Danfoss VLT series Programming Guide

Illustration 2.89 Start/Endpoint Representation
Attribute
Mandat
ory/
optional
(+defaul
t value)
Value
range/
allowe
d
values
Description
segID Same as in Table 2.17.
precNode Same as in Table 2.17.
succNode Same as in Table 2.17.
startPos O Float See Table 2.18 for type=
relative.
startVel Same as in Table 2.18.
maxConstDist M Float
>0
Denes the maximum rotor
angle that the axis turns if no
parameter is sent during run-
time. Given in revolutions of
rotor position. Only positive
values are allowed. The value is
considered as absolute value in
the direction of the start
velocity.
brakeDist M Float
>0
Rotor angle of the axis during
the deceleration phase of this
segment. Given in revolutions
of rotor position. Only positive
values are allowed. The value is
considered as absolute value in
the direction of the start
velocity. There must be
enough space to be able to
brake also in worst case
situations.
brakeLength M Float
>0
Guide value for the length of
the deceleration phase of this
segment. Given in revolutions
of guide value. The segment
must be long enough to run
the maxConstDist and have
enough guide value left for at
least the brakeLength. If there
is space left, the servo drive
remains in standstill until the
succeeding GuideNode is
reached.
startAction Same as in Table 2.17.
endAction Same as in Table 2.17.
Table 2.21 Attributes for FlyingStopSegment in Start/Endpoint
Representation
Illustration 2.90
Coecient 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.
a0 type =
absolute: M
else O
Float Polynomial coecients
for the movement
described by a5x5 +
a4x4 + a3x³ + a2x² +
a1x + a0
a0 is the same as
startPos in the Start/
Endpoint represen-
tation.
maxConstDist Same as in Table 2.21.
brakeLength Same as in Table 2.21.
a1-a3 M Float Polynomial coecients
for the movement
described by
a3x³ + a2x² + a1x
It is not necessary to
give a0 as this
information comes
from the position
value of the
beginning of the
decelerating part.
a1 is also the velocity
for the constant part
of the segment. This
value must be
unequal to 0. The
coecients must be
given so that the
braking part ends in a
standstill.
startAction Same as in Table 2.17.
endAction Same as in Table 2.17.
Table 2.22 Attributes for FlyingStopSegment in Coecient
Representation
ReturnSegment:
The ReturnSegment is used to return from any position to a
dened absolute position. In this way, all osets of the
logical rotor angle are discarded and a xed relation
Servo Drive Operation Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 59
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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)