Attribute
Mandatory/
optional
(+default
value)
Value
range/
allowed
values
Description
startPos M for type=
absolute;
O for type=
relative
Float Axis position at the
beginning of this
segment. Given in
revolutions of rotor
position. startPos
describes the position on
the motor side. If it is a
relative segment, the
startPos attribute only
modies the Logical CAM
position. If startPos is not
present (in a relative
segment), the Logical
CAM position from the
previous segment is used
as startPos.
distance M Float Rotor angle of the axis
during this segment.
Given in revolutions of
rotor position. Use
negative values for
backward movements.
startVel O; default = 0 Float Velocity of the axis at the
beginning of this
segment. The velocity
must be given as a factor
between the velocity of
the axis in relation to the
velocity of the guide
value (1 revolution of the
axis per 1 round of guide
value). To ensure smooth
movements, the velocities
of all segments that are
connected in the same
node should be the
same.
If not parameterized
correctly, a jump in
velocity may occur.
endVel O; default = 0 Float Same as startVel but at
the end of the segment.
Attribute
Mandatory/
optional
(+default
value)
Value
range/
allowed
values
Description
startAcc O; default = 0 Float Acceleration of the axis at
the beginning of this
segment. The
acceleration must be
given as a factor between
the acceleration of the
axis in relation to the
velocity of the guide
value (1 revolution of axis
per square of round of
guide value).
Jumps in acceleration
may occur when 2
succeeding segments
have dierent startAcc
and endAcc values.
endAcc O; default = 0 Float Same as startAcc but at
the end of the segment.
startAction Same as in Table 2.17.
endAction Same as in Table 2.17.
Table 2.18 Attributes for GuidePoly in Start/Endpoint
Representation
Illustration 2.85
Coecient Representation
Attribute
Mandatory/
optional
(+default value)
Value
range/
allowed
values
Description
segID Same as in Table 2.17.
precNode Same as in Table 2.17.
succNode Same as in Table 2.17.
type Same as in Table 2.17.
a0 type = absolute:
M else O
Float Polynomial coecients
for the movement
described by a5x5 +
a4x4 + a3x³ + a2x² +
a1x + a0
a0 is the same as
startPos in the Start/
Endpoint represen-
tation.
a1-a5 M Float
startAction Same as in Table 2.17.
endAction Same as in Table 2.17.
Table 2.19 Attributes for GuidePoly in Coecient Representation
Servo Drive Operation Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 57
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