Programmable SyncPos motion controller
MG.10.J8.02 – VLT is a registered Danfoss trade mark
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Indices of start/stop points
Here we have the indices of the start/stop points
(see above) within the interpolation array. These are
necessary for the ease of start and stop recogni-
tion. We are waiting until start index for example
equals the actual index and direction of movement
is correct. If both is true, we start synchronization.
The same is true for stopping.
Start Stop Velocities
To be able to calculate an appropriate starting or
stopping path, we need the velocity we have to
reach at end (start) or we will have at the beginning
(stop) in UU/MU units (Slave units per Master
units).
Start / Stop paths
This is the place for the interpolation points of the
actual start and stop path. These points are
calculated when a SYNCCSTART or SYNCCSTOP
command is executed, but we have to reserve the
room right now.
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■ CAM Array Definition
Part Index Name Unit Value Description
General 1 Identification (dec) 999.000.001 Number to identify array
2 VersioNumber (dec) 100 Version as decimal (1.00 = 100)
3 CurveType (dec) 0 0 = symmetrical, 1 = compatible
4 CurveName 1 (4char) Nona Name of curve total 16 char.
5 CurveName 2 (4char) meCu default is:
6 CurveName 3 (4char) rve0 NonameCurve00001
7 CurveName 4 (4char) 0001
8 IndexCIF (dec) 16 Index to Curve Information Part
9 IndexSTP (dec) 27 Index to Start/Stop Point Part
10 IndexFIP (dec) IndexSTP + STPno*2 Index to Fix Point Part
11 IndexINP (dec) IndexFIP + FixPointNo * 3 Index to Interpolation Point Part
12 IndexSTPInd (dec) IndexINP + InterpolPointNo Index to StartStop Interpolation
Indices
13 IndexSTPVel (dec) IndexSTPInd +STPno*2 Index to StartStop Velocities
14 IndexSTIP (dec) IndexSTPVel +STPno*2 Index to Startpath interpolation
points
15 IndexSTPIP (dec) IndexSTIP + MaxStartStopLen Index to Stoppath interpolation
points
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