Danfoss VLT series Programming Guide

130BF292.10
Time
Rotor angle
of axis
distance
startPos
duration
endVel
startVel
succNodeprecNode
Illustration 2.94 TimePoly
Illustration 2.95 Start/Endpoint Representation
Attribute Mandatory/
optional
(+default value)
Value
range/
allowed
values
Description
segID Same as in Table 2.26.
precNode Same as in Table 2.26.
succNode Same as in Table 2.26.
default Same as in Table 2.26.
startPos Same as in Table 2.18.
duration Same as in Table 2.26.
type Same as in Table 2.18.
distance Same as in Table 2.18.
startVel O; default = 0 Float Velocity of the axis at
the beginning of this
segment. The velocity
must be given in rps.
To ensure smooth
movements, the
velocities of all
segments that are
connected in the same
node should be the
same. If this is 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 in rps per
second.
It is possible to
parameterize jumps in
acceleration when 2
succeeding segments
have dierent startAcc
and endAcc values.
endAcc O; default = 0 Same as
startAcc
Same as startAcc but
at the end of the
segment.
exitCond Same as in Table 2.26.
startAction Same as in Table 2.26.
endAction Same as in Table 2.26.
Table 2.27 Attributes for TimePoly in Start/Endpoint Representation
Illustration 2.96
Coecient Representation
Attribute Mandatory/
optional
(+default value)
Value
range/
allowed
values
Description
segID Same as in Table 2.26.
precNode Same as in Table 2.26.
succNode Same as in Table 2.26.
default Same as in Table 2.26.
duration Same as in Table 2.26.
type Same as in Table 2.18.
a0 type = absolute:
M else O
Float Polynomial coe-
cients for the
movement described
by a
5
x
5
+ a
4
x
4
+ a
3
x
3
+ a
2
x
3
+ a
1
x + a
0
.
a
0
is the same as
startPos in the Start/
Endpoint represen-
tation.
a1-a5 M Float
exitCond Same as in Table 2.26.
startAction Same as in Table 2.26.
Servo Drive Operation Programming Guide
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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)