Danfoss VLT AutomationDrive Design Manual Download Page 32

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The following must be programmed in order shown (see explanation of settings in the Programming Guide)
In the list it is assumed that all other parameters and switches remain at their default setting.

Function

parameter no.

Setting

1) Make sure the motor runs properly. Do the following:
Set the motor parameters using name plate data

1-2*

As specified by motor name plate

Have the frequency converter makes an Automatic Motor

Adaptation

1-29 Automatic Motor

Adaptation (AMA)

[1] Enable complete AMA

2) Check the motor is running and the encoder is attached properly. Do the following:
Press the “Hand On” LCP key. Check that the motor is running

and note in which direction it is turning (henceforth referred to

as the “positive direction”).

Set a positive reference.

Go to

16-20 Motor Angle

. Turn the motor slowly in the positive

direction. It must be turned so slowly (only a few RPM) that it

can be determined if the value in

16-20 Motor Angle

is increasing

or decreasing.

16-20 Motor Angle

N.A. (read-only parameter) Note: An increasing value overflows at

65535 and starts again at 0.

16-20 Motor Angle

is decreasing then change the encoder

direction in

5-71 Term 32/33 Encoder Direction

5-71 Term 32/33

Encoder Direction

[1] Counter clockwise (if

16-20 Motor Angle

is decreasing)

3) Make sure the drive limits are set to safe values
Set acceptable limits for the references.

3-02 Minimum

Reference

3-03 Maximum

Reference

0 RPM (default)

1500 RPM (default)

Check that the ramp settings are within drive capabilities and

allowed application operating specifications.

3-41 Ramp 1 Ramp up

Time

3-42 Ramp 1 Ramp

Down Time

default setting

Set acceptable limits for the motor speed and frequency.

4-11 Motor Speed Low

Limit [RPM]

4-13 Motor Speed

High Limit [RPM]

4-19 Max Output

Frequency

0 RPM (default)

1500 RPM (default)

60 Hz (default 132 Hz)

4) Configure the Speed Control and select the Motor Control principle
Activation of Speed Control

1-00 Configuration

Mode

[1] Speed closed loop

Selection of Motor Control Principle

1-01 Motor Control

Principle

[3] Flux w motor feedb

5) Configure and scale the reference to the Speed Control
Set up Analog Input 53 as a reference Source

3-15 Reference

Resource 1

Not necessary (default)

Scale Analog Input 53 0 RPM (0V) to 1500 RPM (10V)

6-1*

Not necessary (default)

6) Configure the 24V HTL encoder signal as feedback for the Motor Control and the Speed Control
Set up digital input 32 and 33 as encoder inputs

5-14 Terminal 32

Digital Input

5-15 Terminal 33

Digital Input

[0] No operation (default)

Choose terminal 32/33 as motor feedback

1-02 Flux Motor

Feedback Source

Not necessary (default)

Choose terminal 32/33 as Speed PID feedback

7-00 Speed PID

Feedback Source

Not necessary (default)

7) Tune the Speed Control PID parameters
Use the tuning guidelines when relevant or tune manually

7-0*

See the guidelines below

8) Finished!
Save the parameter setting to the LCP for safe keeping

0-50 LCP Copy

[1] All to LCP

3.4.2 Tuning PID Speed Control

The following tuning guidelines are relevant when using
one of the Flux motor control principles in applications
where the load is mainly inertial (with a low amount of
friction).

The value of

30-83 Speed PID Proportional Gain

dependent on the combined inertia of the motor and load,
and the selected bandwidth can be calculated using the
following formula:

Par. 7 − 02 = Total inertia kgm

2 x par. 1 − 25

Par. 1 − 20 x 9550

x Bandwidth rad / s

NOTE

1-20 Motor Power [kW]

is the motor power in [kW] (i.e.

enter ‘4’ kW instead of ‘4000’ W in the formula).

A practical value for the Bandwith is 20 rad/s. Check the
result of the