Danfoss VLT Series Programming Manual page 51

Servo Drive Operation
Slave
Blending
relative
0 1
Change CAM imm=1
Use blend dist=0
Active
CAM 2 CAM 1
CAM
InSync
End of
pro le
Illustration 2.61 Change CAM immediately = 1.
No blending distance used. The blending is then done
automatically to the beginning of the new CAM.
It does not necessarily mean that this is in the next cycle (for
example, see Illustration 2.62).
Blending
Slave
blend
relative
dist
1
Change CAM imm=1
Use blend dist=1
Active
CAM 2 CAM 3
CAM
InSync
End of
pro le
Illustration 2.62 Change CAM immediately = 1.
Use blending distance; Blending distance ends after the new
CAM profile ends;
Blending is then extended to the starting point of the next
cycle.
Master absolute
Blending
Slave relative
blend
Slave
dist
relative
0
1 Guide value
Change CAM imm=1
cycle
Use blend dist=1
Active
CAM 2 CAM 3
CAM
InSync
End of
pro le
Illustration 2.63 Change CAM immediately = 1.
Use blending distance; Blending distance is not long enough
to reach the next CAM.
MG36D102
Programming Guide
Master absolute
Slave relative
2 Guide value
cycle
Master absolute
Slave absolute
Cyclic
2
Guide value
cycle
Danfoss A/S © 01/2017 All rights reserved.
Slave
Blending Master absolute
relative
Slave relative
blend
dist
0 1
Change CAM imm=1
Use blend dist=1
Active
CAM 2 CAM 1
CAM
InSync
End of
pro le
Illustration 2.64 Change CAM immediately = 1.
Use blending distance; Blending is possible to the new profile
of the next CAM.
Relative master position, absolute slave position
In this case, the option Use blend distance is ignored. The
minimum blending distance (see chapter 7.14.11 Parameter:
Minimum Blending Distance (0x380A)) is used to calculate a
polynomial of 5 th degree for the synchronization
movement to align the current rotor angle of the axis to
st
the slave position of the 1 data point in the CAM profile.
Jump in position and
velocity possible!
Master
relative
0 1
Change CAM imm=0
Use blend dist=0
Active
CAM 2 CAM 3
CAM
InSync
End of
pro le
Illustration 2.65 Change CAM immediately = 0.
Do not use blending distance. If the CAMs do not match in
slave position and velocity, a jump may occur.
This would probably lead to a following error.
Guide value
cycle
Master relative
Slave absolute
2
Guide value
cycle
49
2 2