Control And Status Signals - Danfoss iC7 Motion Series Application Manual

Application Guide | iC7 Series Motion
The source for the target or reference position is selected with the Position Reference parameter in the 5.5 Control Places menu group,
which offers the following options: Fieldbus reference, Preset reference, Analog input 1, and Analog input 2.
The speed reference source for positioning is selected with parameters in the 5.5 Control Places menu group. Acceleration, deceleration,
and jerk are configured under Speed Control in the menu group 5.8.6 Speed Ramps.
The profile generator calculates the demanded values for position, speed, and acceleration, which are used as references for the position
of the speed controllers.
The following illustration shows an overview of the references:
None
8 Preset Position References
Fieldbus Position reference
Reference 1
Reference 2
None
8 Preset Speed References
Fieldbus Speed reference
Reference 1
Reference 2
Menu group 5.8.6 Speed Ramps
Figure 11: Positioning References
The starting point for the calculated speed profile is based on the actual values for position, speed, and acceleration, to ensure bumpless
transition when executing a position command while the drive is moving - for example, when switching from Speed or Gear mode to
Position mode while running.

Control and Status Signals

2.12.2.3
Executing and controlling the positioning is done by the following control signals:
© 2023.11
Position reference selector
Reference logic
Source 1
Source 2
Source 1
Subtract
Divide
Multiply
Source 2
Maximum
Minimum
Toggle
Speed reference selector
Reference logic
Source 1
Source 2
Source 1
Subtract
Divide
Multiply
Source 2
Maximum
Minimum
Toggle
Sum
Position
Reference
Position
150000
P 5.13.1.1
Velocity
Sum
Speed
Reference
P 5.8.1.7
Acceleration/Deceleration
Profile generator
Demanded Position
P 5.13.1.4
Time
Demanded Speed
Limited Jerk
Demanded
Acceleration
Time
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