Danfoss MCO 305, Руководство по конструкции, Страница: 28 / 242

MCO 305 Design Guide
__ Functions and Examples __
28
MG.33.L4.02 – VLT
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Command Description Syntax Parameter
DEF SYNCORIGIN Defines master-slave relation for the
next SYNCP or SYNCM command DEFSYNCORIGIN
master slave master = reference position in qc
slave = reference position
MOVESYNCORIGIN Relative shifting of the origin of
synchronization MOVESYNCORIGIN
mvalue mvalue = Relative offset
PULSACC Sets acceleration for master
simulation PULSACC a a = acceleration in Hz/s
PULSVEL Sets velocity for master simulation PULSVEL v v = velocity in pulses per second
(Hz)
SYNCP Synchronization of angle/position SYNCP –
SYNCSTAT Queries flag for synchronization
status res = SYNCSTAT –
SYNCERR Queries actual synchronization error
of the slave res = SYNCERR –
†
Position Synchronizing Sample Program
/************************* Position Synchronizing Sample Program ***********************/
// Inputs: 1 Start/stop synchronization
// 2 Start homing
// 3 Home switch
// 4 Increase offset
// 5 Decrease offset
// 8 Clear Error
// Outputs: 1 Within synchronizing accuracy, set accuracy window in par. 33-13
// 2 Homing done
// 8 Error
/****************************** Interrupts **************************************/
ON ERROR GOSUB errhandle
// In case of error go to error handler routine, this must always be included
/************************** Basic settings ************************************/
VEL 100 // Sets maximum slave velocity related to par. 32-80 Maximum velocity
ACC 100 // Sets slave acceleration related to par. 32-81 Shortest ramp
DEC 100 // Sets slave deceleration related to par. 32-81 Shortest ramp
/*********************** Define application parameters *****************************/
LINKGPAR 1900 "Offset step" 0 10000 0
LINKGPAR 1901 "Offset type" 0 1 0
/********************** Set parameters and flags ********************************/
SET I_FUNCTION_3 1 // Define input 3 as Home switch input
next_step = 0
home_done = 0
new_offset = 0
/************************************* main loop ******************************/
MAIN:
IF (IN 2 == 1) THEN // Start homing if input 2 high
HOME // Go to Home and set position to 0
home_done = 1 // Set home_done flag
OUT 2 1 // Set home done output
ENDIF
IF (IN 1 == 1) AND (home_done == 1) THEN // Start synchronizing when input 1 = 1 and homing done.