is therefore maintained in this application. The default homing type defined in par. 33-04 is also
maintained.
The resulting homing sequence is illustrated below.
5.1.7. Programming positions (par. 19-23 to 19-28)
The program positions the conveyor cart in front of the various inlets and outlets. Different ac-
celeration and deceleration is allowed between the different positions. An empty pallet cart can
be accelerated as fast as possible while this is not allowed when transporting a fully loaded pallet.
Different settings for each position are available because every position is programmed
The different positions are programmed using par. 19-23 to 19-28 as interface. First, the appli-
cation must be homed to get at fixed reference for measuring (and entering) the positions.
When this is done the first position is programmed:
a.
Par. 19-23 is set to “1” either directly or by using the digital inputs and the “link” func-
tionality of par. 19-21.1
b.
The position is programmed in P1924 either directly on the LCP or by using the “TEACH-
IN” functionality (simply use the jog inputs (54, 53) to drive the application to the desired
position, then press the [Back] and [Cancel] buttons to store that position in memory).
1
c.
The individual ramp and velocity settings for this position is specified in P1925-P1927.1
d.
For trajectory type “absolute” is selected in par. 19-28 set to (“0”). 1
The following table shows the complete list of settings for each of the 6 target positions.
19-23
19-24
19-25
19-26
19-27
19-28
1
40000
900
900
500
0
2
80000
2000
2000
500
0
3
150000
900
900
500
0
4
220000
900
900
500
0
5
260000
2000
2000
500
0
6
330000
900
900
500
0
5.1.8. Software Limits (par. 33-41 to 33-44)
The software limits are placed just in front of the hardware limit switches with a distance to the
hardware limit switches that allows for the cart to be stopped with the shortest allowable ramp
before the HW limit switch is activated.
The settings are: par. 33-41 = “370000” and
par. 33-42 = “-10000”.
5.1.9. Setting par. 32-81 and 19-06
If the pallet cart is transporting a loaded pallet and travelling at its top speed, it is not allowed to
simply activate the electromechanical brake (all the products on the pallet would be scattered
across to floor because of the deceleration). So if a “safety cage” or other safety device is opened
and the “quick stop” input is activated, the drive should ramp down with the appropriate ramp
and then activate the safety brake. This functionality is achieved by setting par. 19-06 to “0” and
tuning par. 32-81 to the lowest allowable setting.
MCO351 Positioning Controller
5. Application Examples
MG.33.R1.02 - VLT
®
is a registered Danfoss trademark
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5