The target positions stored in memory is defined according to the settings of par.
32-12/par. 32-11, so changing the par. 32-12/par. 32-11 ratio might require that up
to 32 positions must be reprogrammed to achieve the same result as before the
change.
32-12 User unit numerator
Range:
Function:
1
*
[1 … 1,073,741,823] Par. 33-12 and par. 32-11 together define the ratio between
User Units (UU) and quad-counts (QC). This parameter can be
illustrated with the following example:
By measurement it has been determined that 1000 mm of travel
correspond to 16345 QC (quad-counts). Now instead of defining
the target positions in QC but rather in mm, the setting of par.
32-12 must be 16345, and the setting of par. 32-11 must be
1000.
NB!
The target positions stored in memory is defined according to the settings of par.
32-12/par. 32-11, so changing the par. 32-12/par. 32-11 ratio might require 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 multiplied with the PID
tracking error to produce the proportional part of the output
frequency. The higher the setting of this parameter the “harder”
is the resulting control.
NB!
Too high a setting of this parameter will cause the controller to become unstable.
32-61 Derivative gain
Range:
Function:
0
*
[1...100,000]
The derivative gain is the factor that is multiplied with the
change in the PID tracking error to produce the derivative part
of the output frequency. The higher the setting of this param-
eter the “harder” is the resulting control. The derivative gain has
best effect if the encoder is mounted directly on the motor and
an encoder with good resolution (4096 pulses/rev) is used.
NB!
Too high a setting of this parameter will cause the controller to become unstable.
4. Programming
MCO351 Positioning Controller
28
MG.33.R1.02 - VLT
®
is a registered Danfoss trademark
4