Operating Modes - Danfoss VLT ISD 510 Design Manual

System Overview

2.9 Operating Modes

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The VLT Integrated Servo Drive ISD 510 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
All supported modes of operation are available for EtherCAT
The various modes of operation are described in detail in the VLT
Guide.
Mode Description
ISD Inertia measurement This mode measures the inertia of an axis. It is used to measure the inertia of the servo drive and the
mode external load, and to optimize the control loop settings. The friction effects are eliminated automatically.
Profile velocity mode In profile velocity mode, the servo drive is operated under velocity control and executes a movement with
constant speed. Additional parameters, such as acceleration and deceleration, can be parameterized.
Profile position mode In profile position mode, the servo drive is operated under position control and executes absolute and
relative movements. Additional parameters, such as velocity, acceleration, and deceleration, can be parame-
terized.
Profile torque mode In profile torque mode, the servo drive is operated under torque control and executes a movement with
constant torque. Linear ramps are used. Additional parameters, such as torque ramp and maximum
velocity, can be parameterized.
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 synchroni-
zation takes place by means of a CAM profile that contains slave positions corresponding to master
positions. CAMs can be designed graphically with the DDS 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.
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 synchronous position In cyclic synchronous position mode, the trajectory generator of the position is located in the control
mode device, not in the servo drive.
Cyclic synchronous velocity In cyclic synchronous velocity mode, the trajectory generator of the velocity is located in the control
mode device, not in the servo drive.
Table 2.9 Operating Modes
MG36C102
Design Guide
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CiA DS 402 and there are also ISD-specific modes of operation.
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and Ethernet POWERLINK
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Integrated Servo Drive ISD
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510 System Programming
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