AttributeMandatory/optional(+defaultvalue)Value range/allowed values Descriptionthreshold M Float Torquethreshold to beexceeded orunderrun. Thetorque mustbe given inmNm.condition M Above/below Selects if thesegmentshould be leftif the thresholdhas beenexceeded orunderrun.Table 2.51 Attributes for checkTorqueDistance Above LimitThis exit condition checks if the distance that has beenprocessed during the current segment is above thespecified absolute value. As soon as the value is above thethreshold, the axis proceeds with the next segment. threshold="500"/>AttributeMandatory/optional(+defaultvalue)Value range/allowed values Descriptionthreshold M Float Distancethreshold to beexceeded.Given inrevolutions ofrotor position.Table 2.52 Attributes for checkDistance2.4.5.6 Commands During OperationThe commands listed in this chapter are provided by theservo drive to control the functionality during theoperation of a CAM. Some commands are only available ifan advanced CAM is used. The CAM control datainformation is represented in 4 16 bit objects (seechapter 7.14.3 Parameter: CAM Control (0x3800) for objectdescription). One of them is the control code, whereas therest contain additional parameters (see Table 2.53). Thedetailed descriptions are given in the following sub-chapters.Bit 16 (MSB) of the control code is a toggle bit. Assynchronous fieldbuses are supported, it is not possible todistinguish between a new and a resent command.Therefore, the edge of the toggle bit is used for thispurpose.ControlcodeMeaning Availa-bilityControlparameter1Controlparameter2Controlparameter30x0000 Reserved – Reserved Reserved Reserved0x0001 RotationstopBasic &AdvancedRotationstopoptioncode (seeTable 2.54)Deceleration [float;rps per second]Low byte High byte0x0002 Segmentparameterduring run-timeAdvancedonlySegmentID Parameter [float; inrevolutions]Low byte High byte0x0003 Set followsegmentAdvancedonlynodeID SegmentID Reserved0x0004 Nodesignalingstatus(leads to astatusinformationwith statuscode0x0005)Basic &AdvancednodeID/No. of datapoint1: Enable0: DisableReserved0x0005 Go tosetpoint(whileguidevaluevelocity is0)Basic &AdvancedDirectionoptioncode (seeTable 2.55)Time inmsReservedTable 2.53 CAM Control Data InformationWhen using the PLC, the libraries provide function blocksto send the commands. The function blocks are describedin chapter 6.5.6 Drive – CAM Operation.Rotation stopThis command issues a stop of the servo drive for 1 CAMcycle. The stopping takes place according to the Table 2.54.Value Definition0 Coasting and stay in Operation enabled.+1 Slow down on specified ramp and stay in Operationenabled.+2 Slow down on current limit and stay in Operation enabled.Table 2.54 Rotation Stop OptionThe CAM processing is resumed at the starting node of theCAM. Ensure that the resuming can take place withoutjumps.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 GuideMG36D102 Danfoss A/S © 01/2017 All rights reserved. 752 2
