Setting of PID:
32-60 Proportional factor
≈ FFVEL/50
32-61 Derivative factor
≈ FFVEL/10
32-62 Integral factor
= 5
5.5 Description of Application Parameters
5.5.1 19-** Application Parameters
The 19-** parameters configure the MCO 351 Positioning
Controller specific application software. The other
parameters configure the underlying MCO firmware.
19-00 Control Mode
Option:
Function:
[0]
*
MCO
control
The motor is controlled by MCO.
[1]
VLT control The motor is controlled by VLT and not by
MCO. Manual running is possible. Note that
the standard controller functions, for example,
limit switches and other safety-related
functions, are not active.
19-01 Endless Positioning
Option:
Function:
[0]
*
Limited The positioning is performed in a limited position
range without position overflow.
[1]
Endless The positioning is performed continuously in 1
direction. Also remember to set parameters
19-08
Power Recovery
,
33-43 Negative Software End Limit
Active
, and
33-44 Positive Software End Limit Active
to [0].
19-02 Block Direction
Option:
Function:
[0]
*
No blocking The motor is enabled to move in both
directions.
[1]
Block
reverse
Defined as an error situation (“Reverse
operation prohibited” – ERROR STATUS = 12)
if the motor is moving in reverse direction.
[2]
Block
forward
Defined as an error situation (“Forward
operation prohibited” – ERROR STATUS = 13)
if the motor is moving in forward direction.
19-03 Touch Probe Delay
Range:
Function:
0 [1–100000 ms] This parameter enables compensation for any
fixed delay in the touch probe.
19-04 Control Source
Option:
Function:
[0]
*
Digital I/O The positioning is controlled via digital inputs.
[1]
Fieldbus
The positioning is controlled via fieldbus.
19-05 User Actual Position Setting
Range:
Function:
0 [–1073741824 to
1073741824]
At power-up, if parameter
33-00 Force
Home
is set to
[0] Home not forced
, the
actual position is equal to the value set
here.
19-06 Error Behaviour
Option:
Function:
[0]
*
Electronic
brake
This parameter determines the behaviour of
the motor after an error is detected.
The motor ramps down to standstill with the
shortest possible ramp (parameter
32-81
).
After achieving standstill it activates the
electronic brake according to the setting of
parameter
19-10 Coast Delay
. If the motor is
coasted at any point during ramp down (for
example, due to an overcurrent trip), the
motor immediately activates the brake and
coasts the motor.
[1]
Mechanical
brake
The motor immediately activates the brake
and coasts the motor.
NOTICE
The brake is always activated after an error situation (or
quick stop), regardless of the setting in parameter
19-09
Automatic Brake Control
.
19-07 Error Reset
Option:
Function:
[0]
*
No reset
No error reset.
[1]
Reset
error
By selecting this option, it is possible to clear
the error flag (if the reason for the error is not
still present). The parameter automatically resets
to
[0] No reset
when the error is successfully
cleared.
19-08 Power-Recovery
Option:
Function:
[0]
Disabled When the power recovery function is disabled (set
to [0]), it is not possible to drive the application
by any means (neither jogging nor positioning) as
long as the application is outside the HW or SW
limits. The only way to recover from this situation
is to move the application by hand.
[1]
*
Enabled When the power recovery function is enabled (set
to [1]), it is possible to make a partial reset of the
limit error (ERROR STATUS = 2/3/4/5), whereby it
is possible to use the jogging function to drive
the application out of the HW or SW limit area. It
is not possible to drive the application with
homing, positioning, or jogging (in the wrong
direction), as long as the application is still within
the HW or SW limit area. The
error occurred
output
remains high to indicate that these restrictions are
in effect. As soon as the application is moved
Commissioning
Operating Instructions
24
Danfoss A/S © 04/2014 All rights reserved.
MG33R302
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