Dd_Getinertia_Isd51X; Drive - Cam Operation; Mc_Camtableselect_Isd51X - Danfoss VLT Series Programming Manual

Programming
Enumeration MC_SYNC_MODE_ISD51x defines the synchro-
nization types for the gear in process.
Name
mcShortest_ISD51x
mcCatchUp_ISD51x
mcSlowDown_ISD51x Synchronization is done to slow down to
Table 6.50 Enumeration MC_SYNC_MODE_ISD51x
6 6

6.5.5.11 DD_GetInertia_ISD51x

This function block is used to determine the inertia of the
servo drive system. Only activate the function block when
the axis is in state Standstill. Only values >0 are allowed for
the inputs VelocityLimit and TorqueLimit.
The command is transferred and executed immediately.
AXIS_REF_-
ISD51x
BOOL
UDINT
UINT
Illustration 6.71 DD_GetInertia_ISD51x
Variable
name
VAR_IN_OUT
Axis
VAR_INPUT
Execute
VelocityLimit
TorqueLimit
VAR_OUTPUT
212
Description
Synchronization is done to have the
shortest way for the slave.
Synchronization is done to catch up to
the master axis (synchronization to current
master cycle).
the master axis (synchronization 1 master
cycle later).
DD_GetInertia_ISD51x
Axis
Execute Done
VelocityLimit Busy
TorqueLimit CommandAborted
Error
ErrorInfo
Inertia
Data type Default Description
value
AXIS_REF_ISD51x Reference to the axis.
See
chapter 6.5.4.1 AXIS_REF_IS
D51x.
BOOL FALSE Starts the inertia
measurement at rising
edge.
UDINT 0 Maximum velocity used
during the measurement
[user-defined velocity unit].
Only values >0 are
allowed.
UINT 0xFFFF Maximum torque used
during this motion [mNm
(Millinewtonmeter)].
Danfoss A/S © 01/2017 All rights reserved.
®
VLT Integrated Servo Drive ISD
Variable
name
Done
Busy
CommandA-
borted
Error
ErrorInfo
Inertia
Table 6.51 DD_GetInertia_ISD51x
6.5.6 Drive – CAM Operation

6.5.6.1 MC_CamTableSelect_ISD51x

This function block selects the CAM tables by setting the
connections to the relevant tables. When the Done output
BOOL
is set, the axis internal buffer defined by CamTableID is
BOOL
valid and ready for use in a MC_CamIn_ISD51x function
BOOL
BOOL block. The sending and parsing of the CAM can take some
DD_ERROR_ISD51x
time.
REAL
The function block sends the information to the axis.
Execute this function block for every axis if >1 axis must
follow the same CAM. This function block only writes the
CAM information to the servo drive and does not activate
the CAM. Use function block MC_CamIn_ISD51x to activate
the CAM. If the CAM profile contains a pattern alignment,
the pattern file must be given to input PatternFile. If there
is no pattern alignment inside the CAM, use an empty
string.
AXIS_REF_ISD51x
STRING(80)
E_OpenPath
STRING(80)
Illustration 6.72 MC_CamTableSelect_ISD51x in TwinCAT
®
510 System
Data type Default Description
value
BOOL The inertia measurement
has completed successfully
and the value is available.
BOOL The function block is not
finished and new output
values are to be expected.
BOOL Command is aborted by
another command.
BOOL An error has occurred
within the function block.
DD_ERROR_ISD51x Error identification and
instance identifier.
See chapter 6.5.2.3 Error
Indication.
REAL Measured inertia [kg m²].
MC_CamTableSelect_ISD51x
Slave
CamTable
BOOL Execute Done
USINT CamTableID Busy
BOOL MasterAbsolute Error
BOOL SlaveAbsolute Errorinfo
BOOL Cyclic ParseError
Path ParseErrorDebug
PatternFile
BOOL
BOOL
BOOL
DD_ERROR_ISD51x
WORD
DWORD
®
MG36D102