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2.5.2 Process PID Control

The process PID control can be used to control application parameters that can be measured by a sensor (for example
pressure, temperature, flow) and affected by the connected motor through a pump, fan, or other connected devices.

shows the control configurations in which the process control is possible. Refer to

chapter 2.3 Control Structures

to

see where the speed control is active.

Parameter 1-00 Configuration Mode

Parameter 1-01 Motor Control Principle

U/f

VVC

+

[3] Process

Process

Process

Table 2.8 Control Configuration

NOTICE

The process control PID works under the default parameter setting, but tuning the parameters is recommended to
optimize the application control performance.

P 7-30
normal/inverse

PID

P 7-38

*(-1)

Feed forward

Ref.

Handling

Feedback

Handling

% [unit]

% [unit]

%

[unit]

%

[speed]

Scale to

speed

P 4-10
Motor speed

direction

To motor

control

Process PID

130BA178.10

_

+

0%

-100%

100%

0%

-100%

100%

Illustration 2.22 Process PID Control Diagram

Product Overview

VLT

®

Midi Drive FC 280

30

Danfoss A/S © 03/2016 All rights reserved.

MG07B102

2

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Содержание VLT Midi Drive FC 280

Страница 1: ...MAKING MODERN LIVING POSSIBLE Design Guide VLT Midi Drive FC 280 vlt drives danfoss com...

Страница 2: ......

Страница 3: ...ontrol Terminal Types 16 2 2 4 Wiring to Control Terminals 17 2 3 Control Structures 17 2 3 1 Control Modes 17 2 3 2 Control Principle 19 2 3 3 Control Structure in VVC 19 2 3 4 Internal Current Contr...

Страница 4: ...on 45 3 1 1 Encoder Connection 45 3 1 2 Encoder Direction 45 3 1 3 Closed loop Drive System 45 3 2 Application Examples 46 3 2 1 AMA 46 3 2 2 Speed 46 3 2 3 Start Stop 47 3 2 4 External Alarm Reset 48...

Страница 5: ...ata Field 57 5 4 7 The PKE Field 57 5 4 8 Parameter Number PNU 58 5 4 9 Index IND 58 5 4 10 Parameter Value PWE 58 5 4 11 Data Types Supported by the Frequency Converter 58 5 4 12 Conversion 58 5 4 13...

Страница 6: ...ex 67 5 11 Danfoss FC Control Profile 68 5 11 1 Control Word According to FC Profile 8 10 Protocol FC Profile 68 5 11 2 Status Word According to FC Profile STW 69 5 11 3 Bus Speed Reference Value 71 6...

Страница 7: ...7 11 dU dt Conditions 83 7 12 Special Conditions 84 7 12 1 Manual Derating 84 7 12 2 Automatic Derating 85 Index 86 Contents Design Guide MG07B102 Danfoss A S 03 2016 All rights reserved 5...

Страница 8: ...n about the installation commissioning application and maintenance of the frequency converter VLT Midi Drive FC 280 Programming Guide provides information on how to program and includes complete param...

Страница 9: ...resulting reference The maximum reference value is set in parameter 3 03 Maximum Reference RefMIN Determines the relationship between the reference input at 0 value typically 0 V 0 mA 4 mA and the re...

Страница 10: ...requency converters cos 1 1 therefore Power factor I1 x cos 1 IRMS I1 IRMS The power factor indicates to which extent the frequency converter imposes a load on the mains supply The lower the power fac...

Страница 11: ...e between the EC and EFTA states inside the ECU The CE mark does not regulate the quality of the product Technical specifications cannot be deduced from the CE mark 1 5 2 Low Voltage Directive Frequen...

Страница 12: ...from the frequency converter and waiting the designated duration of time for stored electrical energy to dissipate Refer to the operating instructions shipped with the unit and available online for Di...

Страница 13: ...r range kW hp 3 phase 380 480 V 0 37 2 2 0 5 3 0 3 0 5 5 5 0 7 5 7 5 10 11 15 15 20 18 5 22 25 30 Power range kW hp 3 phase 200 240 V1 0 37 1 5 0 5 2 0 2 2 3 0 3 7 5 0 Power range kW hp single phase 2...

Страница 14: ...02 01 24 V NPN 0 V PNP 0 V PNP 24 V NPN 19 D IN 24 V NPN 0 V PNP 27 D IN OUT 24 V 0 V 0 V PNP 24 V NPN 29 D IN 24 V NPN 0 V PNP 0 V PNP 24 V NPN 33 D IN 32 D IN 38 STO2 37 STO1 95 P 5 00 2 1 ON DC R 8...

Страница 15: ...nd mains 2 Frequency converter 7 Motor 3 phase and PE 3 Output contactor generally not recommended 8 Mains single phase 3 phase and reinforced PE 4 Grounding rail PE 9 Control wiring 5 Cable shielding...

Страница 16: ...er cable insulation Recommended length is 10 15 mm 0 4 0 6 in 2 Position the stripped cable under the cable clamp to establish mechanical fixation and electrical contact between the cable shield and g...

Страница 17: ...d L for single phase units see Illustration 2 4 or to terminals L1 L2 and L3 for 3 phase units see Illustration 2 5 and Illustration 2 6 2 Depending on the configuration of the equipment connect the i...

Страница 18: ...t or pulse output The default setting is digital input Terminal Parameter Default setting Description 29 Parameter 5 13 Ter minal 29 Digital Input 14 Jog Digital input 32 Parameter 5 14 Ter minal 32 D...

Страница 19: ...gnet synchronous motors 2 3 1 Control Modes The frequency converter controls either the speed or the torque on the motor shaft The frequency converter also controls the process for some applications w...

Страница 20: ...dling Process control There are 2 types of process control Process closed loop control which runs speed open loop to control the motor internally is a basic process PID controller Extended PID speed o...

Страница 21: ...ntrol Diagram 2 3 3 Control Structure in VVC _ _ S S Config mode Ref Process P 1 00 High f max Low f max P 4 12 Motor speed low limit Hz P 4 14 Motor speed high limit Hz Motor controller Ramp Speed PI...

Страница 22: ...eter 4 17 Torque Limit Generator Mode and parameter 4 18 Current Limit When the frequency converter is at the current limit during motor operation or regenerative operation the frequency converter tri...

Страница 23: ...ue Freeze ref Freeze output Speed up speed down ref Remote Ref in max ref max ref Scale to Hz Scale to Nm Scale to process unit Relative X X Y 100 DigiPot DigiPot DigiPot max ref min ref DigiPot D1 P...

Страница 24: ...di Drive FC 280 Programming Guide The scaling of analog references is described in parameter groups 6 1 Analog Input 53 and 6 2 Analog Input 54 and the scaling of digital pulse references is described...

Страница 25: ...ces are scaled according to the following rules When parameter 3 00 Reference Range is set to 0 Min Max 0 reference equals minimum reference and 100 reference equals maximum reference When parameter 3...

Страница 26: ...l 54 High Voltage V Parameter 6 23 Ter minal 54 High Current mA Parameter 5 51 Ter m 29 High Frequency Hz Parameter 5 56 Term 33 High Frequency Hz Table 2 4 P1 and P2 Endpoints 2 4 4 Dead Band Around...

Страница 27: ...peed Scale to speed 20 Hz 20 Hz Range Speed setpoint Motor control Range 8 Hz 8 Hz Motor Digital input 19 Low No reversing High Reversing Limits Speed Setpoint according to min max speed Motor PID Hz...

Страница 28: ...nce algorithm Reference 100 0 20 Hz 0 0 0 Hz Range Limited to 100 100 20 Hz 20 Hz Limited to 200 200 40 Hz 40 Hz Reference is scaled according to max reference giving a speed Scale to speed 20 Hz 20 H...

Страница 29: ...sables the differentiator Parameter 7 05 Speed PID Diff Gain Limit If there are quick changes in reference or feedback in a given application which means that the error changes swiftly the differentia...

Страница 30: ...In Table 2 7 it is assumed that all other parameters and switches remain at their default setting Function Parameter number Setting 1 Make sure that the motor runs properly Do the following Set the mo...

Страница 31: ...g input 53 0 Hz 0 V to 50 Hz 10 V 6 1 Analog Input 1 Not necessary default 6 Configure the 24 V HTL encoder signal as feedback for the motor control and the speed control Set up digital input 32 and 3...

Страница 32: ...nfiguration Mode Parameter 1 01 Motor Control Principle U f VVC 3 Process Process Process Table 2 8 Control Configuration NOTICE The process control PID works under the default parameter setting but t...

Страница 33: ...Differentiation Time Provides a gain proportional to the rate of feedback change A setting of 0 disables the differentiator Parameter 7 36 Process PID Diff Gain Limit If there are quick changes in re...

Страница 34: ...10 18 53 27 55 54 M 3 Illustration 2 24 2 wire Transmitter 1 Start stop via the switch connected to terminal 18 2 Temperature reference via potentiometer 5 to 35 C 23 95 F 0 10 V DC connected to termi...

Страница 35: ...ack Unit Parameter 3 02 Minimum Reference Parameter 3 03 Maximum Reference Parameter 3 10 Preset Reference 60 C Unit shown on display 5 C 23 F 35 C 95 F 0 35 Ref Par 3 10 0 100 Par 3 03 par 3 02 24 5...

Страница 36: ...ocess PID Proportional Gain parameter 7 34 Process PID Integral Time and parameter 7 35 Process PID Differentiation Time In most processes complete the following procedure 1 Start the motor 2 Set para...

Страница 37: ...and should be measured when the amplitude of oscillation is small 1 Select only proportional control meaning that the integral time is set to the maximum value while the differentiation time is set t...

Страница 38: ...e on the mains Connect the motor cable shield to the frequency converter enclosure and the motor enclosure This is best done by using integrated shield clamps to avoid twisted shield ends pigtails The...

Страница 39: ...0 V Conducted Radiated Conducted Radiated Conducted Radiated A2 filter 0 37 22 kW 0 5 30 hp Minimum 25 m 82 ft Yes1 0 37 4 kW 0 5 5 4 hp Minimum 25 m 82 ft Yes1 0 37 2 2 kW 0 5 3 hp A1 filter 0 37 7 5...

Страница 40: ...Simulation of interference caused by switching a contactor relay or similar devices EN 61000 4 5 IEC 61000 4 5 Surge transients Simulation of transients caused by for example lightning that strikes n...

Страница 41: ...llustration 2 27 Galvanic Isolation The functional galvanic isolation a and b on Illustration 2 27 is for the 24 V back up option and the RS485 standard bus interface WARNING Before touching any elect...

Страница 42: ...and DC currents Use RCDs with an inrush delay to prevent faults caused by transient ground currents Dimension RCDs according to the system configu ration and environmental considerations 130BB958 12...

Страница 43: ...duty cycle at which the resistor is active Illustration 2 32 shows a typical braking cycle The intermittent duty cycle for the resistor is calculated as follows Duty cycle tb T tb is the braking time...

Страница 44: ...ircuiting of the transistor is detected A relay digital output can be used for protecting the brake resistor from overloading caused by a fault in the frequency converter In addition the brake enables...

Страница 45: ...ent P13 02 Stop event P13 02 Illustration 2 34 Sequence with 3 Events Actions Comparators Comparators are used for comparing continuous variables for example output frequency output current and analog...

Страница 46: ...t protects the motor from being overloaded independent of the speed Torque limit is controlled in parameter 4 16 Torque Limit Motor Mode and parameter 4 17 Torque Limit Generator Mode Parameter 14 25...

Страница 47: ...which the pulses enter the frequency converter determines the direction of the encoder Clockwise direction means that channel A is 90 electrical degrees before channel B Counterclockwise direction me...

Страница 48: ...V A IN A IN COM A OUT 12 13 18 19 27 29 32 33 50 53 54 55 42 0 10 V FC 24 V Function Setting Parameter 6 10 T erminal 53 Low Voltage 0 07 V Parameter 6 11 T erminal 53 High Voltage 10 V Parameter 6 14...

Страница 49: ...nput 21 Speed Up Parameter 5 14 T erminal 32 Digital Input 22 Speed Down Default value Notes comments Table 3 5 Speed Up Speed Down Start 18 Freeze ref 27 Speed up 29 Speed down 32 Speed Reference 130...

Страница 50: ...30 Motor Feedback Loss Function 1 Warning Parameter 4 31 Motor Feedback Speed Error 50 Parameter 4 32 Motor Feedback Loss Timeout 5 s Parameter 7 00 S peed PID Feedback Source 1 24 V encoder Parameter...

Страница 51: ...orque Warning or alarm Energized1 Energized Yes2 No warnings or alarms De energized3 De energized No Warning alarm 68 Safe Torque Off De energized Energized No Alarm 188 STO Function Fault Energized D...

Страница 52: ...TICE When designing the machine application consider the timing and distance for a coast to stop STO For more information regarding stop categories refer to EN 60204 1 4 2 Safe Torque Off Installation...

Страница 53: ...y to either terminal 37 or 38 terminates the SIL2 STO state potentially starting the motor Unexpected motor start may cause personal injuries or death Ensure that all safety measures are taken before...

Страница 54: ...16 92 Warning Word 3 Reapply 24 V DC to terminals 37 and 38 4 Ensure that the motor becomes operational and runs within the original speed range The commissioning test is successfully completed when...

Страница 55: ...the safe state Safety standards Safety of Machinery ISO 13849 1 IEC 62061 Functional Safety IEC 61508 Safety function Safe Torque Off IEC 61800 5 2 Safety performance ISO 13849 1 Category Cat 3 Diagn...

Страница 56: ...ry node is important including at high frequencies Thus connect a large surface of the shield to ground for example with a cable clamp or a conductive cable gland Sometimes it is necessary to apply po...

Страница 57: ...ensure timeout NOTICE The default selection depends on the protocol selected in parameter 8 30 Protocol Table 5 2 Modbus Communication Parameter Settings 5 1 5 EMC Precautions To achieve interference...

Страница 58: ...Rate 2400 115200 Parameter 8 33 Parity Stop Bits Even parity 1 stop bit default Table 5 3 Parameters to Enable the Protocol 5 4 FC Protocol Message Framing Structure 5 4 1 Content of a Character byte...

Страница 59: ...ext block is used to read or write texts via the data block PKE IND 130BA270 10 ADR LGE STX PCD1 PCD2 BCC Ch1 Ch2 Chn Illustration 5 7 Text Block 5 4 7 The PKE Field The PKE field contains 2 subfields...

Страница 60: ...turned to the master If a parameter contains several data options for example parameter 0 01 Language select the data value by entering the value in the PWE block Serial communication is only capable...

Страница 61: ...Limit Hz is a single word and the parameter command for write in EEPROM is E Parameter 4 14 Motor Speed High Limit Hz is 19E in hexadecimal The response from the slave to the master is shown in Illus...

Страница 62: ...tablishes the format for the master query by providing the following information The device or broadcast address A function code defining the requested action Any data to be sent An error checking fie...

Страница 63: ...riod of at least 3 5 character intervals marks the end of the telegram A new telegram can begin after this period Transmit the entire telegram frame as a continuous stream If a silent period of more t...

Страница 64: ...he first occurrence of a data item is addressed as item number 0 For example The coil known as coil 1 in a programmable controller is addressed as coil 0000 in the data address field of a Modbus teleg...

Страница 65: ...a Values and parameter 12 29 Store Always stored in for example EEPROM 6 7 40007 Last fault code Read only Fault code received from parameter database refer to WHAT 38295 for details 7 8 40008 Last er...

Страница 66: ...or the server or slave More specifically the combination of reference number and transfer length is invalid For a controller with 100 registers a request with offset 96 and length 4 succeeds while a r...

Страница 67: ...FF The parameters are read using function 03 hex read holding registers and written using function 10 hex preset multiple registers Readable sizes range from 1 register 2 characters up to 10 registers...

Страница 68: ...mple hex Slave address 01 frequency converter address Function 0F write multiple coils Coil address HI 00 Coil address LO 10 coil address 17 Quantity of coils HI 00 Quantity of coils LO 10 16 coils By...

Страница 69: ...ster contents have been passed Field name Example hex Slave address 01 Function 06 Register address HI 03 Register address LO E7 Preset data HI 00 Preset data LO 01 Error check CRC Table 5 31 Response...

Страница 70: ...Bit 03 1 If the other starting conditions are met the frequency converter starts the motor In parameter 8 50 Coasting Select define how bit 03 gates with the corresponding function on a digital input...

Страница 71: ...Frequency converter not ready Frequency converter ready 02 Coasting Enable 03 No error Trip 04 No error Error no trip 05 Reserved 06 No error Triplock 07 No warning Warning 08 Speed reference Speed r...

Страница 72: ...ion in operation Bit 11 0 The motor is not running Bit 11 1 The frequency converter has a start signal without coast Bit 12 Frequency converter OK stopped auto start Bit 12 0 There is no temporary ove...

Страница 73: ...ence Actual output frequency STW Follower slave Speed reference CTW Master slave 16bit 130BA276 11 Illustration 5 15 Actual Output Frequency MAV The reference and MAV are scaled as follows Reverse For...

Страница 74: ...VLT Cassette control Standard 132B0345 VLT Cassette control CANOpen 132B0346 VLT Cassette control PROFIBUS 132B0347 VLT Cassette control ProfiNet 132B0348 VLT Cassette control EtherNet IP 132B0349 IP...

Страница 75: ...88 338 05 321 0 092 0 12 3004 120 1 5 16 0 5 132 P1K5 1 5 2 0 208 244 41 232 0 128 0 172 3007 120 1 5 16 0 8 145 P2K2 2 2 3 0 139 163 95 155 0 190 0 255 3008 120 1 5 16 0 9 131 P3K0 3 4 0 100 118 86 1...

Страница 76: ...2 3312 120 1 5 16 2 1 131 P3K0 3 4 0 100 118 86 112 1 113 1 491 3313 120 1 5 16 2 7 131 P4K0 4 5 0 74 87 93 83 1 504 2 016 3314 120 1 5 16 3 7 128 P5K5 5 5 7 5 54 63 33 60 2 088 2 799 3315 120 1 5 16...

Страница 77: ...5 0 Continuous kVA 480 V AC kVA 0 9 1 3 1 7 2 5 2 8 4 0 5 2 Maximum input current Continuous 3x380 440 V A 1 2 1 6 2 1 2 6 3 5 4 7 6 3 Continuous 3x441 480 V A 1 0 1 2 1 8 2 0 2 9 3 9 4 3 Intermittent...

Страница 78: ...f frequency converter cooling If the switching frequency is higher than the default setting the power losses sometimes rise LCP and typical control card power consumptions are included Further options...

Страница 79: ...ure at reduced performance 10 C 14 F Temperature during storage transport 25 to 65 70 C 13 to 149 158 F Maximum altitude above sea level without derating 1000 m 3280 ft Maximum altitude above sea leve...

Страница 80: ...4 5 ms Input resistance Ri Approximately 4 k 1 Terminal 27 can also be programmed as output STO inputs Terminal number 37 38 Voltage level 0 30 V DC Voltage level low 1 8 V DC Voltage level high 20 V...

Страница 81: ...requency output 0 24 V Maximum output current sink or source 40 mA Maximum load at frequency output 1 k Maximum capacitive load at frequency output 10 nF Minimum output frequency at frequency output 4...

Страница 82: ...cy converter Relay outputs Programmable relay outputs 1 Relay 01 01 03 NC 01 02 NO Maximum terminal load AC 1 1 on 01 02 NO resistive load 250 V AC 3 A Maximum terminal load AC 15 1 on 01 02 NO induct...

Страница 83: ...national international regulations NOTICE Integral solid state short circuit protection does not provide branch circuit protection Provide branch circuit protection in accordance with the national an...

Страница 84: ...2 Multiply the factor in Illustration 7 2 by the specific efficiency factor listed in the specification tables in chapter 7 1 Power dependent Specifications 1 0 0 99 0 98 0 97 0 96 0 95 0 93 0 92 0 50...

Страница 85: ...4 17 regarding Norm motors controlled by frequency converters The following dU dt data are measured at the motor terminal side Cable length m ft Mains voltage V Rise time sec UPEAK kV dU dt kV sec 5 1...

Страница 86: ...s the frequency converter automatically performs a degree of derating when necessary Derating is done to ensure the performance at critical stages where the alternative could be a trip 7 12 1 Manual D...

Страница 87: ...55C 130BE893 10 Illustration 7 7 K5 Derating Curve 7 12 2 Automatic Derating The frequency converter constantly checks for critical levels Critical high temperature on the heat sink High motor load L...

Страница 88: ...supported 58 DC brake 68 Dead band 24 Dead band around 0 24 Derating 77 Directive EMC 9 Directive Low Voltage 9 Directive Machinery 9 Discharge time 10 E Efficiency 82 Electronic thermal relay 8 see...

Страница 89: ...4 NLCP control key 20 O Open loop 80 Output current 79 Outputs Analog output 7 79 Digital output 79 P Parameter number PNU 58 PELV 48 80 PELV protective extra low voltage 39 Power cycle 8 Preset refer...

Страница 90: ...52 Technical data 53 Supply voltage 79 Switching on the output 43 Synchronous motor speed 7 T Telegram length LGE 56 Terminal tightening torque 81 Thermistor 8 48 Torque characteristic 77 control 17 T...

Страница 91: ...Index Design Guide MG07B102 Danfoss A S 03 2016 All rights reserved 89...

Страница 92: ...ucts already on order provided that such alterations can be made without subsequential changes being necessary in specifications already agreed All trademarks in this material are property of the resp...

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