MOBA Farmpacker M100T, Training Manual

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Release 5
Training manual , MOBA Farmpacker M100T 25
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5 The LUST controller
The MSW1 program of the LUST controller handles following functions:
1. Scan of the Code disc
2. Positioning of the lane to the Home sensor
3. Calculation of several pull-up commands
4. Stop commands for several stops of the lane
5. Run the lane in oiling-mode
5.1 Technical subscription LUST program
To create a defined HOME position, after a Start signal, the lane motor will always run to the HOME
postion, even if the Home position was already activated. If the INIT signal is not present, the motor will
stop and run to the first defined stop position. If the INIT signal is active, the memory will be cleared and
the motor will run to the HOME Position and will start the learning procedure. During the learning
procedure, it is possible to stop the sequence if the START signal becomes “0”.
5.1.1 The learning procedure:
The motor will run and the Encoder pulses are counted until the ROW sensor detect the first hole is the
code disc. The pulse count is now stored in the “H-register”. The counter is reset and the motor start to run
to the next ROW sensor hole on the disc. This procedure will repeat until the HOME sensor is detected
again. Then the procedure is stopped. The marker “Sluiten” (Close), used to calculate the stop positions,
will become TRUE. The INIT signal is now checked for 1 second. If the INIT signal becomes “0” the lane
will move on turtle speed until the INIT signal becomes “1” again. Does the INIT signal is “1” during this
second, the MSW1 will read the values from the H-Register and calculate the trajectories of the lane.
These values will be stored in the “F-register”. Then the MSW1 will wait for the INIT signal to become “0”.
5.1.2 Running the lane:
The first trajectory is loaded and the MSW1 wait until a START signal is “0”.The MSW1 wait until the start
signal is “1”(rising edge).The trajectory is performed and the motor will stop on Row sensor signal. The
next trajectory is loaded and the motor starts again on the start signal “1”(rising edge). This procedure will
repeat until the HOME sensor is activated again. The first trajectory is loaded.
This cycle is repeated until:
- the MSW1MSW1 is sending a STOP
- The MSW1 is switched
- off or the INIT signal become “1”
5.2 LUST controller modes
The LUST controller can operate in two modes:
- FOR-mode (Field Oriented Regulation) used at the Farmpacker M100.
- VFC-mode (Voltage Frequency Control) used at the M2500 grader.