- Resulting starting position: Contains the
calculated starting position of the
segment. For absolute segments, it
equals the specied start position. For
relative segments, it is calculated from
the preceding segments.
- Minimum speed: Contains the calculated
minimum speed that occurs inside the
segment.
- Maximum speed: Contains the
calculated maximum speed that occurs
inside the segment.
- Minimum acceleration: Contains the
calculated minimum acceleration that
occurs inside the segment.
- Maximum acceleration: Contains the
calculated maximum acceleration that
occurs inside the segment.
Guide poly
The Guide poly has the following properties:
•
Parameters
- Type: Denes if the segment is executed
at an absolute slave position or relative
to the previous position.
- Start position: Species the axis position
at the beginning of the segment.
Describes the position at gear in (=
motor side). If the segment type is
relative, the start position attribute only
modies the logical CAM position. In
relative segments, the property can be
left blank (unspecied). If the start
position is not specied in a relative
segment, the logical CAM position from
the previous segment is used as starting
position.
- End position: Species the axis position
at the end of the segment. When
changing this property, the value of the
Distance property is automatically
recalculated.
- Distance: Species the distance between
the start and end axis positions
(meaning the angle to turn). Negative
distance values dene backward
movements. When changing this
property, the value of the End position
property is automatically recalculated.
•
Start
- Start acceleration: Species the
acceleration of the axis at the beginning
of the segment. The acceleration is
calculated as a ratio between the axis
and the guide value (rev/rev
2
). Parame-
terized jumps may occur in the
acceleration when 2 succeeding
segments have dierent End acceleration
and Start acceleration values.
- Start velocity: Species the velocity of
the axis at the beginning of the
segment. The velocity is calculated as a
ratio between the axis and the guide
value (rev/rev). The velocities of all
segments that are connected by the
same node should be the same to
ensure smooth movement. Incorrect
parameterization results in a jump in
velocity.
•
End
- End acceleration: Species the
acceleration at the end of the segment.
For more information, see Start
acceleration.
- End velocity: Species the velocity at
the end of the segment. For more
information, see Start velocity.
•
Information (all read-only)
- Polynomial order: Contains the
polynomial order that results from the
specied start and end point, start and
end velocity, and start and end
acceleration.
When the position of the Preceding node or Succeeding
node of a Guide poly is changed (graphically or
numerically), the Guide poly is automatically recalculated
and redrawn.
When any of the Guide poly properties are changed by
using the Property Window, the Guide poly is automatically
recalculated and redrawn.
It is possible to edit start position and end position of the
Guide poly graphically by selecting it and then using
vertical dragging as shown in Illustration 5.73.
Operation with ISD Toolbox
VLT
®
Integrated Servo Drive ISD
®
510 System
150 Danfoss A/S © 01/2017 All rights reserved. MG36D102
55
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