Danfoss VLT Series Programming Manual page 72

Servo Drive Operation
To change the control parameters for the 2
2 2
Illustration 2.112 Control Parameters for Set 2
Mandatory/
optional
Attribute
(+default
value)
speedP, M
speedI,
speedD,
inertia
positionP, M
positionD
Table 2.35 Attributes for controlParam1
Mandatory/
optional
Attribute
(+default
value)
speedP, M
speedI,
speedD,
inertia
positionP, M
positionD
Table 2.36 Attributes for controlParam2
Select set of control loop parameters
To define an action that changes the used set of control
parameters, the following element must be inserted inside
the action.
<selControlParam set="1"/>
Mandatory/
Attribute optional
(+default value)
set M
Table 2.37 Attributes for selControlParam
70
®
VLT Integrated Servo Drive ISD
nd
set use:
Value
range/
Description
allowed
values
Float, See object 0x2012
same as (chapter 7.6.5.1 Parameters
for object 51-10 to 51-15: Speed
0x2012. Controller Parameters
(0x2012)).
Float, See object 0x2013
same as (chapter 7.6.4.1 Parameters
for object 51-16 and 51-17: Position
0x2013. Controller Parameters
(0x2013)).
Value
range/
Description
allowed
values
Float, See object 0x2014
same as (chapter 7.6.5.2 Parameters
for object 51-20 to 51-25: Speed
0x2014. Controller Parameters 2
(0x2014)).
Float, See object 0x2015
same as (chapter 7.6.4.2 Parameters
for object 51-26 and 51-27: Position
0x2015. Controller Parameters 2
(0x2015)).
Value
range/
Description
allowed
values
1/2 Switches/selects
control parameter set
1 or 2.
Danfoss A/S © 01/2017 All rights reserved.
®
510 System
Action: Set/Reset Digital Output
To define an action that changes the digital output, the
following element must be inserted inside the action.
<setDigOut value="on"/>
The attribute value is mandatory and the allowed values
are on, off, and toggle, where toggle inverts the current
state of the digital output. The polarity of the digital
output can be configured using object 0x200F (see
chapter 7.21.3 Parameter: Dual Analog User Inputs Configu-
ration (0x200F)).
Mandatory/
optional
Attribute
(+default
value)
value M
Table 2.38 Attributes for setDigOut
Action: Rounding Compensation
This action is used to compensate the rounding errors that
necessarily appear during calculations. The behavior is
similar to the ReturnSegment behavior, but there should
not be an explicit movement. This means that the servo
drive must be near to the correct position (so only small
rounding errors can be compensated), otherwise the servo
drive jumps to the corrected position.
<compensateRounding partition="1" revolutions="1"
offsetRev="0.25"/>
Mandatory/
optional
Attribute
(+default
value)
partition M
Value range/
Description
allowed values
on/off/toggle Switches the
digital output
on, off, or
changes the
current state.
Value range/
Description
allowed values
Integer: (0;16) Can be used
for shaped
plates when
several equal,
valid starting
positions are
allowed. The
worst case
movement is
influenced by
this parameter.
MG36D102