Superimposed Movement - Danfoss iC7 Motion Series Application Manual

Application Guide | iC7 Series Motion
Events
a1 b1 a2
Distance
a1-b1
Counter
7
Figure 19: Two Separate Touch Probes as Sources A and B
Events
a1 a2 a3
Distance
a1-a2 a2-a3 a3-a4
Counter
42 43
Figure 20: The Same Touch Probe as Sources A and B

Superimposed Movement

2.12.6
Superimposed movement is positioning on top of an underlying motion in Speed mode or Gear mode, used for offsetting the position
while running. Superimposed movement is controlled by a separate profile generator, which calculates a speed profile on top of the
underlying movement based on distance, speed, and ramps, defined with the following parameters:
Parameter
5.19.2.4 Superimposed Speed Difference
5.19.2.5 Superimposed Distance
5.19.2.6 Superimposed Ramp Selection
Superimposed movement is triggered by the signal Superimposed Start. The source for this signal is selected with parameter 5.19.2.1
Superimposed Start Input. The superimposed distance can be relative to the previous target, the actual position, or an absolute value. This
is configurable via parameter 5.19.2.2 Superimposed Mode, with the following selections:
Selection
Additive to Previous Target
Additive to Covered Distance
Absolute
The following figures illustrate the results of different superimposed movements:
42
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b2 a3 b3 b4 a4
a2-b2 a3- a3-b4
b3
8 9 10
a4 a5 a6 a7 a8
a4- a5- a6- a7-b8
a5 a6 a7
44 45 46 47 48
Time
a5 b5
a5-b5
11
Time
a9 a10
a8- a9-a10
a9
49 50
Description
Sets the speed reference for the superimposed motion, which is
added to the actual speed of the underlying motion.
Sets the distance for superimposition in position units.
Selects the set of ramp type and ramp times for the
superimposed movement.
Description
Distance is added to the previous superimposed target even if
the target is not yet reached.
Distance is added to the actual position meaning that the target
of an ongoing superimposed movement is replaced by the new
target.
Distance is used as the absolute target, relative to the starting
point of the first superimposed movement since the underlying
movement was started.
AB318753549016en-000301 / 136R0284