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MG.10.J8.02 – VLT is a registered Danfoss trade mark
Programmable SyncPos motion controller
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Technical Reference
This section documents data structures and com-
piler details which are only required in exceptional
cases by the user. For example, if an automatically
generated programming is to be modified like a
curve profile.
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Array Structure of CAM Profiles
Header
The header contains general information like
••••• Identification for curve array
••••• Version number for curve structure
••••• Type of curve
••••• Name of curve
••••• Index to curve information section
••••• Index to start/stop point section
••••• Index to fixed point section
••••• Index to interpolation point section
••••• Index to start/stop point indices (in interpola-
tion section)
••••• Index to start/stop velocities (times 100000)
••••• Index to startpath interpolation points
••••• Index to stoppath interpolation points
Curve information section
This section of the array contains all information
about the type of curve like
••••• Length of curve (master)
••••• Length of curve (slave)
••••• Number of fix points
••••• Number of Interpolation points (this gives the
resolution)
••••• Type of interpolation
••••• Slave stop point, point where slave is posi-
tioned, when synchronization is stopped
••••• Correction start point (only valid for marker
synchronization)
••••• Correction end point (only valid for marker
synchronization)
••••• Maximum correction which is allowed (only
valid for marker synchronization)
••••• Maximum start/stop path length (Size of start/
stop path area)(min. 2)
••••• No of start/stop point pairs
••••• Maximum number of cycles per minute (Ap-
plication information)
Curve start/stop point section
This section contains the start/stop points.
Because the use of this point is up to the user, we
just speak of a path, which can be a start or a stop
sequence. Every path consists of 2 points. If we
are moving forward, the path starts (start or stop)
with the a-point and ends with the b-point. If we
are moving backward, the path starts with the b-
point and ends with the a-point. So the user is
able to tell us in the program, which pair of points
to use for starting or stopping, when he uses a
STARTCURVE or STOPCURVE command.
••••• Path 1 (a – point)
••••• Path 1 (b – point)
••••• Path 2 (a – point)
••••• Path 2 (b – point)
••••• …
These points have to lie on interpolation points, so
possibly the PC software has to adjust them accor-
ding to the interpolation resolution. This should not
be a real restriction, because the interpolation
points are normally very dense. So for example if
we have rotating master which makes one revolu-
tion per cycle and we choose a cycle length of
3600 MU (1 MU = 1/10 degree). Let us further
assume, that we choose the number of interpola-
tion points as 1200, than you have a resolution of
3 MU = 3/10 degree for defining your start and
stop points.
Fixed point section
This section contains the fix points, which were the
basis for the interpolation calculation. These points
always consist of the following triple
••••• Master coordinate
••••• Slave coordinate
••••• Type of point (tangent, curve)
These points are defined by the user in MU units
(see internal description). If you want to avoid, that
the real interpolation curve misses your fix points,
you have to choose them in such a manner that
they lay on an interpolation point (see above). This
can be forced through a snap function within the
PC software.
Interpolation point section
This section contains a list of slave coordinates.
They belong to master coordinates which are of
equal distance, given by the interpolation
resolution.
Te
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hnical Refer
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