7 00 4 MCO Encoder 1 5 MCO Encoder 2 8 02 5 Option C0 5 Option C0 9 15 3401 3410 Index 0 3401 Index 1 3402 Index 2 3403 Index 3 3404 Index 4 3405 Index 5 34...

Page 181: ...accessible via LCP when created defined in the application program Syntax Example LINKGPAR 1901 name 0 100000 0 Link par 19 01 with LCP 19 90 19 99 Read only Application Parameters Range 2147483648 2...

Page 182: ...CD Read Parameters page 211 34 4 Inputs Outputs page 212 34 5 Process Data page 212 General Information on the Parameter Values Some limiting values are listed at 1 billion to make them more easily re...

Page 183: ...der con nected to Encoder 2 interface X55 Digital incremental encoder 32 00 1 The resolution must be set in Pulses Per Revolution Analog incremental encoder 32 00 2 The resolution must be set in sinus...

Page 184: ...f 0 On 1 Function Select whether encoder 0 shall generate an absolute encoder clock signal or not Select Off 0 if more MCO 305 s are connected to the same absolute encoder Only one device MCO 305 is a...

Page 185: ...ese scaling units corres pondingly it is possible to work with any technical measurement unit for example mm This factor is a fraction which consists of a nume rator and denominator Denomintor Unit Us...

Page 186: ...e 2 Cylinder Gear factor 5 1 Encoder resolution incremental encoder 500 One revolution of the cylinder is 360 degrees It is requested to work with a resolution of 1 10 degrees This means that one revo...

Page 187: ...only visible when par 32 32 z 0 32 36 Absolute Encoder Clock Frequency MENCODERFREQ Range Unit 78 125 2000 000 kHz 262 000 Function Specifies the frequency of the absolute encoder clock signal genera...

Page 188: ...RM Option Off 0 On 1 Function Termination resistors can be switched on or off for encoder 1 Select Off 0 if high input impedance is required when One encoder is connected to multiple MCO 305 The virtu...

Page 189: ...he integral share a static posi tion error is reduced to zero even if a constant load is affecting the motor However an Integral Factor which is too large leads to a nervous drive 32 63 Limit Value fo...

Page 190: ...or both the machine and its operator NB On the other hand if the values for the Maximum Tolerated Position Error are too small this could result in frequent errors As a guideline it is wise to set the...

Page 191: ...off REGWMAX indicates the size of the window outside of which the control should begin again Target Control ON Control ON Control OFF REGWMIN REGWMIN e75MD053 REGWMAX REGWMAX Position 32 72 Size of th...

Page 192: ...ime in ms re quired before reaching the maximum acceleration There are four different JERKMIN options see Limited Jerk in chapter Functions and Examples JERKMIN JERKMIN2 JERKMIN3 JERKMIN4 The maximum...

Page 193: ...when no explicit statements have been made This statement is made in relation to par 32 81 Shor test Ramp and refers to the par 32 83 Velocity Resolution MCO Advanced Settings 33 0 Home Motion page 1...

Page 194: ...ed and depends on the parameter 32 83 A negative sign means the search will be made in the other direction Resolution Velocity 83 32 p Velocity Maximum 80 32 p Velocity Home 03 33 par RPM Velocity Hom...

Page 195: ...ter drive encoder resolution 4096 The drive pulley has 20 teeth revolution 2 teeth correspond to 10 mm thus 1 revolution 100 mm conveyor belt feed Thus the scaling factor is 1000 Slave Syncfactor Mast...

Page 196: ...sign supplies the absolute value to SYNCERR MLONG to 1 A minus sign supplies the syn chronization error to SYNCERR with polarity sign It is then pos sible to tell whether the synchro nization is runn...

Page 197: ...gnals from master and slave A ration of 1 1 means that each slave marker will be aligned with each master marker A ratio of 2 1 means that each slave marker will be aligned with each second master mar...

Page 198: ...nes the signal type for the slave marker index pulse of the encoder or external marker Slave Marker Type is only valid for synchronizations with marker correction SYNCM and SYNCCMS or if the command M...

Page 199: ...whether at start the synchro nization should be made to the leading subsequent or closest marker impulse of the master SYNCMSTART is only valid for synchronization with marker correction SYNCM and SYN...

Page 200: ...Since the ve locity synchronization only uses the currently active master velocity and the values can decrease to very small values e g 2 qc ms a small fluctuation in velocity can have dramatic effect...

Page 201: ...r filter constant a constant value of SYNCMFTIME 300 is used 2 Gear correction is not executed 4 The Filter Time for Marker Correction par 33 29 is used instead of the Offset Filter Time par 33 27 to...

Page 202: ...correction which must be realized after start condition is fulfilled That means either the first two markers par 33 23 SYNCMSTART 1 6 were observed or the master velocity is reached and the first two...

Page 203: ...g on these factors 33 31 Synchronization Type SYNCTYPE Option Standard 0 Look ahead 1 Function The way how synchronization is done can be changed 0 The actual master position is compared with the futu...

Page 204: ...e is exceeded then an error is triggered POSLIMIT is only active if par 33 44 SWPOSLIMACT is set If a positioning command is entered which exceeds the limits set then it is not executed NB When using...

Page 205: ...of the limit switch and the position error is not active For this reason the value should be not too long 33 46 Target Window Limit Value TESTVAL Range Unit 1 10000 qc 1 Function Once the target wind...

Page 206: ...positive limit switch inverse Error clear no 7 Defines digital input_n to be used to clear an error Error clear nc 8 Defines digital input_n to be used to clear an error Break program exe no 9 Define...

Page 207: ...ond one is ignored 33 50 Terminal X57 1 Digital Input I_FUNCTION_1 No function 0 Function Defines function of digital input 1 of MCO 305 33 51 Terminal X57 2 Digital Input I_FUNCTION_2 No function 0 F...

Page 208: ...am all digital outputs 1 8 6 to these functions No function 0 No reaction on signals from the output_n Moving no 1 Defines digital output_n of the MCO 305 for motion command active The output is alway...

Page 209: ...nd in the program 33 63 Terminal X59 1 Digital Output O_FUNCTION_1 No function 0 Function Defines function of digital output 1 of MCO 305 NOTE This parameter is only visible when par 33 60 IOMODE 1 i...

Page 210: ...on 1 if the motor must be controlled after power up positioning controller is active and keeps the actual position until another control command is given 33 82 Drive Status Monitoring STATUSMONITORING...

Page 211: ...meters in the 34 0 and 34 2 group 34 0 PCD Write Parameters 34 01 10 PCD n Write to MCO n 1 10 p 34 01 PCD 1 Write to MCO p 34 02 PCD 2 Write to MCO p 34 03 PCD 3 Write to MCO p 34 04 PCD 4 Write to M...

Page 212: ...er position of the curve corres ponds to CURVEPOS command 34 56 Track Error Function Queries the actual position error of the axis in UU in consideration of the signs corresponds to TRACKERR command 3...

Page 213: ...error 11 00000800 2048 Parameter memory corrupted 12 00001000 4096 Program memory corrupted 13 00002000 8192 Reset by CPU 14 00004000 16384 WAITNDX timeout 15 00008000 32768 Internal MCO fault 16 0001...

Page 214: ...e for all data types the FC 300 Design Guide Data type Description Type 2 Integer 8 Int8 3 Integer 16 Int16 4 Integer 32 Int32 5 Unsigned 8 Uint8 6 Unsigned 16 Uint16 7 Unsigned 32 Uint32 Application...

Page 215: ...ing 0 Off TRUE 1 set up Uint8 32 10 POSDRCT Rotational Direction 1 No action TRUE 1 set up Uint8 32 11 POSFACT_N User Unit Denominator 1 TRUE 1 set up Uint32 32 12 POSFACT_Z User Unit Numerator 1 TRUE...

Page 216: ...R Maximum Tolerated Position Error 20000 qc TRUE 1 set up Uint32 32 68 REVERS Reverse Behavior for Slave 0 Reversing TRUE 1 set up Uint8 32 69 TIMER Sampling Time for PID control 1 ms TRUE 1 set up Ui...

Page 217: ...14 SYNCVELREL Relative Slave Velocity Limit 0 TRUE 1 set up Uint8 33 15 SYNCMARKM Marker Number for Master 1 TRUE 1 set up Uint16 33 16 SYNCMARKS Marker Number for Slave 1 TRUE 1 set up Uint16 33 17 S...

Page 218: ...CTION_2 Terminal X57 2 Digital Input 0 no function TRUE 1 set up Uint8 33 52 I_FUNCTION_3 Terminal X57 3 Digital Input 0 no function TRUE 1 set up Uint8 33 53 I_FUNCTION_4 Terminal X57 4 Digital Input...

Page 219: ...33 82 STATUS MONITORING Drive Status Monitoring 1 On TRUE 1 set up 0 Uint8 33 83 ERRCOND Behavior after Error 0 Coast TRUE 1 set up Uint8 33 84 ESCCOND Behavior after Escape 0 Contr Stop TRUE 1 set u...

Page 220: ...Inputs 1 set up Uint16 34 41 Digital Outputs 1 set up Uint16 34 5 Process Data Unit 34 50 Actual Position UU 1 set up Int32 34 51 Commanded Position UU 1 set up Int32 34 52 Actual Master Position qc...

Page 221: ...axis num Axes not in system 105 Error not reset Error not cleared 106 Home not done Failed to move to HOME position 107 Home vel zero Home was executed with Home Velocity set to zero 108 Position erro...

Page 222: ...e to find an axis which does not exist in the controller Check to see if the program axis command has an invalid number or a general axis command X Error 105 Error not reset An attempt has been made t...

Page 223: ...utside the path In this case the movement will not be executed and the error message can be cleared Error 112 Unknown param An attempt has been made to change a parameter SET or SETVLT command which d...

Page 224: ...am Avoid too many 10 is maximum opposing subrou tine calls and avoid subroutines which call them selves re cursive subroutine procedures Error 152 Too many return There are either more RETURN than cor...

Page 225: ...ograms or arrays Delete the programs or delete both the programs and arrays i e by deleting the entire memory NB Remember to follow the recommendations concerning saving programs and parameters before...

Page 226: ...he controller is executing a command or program it is not available for additional commands You have to Break the new command and re start it once the previous command has been completely executed Err...

Page 227: ...tioning for Palletizer Application ACC_01 M x Comparison of some position controlled moves with different acceleration but the same velocity APOS_01 M x Displays the current motor position during a mo...

Page 228: ...splay and the outputs are updated every time one of the inputs changes its status INCL_01 M x Displays some system information INCIN01 M x Include file Displays the status of inputs graphic INCPOS01 M...

Page 229: ...otion slavesync m x APOSS Software CAM Control Slave Synchronization with Marker stamping m x APOSS Software CAM Control Stamping of Boxes with Use by Date STAT_01 M x Reads in and displays some syste...

Page 230: ...DERCLOCK Absolute Encoder Clock Generation 32 07 73 new ENCODER DATLEN Absolute Encoder Data Length 32 05 71 new Bit 25 ENCODERDELAY Absolute Encoder Cable Length 32 08 80 new 0 ENCODERFREQ Absolute E...

Page 231: ...DERTYPE Incremental Signal Type Master 32 30 67 1 NEGLIMIT Negative Software End Limit 33 41 4 qc 500000 O_AXMOVE Output for motion command active del 64 33 63 0 O_BRAKE Output for mechanical brake de...

Page 232: ...rker Distance 33 17 58 qc 500 SYNCMPULSS Slave Marker Distance 33 18 59 qc 500 SYNCMSTART Start behavior for synchronization 33 23 62 0 SYNCMTYPM Master Marker Type 33 19 60 0 SYNCMTYPS Slave Marker T...

Page 233: ...JERKMIN Defines the minimum time ms required before reaching the maximum acceleration Four different JERKMIN parameters are available see also Limited Jerk in chapter Functions and Samples New SYSVAR...

Page 234: ...f curve slave Number of fix points Number of Interpolation points this gives the resolution Type of interpolation Slave stop point point where slave is positioned when synchronization is stopped Corre...

Page 235: ...ntains 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 star...

Page 236: ...same location 5 InterpolType dec 0 0 cubic spline 1 periodic cubic spline 6 SlaveStopPosition UU 0 Position where slave stands after stopping 7 CorrectionStartPoint MU 0 Position where Correction may...

Page 237: ...type of point C Curve Point T Tangent Point Interpolation Point 1 IntPoint_1 UU 0 Interpolation Point no 1 slave coordinate n IntPoint_n UU Interpolation Point no n slave coordinate StartStop Indices...

Page 238: ...22 Velocity Synchronizing Suit Case Conveyor Belt 24 Application Parameters 177 Application Settings 181 Arithmetic 86 Array Structure of CAM Profiles 234 Arrays 85 Arrays versus Variables 86 Reading...

Page 239: ...107 Development Menu 57 DFLTACC 193 DFLTVEL 193 Digital output function 208 DIM 108 DIM Statement 85 DISABLE interrupts 109 E Edit Menu 56 Edit Window 54 ENABLE interrupts 111 Encoder 15 ENCODER 183...

Page 240: ...LOOP 123 M Managing the CNF file offline mode 72 online mode 71 MAPOS 124 Master Units MU 10 MAVEL 124 MCO 305 11 MCO 305 Parameters 177 MCO Advanced Settings 193 MCO Basics Settings 183 MCO Data Read...

Page 241: ...rogram Example Bottle Box Palletizer 20 CAM Box 44 Marker Synchronization 33 Position Synchronizing 28 Relative Positioning 21 Relative Positioning with Mechanical Brake 45 Slave Synchronization with...

Page 242: ...TYPE 203 SYNCV 163 SYNCVELREL 196 SYNCVFTIME 200 Syntax Check F4 60 System Overview 12 System Process Data 164 SYSVAR 164 T Tabulators 56 Tangent Points for Straight Sections 35 Technical Reference 23...

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