Operation; Operating Modes; Supported Operating Modes - Danfoss VLT MSD 510 Operating Manual

Operating Guide | VLT® Multiaxis Servo Drive MSD 510 System

7 Operation

7.1 Operating Modes

7.1.1 Supported Operating Modes

The servo drive implements several modes of operation. The behavior of the servo drive depends on the activated mode of operation.
It is possible to switch between the modes while the servo drive is enabled.
The supported modes of operation are according to CANopen
supported modes of operation are available for EtherCAT
The various modes of operation are described in detail in the VLT
Guide.
Table 22: Operating Modes
Mode Description
Inertia meas- This mode measures the inertia of an axis. It is used to measure the inertia of the servo drive and the external
urement mode load, and to optimize the control loop settings. The friction effects are eliminated automatically.
Profile velocity In profile velocity mode, the servo drive is operated under velocity control and executes a movement with con-
mode stant speed. Additional parameters, such as acceleration and deceleration, can be parameterized.
Profile position In profile position mode, the servo drive is operated under position control and executes absolute and relative
mode movements. Additional parameters, such as velocity, acceleration, and deceleration, can be parameterized.
Profile torque In profile torque mode, the servo drive is operated under torque control and executes a movement with constant
mode torque. Linear ramps are used. Additional parameters, such as torque ramp and maximum velocity, can be para-
meterized.
Homing mode In homing mode, the application reference position of the servo drive can be set. Several homing methods, such
as homing on actual position, homing on block, limit switch, or home switch are available.
CAM mode In CAM mode, the servo drive executes a synchronized movement based on a master axis. The synchronization is
done by a CAM profile that contains slave positions corresponding to master positions. CAMs can be designed
graphically with the ISD Toolbox software, or can be parameterized via the PLC. The guide value can be provided
by an external encoder, virtual axis, or the position of another axis. The different CAM profile types are described
in the VLT
Gear mode In gear mode, the servo drive executes a synchronized movement based on a master axis by using a gear ratio
between the master and the slave position. The guide value can be provided by an external encoder, virtual axis,
or the position of another axis.
Cyclic synchro- In cyclic synchronous position mode, the trajectory generator of the position is located in the control device, not
nous position in the servo drive.
mode
Cyclic synchro- In cyclic synchronous velocity mode, the trajectory generator of the velocity is located in the control device, not
nous velocity in the servo drive.
mode
Danfoss A/S © 2019.10
®
, Ethernet POWERLINK
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Servo Drive System ISD 510, MSD 510 Programming Guide.
®
CiA DS 402 and there are also ISD-specific modes of operation. All
®
, and PROFINET
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Servo Drive System ISD 510, MSD 510, DSD 510 Programming
®
.
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Operation