Danfoss VLT Series Programming Manual page 59

Servo Drive Operation
Mandatory/ Value
optional range/
Attribute
(+default allowed
value) values
startPos M for type= Float
absolute;
O for type=
relative
distance M Float
startVel O; default = 0 Float
endVel O; default = 0 Float
MG36D102
Programming Guide
Description
Axis position at the
beginning of this
segment. Given in
revolutions of rotor
position. startPos
describes the position on
the motor side. If it is a
relative segment, the
startPos attribute only
modifies the Logical CAM
position. If startPos is not
present (in a relative
segment), the Logical
CAM position from the
previous segment is used
as startPos.
Rotor angle of the axis
during this segment.
Given in revolutions of
rotor position. Use
negative values for
backward movements.
Velocity of the axis at the
beginning of this
segment. 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). To ensure smooth
movements, the velocities
of all segments that are
connected in the same
node should be the
same.
If not parameterized
correctly, a jump in
velocity may occur.
Same as startVel but at
the end of the segment.
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Mandatory/ Value
optional range/
Attribute
(+default allowed
value) values
startAcc O; default = 0 Float
endAcc O; default = 0 Float
startAction Same as in Table 2.17.
endAction Same as in Table 2.17.
Table 2.18 Attributes for GuidePoly in Start/Endpoint
Representation
Illustration 2.85 Coefficient Representation
Value
Mandatory/
range/
Attribute optional
allowed
(+default value)
values
segID Same as in Table 2.17.
precNode Same as in Table 2.17.
succNode Same as in Table 2.17.
type Same as in Table 2.17.
a0 type = absolute: Float
M else O
a1-a5 M Float
startAction Same as in Table 2.17.
endAction Same as in Table 2.17.
Table 2.19 Attributes for GuidePoly in Coefficient Representation
Description
Acceleration of the axis at
the beginning of this
segment. 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
may occur when 2
succeeding segments
have different startAcc
and endAcc values.
Same as startAcc but at
the end of the segment.
Description
Polynomial coefficients
for the movement
described by a5x5 +
a4x4 + a3x³ + a2x² +
a1x + a0
a0 is the same as
startPos in the Start/
Endpoint represen-
tation.
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