Danfoss VLT Series Programming Manual page 44

Servo Drive Operation
Mandatory/
optional
Attribute
2 2
(+default
value)
numerator M
denominat M
or
Table 2.7 Attributes for Element masterScaling
The CamProfile element contains an optional element
slaveScaling which defines the scaling factor for the axis. If
this element is missing, the values from the object
dictionary are used (see chapter 7.14.10 Parameter: CAM
Slave Scaling (0x3809)). The same value range applies as
described for the objects in the object dictionary.
Mandatory/
Attribute optional
(+default value)
numerator M
denominat M
or
Table 2.8 Attributes for Element slaveScaling
Another optional element is the controlParam1, and/or
controlParam2 element, where the control loop parameters
are defined. Those 2 elements allow the automatic
overwriting of the 2 sets of control parameters (in the
object dictionary) on activation of the CAM. Both objects
are optional and can be present independently of each
other.
controlParam1 refers to the 1
(see chapter 7.6.5.1 Parameters 51-10 to 51-15: Speed
Controller Parameters (0x2012) and
chapter 7.6.4.1 Parameters 51-16 and 51-17: Position
Controller Parameters (0x2013)), whereas controlParam2
refers to the 2
chapter 7.6.5.2 Parameters 51-20 to 51-25: Speed Controller
Parameters 2 (0x2014) and chapter 7.6.4.2 Parameters 51-26
and 51-27: Position Controller Parameters 2 (0x2015)).
42
Value range/
allowed values
Same as for object
0x3808, sub-index
1.
Same as for object
0x3808, sub-index
2.
Value range/
allowed values
Same as for
object 0x3809,
sub-index 1.
Same as for
object 0x3809,
sub-index 2.
st
set of control parameters
nd
set of control parameters (see
Danfoss A/S © 01/2017 All rights reserved.
®
VLT Integrated Servo Drive ISD
Description Attribute
See object speedP,
0x3808, sub- speedI,
index 1. speedD,
inertia
See object
0x3808, sub- positionP,
index 2. positionD
Table 2.9 Attributes for Element controlParam1
Attribute
speedP,
speedI,
speedD,
inertia
Description
positionP,
positionD
See object
0x3809, sub-
Table 2.10 Attributes for Element controlParam2
index 1.
The optional element followingError defines the following
See object
error settings for the CAM. The mandatory attribute
0x3809, sub-
windowRev refers to object 0x6065 (see
index 2.
chapter 7.22.1.1 Parameter: Following Error Window (0x6065)),
but the value must be given in revolutions. The mandatory
attribute time gives the time in milliseconds (see
chapter 7.22.1.2 Parameter: Following Error Time Out
(0x6066)). The following error behavior applies here.
Attribute
windowR
ev
time
Table 2.11 Attributes for Element followingError
The rest of the CamProfile element depends on the profile
type (basic or advanced) and is described in the following
chapters.
®
510 System
Mandatory/
optional Value range/
(+default allowed values
value)
M Float, same as for
object 0x2012.
M Float, same as for
object 0x2013.
Mandatory/
optional Value range/
(+default allowed values
value)
M Float, same as for
object 0x2014.
M Float, same as for
object 0x2015.
Mandatory/ Value
optional range/
Description
(+default allowed
value) values
M Float See object 0x6065 for
description, however this
value must be given in
revolutions. The servo
drive automatically
recalculates the value to
the value required for
object 0x6065.
M Same as See object 0x6066.
for object
0x6066.
Description
See object
0x2012.
See object
0x2013.
Description
See object
0x2014.
See object
0x2015.
MG36D102