Danfoss VLT Series Programming Manual page 65

Servo Drive Operation
duration
startVel
startPos
precNode
Illustration 2.94 TimePoly
Illustration 2.95 Start/Endpoint Representation
Attribute Mandatory/ Value
optional range/
(+default value) allowed
values
segID Same as in Table 2.26.
precNode Same as in Table 2.26.
succNode Same as in Table 2.26.
default Same as in Table 2.26.
startPos Same as in Table 2.18.
duration Same as in Table 2.26.
type Same as in Table 2.18.
distance Same as in Table 2.18.
startVel O; default = 0 Float
endVel O; default = 0 Float
MG36D102
Programming Guide
Attribute
endVel
startAcc
Time
succNode
endAcc
exitCond
startAction Same as in Table 2.26.
endAction Same as in Table 2.26.
Table 2.27 Attributes for TimePoly in Start/Endpoint Representation
Description
Illustration 2.96 Coefficient Representation
Attribute
Velocity of the axis at
the beginning of this
segID
segment. The velocity
precNode
must be given in rps.
succNode
To ensure smooth
default
movements, the
duration
velocities of all
segments that are type
connected in the same
a0
node should be the
same. If this is not
a1-a5
parameterized
correctly, a jump in
velocity may occur.
Same as startVel but at
the end of the
segment.
exitCond
startAction Same as in Table 2.26.
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Mandatory/ Value Description
optional range/
(+default value) allowed
values
O; default = 0 Float Acceleration of the
axis at the beginning
of this segment. The
acceleration must be
given in rps per
second.
It is possible to
parameterize jumps in
acceleration when 2
succeeding segments
have different startAcc
and endAcc values.
O; default = 0 Same as Same as startAcc but
startAcc at the end of the
segment.
Same as in Table 2.26.
Mandatory/ Value Description
optional range/
(+default value) allowed
values
Same as in Table 2.26.
Same as in Table 2.26.
Same as in Table 2.26.
Same as in Table 2.26.
Same as in Table 2.26.
Same as in Table 2.18.
type = absolute: Float Polynomial coeffi-
M else O cients for the
movement described
M Float
by a
+ a
a
startPos in the Start/
Endpoint represen-
tation.
Same as in Table 2.26.
2
x 5 + a x 4 + a x 3
5 4 3
3
x + a x + a .
2 1 0
is the same as
0
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