Danfoss VLT Series Programming Manual page 71

Servo Drive Operation
Blending ends inside segment with undetermined end position
If the segment has an undetermined end position (see
Table 2.34), the blending distance is extended to the end of
the segment. The blending is done to the preceding node
of the segment.
blend
dist
Blending
1
0
Change CAM imm=0
Use blend dist=1
Illustration 2.108 Blending Ends inside a Segment with
Undetermined End Position.
The blending is extended to the next node. The blending
behavior then depends on the node.
A special case is the GuidePoly of type relative. Here, the
servo drive calculates a P4 to adjust the velocity and the
acceleration to match at the point where the blending
distance ends. The position is not relevant here.
blend
dist
Blending
using a P4
0 1
Change CAM imm=0
Use blend dist=1
Illustration 2.109 Blending Ends inside a GuidePoly of Type
Relative.
The blending distance is as specified.
The slave position is not relevant here, but is determined
automatically by the P4 that is calculated by the servo
drive to adjust the velocity and acceleration.
Blending ends at a node
The behavior is all the same, independent if this node is
the starting node of a CAM, or some other node. It is also
the same, if the blending distance has been extended to
the node or not. When blending to a node, the following
segment of this node is relevant.
For the EventSegmentContainer, the first EventSegment is
relevant. If the following segment is a segment with a
determined start position (see Table 2.34), a P5 is used to
blend to this position.
If the following segment is a segment with an
undetermined start position (see Table 2.34), the servo
drive calculates a P4 to do the blending in order to adjust
MG36D102
Programming Guide
Segment with
Master absolute
undetermined
end position
2
Starting Guide value
Node cycle
Master absolute
relative
GuidePoly
2
Starting Guide value
Node
cycle
Danfoss A/S © 01/2017 All rights reserved.
the velocity and acceleration of this start condition. The
slave position itself is not relevant.
A CAM error is issued if there is no following segment to a
node (as it is for example: the last node of a non-cyclic
CAM).
Actions
A list of actions can be attached to several events. These
events can be:
•
A node.
•
The beginning of a segment.
•
The end of a segment.
The order of executing actions when processing segment
A, node B, and segment C is the following:
•
Start actions of segment A.
•
End actions of segment A.
•
Actions of node B.
•
Start actions of segment C.
•
End actions of segment C.
An action is described with a surrounding element to
define an actionID which is used for referencing inside the
CAM profile. This actionID must be unique across all
defined actions. Inside this action element, there can be 1
or more sub-elements.
Available actions are listed in the following sub-chapters.
Illustration 2.110 Actions
Action: Change set of control loop parameters
To define an action that changes a set of control
parameters, the following element must be inserted inside
the action. The definition and value ranges are equal to
the general definition of a control parameter set within a
CAM profile.
To change the control parameters for the 1
Illustration 2.111 Control Parameters for Set 1
2 2
st
set use:
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