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Danfoss VLT Series Programming Manual

Also see for VLT series: Service manualInstallation guideOperating instructionsOperating instructionsService manual

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Contents
  1. Table Of Contents
  2. Table Of Contents
  3. Table Of Contents
  4. Table Of Contents
  5. Table Of Contents
  6. Table Of Contents
  7. Table Of Contents
  8. Table Of Contents
  9. Table Of Contents
  10. Table Of Contents
  11. Table Of Contents
  12. Table Of Contents
  13. Table Of Contents
  14. Table Of Contents
  15. Table Of Contents
  16. Terminology
  17. Servo Drive Operation
  18. Basic Operation
  19. Factor Group
  20. Positions and Offsets
  21. Brake Handling
  22. Position Controller
  23. Speed Controller
  24. Profile Velocity Mode
  25. Profile Torque Mode
  26. Homing Mode
  27. Homing on Actual Position
  28. Homing on Positive/Negative Block
  29. Homing on Positive/Negative Home Switch
  30. Error Behavior in Homing Mode
  31. Activating a CAM profile
  32. CAM Configuration: Master Absolute/Relative
  33. Basic CAM
  34. Advanced CAM
  35. Commands During Operation
  36. Notifications from the Servo Drive
  37. Gear Mode
  38. Cyclic Synchronous Position Mode
  39. Motion Functions
  40. ISD Touch Probe
  41. Touch Probe Window
  42. Timing Example
  43. Guide Value
  44. Peripherals
  45. Following Error Detection
  46. Constant Velocity Detection
  47. Servo Access Box (SAB) Operation
  48. Control
  49. Relay Outputs
  50. Monitoring
  51. Input Voltages
  52. Local Control Panel (LCP) Operation
  53. Graphical User Interface
  54. Default Readouts for ISD 510 Servo Drive
  55. Alarms and Warnings
  56. Displaying and Editing Values
  57. ISD 510 Drive Menu
  58. Hand On Mode
  59. Alarm Log
  60. Alarm Log Key
  61. OK Key
  62. LCP-specific Parameters
  63. SAB-specific LCP Parameters
  64. Operation with ISD Toolbox
  65. Network Settings for Indirect Communication
  66. Network Settings for Direct Communication with Ethernet POWERLINK
  67. ISD Toolbox Commissioning
  68. Look and Feel
  69. Main Window
  70. Device Environment Window
  71. Watchlist Window
  72. Project File
  73. Connection and Devices
  74. Scan for Devices
  75. Firmware Update (Single and Multi-device for Servo Drive and SAB)
  76. Scope (Single and Multi-device for Servo Drive and SAB)
  77. Triggering
  78. Trace Signals
  79. Status
  80. Polling
  81. Saving and Loading Data
  82. Online and Offline Mode
  83. Drive Control (Servo Drive only)
  84. Digital CAM Switch (Servo Drive only)
  85. CAM Editor (Servo Drive only)
  86. Property Window
  87. CAM Profile Window Overview
  88. Editing Basic CAM Profiles
  89. Editing Advanced CAM Profiles
  90. CAM Profile Management
  91. Touch Probe (Servo Drive only)
  92. SAB ID Assignment via Ethernet POWERLINK ® (SAB only)
  93. Programming
  94. TwinCAT
  95. Connecting to the PLC
  96. Automation Studio
  98. General Input/Output Behavior
  99. Function Blocks with Enable Input
  100. Technical Units in the PLC library
  101. Drive – Administrative
  102. MC_Reset_ISD51x
  103. MC_ReadStatus_ISD51x
  104. DD_ReadAxisWarning_ISD51x
  105. DD_UpdateFirmware_ISD51x
  106. MC_ReadAxisInfo_ISD51x
  107. MC_ReadActualPosition_ISD51x
  108. MC_ReadActualTorque_ISD51x
  109. MC_ReadDigitalInput_ISD51x
  110. MC_ReadDigitalOutput_ISD51x
  111. MC_ReadParameter_ISD51x and MC_ReadBoolParameter_ISD51x
  112. DD_ReadParameter4_ISD51x
  113. DD_ReadParameter_ISD51x
  114. DD_WriteParameter_ISD51x
  115. DD_Trace_ISD51x
  116. DD_BrakeHandling_ISD51x
  117. MC_TouchProbe_ISD51x
  118. MC_AbortTrigger_ISD51x
  119. DD_DigitalCamSwitch_ISD51x
  120. DD_ProduceGuideValue_ISD51x
  121. MC_Stop_ISD51x
  122. MC_Halt_ISD51x
  123. MC_MoveAbsolute_ISD51x
  124. MC_MoveRelative_ISD51x
  125. MC_MoveAdditive_ISD51x
  126. MC_MoveVelocity_ISD51x
  127. MC_GearIn_ISD51x
  128. DD_GetInertia_ISD51x
  129. MC_CamIn_ISD51x
  130. DD_CamScaling_ISD51x
  131. DD_SetFollowSegment_ISD51x
  132. DD_SetSegmentParameter_ISD51x
  133. DD_NodeNotification_ISD51x
  134. DD_ReadCamInfo_ISD51x
  135. SAB_REF
  136. DD_Reset_SAB
  137. DD_ReadSabError_SAB
  138. DD_ReadVersion_SAB
  139. DD_ReadDcLinkPower_SAB
  140. DD_ReadParameter4_SAB
  141. DD_WriteParameter4_SAB
  142. DD_WriteParameter_SAB
  143. DD_SimulateGuideValue_SAB
  144. DD_ReadPosGuideValueRef_SAB
  145. DD_ReadVelGuideValueRef_SAB
  146. Servo Drive Parameter Description
  147. Controlword in Profile Position Mode
  148. Controlword in Profile Velocity Mode
  149. Controlword in Homing Mode
  150. Controlword in Gear Mode
  151. Controlword in Cyclic Synchronous Velocity Mode
  152. Statusword in Profile Position Mode
  153. Statusword in Profile Torque Mode
  154. Statusword in CAM Mode
  155. Statusword in ISD Inertia Measurement Mode
  156. Statusword in Cyclic Synchronous Velocity Mode
  157. Parameters 55-10 and 55-11: Gear Ratio (0x6091)
  158. Parameters 55-20 and 55-21: Feed Constant (0x6092)
  159. Parameters 55-30 and 55-31: Velocity Factor (0x6096)
  160. Commonly Used Objects
  161. Parameter 52-01: Modes of Operation Display (0x6061)
  162. Parameter 50-16: Maximum Profile Velocity (0x607F)
  163. Parameter 52-12: Profile Velocity (0x6081)
  164. Parameter 50-12: Profile Deceleration (0x6084)
  165. Parameter 50-14: Maximum Acceleration (0x60C5)
  166. Parameter: Maximum Torque (0x6072)
  167. Control Parameters
  168. Parameter 51-01: Control Parameter Blending Time (0x201B)
  169. Parameters 51-26 and 51-27: Position Controller Parameters 2 (0x2015)
  171. Parameters 51-20 to 51-25: Speed Controller Parameters 2 (0x2014)
  172. Positions and Offset Objects
  173. Parameter: Drive Position (0x2022)
  174. Parameter 50-03: Position Actual Value (0x6064)
  175. Parameters 50-32 and 50-33: Software Position Limit (0x607D)
  176. Parameters 51-02, 52-04, and 52-49: Application Settings (0x2016)
  177. Guide Value Objects
  178. Parameter: Velocity Guide Value (0x2064)
  179. Parameter: Guide Value Scaling Factor (0x3808)
  180. Parameter: Guide Value Offset (0x3806)
  181. Guide Value Reference Objects
  182. Parameter: Position Guide Value Reference Set (0x2068)
  183. Parameter: Guide Value Plausibility Distance (0x2067)
  184. Parameter: Guide Value Reference Speed Limit (0x2071)
  185. Parameter: Guide Value Reference Deceleration (0x2074)
  186. Parameter 52-16: End Velocity (0x6082)
  187. Parameter: Position Window (0x6067)
  188. Parameter: Velocity Demand Value (0x606B)
  189. Parameter: Velocity Window (0x606D)
  190. Parameter: Torque Demand (0x6074)
  191. Parameter 52-31: Torque Actual Value (0x6077)
  192. Parameter 52-32: Torque Slope (0x6087)
  193. Homing Mode Objects
  194. Parameters 52-42 and 52-43: Homing Speeds (0x6099)
  195. Parameter 52-50 to 52-57: Supported Homing Methods (0x60E3)
  196. Parameter 52-45 to 52-48: Additional Homing objects (0x2040)
  197. CAM Mode Objects
  198. Parameter: CAM Status (0x3801)
  199. Parameter: CAM Control (0x3800)
  200. Parameters: CAM Profile 1–8 (0x3810–0x3817)
  201. Parameters: CAM Data 1–8 (0x3820–3827)
  202. Parameter: CAM Profile Selector (0x3804)
  203. Parameter: CAM Profile Status (0x3805)
  204. Parameter: CAM Slave Offset (0x3807)
  205. Parameter: CAM Slave Scaling (0x3809)
  206. Parameter: Minimum Blending Distance (0x380A)
  207. Parameter: Logical CAM Position (0x2020)
  208. Parameter: Last Node ID (0x201A)
  209. Parameter: Digital Input Counters (0x3860)
  210. Parameter: Gear Synchronization Option Code (0x3901)
  211. Parameter: Gear Master Start Distance (0x3902)
  212. Parameter: Gear Master Sync Position (0x3903)
  213. ISD Inertia Measurement Objects
  214. Parameters 52-61 and 52-62: Inertia Measurement Parameters (0x200A)
  215. Parameter: Off Compensation (0x3841)
  216. Parameters: Digital CAM Switch Parsing Control (0x3843)
  217. Parameter: Digital CAM Switches Data (0x3844)
  218. Parameter: Touch Probe Status (0x60B9)
  219. Parameter 51-51: Touch Probe 1 Positive Edge (0x60BA)
  220. Parameter 51-54: Touch Probe 1 Negative Edge (0x60BB)
  221. Parameters 51-50 and 51-60: Touch Probe Source (0x60D0)
  222. Parameter: Last Position (0x3854)
  223. Parameter 51-53: Touch Probe Time Stamp 1 Positive Value (0x60D1)
  224. Parameter 51-66: Touch Probe Time Stamp 2 Negative Value (0x60D4)
  225. Parameter 51-55: Touch Probe 1 Negative Edge Counter (0x60D6)
  226. Parameter 51-65: Touch Probe 2 Negative Edge Counter (0x60D8)
  227. Parameter: Signal Trace Channel IDs (0x5001)
  228. Parameter: Trace Data (0x5002)
  229. Option Code Objects
  230. Parameter 50-43: Following Error Option Code (0x2055)
  231. Parameter 50-44: Enable in Positioning Option Code (0x2052)
  232. Parameter 50-46: Quick Stop Option Code (0x605A)
  233. Parameter 50-48: Shutdown Option Code (0x605B)
  235. Parameters 16-62 and 16-64: Analog Inputs (0x200D)
  236. Parameter 16-66: Digital Outputs (0x60FE)
  237. Parameter 52-05: Digital Output Configuration (0x2FFF)
  238. External Encoder Objects
  239. Parameter 51-32 and 51-33: External Encoder (0x2011)
  240. Parameter 51-31: External Encoder Enable (0x3001)
  241. Parameter: Following Error Time Out (0x6066)
  242. Standstill Detection Objects
  243. Constant Velocity Detection Objects
  244. Parameter 15-51: Serial String (0x4004)
  245. Parameters 12-00 to 12-05: Communication Settings (0x400A)
  246. Parameters 15-01 and 15-02: Total Running Time (0x5807)
  247. Parameter 50-09: STO Voltage and Brake Status (0x2007)
  248. Parameter 15-30: Error Code (0x603F)
  249. Parameter 50-08: Motion and Input Status (0x2006)
  250. Parameter 50-07: Overlaying Motion Status (0x2005)
  251. Voltage Objects
  252. SAB Parameter Description
  253. Object 0x2000: SAB Temperatures
  254. Object 0x2008: ISD Power Consumption
  255. Object 0x2009: Fan Speed Power Card
  256. Object 0x2030: Brake Control
  257. Object 0x2034: Brake Check
  258. Object 0x2071: Guide Value Reference Speed Limit
  259. Object 0x5020: Control Source
  260. Object 0x503F: Error Code
  261. Diagnostics
  262. Error Codes
  264. Troubleshooting
  265. Warnings and Alarms
  267. Operating Status Indicators
  268. Appendix
  269. General XML Conventions
  270. Index
Danfoss VLT Series Programming Manual Manual pdf 252 page image
7.5.6 Parameter 52-12: Profile Velocity (0x6081)This object indicates the configured velocity normally attained at the end of the acceleration ramp during a profiled motionand is valid for both directions of motion. The value is given in user-defined velocity units.Attribute ValueIndex 0x6081LCP parameter number 52-12Name Profile velocityObject code VarData type UNSIGNED32Sub-index 0x00Access Read/writePDO mapping OptionalValue range UNSIGNED32Default value 100Table 7.55 0x6081: Profile Velocity7.5.7 Parameter 50-11: Profile Acceleration (0x6083)This object indicates the configured acceleration. The value is given in user-defined acceleration units.Attribute ValueIndex 0x6083LCP parameter number 50-11, 52-13, and 52-21Name Profile accelerationObject code VarData type UNSIGNED32Sub-index 0x00Access Read/writePDO mapping OptionalValue range UNSIGNED32Default value 1000Table 7.56 0x6083: Profile AccelerationServo Drive Parameter Descr... VLT® Integrated Servo Drive ISD® 510 System250 Danfoss A/S © 01/2017 All rights reserved. MG36D10277
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