Parameter no.
32-61 to 62-67
Determined during optimising of the PID controller
32-10
Default (“1”)
32-00
Incremental encoder used (“1”)
32-01
Encoder resolution (“4096”)
32-82
Trapeze ramps must be used (“0”)
19-14
Default (encoder mounted directly on motor) (“1”)
19-15
Default (encoder mounted directly on motor) (“1”)
19-16
Default (“100”)
19-17
Default (“1500”)
33-01
Default (“0”)
19-02
Default (“0”)
19-03
Default (“0”)
5.1.4. Timing of the Electromechanical brake (par. 19-10 to 19-12)
If the application is not equipped with an electromechanical brake, par. 19-10 to 19-12 are not
very important. Then, however, it is very important to set par. 19-09 to “0” to enable the drive
also at standstill.
This application is equipped with mechanical brakes to allow it to stop rapidly even if the drive is
somehow prevented from stopping the motor (damaged motor cables, damaged or short-circuited
motor, inverter overload and so on).
Par. 19-10 to 19-12 is provided to time the interaction between the mechanical brake and the
drive. A description of these parameters can be found in the parameter list above. In this appli-
cation the default values of COAST DELAY and BRAKE DELAY is used (200 ms) but the HOLD
DELAY setting is changed to 30 seconds to minimise wear of the brake.
5.1.5. Setting of par. 32-11 and 32-12
Distances are measured in quad-counts (QC) but defined in millimetres. Therefore, it is necessary
to measure how many QC correspond to how many 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 corresponding value of par. 34-50 is noted.
Then the cart is moved as far to the right as possible by activating the “Manual jog positive” input
(terminal 53). The travelled distance in mm is now measured from the position of the mark to the
position of the cart. Likewise the distance in QC is calculated by subtracting the current value of
P3450 from the noted value of P3450. In this example it is measured that 871380 QC correspond
to 4000 mm.
To prevent eventually overflow the parameters values are a factor 10 smaller than the measured
QC and mm so par. 32-12 is set to “87138” and par. 32-11 is set to “400”. Positions will now be
displayed and entered in millimetres. Settings like par. 32-12 set to “43569” and par. 32-11 set
to ”200” will also give the positions in millimetres.
5.1.6. Setting for the Homing Procedure (par. 33-00 to 33-04)
The HOME ramp setting (par. 33-02) is reduced to the lowest allowable setting to get the fastest
HOMING procedure possible. The HOME velocity setting, however, should never be very high to
enable a precise result of the homing procedure, and because the exact position is not known
during homing, it is not advisable to go with a very high velocity for safety reasons. The default
setting of par. 33-03 at 100 encoder revolutions per minute (approx. 1/15th of the max. velocity)
5. Application Examples
MCO351 Positioning Controller
38
MG.33.R1.02 - VLT
®
is a registered Danfoss trademark
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