Danfoss MCO 305 Befehlsreferenz Seite 159

MCO 305 Befehlsreferenz
RestartCurve[G_CFPIdx+10] =
RestartCurve[G_CFPIdx+11] =
RestartCurve[G_CFPIdx+12] =
RestartCurve[G_CFPIdx+13] =
RestartCurve[G_CFPIdx+14] =
RestartCurve[G_CFPIdx+15] =
RestartCurve[G_CFPIdx+16] =
RestartCurve[G_CFPIdx+17] =
That means we have the possibility to define start and end gradients and acceleration for the polynomial.
(Jerk is ignored at the moment. Designed for future use.)
In this array, the start coordinates are only for display purposes because they are replaced by the actual
values when the curve is started. (see below)
As a result of this behavior of type 3 curves (predefined end values and calculated start values), they
normally cannot be continued when they reach the end (since typically the velocities do not match). There-
fore, they are normally continued by another standard curve. If for any reason they are not continued by
another curve, they will just try to continue with the actual velocity. This is done with a poly5 looking more
or less like a straight line.
NB!:
This continuation overwrites the original curve array with this continuation curve.
Continuation did not work for curves with more than 2 fix points prior to 6.7.11. In those versions,
there was also an error when CU_GRAD curves with more than 2 fix points where used as a
continuation curve.
New Curve type 4 CU_GRAD_INTRPT
Type 4 is available starting with MCO 5.00. This type is nearly identical to type 3 (CU_GRAD).
The big difference with curves of type CU_GRAD_INTRPT is that they are started immediately when the
SETCURVE is executed. When this is done, the actual values for velocity and acceleration are used for the
calculation. The actual values of the MCPOS and CURVEPOS are subtracted from the end coordinates of the
curve before it is calculated (curves must always internally start at 0,0). This guarantees, that the original
end coordinates are absolute to the start of the interrupted curve.
For example, assume that a curve is running which starts at 0,0 and ends at 2000,2000 (master,slave).
Now we define a curve of type CU_GRAD_INTRPT, which starts anywhere and ends at 4000,4000. If this
curve is now set by SETCURVE at the moment when the original curve passes 1500,1800, for example, then
the new curve is calculated in such a manner that it starts at this point (1500,1800) and ends at
4000,4000. To realize this, it uses the velocity and acceleration in the actual point, sets MCPOS and
CURVEPOS to 0 and reduces the end coordinates to (4000-1500, 4000-1800) = (2500,2200). It will have
the defined velocity (v1) and acceleration (a1) defined in the curve array.
These types of curve are used for processes where the standard curve looks more or less like a straight line
(SYNCP / SYNCM behavior) and where the poly5 curves are used to align start or stop or restart processes
to defined points.
NB!:
The responsibility for the correctness of poly5 curve lies with the user / application. The firmware
does not do any plausibility test.
To allow readability by CAM-Editor, the CurveVersion (index 2) should be 102. Otherwise, the CAM
editor will not accept those new curves.
__ Anhang __
0 // Jerk j0
1 // Divisor j0
1 // Velocity v1
1 // Divisor v1
0 // Acceleration a1
1 // Divisor a1
0 // Jerk j1
1 // Divisor j1
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