Danfoss VLT Series Programming Manual page 278

Servo Drive Parameter Descr...
Bit 15
0
0
0
0
1
1
7 7
1
Table 7.102 Definition of Bits 6, 7, and 15
330
(similar to linear axis)
Illustration 7.3 Possible Rotary Axis Movements
If rado bits are set to 0 (normal), the servo drive is able to turn >1 revolution. This applies if object 0x607B is set to 0° and
360°, and the target positon is above 1 revolution.
For the options Only negative direction, Only positive direction, and Last direction, a movement bigger than the modulo value
is not possible. If the value of the target position is bigger than the modulo value, then the modulo operation is used to
determine the position within the range. This position is then used as the target position (for example, if the target position
is set to 410°, then the actual target position is 50°). The direction to reach this position is then determined by the rado
bits.
If rado bits are set to 1 (optimized), the shortest way to the new target position must be found. In this case, the servo drive
must never turn more than 180°, even if the distance between target position is >1 revolution. However, it is allowed to
cross the maximum/minimum limits of object 0x607B to reach the target position.
276
VLT
Bit 7 Bit 6
0 0
0 1
1 0
1 1
0 0
0 1
1 x
360=0
330
50
Bit7 Bit6
0 0
210 150 210
normal only negative
Danfoss A/S © 01/2017 All rights reserved.
®
Integrated Servo Drive ISD
Definition
Normal positioning similar to linear axis; If reaching or exceeding the position range
limits (0x607B), the input value automatically wraps to the other end of the range.
Positioning can be relative or absolute.
Movement greater than a modulo value is only possible with this bit combination.
Positioning only in negative direction; If the target position is higher than the actual
position, then the axis moves over the minimum position limit (0x607B, sub-index 01)
to the target position.
Positioning only in positive direction; If the target position is lower than the actual
position, then the axis moves over the maximum position limit (0x607B, sub-index 02)
to the target position.
Positioning with the shortest way to the target position.
If the distance in both directions is the same, the axis moves in positive direction.
Positioning in last direction; Similar to positioning, however the direction (negative or
positive) depends on the last known positioning direction. If no previous direction is
available, then positive direction is used.
Reserved.
Reserved.
360=0
330
50
Bit7 Bit6 Bit7 Bit6
0 1
150
210
only positive
direction
®
510 System
360=0 360=0
330
50
Bit7 Bit6
1 0
150 210
optimized
direction (shortest way)
50
1 1
150
MG36D102