Danfoss VLT Series Programming Manual page 55

Servo Drive Operation
FlyingStop- GuideSegment
Segment Constant speed, followed by braking ramp,
angle of constant movement is sent over
fieldbus at run-time.
ReturnSegment GuideSegment
Turns shaft to a symmetric angle (absolute
position) to eliminate rounding errors.
EventSegment- GuideSegment
Container All time-related movements must be
encapsulated by this segment type.
TimePoly EventSegment
Polynomial of 5
VelocitySegment EventSegment
Constant velocity, independent of the guide
value.
SyncSegment EventSegment
Constant velocity, depending on the guide
value.
TorqueSegment EventSegment
Constant torque, independent of the guide
value.
PwmOffSegment EventSegment
Turns off the PWM.
FrictionSegment EventSegment
Determines the friction of the system.
Table 2.14 Available Segment Types
This CAM profile type can only be used with forward
turning guide values.
The advanced CAM profile consists of a list of nodes
(containing GuideNodes), a list of segments (containing
GuideSegments), an optional list of actions, and an optional
list of exit conditions.
Illustration 2.77 Advanced CAM Profile
Nodes
Nodes are defined by their position on the guide value.
The slave position is defined, where necessary, inside the
segments. The starting node of a CAM is the node with
nodeID 0. In a CAM, there must be exactly 1 starting node
(1 node with ID 0). However, this starting node does not
MG36D102
Programming Guide
th
order based on time.
Danfoss A/S © 01/2017 All rights reserved.
st
need to be the 1 node of the CAM (see Illustration 2.78).
The starting node must be a guide node.
End nodes define the end of a non-cyclic CAM, or the end
when switching non-immediate to another CAM. Only
guide nodes can be end nodes. A guide node that has no
following segment is automatically defined as an end
node.
segID 1
segID 3
segID 2
segID 4
nodeID nodeID
3 0
Illustration 2.78 NodeID 2 has no following segment:
It automatically becomes an end node.
An advanced CAM must have at least 1 end node, however
it is possible to have >1 end node within a CAM. If no end
node is explicitly defined, and there is no node without a
following segment (that implicitly would be an end node),
the start node becomes an end node.
segID 1
segID 2
segID 6
segID 4
nodeID nodeID
3 0
Illustration 2.79 No end node explicitly defined and no node
without following segment defined in the CAM.
NodeID 0 (start node) automatically becomes the end node.
A non-cyclic CAM ends at the 1
processed. This can take several cycles of guide value or
continue infinitely if there is no end node within the
currently processed path. For example, in Illustration 2.79,
when the path is set in a way that segID 1 is used instead
of segID 2, the start node is not in the active path.
A cyclic CAM just passes an end node like every normal
node; the End of Profile bit (see chapter 7.14.8 Parameter:
CAM Profile Status (0x3805)) is set. This bit is set for every
end node that is passed within a cyclic CAM. So, the end
of profile bit can also be set several times within 1 cycle. It
is also possible that it is not set at all if there is no end
node within the processed path.
segID 5
nodeID nodeID Guide
1 2 value
segID 3
segID 6
segID 5
Guide
nodeID nodeID
value
1 2
st end point that is
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2 2