Danfoss VLT Series Programming Manual page 78

Servo Drive Operation
For basic CAMs, use the slave relative option. A jump
occurs if the CAM starts with an absolute movement and
2 2 the servo drive is at a different position. No blending
occurs.
Segment parameter during run-time
This command sends a parameter to a specific segment.
The parameter influences the behavior of the segment
during run-time. Segment types that expect an angle
parameter at every guide value cycle (master cycle) are
Move Distance segments and Flying Stop segments (see
chapter 5.7.7.7 Editing Advanced CAM Profiles).
The specific segment is addressed using its ID. The
parameter is a floating point value given in rotor shaft
revolutions.
Set follow segment
This command instructs the servo drive to change the
used succeeding segment of a node. It is only possible to
select a segment ID that already has this node ID defined
as preceding node. This change is preserved over the
guide value cycles. Therefore, no automatic switching back
takes place.
Node signaling status
This command enables/disables the signaling of a node/
data point. That means that the servo drive can send a
notification when passing a node/data point. If there are
too many notifications coming from the axis, others could
be delayed. Basic CAMs do not signal the passing of a data
point per default.
Go to setpoint
This command issues a movement to the setpoint of the
CAM while the Guide Value velocity is 0. This is used, for
example, when starting up a CAM with slave absolute and
the servo drive is at another position. The required
movement is then calculated by the servo drive automat-
ically, based on the direction option code (see Table 2.55)
over the specified time. This movement takes place using a
polynomial of 5
stay at 0 until this movement is finished.
Value Definition
0 Normal movement similar to linear axis.
+1 Movement only in negative direction.
+2 Movement only in positive direction.
+3 Movement the shortest way. Assuming a rotary axis. Cam
slave scaling is considered (regarding a possible gear).
+4 Movement in last direction.
Table 2.55 Direction Option Code
2.4.5.7 Notifications from the Servo Drive
The servo drive sends out information about the currently
ongoing CAM execution or as a reaction on a command.
Bit 16 (MSB) of the status code is a toggle bit. As
synchronous fieldbuses are supported, it is not possible to
76
VLT
th
degree. The Guide Value velocity must
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® ®
Integrated Servo Drive ISD
distinguish between a new and a resent notification.
Therefore, the edge of the toggle bit must be monitored.
The CAM status information is represented in 4 16-bit
objects (see chapter 7.14.2 Parameter: CAM Status (0x3801)).
One of them is the status code, whereas the rest contains
additional information (see Table 2.56).
Status Meaning
code
0x0000 Reserved
0x0002 Result of
dynamic
alignment
0x0004 Following error
(also signaled
in the
Statusword)
0x0005 Node/data
point passed
0x0006 Bad parameter
sent to a
segment or
segment does
not exist
0x0007 Bad parameter
sent: Error
when setting
following
segment of a
node (node or
segment not
valid)
0x0009 Correction
angle
indication
0x000A Flying stop
angle
indication
0x000B Forced Time-
exit;
EventSegment-
Container too
short
Table 2.56 CAM Control Data Information
510 System
Status Status
parameter parameter
1 2
Reserved Reserved
SegmentID of 1: Success
alignment 0: Failure
segment
(pattern or
mark)
SegmentID of Reserved
the segment
in which the
following error
occurred
nodeID/data SegmentID
point that was of current
passed segment/n
ot
available
for basic
CAM
Sent Sent parameter [float]
SegmentID
Low byte
Sent Sent
SegmentID nodeID
ID of MoveDis- Logical rotor angle
tanceSegment [float; given in
revolutions]
Low byte
ID of Flying- Logical rotor angle
StopSegment [float; given in
revolutions]
Low byte
ID of EventSeg- Reserved
mentContainer
Status
parameter
3
Reserved
Reserved
Reserved
Reserved
High byte
Reserved
High byte
High byte
Reserved
MG36D102