Danfoss MCO 305 Befehlsreferenz Seite 160

MCO 305 Befehlsreferenz
Curve type 3 – CU_GRAD with SYNCCSTART
Such curves (Poly 5) can now also be started with SYNCCSTART. This means the curve starts immediately
and does not wait for next marker. (In previous versions, it was only possible to start such a curve with
SYNCMSTART 2001.)
If such a curve is started now with SYNCCSTART, the user is responsible for the correct setting of the end-
points. Startpoint is 0 which will be internally set to the actual command position. Hence, the curve must be
defined from 0 .. endpoint.
Example:
G_CFPIdx = StartCurve[10]
// Array index, where fix point definition starts
// 1. Fix Point must be 0/0,
// because curve always must start at this position
StartCurve[G_CFPIdx+0]
StartCurve[G_CFPIdx+1]
StartCurve[G_CFPIdx+2]
StartCurve[G_CFPIdx+3]
// Master end coordinate
StartCurve[G_CFPIdx+4]
// Slave end coordinate
StartCurve[G_CFPIdx+5]
StartCurve[G_CFPIdx+6]
StartCurve[G_CFPIdx+7]
StartCurve[G_CFPIdx+8]
StartCurve[G_CFPIdx+9]
StartCurve[G_CFPIdx+10] = 0
StartCurve[G_CFPIdx+11] = 1
StartCurve[G_CFPIdx+12] = 1
StartCurve[G_CFPIdx+13] = 1
StartCurve[G_CFPIdx+14] = 0
StartCurve[G_CFPIdx+15] = 1
StartCurve[G_CFPIdx+16] = 0
StartCurve[G_CFPIdx+17] = 1
SETCURVE StartCurve
....
SYNCC 0
SYNCCSTART 0
In such a case, when SYNCCSTART is executed, the 0 point of the curve is mapped onto the actual
command position. Also, the actual velocity is calculated (and start acceleration is set to zero).
160
__ Anhang __
= 0 // Master start coordinate
= 0 // Slave start coordinate
= 1 // Fix Point Type = curvepoint
= G_ShingleDistance * 4
= G_ ShingleDistance * 2
= 1 // Fix Point Type = curvepoint
= 0 // Velocity v0
= 1 // Divisor v0
= 0 // Acceleration a0
= 1 // Divisor a0
// Jerk j0
// Divisor j0
// Velocity v1
// Divisor v1
// Acceleration a1
// Divisor a1
// Jerk j1
// Divisor j1
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