Danfoss MCO 305 Befehlsreferenz Seite 158

MCO 305 Befehlsreferenz
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Curve Arrays and Curve Types
Starting with MCO 5.00 no interpolation points are used anymore. So only the fix points are relevant for the
curve. When a SETCURVE is executed (or when the curve is really started), the coefficients for the corres-
ponding polynomials are calculated. Then, when the curve is running, the polynomials are calculated on the
fly, while driving.
This procedure allows the user to modify a curve on the fly within the application program. This can be done
by overwriting some of the values within the curve array. (See description of curve array in Illustrations.).
After that a SETCURVE must be executed to activate the modified curve. This curve is then started as soon
as the active curve ends, or immediately by replacing the active curve, if the new curve is of type
INTRPT_GRAD (see array description).
NB!:
The curve array is used by the internal SYNCC procedures as long as the curve is running. So you
should never modify the curve array of a running curve. To solve this problem you must have two
arrays which are used alternatively. That means while one curve is active, the next one can be
prepared and started. As soon as the new one is active (PFG_CWRAP changes), the old curve can be
modified again.
Type of Fix points
Starting with MCO 5.00 there are new types of fix points. The way tangent points are used is changed. Now
the first fix point always tells what type of segment is following. So the last point is always of same type as
the first point.
There are new points like Poly3 and Trapezoidal which allow special segments within the curve to be used.
For new curves only the bold point types should be used.
#define CU_CPOINT
#define CU_T1POINT
#define CU_T2POINT
#define CU_TPOINT
#define CU_ZPOINT
#define CU_3POINT
So you can, for example, create sequences like .. 4 – 5 – 4 – 5 which means that you will have two straight
lines (tangents) which are connected by two parabolas. Those two parabolas meet each other in the middle
between the fix points and at all three points (start, middle, end) of the segments, the velocity is the same
as the adjacent segment.
The following new curve types can be used by changing the array.
New Curve type 3 – CU_GRAD
Starting with MCO 5.00 another type of curve (3) is supported. This curve consists of only 2 fix points and is
calculated as a polynomial of 5
point area in the curve array (G_CFPIdx is the index of the fix point area):
RestartCurve[3] =
RestartCurve[G_CFPIdx+0] =
RestartCurve[G_CFPIdx+1] =
RestartCurve[G_CFPIdx+2] =
RestartCurve[G_CFPIdx+3] = G_ShingleDistance * 4
RestartCurve[G_CFPIdx+4] = G_ShingleDistance * 2
RestartCurve[G_CFPIdx+5] =
RestartCurve[G_CFPIdx+6] =
RestartCurve[G_CFPIdx+7] =
RestartCurve[G_CFPIdx+8] =
RestartCurve[G_CFPIdx+9] =
158
__ Anhang __
1 // Curve point (next segment is 3'rd or 5'th order polynomial).
2 // Tangent start point (replaced by CU_TPOINT).
3 // Tangent end point (replaced by CU_CPOINT).
4 // Next segment is a tangent segment.
5 // Next segment is a trapezoidal segment.
6 // Next segment is a 3'rd order polynomial.
th
order. Therefore, the following values were added at the end of the fix
3
0
0
1
1
0
1
0
1
®
MG.34.R1.03 – VLT ist ein eingetragenes Warenzeichen von Danfoss.
// Curve type
// Master start coordinate
// Slave start coordinate
// Fix Point Type = curvepoint
// Master end coordinate
// Slave end coordinate
// Fix Point Type = curvepoint
// Velocity v0
// Divisor v0
// Acceleration a0
// Divisor a0