Danfoss VLT Series Programming Manual page 63

Servo Drive Operation
guide value position for the beginning of the time-related
movement and so that the further guide value-related
movement can be resumed at the end of the EventSeg-
mentContainer. For that, the EventSegmentContainer must
be long enough, so that even at the highest speed of the
guide value, the time-related movement of the EventSeg-
mentContainer can still be processed completely.
Otherwise, the time-related movement is aborted at the
end of the EventSegmentContainer, leading to possible
jumps in velocity and position. The time-related movement
must start and end in standstill (the 1
start in standstill and the last EventSegment must end in
standstill). The guide value-related movement that is
before the EventSegmentContainer must end in standstill.
The guide value-related movement after the EventSegment-
Container must start in standstill. If 1 of the conditions is
not fulfilled, a jump in velocity occurs.
Illustration 2.93 Event Segment Container
There is no special list of actions or exit conditions inside
the EventSegmentContainer element. All actions defined in
the CAM profile can be used for time-related nodes and
segments as well.
Attribute Mandatory/ Value range/
optional allowed values
(+default
value)
segID Same as in Table 2.17.
precNode Same as in Table 2.17. This needs to be a
GuideNode.
succNode Same as in Table 2.17. This needs to be a
GuideNode.
startAction Same as in Table 2.17.
endAction Same as in Table 2.17.
startingE- M An existing
ventNode nodeID of an
EventNode.
Table 2.25 Attributes for EventSegmentContainer
MG36D102
Programming Guide
Additionally, an EventSegmentContainer has subelements to
describe its embedded time-related movement. There is a
(mandatory) list of EventNodes and a (mandatory) list of
EventSegments.
The beginning of the first time-related segment and the
end of the last time-related segment must have velocity 0.
EventSegments
EventSegments are all segment types that are defined
based on time. EventSegments must be embedded into an
EventSegmentContainer.
st
EventSegment must
EventSegments may only have EventNodes as preceding and
succeeding nodes. There are some attributes that are
common to all EventSegments. Those attributes can be
found in Table 2.26.
GuideSegments always run from one guide value position
to the next. EventSegments are more flexible. It is possible
to define additional supervising parameters that serve as
exit conditions. If such an exit condition appears, the axis
proceeds with the next segment.
Attribute
segID
precNode
Description
succNode
ID of the starting
EventNode at the
beginning of this
segment. If a
non-existing node
ID is used, an
error is issued
during parsing.
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Mandatory/ Value Description
optional range/
(+default allowed
value) values
M Integral Integral number to
number; 0– uniquely identify this
50000 segment. The segID must
be unique across all
Guide- and
EventSegments. The same
segID cannot be used
twice.
M An existing ID of the EventNode at
nodeID of the beginning of this
an segment. If a non-existing
EventNode. node ID is used, an error
is issued during parsing.
M An existing ID of the EventNode at
nodeID of the end of this segment.
an If a non-existing node ID
EventNode. is used, an error is issued
during parsing.
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