Danfoss VLT Series Programming Manual page 77

Servo Drive Operation
Mandatory/
optional
Attribute
(+default
value)
threshold M
condition M
Table 2.51 Attributes for checkTorque
Distance Above Limit
This exit condition checks if the distance that has been
processed during the current segment is above the
specified absolute value. As soon as the value is above the
threshold, the axis proceeds with the next segment.
<checkDistance threshold="500"/>
Mandatory/
optional
Attribute
(+default
value)
threshold M
Table 2.52 Attributes for checkDistance
2.4.5.6 Commands During Operation
The commands listed in this chapter are provided by the
servo drive to control the functionality during the
operation of a CAM. Some commands are only available if
an advanced CAM is used. The CAM control data
information is represented in 4 16 bit objects (see
chapter 7.14.3 Parameter: CAM Control (0x3800) for object
description). One of them is the control code, whereas the
rest contain additional parameters (see Table 2.53). The
detailed descriptions are given in the following sub-
chapters.
Bit 16 (MSB) of the control code is a toggle bit. As
synchronous fieldbuses are supported, it is not possible to
distinguish between a new and a resent command.
Therefore, the edge of the toggle bit is used for this
purpose.
MG36D102
Programming Guide
Value range/
Description
allowed values
Float Torque
threshold to be
exceeded or
underrun. The
torque must
be given in
mNm.
Above/below Selects if the
segment
should be left
if the threshold
has been
exceeded or
underrun.
Value range/
Description
allowed values
Float Distance
threshold to be
exceeded.
Given in
revolutions of
rotor position.
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Control Meaning Availa-
code bility
0x0000 Reserved –
0x0001 Rotation Basic &
stop Advanced
0x0002 Segment Advanced
parameter only
during run-
time
0x0003 Set follow Advanced
segment only
0x0004 Node Basic &
signaling Advanced
status
(leads to a
status
information
with status
code
0x0005)
0x0005 Go to Basic &
setpoint Advanced
(while
guide
value
velocity is
0)
Table 2.53 CAM Control Data Information
When using the PLC, the libraries provide function blocks
to send the commands. The function blocks are described
in chapter 6.5.6 Drive – CAM Operation.
Rotation stop
This command issues a stop of the servo drive for 1 CAM
cycle. The stopping takes place according to the Table 2.54.
Value Definition
Coasting and stay in Operation enabled.
0
+1 Slow down on specified ramp and stay in Operation
enabled.
+2 Slow down on current limit and stay in Operation enabled.
Table 2.54 Rotation Stop Option
The CAM processing is resumed at the starting node of the
CAM. Ensure that the resuming can take place without
jumps.
For advanced CAMs, this can be done by:
•
Starting the CAM with a relative movement.
•
Starting the CAM with a ReturnSegment
(suggested solution).
Control Control Control
parameter parameter parameter
1 2 3
Reserved Reserved Reserved
Rotation Deceleration [float;
stop rps per second]
option
Low byte High byte
code (see
Table 2.54)
SegmentID Parameter [float; in
revolutions]
Low byte High byte
nodeID SegmentID Reserved
nodeID/No 1: Enable Reserved
. of data 0: Disable
point
Direction Time in Reserved
option ms
code (see
Table 2.55)
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2 2