Danfoss MCO 305, Руководство по конструкции, Страница: 23 / 242

MCO 305 Design Guide
__ Functions and Examples __
MG.33.L4.02 – VLT
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Program Example: Touch Probe Positioning for Palletizer Application
/******** Touch probe positioning sample program for palletizer application example *********/
//
Inputs: 1 Go to position
// 2 Touch probe
// 8 Clear Error
// Outputs: 1 In position
// 8 Error
/********************************* Interrupts ************************************/
ON ERROR GOSUB errhandle // In case of error go to error handler routine, this must always be included
ON INT 2 GOSUB tp_handler // Call touch probe handler on positive edge of input 2.
/******************************* Define flags ***********************************/
flag = 0
tp_active = 0
/***************************** Basic settings **********************************/
VEL 80 // Sets positioning velocity related to parameter 32-80 Maximum velocity.
ACC 100 // Sets positioning acceleration related to parameter 32-81 Shortest ramp.
DEC 100 // Sets positioning deceleration related to parameter 32-81 Shortest ramp.
/************************** Define application parameters ***************************/
LINKGPAR 1900 "Touch probe distance" 0 1073741823 0
/******************************* main loop **************************************/
MAIN:
IF (IN 1 == 1) AND (flag == 0) THEN
// Start movement once (ensured by flag) when input 1 is high.
OUT 1 0 // Reset "In position" output.
CVEL 80 // Set constant velocity.
CSTART // Start with constant velocity.
tp_active = 0 // Reset "tp_active" to enable new touch probe positioning.
flag = 1 // Set "flag" to ensure that distance is only traveled once.
ELSE
MOTOR
STOP // Stop if input is low.
flag = 0 // Reset "flag" to enable new start.
ENDIF
GOTO MAIN
/****************************** Sub programs start *******************************/
SUBMAINPROG
/****************************** Touch probe handler ******************************/
SUBPROG tp_handler
IF (tp_active == 0) THEN
POSR (GET 1900) // Go to touch probe target position
WAITAX // Halt program execution until position is reached (This is necessary as
// NOWAIT ON is automatically set in a subroutine called by interrupt).
OUT 1 1 // Set "In position" output.
tp_active = 1 // Set "tp_active" to ensure that touch probe positioning is done only once
ENDIF
RETURN
/******************************** 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.
flag = 0 // Reset "flag" to enable new positioning.
RETURN
/*****************************************************************************/
ENDPROG
/******************************** End of program ********************************/