Danfoss VLT5000 SyncPos User Manual

105
MG.10.J8.02 – VLT is a registered Danfoss trade mark
Programmable SyncPos motion controller
Software Reference
■ CURVEPOS
CURVEPOS returns the slave value which corres-
ponds to the actual curve master position.
The position can be retrieved independently of the
operating status (position control at standstill,
positioning procedure, velocity control or synchroni-
zation).
CMASTERCPOS (SYSVAR) und CURVEPOS werden
nun auch aktualisiert, sogar wenn SYNCC nicht
mehr aktiv ist. Diese Werte werden aktualisiert nach
einem Befehl SETCURVE (falls SYNCMSTART <
2000 ist) oder nach SYNCC und dem erster Master-
Marker (falls SYNCMSTART = 2000).
Nachdem der SYNCC Befehl angehalten wurde,
wird fortgefahren, diese Werte zu aktualisieren, wenn
SYNCMSTART < 2000.
Summary
Retrieve slave curve position that corresponds to the
current master position of the curve.
Syntax
res = CURVEPOS
Return value
res = Slave position in CAM units (UU) absolute to
the current zero point.
NB!
The position is only defined if a SETCURVE
has been set before.
NB!
If a temporary zero point exists which has
been set with SET ORIGIN and is active, the
position value will refer to this zero point.
NB!
DEFMCPOS and DEFMORIGIN can still
modify this position.
Command group
CAM
Cross Index
APOS, DEF ORIGIN, SET ORIGIN, POSA, POSR,
DEFMCPOS
Parameter: SYNCFACTM, SYNCTACTS
Syntax example
PRINT CURVEPOS
// print actual slave position of the curve
■■
■■
■ CVEL
The velocity for the next speed controlled motor
movement is set with the CVEL command. The
value remains valid until a further CVEL command
sets a new velocity.
The velocity value to be given will be related to the
parameters
Maximum velocitMaximum velocit
Maximum velocitMaximum velocit
Maximum velocit
y y
y y
y VELMAX (1) and
VV
VV
V
elocitelocit
elocitelocit
elocit
y resolution y resolution
y resolution y resolution
y resolution VELRES (22).
Summary
sets velocity for speed controlled motor movements
Syntax
CVEL v
Parameter
v = velocity value (negative value for reversing)
NB!
CVEL commands which take place after
CSTART will be carried out immediately i.e.
the velocity will be adapted via the ACC/DEC set
acceleration or deceleration to the new value of
CVEL.
If a velocity has not been defined before the start
of speed control mode (CSTART), then the default
velocity is 0, i.e. the motor will not turn, and a
velocity input via CVEL will start the movement in
speed control mode.
Command group
ROT
Cross Index
ACC, DEC, CSTART, CSTOP
Parameter: VELMAX (1)
Syntax-Example
CVEL 100
Program sample
CMODE_01.M

Danfoss VLT5000 SyncPos Specifications

General

Category	Controller
Frequency	50/60 Hz
Series	VLT5000
Control Method	Vector control
Communication	CANopen
Enclosure Rating	IP20
Storage Temperature	-25°C to 70°C
Altitude	Up to 1000m above sea level
Humidity	5% to 95% (non-condensing)