Danfoss VLT Series Programming Manual page 150

Operation with ISD Toolbox
st
1 one for setting the preceding node and start rotor
angle, and the 2
and end rotor angle. To set the preceding or succeeding
node, either left-click on an existing node to select it, or
left-click on an empty area to create a new node and
select it. In both cases, the start and end rotor angles
depend on the y-coordinate of the mouse pointer,
however the start and end velocity and acceleration are set
to 0 as default.
It is possible to create 3 different types of Guide poly by
using the right-mouse button when selecting the
5 5
succeeding node:
•
Create a 1
constant velocity, zero acceleration).
•
Create a 2
(P2, quadratic position, linear velocity, constant
acceleration).
•
Create a 2
position (P2, quadratic position, linear velocity,
constant acceleration calculated from end
position).
After right-clicking and selecting the desired type in the
context menu (see Illustration 5.69), the succeeding node
and end rotor angle are selected using the left mouse
button.
Illustration 5.69 Advanced CAM Editor: Create Special Guide
Poly Types
The segment context menu offers functionalities for fast
segment transformation. All functionalities contained in the
segment context menu are also available in the segment
properties list (see Illustration 5.70).
The context menu contains the entries Preceding node and
Succeeding node, which are used to view and change the
selected preceding and succeeding node of a segment.
148
VLT
nd
one for setting the succeeding node
st
order Guide poly (P1, linear position,
nd
Guide poly with specified acceleration
nd
Guide poly with specified end
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® ®
Integrated Servo Drive ISD
It is possible to transform Guide poly and Time polys to 1
nd
and 2 order polynomials (P1 or P2) by using the
Transform to P1 or Transform to P2 entry.
Using the Default segment entry, it is possible to specify if
the segment is the default segment of its preceding node.
Using the segment context menu, it is possible to change
the subtype of a segment by right-clicking on a segment,
opening the segment submenu, and selecting the desired
target type under the entry Change SubType (see
Illustration 5.70).
For guide segments, the Change SubType to . . . entry
allows switching a segment between the following types:
•
Move distance segment
•
Event segment container
•
Flying stop segment
•
Guide poly
•
Return segment
The transformation options of the guide segment context
menu are shown in Illustration 5.70.
Illustration 5.70 Advanced CAM Editing: Segment Context
Menu
When there is an existing Event segment container, the
advanced CAM Editor context menu contains entries for
creating an event node and creating a Time poly (see
Illustration 5.71). The process for creating event nodes and
event segments is similar to the process for creating guide
nodes and guide segments. The main differences are:
•
Event nodes do not contain any coordinates so
the point in time they are passed fully depends
on their predecessor event segments. Therefore,
when selecting the option Create event node and
placing an event node using the left mouse
button, the event node is not instantly shown at
the position on which was clicked. Instead, it is
only shown after an event segment is set to have
the event node as successor node.
•
When creating a Time poly, its predecessor node
has to already exist and a path must also exist
510 System
st
MG36D102