Danfoss VLT Series Programming Manual page 45

Servo Drive Operation
2.4.5.4 Basic CAM
Data points
The basic CAM consists of data points, which all have the same structure. There can be a maximum of 256 or 1024 data
points inside 1 basic CAM (see chapter 7.14.1 Parameter: CAM Profile Memory Layout (0x380F)).
Illustration 2.39 Basic CAM Data Points
Mandatory/optional (+default
Attribute
value)
masterPos M
slavePos M
vel O;
default = 0
acc O;
default = 0
Table 2.12 Attributes for a Data Point
All data points are non-signaling data points. The axis does
not automatically signal if it passes a data point. However,
it is possible to enable this signaling for selected data
points, for example for debugging purposes.
CAM configuration: Slave absolute/relative
When using the slave absolute option for a basic CAM, the
values of the slavePos attribute in the data point are used.
When using the slave relative option, the start of the CAM
is transferred to the current position of the slave.
CAM configuration: cyclic/non-cyclic
The different configurations are explained using
illustrations. There are 3 basic CAMs defined to show all
situations:
•
Illustration 2.40 shows a full CAM (1
at masterPos 0, last data point at masterPos 1),
which has a velocity unequal to 0 in the 1
point.
•
Illustration 2.41 and Illustration 2.42 show partial
st data point not at masterPos 0, last data
CAMs (1
point not at masterPos 1).
MG36D102
Programming Guide
Value range/allowed
Description
values
Float: [0;1] Master position for this data point. Given in revolutions of
guide value. The masterPos inside a CAM profile is always
defined from 0 to 1.
Float Axis position for this data point. Given in revolutions of rotor
position. SlavePos describes the position on the motor side.
Float Velocity of the axis in this data point. The velocity must be
given as a factor between the velocity of the axis in relation to
the velocity of the guide value (1 revolution of the axis per 1
round of guide value). Jumps in velocity are not possible.
Float Acceleration of the axis in this data point. The acceleration
must be given as a factor between the acceleration of the axis
in relation to the velocity of the guide value (1 revolution of
axis per square of round of guide value). Jumps in acceleration
are not possible.
In the following chapters, several situations are defined.
The mentioned CAMs are used throughout the description
of the basic CAM to cover all situations.
0
Illustration 2.40 CAM 1 - Full CAM with Velocity of Last Node/
point = 0
st data point
st data
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2
Guide value
1
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2