Danfoss VLT series Programming Guide

Variable
name
Data type Default
value
Description
SlaveOset REAL 0 Oset of the slave shaft
[revolutions].
CamTableID USINT 0 Identier of the CAM table
to be used; linked to the
input of MC_CamTable-
Select_ISD51x.
ChangeIm-
mediate
BOOL FALSE TRUE = Abort the currently
running CAM immediately.
FALSE = Let the currently
running CAM nish rst.
UseBlending-
Distance
BOOL FALSE FALSE = Automatically
blend to the beginning of
the new CAM.
TRUE = Use Blending-
Distance as minimum
length for blending to the
new CAM.
Blending-
Distance
UDINT 0 Used in the direction of
the master, minimum
length used for blending
to the new CAM.
SwitchCon-
trolSetByCam
BOOL TRUE TRUE = Control parameter
set selection is handled by
the CAM itself
FALSE = Control parameter
set selection via function
block DD_SelectControl-
ParamSet_ISD51x (see
chapter 6.5.4.26 DD_Select-
ControlParamSet_ISD51x).
StartDelay DD_CAM_
DELAY_MO
DE_ISD51x
ddNoDel
ay_ISD5
1x
Inuences the activation
behavior of a CAM. Only
valid for Master relative
CAMs.
See Table 6.55.
VAR_OUTPUT
InSync BOOL Is TRUE if the slave follows
the commanded CAM
prole.
Busy BOOL The function block is not
nished and new output
values are to be expected.
Active BOOL The function block has
control on the axis.
CommandA-
borted
BOOL Command is aborted by
another command.
Error BOOL An error has occurred
within the function block.
ErrorInfo DD_ERROR_ISD51x Error identication and
instance identier.
See chapter 6.5.2.3 Error
Indication.
Variable
name
Data type Default
value
Description
EndOfProle BOOL Pulsed output signaling
the cyclic end of the CAM
prole. It is shown for 1
PLC cycle each time the
end of the CAM prole is
reached. In reverse
direction, the EndOfProle
is also shown at the end
of the CAM prole (in this
case the 1
st
point of the
CAM prole).
Table 6.53 MC_CamIn_ISD51x
The structure GUIDE_VALUE_REF_ISD51x is described in
Table 6.54.
Variable
name
Data
type
Default
value
Description
PositionGui-
deValue
UDINT 0 Value of the position
guide value. 1 cycle is
scaled from 0–16#FFFF
FFFF
VelocityGui-
deValue
REAL 0 Velocity of the guide
value [rps].
Table 6.54 GUIDE_VALUE_REF_ISD51x
Enumeration DD_CAM_DELAY_MODE_ISD51x
denes the
activation behavior of a CAM (only available with master
relative CAMs).
Name Description
ddNoDelay_IS
D51x
CAM activation without delay.
ddInput1_ISD5
1x
Delayed activation of CAM: Processing of CAM is
delayed until digital input 1 is on.
ddInput2_ISD5
1x
Delayed activation of CAM: Processing of CAM is
delayed until digital input 2 is on.
ddAnyInput_IS
D51x
Delayed activation of CAM: Processing of CAM is
delayed until either digital input 1 or 2 is on.
Table 6.55 Enumeration DD_CAM_DELAY_MODE_ISD51x
6.5.6.3 DD_CamScaling_ISD51x
This function block modies the parameters relating to the
slave and master scaling. These parameters apply to 1
slave axis only. Activate this function block for every slave
axis that needs manipulation. The manipulation of the
factors can take some time because asynchronous
communication is used.
The use of the parameters inside the axis takes eect
immediately. The numerator and the denominator for 1
factor are used by the servo drive at the same time.
Programming
VLT
®
Integrated Servo Drive ISD
®
510 System
214 Danfoss A/S © 01/2017 All rights reserved. MG36D102
6
6

Danfoss VLT series Specifications

General

Series	VLT
Category	DC Drives
Output Voltage	0-100% of input voltage
Protection Features	Overvoltage, Undervoltage, Overcurrent, Overtemperature, Short Circuit, Ground Fault
Communication Interfaces	Profibus, CANopen
Enclosure Rating	IP20, IP21, IP55, IP66
Cooling Method	Forced Air Cooling, Convection Cooling
Control Mode	Sensorless Vector, Closed Loop Vector
Ambient Temperature	-10°C to +50°C (14°F to 122°F)