Danfoss VLT Series Programming Manual page 42

Servo Drive Operation
Name
Partial CAM
2 2
P5
End of profile
InSync
Blending
Table 2.5 Terminology
2.4.5.1 Activating a CAM profile
Perform the following steps to activate a CAM profile:
1. Write the CAM data to 1 of the objects 0x3820–
0x3827: CAM data 1–8 (see
chapter 7.14.5 Parameters: CAM Data 1–8 (0x3820–
3827)).
2. Write the CAM configuration and activate the
CAM parsing to the corresponding object
0x3810–0x3817: CAM profile, sub-index 01 (see
chapter 7.14.4 Parameters: CAM Profile 1–8
(0x3810–0x3817)).
3. Check the CAM parsing state in objects 0x3810–
0x3817: CAM profile, sub-index 02 and 03 (see
chapter 7.14.4 Parameters: CAM Profile 1–8
(0x3810–0x3817)).
4. Write the number of the CAM and the delay code
that should be used into object 0x3804: CAM
profile selector (see chapter 7.14.7 Parameter: CAM
Profile Selector (0x3804).
5. Switch to CAM mode (this can also be done
earlier).
6. Perform handshaking to send the CAM activation
request.
40
®
VLT Integrated Servo Drive ISD
Description
A CAM that is defined with the 1
data point not at guide value 0 or
last data point not at guide value 1
(or both). The CAM is only defined
on part of the guide value cycle.
Parts of the guide value are
"undefined". Not applicable for
advanced CAM.
th
Polynomial of 5 degree.
Output signaling the end of the
CAM profile. For cyclic processing of
the CAM, it is displayed every time
the end of the CAM profile is
reached. This signal is only high for
1 fieldbus cycle. For basic CAMs, the
end of profile is signaled at the last
data point. For advanced CAMs, the
end of profile is signaled at each
end node.
Output InSync is high as long as the
slave follows the commanded CAM
profile.
Blending occurs whenever the servo
drive automatically calculates a P5
when switching between CAMs, or
it is used to fill up the undefined
parts in cyclic processing of CAMs.
Danfoss A/S © 01/2017 All rights reserved.
®
510 System
To transfer a CAM profile, use function block MC_CamTable-
Select_ISD51x (see
st
chapter 6.5.6.1 MC_CamTableSelect_ISD51x).
CAM profile activation request (Handshaking)
The activation of a CAM profile is controlled by the timing
of the New CAM bit in the Controlword, and the CAM ack
bit in the Statusword. After a CAM profile is transferred and
successfully parsed, the control device signals that the
CAM profile will be activated (CAM profile activation
request) by a rising edge of the New CAM bit in the
Controlword. The axis internally calculates all necessary
parameters and afterwards sets the CAM ack bit in the
Statusword to 1. With the CAM ack bit set to 0, the axis
signals its ability to accept new CAM profiles. An example
is shown in Illustration 2.36. After activation of the CAM
profile, the CAM is not necessarily executed immediately.
This depends on the CAM configuration and the change
immediate bit in the Controlword.
New CAM
(Bit 4)
CAM
pro le
selector
CAM ack
(Bit 12)
Illustration 2.36 Handshaking Procedure for CAM Profile
Activation
The CAM profile can also be activated using function block
MC_CamIn_ISD51x (see chapter 6.5.6.2 MC_CamIn_ISD51x).
The axis supports a set of 2 CAM profiles numbers: a CAM
profile that is currently being processed, and a buffered
profile.
If a CAM profile is still in progress and a new CAM profile
is validated by the new CAM (bit 4) in the Controlword, 2
methods of handling are supported:
•
The new CAM profile is activated immediately
(Change CAM immediately bit of the Controlword
is set to 1).
•
The currently active CAM profile is finished first
and afterwards the new CAM profile is started
(Change CAM immediately bit of the Controlword
is set to 0).
When a new CAM profile is activated, all specific
parameters are activated at the start of the new profile
(this is the beginning of the blending). This can lead to
jumps in position and velocity, for example when using
different master scaling values.
MG36D102