Danfoss VLT Series Programming Manual page 58

Servo Drive Operation
Mandatory/
optional
Attribute
2 2
(+default
value)
default O; default =
FALSE
startAction O; default =
no action
endAction O; default =
no action
Table 2.17 Common Attributes for all GuideSegments
56
®
VLT Integrated Servo Drive ISD
Value
range/
Description
allowed
values
TRUE/FALSE Defines if this segment is
the default segment for
the referenced preceding
node.
This attribute is not
necessary if only 1
segment has this
precNode as preceding
node.
If >1 segment has this
precNode as preceding
node, and none of them
claims to be the default
one, the segment with
the lowest segment ID is
used.
If >1 segment claims to
be the default segment of
a specified precNode, a
parsing error is issued.
0, 1, or Defines if 1 or multiple
more actions are attached to
existing the beginning of this
action IDs segment. This attribute is
optional. If it is not
present, no action is
assigned to the beginning
of this segment. To define
multiple actions, all
actionIDs must be listed
inside the attribute,
separated by a white
space. If a non-existing
action ID is used, an error
is issued during parsing.
0, 1, or Defines if 1 or multiple
more actions are attached to
existing the end of this segment.
action IDs This attribute is optional.
If it is not present, no
action is assigned to the
end of this segment. To
define multiple actions, all
actionIDs must be listed
inside the attribute,
separated by a white
space. If a non-existing
action ID is used, an error
is issued during parsing.
Danfoss A/S © 01/2017 All rights reserved.
®
510 System
GuidePoly:
The GuidePoly defines a movement that relates the rotor
angle of the axis with the guide value. Position, velocity,
and acceleration at the preceding and the succeeding
node can be selected without restrictions. It is therefore
possible to realize many movements already with a single
GuidePoly.
Complex movements can be combined by a number of
GuidePolys. When combining GuidePolys, the end velocity
of the segment and the start velocity of the next segment
must match, otherwise a jump in velocity occurs. It is
possible to define absolute and relative movements.
startVel
startPos
precNode
Illustration 2.83 GuidePoly
Illustration 2.84 Start/Endpoint Representation
Mandatory/ Value
optional range/
Attribute
(+default allowed
value) values
segID Same as in Table 2.17.
precNode Same as in Table 2.17.
succNode Same as in Table 2.17.
type M Absolute/
relative
endVel
succNode Guide
value
Description
Defines if the segment is
executed at an absolute
slave position or if the
segment is executed
relative to the previous
position.
MG36D102