Danfoss VLT Series Programming Manual page 61

Servo Drive Operation
Illustration 2.89 Start/Endpoint Representation
Mandat Value
ory/ range/
Attribute optional allowe
(+defaul d
t value) values
segID Same as in Table 2.17.
precNode Same as in Table 2.17.
succNode Same as in Table 2.17.
startPos O Float
startVel Same as in Table 2.18.
maxConstDist M Float
>0
brakeDist M Float
>0
brakeLength M Float
>0
startAction Same as in Table 2.17.
endAction Same as in Table 2.17.
Table 2.21 Attributes for FlyingStopSegment in Start/Endpoint
Representation
MG36D102
Programming Guide
Description
See Table 2.18 for type=
relative.
Defines the maximum rotor
angle that the axis turns if no
parameter is sent during run-
time. Given in revolutions of
rotor position. Only positive
values are allowed. The value is
considered as absolute value in
the direction of the start
velocity.
Rotor angle of the axis during
the deceleration phase of this
segment. Given in revolutions
of rotor position. Only positive
values are allowed. The value is
considered as absolute value in
the direction of the start
velocity. There must be
enough space to be able to
brake also in worst case
situations.
Guide value for the length of
the deceleration phase of this
segment. Given in revolutions
of guide value. The segment
must be long enough to run
the maxConstDist and have
enough guide value left for at
least the brakeLength. If there
is space left, the servo drive
remains in standstill until the
succeeding GuideNode is
reached.
Danfoss A/S © 01/2017 All rights reserved.
Illustration 2.90 Coefficient 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.
a0 type = Float
absolute: M
else O
maxConstDist Same as in Table 2.21.
brakeLength Same as in Table 2.21.
a1-a3 M Float
startAction Same as in Table 2.17.
endAction Same as in Table 2.17.
Table 2.22 Attributes for FlyingStopSegment in Coefficient
Representation
ReturnSegment:
The ReturnSegment is used to return from any position to a
defined absolute position. In this way, all offsets of the
logical rotor angle are discarded and a fixed relation
2
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.
Polynomial coefficients
for the movement
described by
a3x³ + a2x² + a1x
It is not necessary to
give a0 as this
information comes
from the position
value of the
beginning of the
decelerating part.
a1 is also the velocity
for the constant part
of the segment. This
value must be
unequal to 0. The
coefficients must be
given so that the
braking part ends in a
standstill.
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