Danfoss VLT series - Page 3

Contents
1 Introduction
15
1.1 Purpose of the Programming Guide
15
1.2 Additional Resources
15
1.3 Copyright
15
1.4 Software
15
1.4.1 Software Version 15
1.4.2 Firmware Updates 15
1.5 Approvals and Certications
15
1.6 Terminology
16
1.7 Safety
16
2 Servo Drive Operation
18
2.1 Overview
18
2.2 Firmware Update
18
2.3 Basic Operation
19
2.3.1 State Machine 19
2.3.2 Factor Group 21
2.3.3 Positions and Osets 22
2.3.4 Position Limits 22
2.3.4.1 Hardware Limit Switch 22
2.3.4.2 Software Position Limit 22
2.3.5 Brake Handling 24
2.3.6 Control Loops 24
2.3.6.1 Position Controller 25
2.3.6.2 Speed Controller 26
2.3.6.3 Current Controller 26
2.4 Operating Modes
26
2.4.1 Prole Position Mode 26
2.4.2 Prole Velocity Mode 30
2.4.3 Prole Torque Mode 32
2.4.4 Homing Mode 33
2.4.4.1 Homing on Actual Position 35
2.4.4.2 Homing on Positive/Negative Block 36
2.4.4.3 Homing on Positive/Negative Limit Switch 36
2.4.4.4 Homing on Positive/Negative Home Switch 37
2.4.4.5 Homing on Current Position 37
2.4.4.6 Error Behavior in Homing Mode 38
2.4.5 CAM Mode 38
2.4.5.1 Activating a CAM prole 40
Contents Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 1