Name DescriptionPartial CAM A CAM that is defined with the 1stdata point not at guide value 0 orlast data point not at guide value 1(or both). The CAM is only definedon part of the guide value cycle.Parts of the guide value are“undefined”. Not applicable foradvanced CAM.P5 Polynomial of 5th degree.End of profile Output signaling the end of theCAM profile. For cyclic processing ofthe CAM, it is displayed every timethe end of the CAM profile isreached. This signal is only high for1 fieldbus cycle. For basic CAMs, theend of profile is signaled at the lastdata point. For advanced CAMs, theend of profile is signaled at eachend node.InSync Output InSync is high as long as theslave follows the commanded CAMprofile.Blending Blending occurs whenever the servodrive automatically calculates a P5when switching between CAMs, orit is used to fill up the undefinedparts in cyclic processing of CAMs.Table 2.5 Terminology2.4.5.1 Activating a CAM profilePerform the following steps to activate a CAM profile:1. Write the CAM data to 1 of the objects 0x3820–0x3827: CAM data 1–8 (seechapter 7.14.5 Parameters: CAM Data 1–8 (0x3820–3827)).2. Write the CAM configuration and activate theCAM parsing to the corresponding object0x3810–0x3817: CAM profile, sub-index 01 (seechapter 7.14.4 Parameters: CAM Profile 1–8(0x3810–0x3817)).3. Check the CAM parsing state in objects 0x3810–0x3817: CAM profile, sub-index 02 and 03 (seechapter 7.14.4 Parameters: CAM Profile 1–8(0x3810–0x3817)).4. Write the number of the CAM and the delay codethat should be used into object 0x3804: CAMprofile selector (see chapter 7.14.7 Parameter: CAMProfile Selector (0x3804).5. Switch to CAM mode (this can also be doneearlier).6. Perform handshaking to send the CAM activationrequest.To transfer a CAM profile, use function block MC_CamTable-Select_ISD51x (seechapter 6.5.6.1 MC_CamTableSelect_ISD51x).CAM profile activation request (Handshaking)The activation of a CAM profile is controlled by the timingof the New CAM bit in the Controlword, and the CAM ackbit in the Statusword. After a CAM profile is transferred andsuccessfully parsed, the control device signals that theCAM profile will be activated (CAM profile activationrequest) by a rising edge of the New CAM bit in theControlword. The axis internally calculates all necessaryparameters and afterwards sets the CAM ack bit in theStatusword to 1. With the CAM ack bit set to 0, the axissignals its ability to accept new CAM profiles. An exampleis shown in Illustration 2.36. After activation of the CAMprofile, the CAM is not necessarily executed immediately.This depends on the CAM configuration and the changeimmediate bit in the Controlword.New CAM(Bit 4)CAMprofileselectorCAM ack(Bit 12)130BF184.10Illustration 2.36 Handshaking Procedure for CAM ProfileActivationThe CAM profile can also be activated using function blockMC_CamIn_ISD51x (see chapter 6.5.6.2 MC_CamIn_ISD51x).The axis supports a set of 2 CAM profiles numbers: a CAMprofile that is currently being processed, and a bufferedprofile.If a CAM profile is still in progress and a new CAM profileis validated by the new CAM (bit 4) in the Controlword, 2methods of handling are supported:• The new CAM profile is activated immediately(Change CAM immediately bit of the Controlwordis set to 1).• The currently active CAM profile is finished firstand afterwards the new CAM profile is started(Change CAM immediately bit of the Controlwordis set to 0).When a new CAM profile is activated, all specificparameters are activated at the start of the new profile(this is the beginning of the blending). This can lead tojumps in position and velocity, for example when usingdifferent master scaling values.Servo Drive Operation VLT® Integrated Servo Drive ISD® 510 System40 Danfoss A/S © 01/2017 All rights reserved. MG36D10222
