Danfoss VLT series Programming Guide

Attribute
Mandatory/
optional
(+default
value)
Value
range/
allowed
values
Description
nodeID M Integral
number;
1–65535
Integral number to
uniquely identify this node.
The nodeID must be
unique across all
GuideNodes and
EventNodes. The same
nodeID cannot be used
twice.
signal O;
default =
FALSE
FALSE or
TRUE
Denes if this node is
signaled by the axis. This
attribute is optional. If it is
not present, the default
behavior is not to signal
this node.
action Same as in Table 2.15.
Table 2.16 Attributes for EventNode
Segments
There are 2 types of segment:
•
GuideSegments: All segment types that are
dened based on the guide value.
•
EventSegments: All segment types that are
dened based on time.
There are 2 types of XML representation for some of the
segments:
•
Start/Endpoint representation
•
Coecient representation
The availability of each type is stated in the corresponding
section.
All segments always have exactly 1 preceding and 1
succeeding node. Multiple segments can have the same
node as the preceding node. This is used to design
alternative paths. The selection between those paths takes
place during run-time (see chapter 2.4.5.6 Commands
During Operation).
In Illustration 2.82, an example is given where the segment
with ID 3 is an alternative to segment 4. Both have the
same preceding and succeeding nodes. It is also possible
to overleap a node, as shown in segment 1: it is an
alternative path to segments 2 and 3 or segments 2 and 4.
Multiple segments can also have the same node as the
succeeding node. The alternative paths are then combined
again and the further movement is common.
In Illustration 2.82, an example is given where segments
with ID 1, 3, and 4 all have the same succeeding node.
Regardless of which segment the servo drive is coming
from, segment 5 is processed afterwards.
130BF289.10
Guide
value
nodeID
3
nodeID
0
nodeID
1
nodeID
2
segID 1
segID 2
segID 3
segID 4
segID 5
Rotor angle
of axis
Illustration 2.82 Example of Alternative Segments
GuideSegments
GuideSegments are all segment types that are
dened
based on the guide value. GuideSegments can only have
GuideNodes as preceding and succeeding nodes.
There are some attributes that are common to all
GuideSegments (see Table 2.17).
Attribute
Mandatory/
optional
(+default
value)
Value
range/
allowed
values
Description
segID M Integral
number; 0–
50000
Integral number to
uniquely identify this
segment. The segID must
be unique across all
GuideNodes and
EventSegments. The same
segID cannot be used
twice.
precNode M An existing
nodeID of a
GuideNode
ID of the GuideNode at
the beginning of this
segment. If a non-existing
node ID is used, an error
is issued during parsing.
succNode M An existing
nodeID of a
GuideNode
ID of the GuideNode at
the end of this segment.
If a non-existing node ID
is used, an error is issued
during parsing.
Servo Drive Operation Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 55
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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)