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19-91  Software version

Range:

Function:

110

[110]

The text in this parameter shows the current version number of
the Positioning Controller program.

19-92  New Index

Range:

Function:

0

[0...31
0...63 in fieldbus
mode]

Currently latched index number

19-93  Error status

Option:

Function:

[0] 

*

0 = OK
1 = Homing needed
2 = Pos. HW limit
3 = Neg. HW limit
4 = Pos. SW limit
5 = Neg. SW limit
6 = VLT not running
7 = Brake wear limit
8 = Quick stop
9 = PID error too big
12= Rev. operation
13= Fwd. operation
92= Encoder hard-
ware error

READ-ONLY PARAMETER: The current error code 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]

Sinusoidal 1Vpp

NB!

When switching from a setting of absolute encoder to a setting of incremental en-
coder, the home flag is automatically cleared. A homing procedure afterwards is
necessary before any positioning commands can be executed.

32-01  Encoder resolution

Range:

Function:

1024
ps.

*

[1...1,000,000 pul-
ses]

If an incremental encoder is used its resolution must be entered
here in pulses per revolution (not quad-counts per revolution).

4. Programming

MCO351 Positioning Controller

26

 

 MG.33.R1.02 - VLT

®

 is a registered Danfoss trademark 

 

4

Содержание MCO 351

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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