Danfoss MCO 305 Befehlsreferenz Seite 163

MCO 305 Befehlsreferenz
CurveArray (Long orientiert)
1 1
Identification (999.000.001)
2 2
Version (101, 102)
3 3
CurveType
4 4
CurveName1 (4char)
5 5
CurveName2 (4char)
6 6
CurveName3 (4char)
7 7
CurveName4 (4char)
8 8
IndexCIF - CurveInformation - Default = 17
9 9
Index STP - Start-Stop Points
10 10
Index FIP - Fixpoint Part
11 11
Index INP - Interpolation Part
12 12
Index STPI - StartStopInerpInd Default INP + InterPolPointNo
13 13
Index STPV - StartStopVel
14 14
Index STIP - StartPathInterpol Default STPV + STPno*2
15 15
Index STPIP - StopPathInterpol Default STIP + MaxStartStopLen
16 16
Extra Info Index (CU_GRAD / LBLINF - Optional Label Info)
17 1
MasterCycleLen (MU)
18 2
SlaveCycleLen (UU) -
19 3
FixPoint number
20 4
InterpolPointNo
21 5
Interpolation Type
22 6
SlaveStopPosition
23 7
CorrectionStartPoint
24 8
CorrectionStopPoint
25 9
Maximum Correction
26 10
MaxStartStopLen
27 11
StartStopNo
28 12
MMaxCycles
29 13
MMarkerPos
30 14
SMarkerPos
31 15
ExtraDataSize
32 1
STPoint_1a
STPoint_1b
.........................
FixPoint_1.master
FixPoint_1.slave
FixPoint_1.type
T = Tangent)
.........................
FixPoint_n.master
FixPoint_n.slave
FixPoint_n.type
T = Tangent)
StartVelocityNum
StartVelocityDen
StartAccelerationNum
StartAccelerationDen
StartJerkNum
StartJerkDen
EndVelocityNum
EndVelocityDen
EndAccelerationNum
EndAccelerationDen
EndJerkNum
EndJerkDen
Interpolatio nSection (Interpolation Points, Start Stop Indices,
StartStop Velocities, StartPath Interpolation Points, StopPath
Interpolation Points)
__ Anhang __
Range is 0 .. 4
Default = 31 (32 for Version 102)
Default STP+STPno*2
Default FIP + FixPointNo * 3
Default STP + STPno *2
Length of Curve in Master Units
Max. Slave travel dist in UU
Number of fix points (minimum 2)
Number of interpol points
(0 = open, 1 = periodic, 2+3 spec)
position slave has to be after stop
Pos. where correction may start
Pos. where correction has to stop
maxmal allowed correction
max length of start stop path
Number of start stop point pairs
Max cycles per minute (info only)
Master Marker Pos. in curve
Slave Marker Pos in curve (cmd)
Size of extra Data (Version>=102)
Start Point Pair 1 - Point A
Start Point Pair 1 - Point B
Master Coordinate
Slave Coordinate
Type (C = curve,
Master Coordinate
Slave Coordinate
Type (C = curve,
used for Poly5 and Splines
(not used for Splines)
(not used for Splines)
(not used at the moment)
(not used at the moment)
used for Poly5 and Splines
(not used for Splines)
(not used for Splines)
(not used at the moment)
(not used at the moment)
MG.33.L4.03 – VLT ist ein eingetragene
defines handling of start / end velocities.
0 = start and end velocity is average,
1 = end velocity is set to start velocity (Hauser compatible).
2 = start and end gradients are set to 0 (5th order).
3 = start and end gradients are user defined (CU_GRAD)
4 = start and end gradients user defined (CU_GRAD_INTRPT) (starts immediately)
not used any more, because curves are calculated on the
fly now
optional Label Info, only used if Interpolation Type (see 21)
is >= 2
Since Version 102 used if CurveType(see 3) is CU_GRAD
(3) or CU_GRAD_INTRPT(4). In that case the extra info
contains start and stop gradients.
internally overwritten by FixPoint_n.master - FixPoint_1.master
internally overwritten by (FixPoint_n.slave- FixPoint_1.slave)
maximum is 100 at the moment
not used any more, because curves are calculated on the fly now
Interpolation Types are interpreted as follows:
0 = open (only relevant for CAM - editor)
1 = periodic (only relevant for CAM - editor)
2 = Labeling - old version with precalculation
3 = Labeling - actual development version
wird im Moment nicht übergeben !! Stop ohne
CURVESTOP wird wohl nicht funktionieren
next 3 only relevant for marker correction
not used any more, because curves are calculated on the fly now
next 2 only relevant for marker correction
At the moment length is 12
values are given in MU. Point A is where the stopping begins and B
is where it has to be finished. If driving backward, it is vice versa.
Fixpoints are give in MasterUnits (master coordinate) or UserUnits (slave
coordinate). The type can be either
C = CurvePoint
T = TangentPoint
More then two curvepoints are interpolated by cubic spline functions. That means,
that a 3rd order Polynom connects two curvepoints in that way, that the position,
velocity and acceleration are identical in intermediate Curvepoints.
If there is only one CurvePoint followed by an TangentPoint ore a TangentPoint
followed by only one CurvePoint (endpoint) or two tangents following each other,
then we use 5th order polynoms to connect these points.
Velocity is used, if the CurveType is 3 or 4 (CU_GRAD or CU_GRAD_INTRPT) and curve
does not start with a tangent. If curve starts with a tangent, all other values are ignored too.
Acceleration is used, if the CurveType is 3 or 4 (CU_GRAD or CU_GRAD_INTRPT) and
curve starts with a Poly5.
Velocity is used, if the CurveType is 3 or 4 (CU_GRAD or CU_GRAD_INTRPT) and curve
does not end with a tangent. If curve ends with a tangent, all other values are ignored too.
Acceleration is used, if the CurveType is 3 or 4 (CU_GRAD or CU_GRAD_INTRPT) and
curve ends with a Poly5.
not used any more, because curves are
calculated on the fly now
CurveArray_6_6_x.vsd
157
2008-05-24 bi