2.5.3 Guide ValueThe guide value is used in all synchronous modes ofoperation (CAM mode and Gear mode). It is used as themaster position within the synchronous modes. The guidevalue consists of a position value (seechapter 7.8.1 Parameter: Position Guide Value (0x2060)) andan optional velocity value (see chapter 7.8.2 Parameter:Velocity Guide Value (0x2064)).The servo drive also supports a scaling of the guide value.The scaling factor (see chapter 7.8.4 Parameter: Guide ValueScaling Factor (0x3808)) consists of a numerator and adenominator.The Position guide value is multiplied by the quotient ofnumerator and denominator.Guide value scaled = Guide value x Scaling factor + Guide value offset(Internally used = 0x2060 x 0x3808.01/02 + 0x3806)Rotor angle of axisMaster axis / guide valueOriginal CAMprofileUsed CAM profile(Original guide valuemultiplied with masterscaling factor)130BF233.10Illustration 2.130 Example of Guide Value Scaling in CAMModeRotor angle of axisMaster axis / guide valueOriginal CAMprofile Used CAM profile(Original + master offset)CAM master offset =Guide value offset130BF214.10Illustration 2.131 Example of Position Guide Value Offset inCAM ModeWhen receiving a guide value, the servo drive canoptionally check the value against reversing and jumps inthe position using object 0x2061 (seechapter 7.8.3 Parameter: Guide Value Option Code (0x2061)).Using this object, the servo drive can also be instructed tocalculate the guide value velocity.The guide value objects can be found inchapter 7.8 GuideValue Objects.2.5.3.1 Guide Value ReferenceThe servo drive is also able to provide a guide value thatcan be used, for example, by the PLC. This generated guidevalue is called Guide value reference. It consists of theposition and the velocity. The servo drive can providethese values based on different sources.Possible guide value reference sources are:• External encoder• Simulation• Actual target position- Actual position- Set positionSelect 1 of these using object 0x2063 (seechapter 7.9.3 Parameter: Guide Value Reference Option Code(0x2063)). The objects to influence the guide valuereference can be found in chapter 7.9 Guide Value ReferenceObjects.2.5.3.2 Guide Value Reference SimulationA guide value reference simulation functionality isprovided (activate/deactivate guide value referencesimulation) by the servo drive. Velocity, acceleration, andspeed limits can be parameterized.The guide value reference simulation can also be used as avirtual axis in a real application. The guide value referencesimulation can be useful in commissioning scenarios whenit is not possible/appropriate to use the entire machine.The guide value reference simulation can then be used tosimulate that the main axis is moving.Target velocity Velocityacc0decacc dec acc decacc dec130BE848.10Illustration 2.132 Usage of Acceleration and Deceleration inGuideValue Reference SimulationThe device puts the calculated position and the velocityinto the reference objects (see chapter 7.9.1 Parameter:Position Guide Value Reference (0x2062) andchapter 7.9.2 Parameter: Velocity Guide Value Reference(0x2065)) every cycle while increasing or decreasing thesimulation speed with the desired ramp acceleration untilthe demanded speed has been reached.The guide value reference simulation can be parameterizedwith the objects given in chapter 7.9.6 Guide ValueReference Simulation.Servo Drive Operation Programming GuideMG36D102 Danfoss A/S © 01/2017 All rights reserved. 852 2
