Danfoss VLT Series Programming Manual page 157

Operation with ISD Toolbox
Illustration 5.77 Torque Segment
Sync segment
The Sync segment has the following properties:
•
Parameters
- Start position: Specifies the axis position
at the beginning of the segment,
relative to the End position of the
previous segment. If the parameter is
left blank (unspecified), the logical CAM
position from the previous segment is
used as the starting position.
- Velocity ratio: Specifies the velocity of
the axis during this segment. The
velocity is calculated as a ratio between
the axis and the guide value (rev/rev).
The velocities of all segments that are
connected by the same node should be
the same to ensure smooth movement.
Incorrect parameterization results in a
jump in velocity.
-
Acceleration: Specifies the acceleration
of the axis when increasing the velocity.
Parameterized jumps may occur in the
acceleration when 2 succeeding
segments have different End acceleration
and Start acceleration values.
-
Deceleration: Specifies the deceleration
of the axis when decreasing the velocity.
- Torque limit: Specifies the maximum
torque used during this segment. The
value is given in mNm.
The sync segment is shown as a P0 polynomial (constant
position, zero velocity). For fast visual identification, sync is
shown in the middle of the segment (see Illustration 5.78).
MG36D102
Programming Guide
Illustration 5.78 Sync Segment
PWM off segment
The PWM off segment does not contain specific properties.
The duration of the segment is used for calculating the
segment length.
The PWM off segment is not shown as a curve. Instead it is
denoted by a grayed-out area between its preceding and
succeeding nodes. This visualization style implies the
undefined behavior of the segment.
For quick visual identification, "pwm off" is shown in the
middle of the segment (see Illustration 5.79).
Illustration 5.79 PWM Off Segment
Friction segment
The Friction segment has the following properties:
•
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Parameters
-
Start position: Specifies the axis position
at the beginning of the segment,
relative to the end position of the
previous segment. If the parameter is
left blank (unspecified), the logical CAM
position from the previous segment is
used as the starting position.
- Velocity high: Velocity of the axis during
this segment.
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