ARLACON MC300
MC300MAE
Control system
User's manual
28
Product code 1003418
Max. 15 physical axes can be connected to the system with axis connection modules. Axes not
used as physical axes can be used as virtual axes in conjunction with command like FOLLOW
and MOVEPROF.
The default DRIVETYPE for the first four axes (X,Y,Z,W) in MC300 is 1 (standard closed loop
with ±10V reference) and 176 (virtual) for all other axes. Use the McBasic DRIVETYPE=
command to set axes according to your needs. When configuring connection modules to the
I/O system, following references are used for INP(
a
) (and OUT(
a
)) in configuration strings for
axis connection modules.
axis
axis
McWay
letter
number
address
a
X
0
0
Y
1
4
Z
2
8
W
3
12
A
4
16
B
5
20
C
6
24
D
7
28
T
8
32
U
9
36
10
40
11
44
12
48
13
52
14
56
15
60
It is recommended that addresses 0 ... 63 not be used for i/o other than axes control as in
many MC300 configurations and other ARLACON MC control systems they are used for
motion control purposes.'
3.3 STARTING THE SERVO SYSTEM
To use the MC300/WAX2 servo control features, it is necessary to set some McBasic motion
control parameters.
The MC300 based motion control system consists of the drive system usually forming an inner
speed control loop and the outer MC300 position control loop.
When the McBasic command or application program activates the MC300 motion control
software, the position set value in the system starts to move as a function of time to form the
image of the motion.
The position regulator continuously calculates the speed reference value for the drive to hold
the actual position as close to the set value as possible, thus performing the actual motion
according to the set value motion.
The operation of the position regulator can be adjusted with four parameters:
GAINx
PID gain factor (0...65535)
INTGx
PID intergrating factor (0...255)
DERVx
PID derivating factor (0...255)
SCOMPx
Speed compensation (distance units/s)
Where x is the name of the axis involved (X, Y or Z). Alternately, syntaxes with number
references for axes can be used. This also allows indirect referencing:
