Danfoss VLT series Programming Guide

Attribute
Mandatory/
optional
(+default
value)
Value range/
allowed values
Description
numerator M Same as for object
0x3808, sub-index
1.
See object
0x3808, sub-
index 1.
denominat
or
M Same as for object
0x3808, sub-index
2.
See object
0x3808, sub-
index 2.
Table 2.7 Attributes for Element masterScaling
The CamProle element contains an optional element
slaveScaling which denes the scaling factor for the axis. If
this element is missing, the values from the object
dictionary are used (see chapter 7.14.10 Parameter: CAM
Slave Scaling (0x3809)). The same value range applies as
described for the objects in the object dictionary.
Attribute
Mandatory/
optional
(+default value)
Value range/
allowed values
Description
numerator M Same as for
object 0x3809,
sub-index 1.
See object
0x3809, sub-
index 1.
denominat
or
M Same as for
object 0x3809,
sub-index 2.
See object
0x3809, sub-
index 2.
Table 2.8 Attributes for Element slaveScaling
Another optional element is the controlParam1, and/or
controlParam2 element, where the control loop parameters
are dened. Those 2 elements allow the automatic
overwriting of the 2 sets of control parameters (in the
object dictionary) on activation of the CAM. Both objects
are optional and can be present independently of each
other.
controlParam1 refers to the 1
st
set of control parameters
(see chapter 7.6.5.1 Parameters 51-10 to 51-15: Speed
Controller Parameters (0x2012) and
chapter 7.6.4.1 Parameters 51-16 and 51-17: Position
Controller Parameters (0x2013)), whereas controlParam2
refers to the 2
nd
set of control parameters (see
chapter 7.6.5.2 Parameters 51-20 to 51-25: Speed Controller
Parameters 2 (0x2014) and chapter 7.6.4.2 Parameters 51-26
and 51-27: Position Controller Parameters 2 (0x2015)).
Attribute
Mandatory/
optional
(+default
value)
Value range/
allowed values
Description
speedP,
speedI,
speedD,
inertia
M Float, same as for
object 0x2012.
See object
0x2012.
positionP,
positionD
M Float, same as for
object 0x2013.
See object
0x2013.
Table 2.9 Attributes for Element controlParam1
Attribute
Mandatory/
optional
(+default
value)
Value range/
allowed values
Description
speedP,
speedI,
speedD,
inertia
M Float, same as for
object 0x2014.
See object
0x2014.
positionP,
positionD
M Float, same as for
object 0x2015.
See object
0x2015.
Table 2.10 Attributes for Element controlParam2
The optional element followingError denes the following
error settings for the CAM. The mandatory attribute
windowRev refers to object 0x6065 (see
chapter 7.22.1.1 Parameter: Following Error Window (0x6065)),
but the value must be given in revolutions. The mandatory
attribute time gives the time in milliseconds (see
chapter 7.22.1.2 Parameter: Following Error Time Out
(0x6066)). The following error behavior applies here.
Attribute
Mandatory/
optional
(+default
value)
Value
range/
allowed
values
Description
windowR
ev
M Float See object 0x6065 for
description, however this
value must be given in
revolutions. The servo
drive automatically
recalculates the value to
the value required for
object 0x6065.
time M Same as
for object
0x6066.
See object 0x6066.
Table 2.11 Attributes for Element followingError
The rest of the CamProle element depends on the prole
type (basic or advanced) and is described in the following
chapters.
Servo Drive Operation
VLT
®
Integrated Servo Drive ISD
®
510 System
42 Danfoss A/S © 01/2017 All rights reserved. MG36D102
22

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)