Attribute
Mandatory/
optional
(+default
value)
Value range/
allowed values
Description
threshold M Float Torque
threshold to be
exceeded or
underrun. The
torque must
be given in
mNm.
condition M Above/below Selects if the
segment
should be left
if the threshold
has been
exceeded or
underrun.
Table 2.51 Attributes for checkTorque
Distance Above Limit
This exit condition checks if the distance that has been
processed during the current segment is above the
specied absolute value. As soon as the value is above the
threshold, the axis proceeds with the next segment.
<checkDistance threshold="500"/>
Attribute
Mandatory/
optional
(+default
value)
Value range/
allowed values
Description
threshold M Float Distance
threshold to be
exceeded.
Given in
revolutions of
rotor position.
Table 2.52 Attributes for checkDistance
2.4.5.6 Commands During Operation
The commands listed in this chapter are provided by the
servo drive to control the functionality during the
operation of a CAM. Some commands are only available if
an advanced CAM is used. The CAM control data
information is represented in 4 16 bit objects (see
chapter 7.14.3 Parameter: CAM Control (0x3800) for object
description). One of them is the control code, whereas the
rest contain additional parameters (see Table 2.53). The
detailed descriptions are given in the following sub-
chapters.
Bit 16 (MSB) of the control code is a toggle bit. As
synchronous eldbuses are supported, it is not possible to
distinguish between a new and a resent command.
Therefore, the edge of the toggle bit is used for this
purpose.
Control
code
Meaning Availa-
bility
Control
parameter
1
Control
parameter
2
Control
parameter
3
0x0000 Reserved – Reserved Reserved Reserved
0x0001 Rotation
stop
Basic &
Advanced
Rotation
stop
option
code (see
Table 2.54)
Deceleration [oat;
rps per second]
Low byte High byte
0x0002 Segment
parameter
during run-
time
Advanced
only
SegmentID Parameter [oat; in
revolutions]
Low byte High byte
0x0003 Set follow
segment
Advanced
only
nodeID SegmentID Reserved
0x0004 Node
signaling
status
(leads to a
status
information
with status
code
0x0005)
Basic &
Advanced
nodeID/No
. of data
point
1: Enable
0: Disable
Reserved
0x0005 Go to
setpoint
(while
guide
value
velocity is
0)
Basic &
Advanced
Direction
option
code (see
Table 2.55)
Time in
ms
Reserved
Table 2.53 CAM Control Data Information
When using the PLC, the libraries provide function blocks
to send the commands. The function blocks are described
in chapter 6.5.6 Drive – CAM Operation.
Rotation stop
This command issues a stop of the servo drive for 1 CAM
cycle. The stopping takes place according to the Table 2.54.
Value Denition
0 Coasting and stay in Operation enabled.
+1 Slow down on specied ramp and stay in Operation
enabled.
+2 Slow down on current limit and stay in Operation enabled.
Table 2.54 Rotation Stop Option
The CAM processing is resumed at the starting node of the
CAM. Ensure that the resuming can take place without
jumps.
For advanced CAMs, this can be done by:
•
Starting the CAM with a relative movement.
•
Starting the CAM with a ReturnSegment
(suggested solution).
Servo Drive Operation Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 75
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