Danfoss VLT Series Programming Manual page 158

Operation with ISD Toolbox
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The friction segment can only be edited using the Property
Window. The duration of the segment is used for
calculating the segment length. The highest value of
Velocity low and Velocity high is used for calculating the
segment polynomial. For fast visual identification, F
shown in the middle of the segment. Illustration 5.80 shows
a friction segment with the following settings:
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Velocity high: 120 RPM
•
Velocity low: 60 RPM
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Duration: 2075 ms
As the Velocity high value is higher than the Velocity low
value, it is used for calculating and visualizing the
segment.
Illustration 5.80 Friction Segment
156
®
VLT
Velocity low: Velocity of the axis during
this segment.
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.
Do compensation: Specifies if friction
compensation should take place. If True
is selected, the measured friction is
compensated automatically by the servo
drive. If False is selected, the value can
be used for diagnostics.
Guide value: Specifies the guide value
offset for starting the measurement.
Timeout: Specifies the timeout in ms for
reaching the guide value offset and
starting the measurement.
Danfoss A/S © 01/2017 All rights reserved.
®
Integrated Servo Drive ISD 510 System
Event segment path visualization
The event nodes do not have fixed guide value positions.
They are calculated by the preceding segments. Whenever
an Event node has 2 succeeding event segments, either 1
of those may be activated when a CAM profile is activated.
This in turn affects the positions of all following event
nodes and segments. This behavior may result in complex
profiles that are difficult to calculate and visualize. To help
create complex event-based behavior, the advanced CAM
Editor computes an active segment path by using the
default segments for all nodes.
The default segment path is iteratively computed as
follows:
•
The 1
container is selected and its default segment is
marked as active.
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In the marked segment, the default segment of
the succeeding event node is marked as active.
All iterated nodes and marked segments are shown in the
visualized path and are visualized as black curves.
Segments and nodes that are not marked as active are
visualized as gray curves (see Illustration 5.81).
is
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Illustration 5.81 Visualization of 2 Paths within an Event
Segment Container
A change to a default segment of an event node results in
a modification of the entire active path shown. This
behavior is shown in Illustration 5.82 and Illustration 5.83
where the default segment of the 2
This triggers a new computation of the following path and
a relocation of all succeeding elements due to the different
duration and end position of the newly selected default
segment.
st
event node of the parent Event segment
nd node is switched.
MG36D102