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34-40  Actual inputs

Range:

Function:

000000
000000

*

[00000000000 /
111111111111]

During a positioning sequence the “Referenced position
reached” output (X59 2) is set according to this parameter.

READ-ONLY PARAMETER:

This parameter displays the last read status of the digital input
on the option card (X57). The status of the digital inputs on the
VLT5000 control card is accessible via par. 16-60.

34-56  PID tracking error

Range:

Function:

0

*

[–2,000,000,000 …
2,000,000,000 UU]

During a positioning sequence the “Referenced position
reached” output (X59 2) is set according to this parameter.

READ-ONLY PARAMETER:

The current PID tracking error is displayed in this parameter in
user units.

MCO351 Positioning Controller

4. Programming

 MG.33.R1.02 - VLT

®

 is a registered Danfoss trademark 

 

33

4

Summary of Contents for MCO 351

Page 1: ...ion of the Electrical and Fieldbus Interface 13 Option Card X57 15 Option Card X59 16 3 Fieldbus Interface 17 Fieldbus Interface 17 Introduction 17 Data Layout 17 4 Programming 19 Description of Param...

Page 2: ...tting par 32 81 and 19 06 39 Other Settings 40 6 Troubleshooting 41 Frequently Asked questions 41 Error Messages 42 Glossary of Key Terms 44 Index 47 Contents MCO351 Positioning Controller 2 MG 33 R1...

Page 3: ...be separately collected with electrical and electronic waste according to local and currently valid legislation The FC 300 AutomationDrive DC link capacitors remain charged after power has been discon...

Page 4: ...pplicable local and national rules and safety regulations Installation in high altitudes 380 500 V At altitudes above 3 km please contact Danfoss Drives regarding PELV 525 690 V At altitudes above 2 k...

Page 5: ...onnect DC bus terminals 88 and 89 from load share applications 3 Wait for discharge of the DC link See period of time on the warning label 4 Remove motor cable 1 1 8 Avoid Unintended Start While FC 30...

Page 6: ...and safety category are appropriate and sufficient In order to install and use the Safe Stop function in accordance with the requirements of Safety Category 3 in EN 954 1 the related information and...

Page 7: ...r it must be placed in an IP 54 enclosure Conse quently FC301 A1 must always be placed in an IP 54 enclosure Illustration 1 1 Bridge jumper between terminal 37 and 24 VDC The illustration below shows...

Page 8: ...2 Introduction MCO351 Positioning Controller 8 MG 33 R1 02 VLT is a registered Danfoss trademark 2...

Page 9: ...gital analogue outputs 42 Parameters 650 are set to MCO 0 20 mA 52 analogue output 2 2 Technical Data 2 2 1 Introduction Technical data on the control card terminals can be found in the VLT Automation...

Page 10: ...utput 5 Digital Output 6 Digital Output 7 Digital Output 8 Digital Output Terminal X59 Terminal Number Descriptive Name 24 V Supply 1 24 V Supply 2 GND 2 2 3 Encoder Monitor Both encoder interfaces ar...

Page 11: ...tal inputs and outputs are galvanic isolated from the internal electronics and can be sourced from an external 24V power supply Connection Terminals Maximum cross section rigid wire 1 5 mm2 AWG 16 Max...

Page 12: ...ia parameter 33 85 an external 24V power supply must then be connected to X58 1 and X58 2 Encoder Inputs Number of encoder inputs 2 Terminal block X55 and X56 Terminal number 5 6 7 8 9 10 11 12 Input...

Page 13: ...Reference position index number bit 0 least signifi cant bit Not used in fieldbus mode 19 Reference index Bit 1 Reference position index number bit 1 Not used in fieldbus mode 20 GND Ground for 24V is...

Page 14: ...GND Ground for analogue inputs outputs is normally bridged with Terminal 20 but can be set to OFF by means of Switch SW 4 on the control card 50 10V DC 17mA Power supply for manual JOG inputs terminal...

Page 15: ...ldbus mode 7 Reset touch probe position Active high This input clears the touch probe posi tion flag The reset is necessary to carry out a touch probe positioning command to a new target posi tion Not...

Page 16: ...d active 4 Reference index bit 0 Active high Mirror of the currently locked in refer ence index bit 0 Not used in fieldbus mode 5 Reference index bit 1 Active high Mirror of the currently locked in re...

Page 17: ...ieldbus mode it is possible to specify only the target position and velocity If the acceleration and deceleration PCDs are left blank then the last used acceleration and deceleration chosen via a quic...

Page 18: ...eration N A 6 Quick Bus Target Deceleration N A 7 1 Reference index bit 0 LSB 18 7 2 Reference index bit 1 19 7 3 Reference index bit 2 29 7 4 Reference index bit 3 32 7 5 Reference index bit 4 33 7 6...

Page 19: ...op eration prohibited ERROR STATUS 12 if the drive is moving in reverse direction 2 Block forward By selecting 2 it is defined as an error situation Forward op eration prohibited ERROR STATUS 13 if th...

Page 20: ...l present 19 08 Power recovery Option Function 0 disabled When the power recovery function is disabled 0 it is not pos sible to drive the application by any means neither jogging nor positioning as lo...

Page 21: ...the drive 19 11 BRAKE DELAY Range Function 200 ms 0 1 000 ms Used in conjunction with the automatic brake control function The brake delay is the delay after activating the control and magnetising th...

Page 22: ...ed while jogging the application is specified in terms of Encoder Revolutions Per Minute ERPM NB This setting must never exceed a value that is approx 5 lower than the value in par 32 80 19 17 Jog ram...

Page 23: ...umber different from the one loaded into the PLC memory 1 enabled When activating this function 1 INDEX NUMBER will be auto matically updated with the last position reference number that has been load...

Page 24: ...Y TYPE 3 the application will move in the negative direc tion until a touch probe position is defined If a touch probe position is already defined the application will move directly to that position N...

Page 25: ...n Function 0 No action This parameter automatically resets to 0 when the data is successfully stored 1 SAVE EEPROM Trajectory data is not automatically stored in EEPROM and will thus not automatically...

Page 26: ...e is displayed in this parameter 32 00 Incremental Signal Type Option Function 0 None Set up the incremental encoder type here If an absolute Type is used this Parameter MUST be set to 0 1 RS422 2 Sin...

Page 27: ...ve Direction Option Function This parameter is used to specify which encoder direction is considered positive When changing this setting the current ac tual position P3450 will also change sign 1 No a...

Page 28: ...ire that up to 32 positions must be reprogrammed to achieve the same result as before the change 32 60 Proportional gain Range Function 30 1 100 000 The proportional gain is the factor that is multipl...

Page 29: ...e total output of the PID controller A setting of 1000 corresponds to 100 of the maximum al lowed reference specified in parameter 303 32 65 Feed Forward Velocity Gain Range Function 0 0 100 000 The v...

Page 30: ...ing frequency of the controller can be adjusted in this parameter Normally the fastest possible setting 1 ms is pref erable but in cases with low resolution of the feedback signal it is a good idea to...

Page 31: ...me type Option Function 0 The drive moves to the reference switch Input 4 with home velocity P3303 then reverses and slowly at 30 of home velocity leaves the switch subsequently moves to the next in d...

Page 32: ...uld be done only when not positioning within two fixed limits NB Either both or none of the SW limits must be active Only activating one border is not valid When Limits have been activated or deactiva...

Page 33: ...ion card X57 The status of the digital inputs on the VLT5000 control card is accessible via par 16 60 34 56 PID tracking error Range Function 0 2 000 000 000 2 000 000 000 UU During a positioning sequ...

Page 34: ...5 Application Examples MCO351 Positioning Controller 34 MG 33 R1 02 VLT is a registered Danfoss trademark 5...

Page 35: ...two outlet conveyors To do this a movable pallet conveyor cart is used A typical work process could be 1 Moving the empty pallet conveyor cart to pallet inlet no 1 to pick up a loaded pallet 2 Waitin...

Page 36: ...move all signals to inputs Only Input 27 coast I8 q stop I3 HW limit and I2 HW limit must be connected and high 2 Select Off Mode 3 Input the motor name plate data in P120 125 and activate the Automat...

Page 37: ...gling input 27 Now you come to the test run 13 Drive the application back and forth by closing the contacts on terminal 53 positive direction or terminal 54 negative direction Watch the PID track erro...

Page 38: ...y millimetres To do this the cart is first moved as far to the left as possible by activating the Manual jog negative input terminal 54 The position is then marked on the application and the correspon...

Page 39: ...amp and velocity settings for this position is specified in P1925 P1927 1 d For trajectory type absolute is selected in par 19 28 set to 0 1 The following table shows the complete list of settings for...

Page 40: ...cement is estimated at 4 mm so Brake wear limit is set to 4 If the application for some reason should ever go into the not allowed area beyond the SW limits it should be possible to bring the applicat...

Page 41: ...e any noticeable effect on most of these parameters but par 32 65 should always be recalculated using the auto calculation function par 19 19 Q3 The inverter frequently trips on ALARM 7 DC LINK OVERVO...

Page 42: ...19 93 1 Homing needed Meaning The user has issued a positioning command to a certain position while the home position is not defined NOTE The error must be cleared and a homing sequence successfully c...

Page 43: ...ssed on the LCP P19 93 7 Brake wear limit exceeded Meaning This error message is given if the drive has moved more than the allowed number of user units specified in P735 while the electronic brake wa...

Page 44: ...figuration The number of tracks and thus the number of signals indicate the properties of the encoder system There are single track systems that deliver a pulse signal de pendent on the speed as well...

Page 45: ...lation to the RPM of the encoder To underline this the term encoder revolutions per minute is chosen as unit AMA Automatic Motor Adaptation function in P129 Motor encoder gear ratio Since the encoder...

Page 46: ...reset touch probe input in fieldbus control mode NB A delay in the touch probe sensor will make the target position drift This means the target position will become larger than stated in parameter 19...

Page 47: ...onitor 10 Encoder Resolution 26 Error Behaviour 20 Error Reset 20 F Factory Reset 23 Feed Forward Velocity Gain 29 Feed forward Acceleration Gain 29 Ffvel Auto calculation 22 Fieldbus Control Signals...

Page 48: ...ample Interval 30 Pid Track Error Too Big 41 Pid Tracking Error 33 Positive Direction 27 Positive Software Limit 32 Power recovery 20 Proportional Gain 28 Q Quick Ramp Time 30 R Ramp Down Time 24 Ramp...

Page 49: ...art 5 User Apos Setting 19 User Unit Denominator 27 User Unit Numerator 28 V Vlt Control Card Terminals 9 Voltage Level 11 12 W Wiring Diagram 36 MCO351 Positioning Controller Index MG 33 R1 02 VLT is...

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