Danfoss VLT Series Programming Manual page 29

Servo Drive Operation
When switching from a torque or velocity controlled mode to Profile position mode, the last target position is set to the
position actual value. This is relevant when starting a relative movement from the last target position after switching to this
mode, because no last target position from the previous mode is available. If the previous mode ended with a velocity
unequal to 0, the last target position is the position actual value at the time of the mode switch.
If the trajectory is completed (target position is reached) and the end velocity (see chapter 7.10.2 Parameter 52-16: End
Velocity (0x6082)) is unequal to 0, the servo drive continues rotating at the specified end velocity until a further trajectory is
set.
Target position (0x607A)
Limit
Position range limit (0x607B)
function
Software position limit (0x607D)
Drive mirror mode (0x2016, 02)
Drive mirror mode (0x2016, 02)
End velocity (0x6082)
Minimum
Max motor speed (0x6080)
comparator
Max acceleration (0x60C5)
Quick-stop deceleration (0x6085)
Max deceleration (0x60C6)
Quick-stop option code (0x605A)
Positioning option code (0x60F2)
Max torque (0x6072)
Application torque limit (0x2053)
Illustration 2.13 Profile Position Mode Control Function
Target position activation
The activation of a setpoint is controlled by the timing of:
•
The new setpoint bit and the change set immediately bit in the Controlword.
•
The setpoint acknowledge bit in the Statusword.
If the Change set immediately bit of the Controlword is set to 1, a potentially ongoing motion is interrupted and the new
setpoint is used immediately. If the Change set immediately bit of the Controlword is set to 0, the ongoing positioning
command is finished first and the new setpoint is executed afterwards.
After a setpoint is applied to the servo drive, the control device signals that the setpoint is valid by a rising edge of the new
setpoint bit in the Controlword. The servo drive sets the setpoint acknowledge bit in the Statusword to 1. Afterwards, the
servo drive with the setpoint acknowledge bit set to 0 signals its ability to accept new setpoints. An example is shown in
Illustration 2.14.
MG36D102
Programming Guide
Target position
Multiplier
Limit Multiplier
or End velocity
function
Velocity limit
Limit
quick-stop deceleration
function
Minimum Torque limit
comparator
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Position demand
internal value
(0x60FC)
Tragectory
generator
Feed forward
velocity
Feed forward
torque
2 2
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