Danfoss MCO 305, Руководство по конструкции, Страница: 20 / 242

MCO 305 Design Guide
__ Functions and Examples __
20
MG.33.L4.02 – VLT
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is a registered Danfoss trademark
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Program Example: Absolute Positioning for Palletizer Application
/********************** Absolute Positioning program sample **************************/
// Inputs: 1 Go to pick up position
// 2 Goto deliver position
// 3 Home switch
// 8 Clear Error
// Outputs: 1 In pick up position
// 2 In deliver position
// 8 Error
/****************************** Interrupts **************************************/
ON ERROR GOSUB errhandle
// In case of error go to error handler routine, this must always be included
/**************************** Basic settings ***********************************/
VEL 80 // Sets positioning velocity related to par. 32-80 Maximum velocity
ACC 100 // Sets positioning acceleration related to par. 32-81 Shortest ramp
DEC 100 // Sets positioning deceleration related to par. 32-81 Shortest ramp
/*********************** Define application parameters *****************************/
LINKGPAR 1900 "Pick up Position" 0 1073741823 0
LINKGPAR 1901 "Deliver Position" 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 pick up position when only input 1 is high
OUT 2 0 // Reset "In deliver position" output
POSA ( GET 1900) // Go to position
OUT 1 1 // Set "In pick up position" output
ELSEIF ( IN 1 == 0 ) AND ( IN 2 == 1 ) THEN // Go to deliver position when only input 2 is high
OUT 1 0 // Reset "In pick up position" output
POSA ( GET 1901 ) // Go to position
OUT 2 1 // Set "In deliver position" output
ELSE
MOTOR STOP // Stop if both inputs are low or high.
ENDIF
GOTO MAIN
/*********************** Sub programs start *************************************/
SUBMAINPROG
/************************* Error handler ****************************************/
SUBPROG errhandle
err = 1 // Set error flag to remain in error handler until error is reset.
OUT 8 1 // Set error output
WHILE err DO // Remain in error handler until the reset is received
IF IN 8 THEN // Reset error when Input 8 is high.
ERRCLR // Clear error
err=0 // Reset error flag
ENDIF
ENDWHILE
OUT 8 0 // Reset error output
RETURN
/*****************************************************************************/
ENDPROG
/*************************** End of program ************************************/