Danfoss VLT Series Programming Manual page 32

Servo Drive Operation
Illustration 2.18 shows the definition of the sub-function position reached. A window is defined for the accepted position
range symmetrically around the target position. If a servo drive is situated in the accepted position range over the time
2 2 position window time, the bit Target reached (bit 10) in the Statusword is set to 1.
Position not
reached
Illustration 2.18 Position Reached Window
2.4.2 Profile Velocity Mode
In Profile velocity mode, the servo drive is operated under velocity control and executes a movement with a defined velocity
(see chapter 7.11.1 Parameter 52-20: Target Velocity (0x60FF)). Parameters such as acceleration (see chapter 7.5.7 Parameter
50-11: Profile Acceleration (0x6083)) and deceleration (see chapter 7.5.8 Parameter 50-12: Profile Deceleration (0x6084)) can be
parameterized. Parameters that influence the Profile velocity mode can be found in Illustration 2.19.
This functionality can be commanded using function block MC_MoveVelocity_ISD51X (see chapter 6.5.5.7 MC_MoveVe-
locity_ISD51x). This functionality can also be used via the LCP (see the Velocity mode section in chapter 4.3.5.1 Servo Drive). In
Profile velocity mode, the velocity control loop is used to reach the target velocity (see chapter 7.11.1 Parameter 52-20: Target
Velocity (0x60FF)).
Drive mirror mode (0x2016,02)
Target velocity (0x60FF)
Max motor speed (0x6080)
Quick-stop deceleration (0x6085)
Max acceleration (0x60C5)
Max deceleration (0x60C6)
Quick-stop option code (0x605A)
Position actual value (0x6064)
Max torque (0x6072)
Application torque limit (0x2053)
Illustration 2.19 Profile Velocity Mode Control Function
The usage of acceleration and deceleration for the calculation of the trajectory is shown in Illustration 2.20.
30
®
VLT Integrated Servo Drive ISD
Accepted position range
Position Position
window window
Position not
Position reached
reached
Target
position
Multiplier
Limit
function
Minimum
comparator
Velocity limit
quick-stop deceleration
Limit
function
d/dt
Minimum
comparator
Danfoss A/S © 01/2017 All rights reserved.
®
510 System
Position
Velocity demand
value (0x6068)
Trajectory
generator
Feed forward
torque
Torque limit
MG36D102