Danfoss VLT Series Programming Manual page 219

Programming
Name Corresponding stopping mode
ddCoasting_ Coasting and stay in state Operation.enabled
ISD51x
ddRamp_ Slow down on specified ramp and stay in state
Operation enabled. The deceleration value must be
ISD51x
specified for this mode.
ddCurren- Slow down on current limit and stay in state
tLimit_ Operation enabled.
ISD51x
Table 6.60 Enumeration DD_STOPPING_MODE_ISD51x
6.5.6.7 DD_NodeNotification_ISD51x
This function block is used for advanced and basic CAMs. It
enables/disables the sending of a notification when a
certain node within the CAM is passed. Also, information
about the following segment of this node is transmitted.
The information can be read using function block
DD_ReadCamInfo_ISD51x (see
chapter 6.5.6.9 DD_ReadCamInfo_ISD51x).
DD_NodeNoti cation_ISD51x
AXIS_REF_- Axis
ISD51x
BOOL Execute
UINT NodeID
BOOL SendNote
Illustration 6.78 DD_NodeNotification_ISD51x
Variable Data type Default
name value
VAR_IN_OUT
Axis AXIS_REF_ISD51x
VAR_INPUT
Execute BOOL FALSE
NodeID UINT 0
SendNote BOOL FALSE
VAR_OUTPUT
MG36D102
Programming Guide
Done BOOL
Busy BOOL
Error BOOL
ErrorInfo DD_ERROR_ISD51x
Description
Reference to the axis.
See
chapter 6.5.4.1 AXIS_REF_IS
D51x.
Sends the command to
enable/disable the node
notification.
ID of the node that
should/should not send a
notification when it is
passed.
FALSE: No notification is
sent.
TRUE: Notification is sent
together with information
of the following segment.
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Variable Data type Default
name value
Done BOOL
Busy BOOL
Error BOOL
ErrorInfo DD_ERROR_ISD51x
Table 6.61 DD_NodeNotification_ISD51x
6.5.6.8 DD_GoToSetpoint_ISD51x
This function block is used for advanced and basic CAMs. It
commands a movement to the setpoint of the CAM while
the guide value velocity is 0. This is used, for example,
when starting up a CAM and the axis position is not on
the CAM profile.
The required movement is then calculated by the axis
itself, based on the direction option code (see Table 6.42
for available values) over the specified time. The guide
value velocity must stay at 0 until this movement is
finished.
DD_GoToSetpoint_ISD51x
AXIS_REF_ISD51x
BOOL Execute
MC_DIRECTION_ISD51x Direction
UINT Duration
Illustration 6.79 DD_GoToSetpoint_ISD51x
Variable Data type Default
name value
VAR_IN_OUT
Axis AXIS_REF_ISD51x
VAR_INPUT
Execute BOOL FALSE
Direction MC_DIRECT mcShor-
ION_ISD51 testWay
x _ISD51x
Duration UINT 0
Description
The command has been
sent.
The function block is not
finished and new output
values are to be expected.
An error has occurred
within the function block.
Error identification and
instance identifier.
See chapter 6.5.2.3 Error
Indication.
Axis
Done BOOL
Busy BOOL
Error BOOL
ErrorInfo DD_ERROR-
_ISD51x
Description
Reference to the axis.
See
chapter 6.5.4.1 AXIS_REF_IS
D51x.
Starts the motion at rising
edge.
Direction of motion.
See Table 6.42.
Duration of this
movement [ms].
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