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Par. No. #

Parameter name

Parameter
description

Default setting

Changes

during

operation

4-set-up

Conver-

sion index

Type

32-40

MENCODER TERM

Encoder
Termination

[1] On

TRUE

1 set-up

Uint8

32-43

MENCCONTROL

Enc.1 Control

TRUE

2 set-ups

Uint8

32-44

Enc.1 node ID

127

TRUE

2 set-ups

Uint8

32-45

Enc.1 CAN guard

[0] Off

TRUE

2 set-ups

Uint8

32-5* Feedback Source
32-50

Source Slave

[2] Enc2

TRUE

1 set-up

32-52

Source Master

[1] Enc1

TRUE

1 set-up

32-6* PID-Controller
32-60

KPROP

Proportional Factor

TRUE

1 set-up

Uint32

32-61

KDER

Derivative Value
for PID Control

TRUE

1 set-up

Uint32

32-62

KINT

Integral Factor

TRUE

1 set-up

Uint32

32-63

KILIM

Limit Value for
Integral Sum

1000

TRUE

1 set-up

Uint16

32-64

BANDWIDTH

PID Bandwidth

1000

TRUE

1 set-up

Uint16

32-65

FFVEL

Velocity Feed-
forward

TRUE

1 set-up

Uint32

32-66

FFACC

Acceleration Feed-
forward

TRUE

1 set-up

Uint32

32-67

POSERR

Maximum
Tolerated Position
Error

20000 qc

TRUE

1 set-up

Uint32

32-68

REVERS

Reverse Behavior
for Slave

[0] Reversing

TRUE

1 set-up

Uint8

32-69

TIMER

Sampling Time for
PID control

1 ms

TRUE

1 set-up

Uint16

32-70

PROFTIME

Scan Time for
Profile Generator

[1] 1 ms

TRUE

1 set-up

Uint8

32-71

REGWINMAX

Size of the Control
Window
(Activation)

0 qc

TRUE

1 set-up

Uint32

32-72

REGWINMIN

Size of the Control
Window (Deacti-
vation)

0 qc

TRUE

1 set-up

Uint32

32-73

KILIMTIME

Integral limit filter
time

0 ms

TRUE

2 set-ups

int16

32-74

POSERRTIME

Position error filter
time

0 ms

TRUE

2 set-ups

int16

32-8* Velocity & Acceleration
32-80

VELMAX

Maximum Velocity
(Encoder)

1500 RPM

TRUE

1 set-up

Uint32

32-81

RAMPMIN

Shortest Ramp

1 s

TRUE

1 set-up

Uint32

32-82

RAMPTYPE

Ramp Type

TRUE

1 set-up

Uint8

32-83

VELRES

Velocity Resolution

100

TRUE

1 set-up

Uint16

32-84

DFLTVEL

Default Velocity

TRUE

1 set-up

Uint16

32-85

DFLTACC

Default
Acceleration

TRUE

1 set-up

Uint16

32-86

JERKMIN

Acc. up for limited
jerk

100 ms

TRUE

2 set-ups

Uint32

32-87

JERKMIN2

Acc. down for
limited jerk

0 ms

TRUE

2 set-ups

Uint32

Appendix

MCO 305 Operating Instructions

MG.33.K3.02 - VLT

is a registered Danfoss trademark

Содержание MCO 305

Страница 1: ...MAKING MODERN LIVING POSSIBLE Operating Instructions Programmable Motion Controller MCO 305...

Страница 2: ...4 Basic MCO Parameter Settings 14 3 4 1 Setting of Encoder Parameters 14 3 4 2 Setting of parameters for CANopen feedback encoder 14 3 4 3 Setting of parameters for CANopen Master encoder 15 3 4 4 Se...

Страница 3: ...4 5 1 Download Application Program and Configuration 24 5 2 Backup and Restore 24 5 3 How to Connect and Run Multiple Frequency Converters 25 6 General Specifications 26 6 1 Protection and Features 26...

Страница 4: ...ical literature is also available online at www danfoss com drives 1 2 Symbols and Conventions Symbols The following symbols are used in this manual WARNING Indicates a potentially hazardous situation...

Страница 5: ...ntrol Option MCO Motion Control Tool MCT Parameter par Protective Extra Low Voltage PELV Position Control Loop PID Pulses per Revolution PPR Quad counts qc Revolutions per Minute RPM Second sec Switch...

Страница 6: ...ng to national and local regulations Motor overload protection is not included in the default settings To add this function set par 1 90 Motor thermal protection to value ETR trip or ETR warning For t...

Страница 7: ...be followed The information and instructions of Operating Instructions are not sufficient for a correct and safe use of the Safe Stop functionality 2 6 General Warning WARNING Touching the electrical...

Страница 8: ...ocol 8 31 Address 8 32 FC Port Baud Rate 8 35 Minimum Response Delay 8 36 Max Response Delay 8 37 Max Inter Char Delay 15 00 15 05 Operating Data 15 20 15 22 Historic log 15 30 15 32 Fault log 33 90 X...

Страница 9: ...to be used in slot C0 but can be combined with another option in slot C1 Mounting kit depending on frame Order no Bookstyle A2 and A3 40 mm for one C option 130B7530 A2 and A3 60 mm for C0 C1 option...

Страница 10: ...Illustration 3 2 Compact A5 B except B3 C D E F How to Install MCO 305 Operating Instructions MG 33 K3 02 VLT is a registered Danfoss trademark 9 3 3...

Страница 11: ...debug terminals RS485 are located on the top of the c option cover If these connections are used cut out the plastic parts above the connectors and mount the cable relief 130BA248 11 Illustration 3 3...

Страница 12: ...Name Encoder 2 Feedback X55 1 24V Supply 2 8V Supply 3 5V Supply 4 GND 5 A 6 A not 7 B 8 B not 9 Z Clock 10 Z not Clock not 11 DATA 12 DATA not Terminal block Terminal number Descriptive Name Encoder...

Страница 13: ...tions Examples 5V incremental encoder 1 2 3 12 130BA163 10 7 5 4 6 8 9 10 11 24V 8V 5V GND A A B B Z Z D D Illustration 3 6 5V Incremental Encoder RS 422 Supplied by MCO 305 Illustration 3 7 5V Increm...

Страница 14: ...rfaces are interconnected termination must be on 32 40 Encoder Termination ON at both ends of the bus Termination must be off 32 40 Encoder Termination OFF in all other MCOs How to Install MCO 305 Ope...

Страница 15: ...s must always be checked and if necessary adjusted Depending on the requirements of the application it might be necessary to adjust other parameters as well For the other parameters use the default se...

Страница 16: ...this value 3 4 5 Setting of Home Parameters Homing is not necessary in standard synchronization applications and applications using an absolute encoder When using an incremental encoder the controlle...

Страница 17: ...ons by means of the test program Select the file Enc S m via the MCT 10 APOSS and with that the file is opened automatically 3 5 1 Execute the Encoder Test Program In the Development menu click on Exe...

Страница 18: ...al Signal Type and 32 02 Absolute Protocol Encoder resolution 32 01 Incremental Resolution or 32 03 Absolute Resolution Encoder velocity par 19 00 and Motion type par 19 00 These parameters must thus...

Страница 19: ...or immediately with the EMERGENCY STOP button if it vibrates heavily or sets off uncontrolled the motor sets off uncontrolled but the encoder test previously was successful then decrease 32 60 Proport...

Страница 20: ...s you can directly influence to what degree and how quickly a deviation from a theoretical set path as specified by the setpoint series should be counteracted The following behavior indicate that the...

Страница 21: ...d accurate response to changes in the setpoint reference 2 A closed loop PID control The PID controller monitors the difference between the actual position and the setpoint position Based on this info...

Страница 22: ...al speed reference is maxed out for long periods of time This feature is also very helpful in applications where the power to the motor is turned off and on while the option card is controlling the VL...

Страница 23: ...lution in 32 00 Incremental Signal Type and 32 01 Incremental Resolution and 32 81 Shortest Ramp If these settings change again at a later point the controller may need optimizing again Par Typical Se...

Страница 24: ...ood and increasing overshoot and oscillations in the system which is bad If you are using the Integral part of the PID controller remember to reduce the 32 63 Limit Value for Integral Sum as much as p...

Страница 25: ...NOTE MCO 305 programs can only be read out when they have be downloaded including source code Use the following steps to back up parameters and data by PC 1 Go on line with the drive via the Network f...

Страница 26: ...tings menu allows selecting the interface Run programs in several frequency converters If you want to load the program into several controllers link the program with the corresponding VLT AutomationDr...

Страница 27: ...e on input 28V DC Table 6 2 Digital Inputs 1 Selected in parameter 5 00 Digital I O mode The digital inputs are galvanic isolated from the internal electronics and can be sourced by an external 24V po...

Страница 28: ...1 more with repeater Maximum cable length 400m Table 6 9 Encoder Output Number of supply voltages 3 Terminal block X55 and X56 Terminal number 1 2 3 4 24V max load 250mA1 8V max load 250mA12 5V max lo...

Страница 29: ...more SDO chn Number of SDO channels exceeded 125 HW end limit Limit switch activated 149 Too many inter Too many interrupt functions 150 No ext 24V External supply is missing 151 Too many gosub Too ma...

Страница 30: ...RD_ERROR_MODULE_NOT_RESPONSE 103 GUARD_ERROR_NO_MODULE 104 Error 103 Illegal axis number An attempt has been made to find an axis which does not exist in the controller Check to see if the program axi...

Страница 31: ...utputs NOTE Using virtual inputs as limit switches is dangerous because it eliminates the direct connection between the limit switch and the controller That may introduce a time delay or other failure...

Страница 32: ...the opposite direction But if you try to move in the wrong direction then the error 198 occurs Limit switches and reference switches allow the usage of any input That means not only 1 8 are supported...

Страница 33: ...meout listed was exceeded The timeout is probably too short or the index impulse could not found see also Error 109 Error 183 Invalid argument This command error signals that an TESTSTOP command conta...

Страница 34: ...t circuit in accordance with the displayed LED An error will be indicated even if no encoder is connected Error 193 Stack overflow Internal error Dynamic stack overflow caused by too many local variab...

Страница 35: ...er recognizes that the data in the array area is formatted incorrectly In order to be able to save a file the following conditions must be fulfilled Identical software versions same configuration e g...

Страница 36: ...nt16 4 Integer 32 Int32 5 Unsigned 8 Uint8 6 Unsigned 16 Uint16 7 Unsigned 32 Uint32 8 1 1 Application Parameters Parameter Group 19 Par No Parameter name Parameter description Default setting Changes...

Страница 37: ...tion TRUE 1 set up Uint8 32 11 POSFACT_N User Unit Denominator 1 TRUE 1 set up Uint32 32 12 POSFACT_Z User Unit Numerator 1 TRUE 1 set up Uint32 32 13 ENCCONTROL Enc 2 Control 0 TRUE 2 set ups Uint8 3...

Страница 38: ...TRUE 1 set up Uint32 32 68 REVERS Reverse Behavior for Slave 0 Reversing TRUE 1 set up Uint8 32 69 TIMER Sampling Time for PID control 1 ms TRUE 1 set up Uint16 32 70 PROFTIME Scan Time for Profile Ge...

Страница 39: ...e M S 1 TRUE 1 set up Int32 33 12 SYNCPOSOFFS Position Offset for Synchronization 0 qc TRUE 1 set up Int32 33 13 SYNC ACCURACY Accuracy Window for Position Synchro nization 1000 qc TRUE 1 set up Int32...

Страница 40: ...End Limit Active 0 Inactive TRUE 1 set up Uint8 33 44 SWPOSLIMACT Positive Software End Limit Active 0 Inactive TRUE 1 set up Uint8 33 45 TESTTIM Time in Target Window 0 ms TRUE 1 set up Uint8 33 46 T...

Страница 41: ...8 33 68 O_FUNCTION_6 Terminal X59 6 Digital Output 0 no function TRUE 1 set up Uint8 33 69 O_FUNCTION_7 Terminal X59 7 Digital Output 0 no function TRUE 1 set up Uint8 33 70 O_FUNCTION_8 Terminal X59...

Страница 42: ...27 PCD 7 Read from MCO 1 set up Uint16 34 28 PCD 8 Read from MCO 1 set up Uint16 34 29 PCD 9 Read from MCO 1 set up Uint16 34 30 PCD 10 Read from MCO 1 set up Uint16 34 4 Inputs Outputs 34 40 Digital...

Страница 43: ...pply 27 Ending The Encoder Check 16 Execute The Encoder Test Program 16 F FFACC 21 FFVEL 21 G General Specifications 26 Warning 6 H High Voltage Warning 5 How To Connect And Run Multiple Frequency Con...

Страница 44: ...ware Version 5 Stationary Precision Is Required 23 Supply Voltage Overview 27 Symbols 3 T Technical Data 26 Terminal Overview 11 Test Program 18 The Maximum Acceleration Is Not Achieved 23 Motor Doesn...

Страница 45: ...www danfoss com drives MG33K302 130R0086 MG33K302 Rev 2011 05 24...

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