Danfoss MCO 305, Design Manual, Page: 25 / 242

MCO 305 Design Guide
__ Functions and Examples __
MG.33.L4.02 – VLT
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Parameter Settings and Commands for Conveyor Belt Application
The following MCO 305 parameters are relevant for
velocity 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 page 191
33-1* Synchronization page 194
Command Description Syntax Parameter
SYNCV Synchronization of velocity SYNCV –
ON ERROR GOSUB Definition of an error subroutine ON ERROR GOSUB
name name = name of the subroutine
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Program Example: Velocity Synchronizing
/************************ Velocity synchronizing sample program ***********************/
// Inputs: 1 Start/stop synchronization
// 2 Start manual mode
// 3 Increase manual velocity
// 4 Decrease manual velocity
// 8 Clear Error
// Outputs: 1 In synchronizing mode
// 2 In manual mode
// 8 Error
/********************************* Interrupts **************************************/
ON ERROR GOSUB errhandle // In case of error go to error handler routine, this must always be included
/***************************** Basic settings *************************************/
VEL 100 // 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 32-81 Shortest ramp
/************************** Define application parameters *****************************/
LINKGPAR 1900 "Manual velocity" 0 100 0
LINKGPAR 1901 "Velocity step" 0 10 0
/*************************** Define flags and variables *******************************/
sync_flag = 0
done = 0
err = 0
man_vel = 0
/********************************** main loop *************************************/
MAIN:
IF (IN 1 == 1) AND (sync_flag == 0) THEN // Start synchronizing once when input 1 is high
SYNCV // Start velocity synchronizing mode
sync_flag = 1 // Set sync_flag to ensure synchronizing is only started once.
OUT 1 1 // Set "In synchronizing mode" output
ELSE
MOTOR STOP // Stop if input 1 is low.
sync_flag = 0 // Reset sync_flag after stop
OUT 1 0 // Reset "In synchronizing mode" output
ENDIF
IF (IN 2 == 1) AND (sync_flag == 0) THEN // Start manual mode if input 2 high and not synchronizing
OUT 2 1 // Set "In manual mode" output
man_vel = GET 1900 // Set manual velocity to parameter 1900
CVEL man_vel
CSTART // Start constant velocity mode
WHILE (IN 2 == 1) DO // Stay in manual mode while input 2 is high
CVEL man_vel // Update manual velocity
IF (IN 3 == 1) AND (done == 0) THEN // Increase manual velocity by one step when input 3 is set