Danfoss VLT Series Programming Manual page 70

Servo Drive Operation
2 2
0
Change CAM imm=0
Use blend dist=0
Illustration 2.103 Blending is Done to the Starting Node of the
CAM; Master Relative.
Jump depends on the following segment of the starting node
of the CAM.
•
When option Use blend distance = 1, there are 2
possible cases:
-
0
Change CAM imm=0
Use blend dist=1
Illustration 2.104 Blending is Extended to the Next GuideNode
(not necessarily the starting node)
-
0
Change CAM imm=0
Use blend dist=1
Illustration 2.105 Minimum Blending Distance Ends within a
Segment
68
®
VLT
Possible jump in
position and velocity
Master relative
Master relative
1 2
Starting
Node
Minimum blending distance ends before
the CAM definition starts: The blending
distance is extended to the next node
(seen from the current guide value
position, based on the default CAM).
Blending
Master absolute
blend dist
1 2
Starting Guide value
Node
Minimum blending distance ends within
a segment: The behavior depends on
the segment type where the blending
would end (see the following sub-
chapters).
Blending
Master absolute
blend
dist
1 2
Starting
Node
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®
Integrated Servo Drive ISD
The blending behavior depends on the segment type
where it ends (see Table 2.34). In Illustration 2.105, the
blending is extended to the next GuideNode (not
necessarily the starting node).
Segment type
GuidePoly of type absolute
GuidePoly of type relative
Guide value
cycle
MoveDistanceSegment
FlyingStopSegment
ReturnSegment
EventSegmentContainer
TimePoly of type absolute
TimePoly of type relative
All other EventSegments
Table 2.34 Segment types and their Classifications of Start
and End Position
Blending ends inside segment with determined end position
If the segment is a segment with a determined end
position (see Table 2.34), the blending distance is extended
to the end of the segment and the blending is done to
this absolute (determined) position.
cycle
0
Change CAM imm=0
Use blend dist=1
Illustration 2.106 Blending Ends inside a Segment with
Determined End Position (Here: ReturnSegment)
A special case is the GuidePoly of type absolute. Here, the
whole segment (not only the end position) is determined.
So for GuidePolys the blending distance is not extended.
0
Change CAM imm=0
Guide value
Use blend dist=1
cycle
Illustration 2.107 Blending Ends inside a GuidePoly of Type
Absolute.
The blending is done to that exact position.
510 System
Start position
determined
undetermined
undetermined
undetermined
undetermined
undetermined
determined
undetermined
undetermined
Blending
blend
dist
Return
Segment
1
Starting
Node
Blending
absolute
GuidePoly
blend
dist
1
Starting
Node
End position
determined
undetermined
undetermined
undetermined
determined
undetermined
determined
undetermined
undetermined
Master absolute
2
Guide value
cycle
Master absolute
2
Guide value
cycle
MG36D102