7 Operation
7.1 Operating Modes
7.1.1 Supported Operating Modes
The servo drive implements several modes of operation. The behavior of the servo drive depends on the activated mode of operation.
It is possible to switch between the modes while the servo drive is enabled.
The supported modes of operation are according to CANopen
®
CiA DS 402 and there are also ISD-specific modes of operation. All
supported modes of operation are available for EtherCAT
®
, Ethernet POWERLINK
®
, and PROFINET
®
.
The various modes of operation are described in detail in the VLT
®
Servo Drive System ISD 510, MSD 510, DSD 510 Programming
Guide.
Table 22: Operating Modes
Mode
Description
Inertia meas-
urement mode
This mode measures the inertia of an axis. It is used to measure the inertia of the servo drive and the external
load, and to optimize the control loop settings. The friction effects are eliminated automatically.
Profile velocity
mode
In profile velocity mode, the servo drive is operated under velocity control and executes a movement with con-
stant speed. Additional parameters, such as acceleration and deceleration, can be parameterized.
Profile position
mode
In profile position mode, the servo drive is operated under position control and executes absolute and relative
movements. Additional parameters, such as velocity, acceleration, and deceleration, can be parameterized.
Profile torque
mode
In profile torque mode, the servo drive is operated under torque control and executes a movement with constant
torque. Linear ramps are used. Additional parameters, such as torque ramp and maximum velocity, can be para-
meterized.
Homing mode
In homing mode, the application reference position of the servo drive can be set. Several homing methods, such
as homing on actual position, homing on block, limit switch, or home switch are available.
CAM mode
In CAM mode, the servo drive executes a synchronized movement based on a master axis. The synchronization is
done by a CAM profile that contains slave positions corresponding to master positions. CAMs can be designed
graphically with the ISD Toolbox software, or can be parameterized via the PLC. The guide value can be provided
by an external encoder, virtual axis, or the position of another axis. The different CAM profile types are described
in the VLT
®
Servo Drive System ISD 510, MSD 510 Programming Guide.
Gear mode
In gear mode, the servo drive executes a synchronized movement based on a master axis by using a gear ratio
between the master and the slave position. The guide value can be provided by an external encoder, virtual axis,
or the position of another axis.
Cyclic synchro-
nous position
mode
In cyclic synchronous position mode, the trajectory generator of the position is located in the control device, not
in the servo drive.
Cyclic synchro-
nous velocity
mode
In cyclic synchronous velocity mode, the trajectory generator of the velocity is located in the control device, not
in the servo drive.
Operation
Operating Guide | VLT® Multiaxis Servo Drive MSD 510 System
AQ262450196490en-000101 / 175R1170| 147
Danfoss A/S © 2019.10
Содержание VLT MSD 510
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