2.3.6.2 Speed ControllerThe controller uses PID control. The D constant is the derivative time constant. The speed controller has a Notch-Filter (IIR)that can be parameterized (center frequency/bandwidth) to suppress resonance. The controller provides 2 sets of controlparameters (see chapter 7.6.5.1 Parameters 51-10 to 51-15: Speed Controller Parameters (0x2012) and chapter 7.6.5.2 Parameters51-20 to 51-25: Speed Controller Parameters 2 (0x2014)) that can be switched spontaneously.Both sets are available as read-write objects in the object dictionary. Use a manufacturer-specific bit in the Controlword toswitch between the 2 sets of parameters.LimitfunctionLimitfunctionTorquecontrolVelocitycontrolSelectorApplication torque limit (0x2053)Max torque (0x6072)Max motor speed (0x6080)Feed forward torqueFeed forward velocityControlword (0x6040)Position controller parameters (0x2013)Speed controller parameters (0x2012)Position controller parameters 2 (0x2015)Speed controller parameters 2 (0x2014)+ + +– –P DNotchInertiaMS130BF168.10IIllustration 2.12 Speed Control Loop2.3.6.3 Current ControllerThe current controller runs synchronous to the fieldbus cycle time. It cannot be parameterized.2.4 Operating ModesThe servo drive implements several modes of operation. The behavior of the servo drive depends on the activated mode ofoperation. It is possible to switch between the modes while the servo drive is enabled. The supported modes of operationare according to CANopen® CiA DS402 and there are also ISD-specific modes of operation. All supported modes ofoperation are available for EtherCAT® and Ethernet POWERLINK®.2.4.1 Profile Position ModeIn Profile position mode, the servo drive is operated under position control and executes absolute and relative movements.Parameters such as velocity, acceleration, and deceleration can be parameterized. The servo drive provides a buffer to queuea following move while another move is already executing.This functionality can be commanded using the function blocks MC_MoveAbsolute_ISD51x (see chapter 6.5.5.4 MC_MoveAb-solute_ISD51x) and MC_MoveRelative_ISD51x (see chapter 6.5.5.5 MC_MoveRelative_ISD51x). This functionality can also beused via the LCP (see section Position mode in chapter 4.3.5.1 Servo Drive).When switching to Profile position mode from Profile velocity mode, CAM mode, Gear mode, or Profile torque mode, the servodrive continues rotating with the current velocity. As soon as there is a new setpoint (handed over using the handshakingbetween Controlword and Statusword), the new setpoint is processed with the corresponding parameters.Servo Drive Operation VLT® Integrated Servo Drive ISD® 510 System26 Danfoss A/S © 01/2017 All rights reserved. MG36D10222
