Danfoss VLT Series Programming Manual page 30

Servo Drive Operation
Actual
2 2
speed
New
setpoint
(bit 4)
Target
position
(setpoint)
Setpoint
acknowledge
(bit 12)
Target
reached
(bit 10)
Illustration 2.14 Handshaking Procedure for Setpoint
Activation
The servo drive supports 2 setpoints: a setpoint that is currently being processed, and a buffered setpoint. If a setpoint is
still in progress (has not been reached) and a new setpoint is activated by the new setpoint bit in the Controlword, 2
methods of handling are supported. The new setpoint is activated immediately if the Change set immediately bit of the
Controlword is set to 1. If the Change set immediately bit of Controlword is set to 0, the currently active setpoint is finished
first and the new setpoint is started afterwards.
New
setpoint
(bit 4)
Change set
immediately
(bit 5)
Setpoint
setpoint
Processed
setpoint
Setpoint
acknowledge
(bit 12)
Target
reached
(bit 10)
Illustration 2.15 Setpoint Handling for 2 Setpoints
New setpoints are buffered as long as a free setpoint buffer is available in the axis. If no setpoint is in progress, the new
setpoint becomes active immediately (case 1 in Illustration 2.15). If a setpoint is in progress, the new setpoint is stored in the
setpoint buffer (cases 2 and 3 in Illustration 2.15).
If all setpoint buffers are busy (Setpoint acknowledge bit is set to 1), the reaction depends on the Change set immediately bit.
If the Change set immediately bit is set to 0, the new setpoint is rejected (case 4 in Illustration 2.15). If the Change set
immediately bit is set to 1, the new setpoint is processed immediately. The currently running setpoint profile is discarded
(case 5 in Illustration 2.15).
28
1 2 3 4
A B C D
C
B C
A A B B B
Danfoss A/S © 01/2017 All rights reserved.
®
VLT Integrated Servo Drive ISD
t
t
t
t
t
5
t
t
E
E
t
t
®
510 System
MG36D102