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Programmable SyncPos motion controller

MG.10.J8.02 – VLT is a registered Danfoss trade mark

178

KDER (703)

The

Derivative factor

KDER is the correction factor

with which the changing speed of a motor position

error is evaluated.

The derivative factor works against the tendency to

overswing due to a high proportional share and

'dampens' the system. However, if the derivative

factor selected is too large this will lead to a

'nervous' drive.

Content

Derivative value for PID control

Parameter Group

Axis parameter PID-Controller AXR

CAM-Editor: index card PID

Value range

0 … 65000

★

KINT (704)

The

Inte

Integral Factor

gral Factor

KINT is the weighting factor, with

which at time n the sum of all motor position errors

are evaluated.

The integral factor of the PID filter causes a corre-

sponding corrective motor torque which increases

over time. Through the integral share a static posi-

tion error is reduced to zero, even if a constant load

is affecting the motor.

However, an integral factor which is too large leads

to a 'nervous' drive.

Content

Integral value for PID control

Parameter Group

Axis parameter PID-Controller AXR

CAM-Editor: index card PID

Value range

0 … 65000

★

TI M E R

The TIMER parameter determines the sampling time

of the control algorithm.

For example, increase the value of the factory

settings

• for very low pulse frequency, such as from 1 to

2 qc per sampling time. You need at least 10 to

20 qc per sampling time.

• Or for very slow systems with a long dead time.

If 1 ms is used here for control, large motors

will vibrate.

Content

Sampling time for PID control

Parameter Group

Axis parameter PID-Controller AXR

CAM-Editor: index card PID

Unit

msec

Value range

1… MLONG

★

Accordingly, the value should not be set

higher than 1000 (= 1 s). This would be

a very slow control.

NB!

Note that is has a direct effect on the PID

loop e.g. if you double the TIMER the KPROP

(11) has twice the effect.

Parameter Reference

Содержание VLT5000 SyncPos

Страница 1: ...LUX Rev 2004 07 14 www danfoss com drives 175R0060 MG10J802 MG10J802 MG10J802 VLT 5000 5000 FLUX Programmable SyncPos motion controller Operating Instructions OperatingInstructions Programmable SyncPo...

Страница 2: ...CAM Control 38 CAM Box 48 Chapter 5 PC Software interface 49 PC Software interface in MTC10 Mode 81 Chapter 6 Programming with SyncPos 87 Introduction and basics 89 Software Reference 96 List of Comma...

Страница 3: ...unctionality of the two versions is the same the only differences are The Flux version has two additional outputs on the VLT5000Flux control card The Flux version does not yet support absolute encoder...

Страница 4: ...3 MG 10 J8 02 VLT is a registered Danfoss trade mark Programmable SyncPos motion controller Chapter 1 Safety 4 Safety...

Страница 5: ...ile the VLT frequency converter is connected to mains Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs 7 Please note that...

Страница 6: ...5 MG 10 J8 02 VLT is a registered Danfoss trade mark Programmable SyncPos motion controller Introduction Chapter 2 Introduction 6 About this manual How is it arranged 7 Conventions 7...

Страница 7: ...es Introduction Chapter PC Software Interface All menus and functions are described in detail For example the Development menu to test the new programs or the Controller menu used to manage the progra...

Страница 8: ...anual follows the system and uses the typographical features described below to the greatest extent possible Menus and functions Menus and functions are printed in normal text with capitals for exampl...

Страница 9: ...Programmable SyncPos motion controller MG 10 J8 02 VLT is a registered Danfoss trade mark 8 Introduction...

Страница 10: ...rammable SyncPos motion controller Input Output terminals Chapter 3 Input Output terminals VLT control card terminals 10 Option card terminals 10 Supply voltages 12 Encoder monitor 12 Option card layo...

Страница 11: ...of the following four settings OPTION DIGITAL 90 digital output OPTION 0 20 mA 91 analogue output default setting OPTION 4 20 mA 92 analogue output OPTION 0 32000P 93 pulse output VLT5000Flux Digital...

Страница 12: ...XMOVE 64 axe is moving O_BRAKE 48 activation of mechanical brake O_ERROR 108 fault indication Encoder interface 1 MK3B is a 8pole terminal block with 6 terminals for the encoder signals and 2 terminal...

Страница 13: ...ts Load on digital outputs mk3 C O1 O8 load on 5 V supply mk3 B D 5 V com Load on control card 24 V supply terminal 12 13 and outputs terminal 42 45 Input Output terminals Encoder monitor Both encoder...

Страница 14: ...FF the master encoder monitor is disabled SW 1 4 Switch Z channel encoder monitor ON OFF for both master and slave Default setting of switch 1 1 1 4 is ON NB When using the virtual master function ter...

Страница 15: ...re used by SyncPos program 8 Terminal designations O1 O8 Voltage level 0 24 V DC Maximum load 0 7A with external power supply Update rate 1 msec Galvanic isolation All digital outputs are galvanically...

Страница 16: ...te Note Note Note Please observe the prescriptions of the encoder supplier Cable length Observe the prescriptions of the encoder supplier Absolute encoder is tested ok up to 150 meter cable at 105 kHz...

Страница 17: ...rammable SyncPos motion controller MG 10 J8 02 VLT is a registered Danfoss trade mark 16 Input Output terminals The terminating resistors on both end of the bus have to be switch on with dip switch SW...

Страница 18: ...2 VLT is a registered Danfoss trade mark Programmable SyncPos motion controller left encoder connection for positioning applications below encoder connection for master slave synchronization Input Out...

Страница 19: ...Programmable SyncPos motion controller MG 10 J8 02 VLT is a registered Danfoss trade mark 18 Encoder connections for the synchronizing with virtual master Input Output terminals...

Страница 20: ...ute the test run program 31 Optimizing the PID controller How the control process works 32 Significance and influence of the control parameters 32 Optimizing your controller settings step by step 34 W...

Страница 21: ...learn the commands of which are based on frequently used control terminology This macro language makes it possible to realize complex functions with simple commands even without knowledge of the hardw...

Страница 22: ...plicated adjust ments and sequences of movements Running and testing programs In the DEVELOPMENT menu you can test new pro grams The program is loaded into the VLT and started only after the EXECUTE f...

Страница 23: ...function From left to right New file Open file Save file Cut Copy Paste Print Info Close Interface and CAM Editor Title bar shows the names of the SyncPos File the number and name of the VLT and the...

Страница 24: ...S and START STOP POINTS in CAM Editor Click on the name of the index card and the cor responding level will be brought to the front In the case of the index cards CURVE DATA CURVE INFO and PARAMETER c...

Страница 25: ...ection keys HOME and END you can move the cursor to the beginning or end of a line and with Page and Page to the beginning or end of a of a screen page Some direction keys can also be combined with ea...

Страница 26: ...of the line SHIFT HOME down one line respl up one line SHIFT KEY resp KEY to the beginning of the file CNTL SHIFT HOME or SHIFT PAGE to the end of the file CNTL SHIFT END or SHIFT PAGE Mark the next o...

Страница 27: ...be able to be switched off at any time with an EMERGENCY STOP button The motor must be able to turn completely freely so that a sudden jolt can not cause damage Furthermore it is absolutely essential...

Страница 28: ...t standstill Setting up communication Before you begin Check whether the baud rate has been set in the VLT par 501 for a serial connection the baud rate is permanently set at the factory In this case...

Страница 29: ...concerning the use of dialog fields refer to Programming with SyncPos in the section menu CONTROLLER PARAMETERS AXIS Setting of SyncPos parameters Encoder ENCODERTYPE 27 Define the used type of encode...

Страница 30: ...ome speed Home speed is entered in relative to the maximum speed maximum speed maximum speed maximum speed maximum speed of the drive You can find these values in the description of the motor Setting...

Страница 31: ...coder functions the position is continuously registered in the communications window For a full rotation you should receive 4 times the value of the resolution of the encoder that means 2000 if the En...

Страница 32: ...n program Now connect the motor to the VLT make sure that the motor can turn completely freely NB The motor must be provided with an EMERGENCY STOP button Click on FILE and OPEN the file Move Move Mov...

Страница 33: ...zed under the actual conditions of use In exceptional cases it may be necessary to deter mine various sets of control parameters while wor king with heavily changing load conditions and to re program...

Страница 34: ...ltaneously faster reaction to control deviation at the same level of vibration KDER too large heavy vibrations instability Integral factor KINT 13 The sum of all error is calculated every time the con...

Страница 35: ...ibrations for example a crane with a heavy load then you can limit the bandwidth in which the PID controller should function BANDWIDTH 35 of 300 makes a limitation of 30 possible The build up of a vib...

Страница 36: ...mized value found above Use the highest possible acceleration setting If RAMPMIN 31 is adjusted properly an acceleration value of 100 and a deceleration value of 100 should be sufficient Start out wit...

Страница 37: ...ur during the acceleration phase that suggests that the set acceleration can not be achieved under the existing load conditions Increase the T T T T Tolerated position error olerated position error ol...

Страница 38: ...he beginning of the acceleration phase Determining the maximum velocity or maximum speed The drive does not achieve maximum speed and thus starts to brake too late since it is trying to catch up with...

Страница 39: ...rve profile graphically in this way you can check velocity and acceleration of the slave axis Interpolation The CAM Editor calculates the curve from fixpoints with the help of a spline interpolation T...

Страница 40: ...ntrol program A roller is supposed to stamp an inscription with a length of 10 cm on cardboard boxes The stamp corresponds to a roller section of 120 degrees 60 cardboard boxes are transported on the...

Страница 41: ...ween the position 1500 and 2500 This requires a straight line which is determined by two tangent points Enter 2 for tangent point in the column TYPE for the two positions in the index card FIX POINTS...

Страница 42: ...ated curve arrays into the VLT by means of PARAMETERS RESTORE FROM FILE How to integrate the curve into the control program Since the curve is stored internally as an array the DIM instruction must ap...

Страница 43: ...has a distance of 237 5 mm from the processing point stamp touches the cardboard box and detects the beginning of the box corresponding to master position 1000 The marker distance is therefore 2375 En...

Страница 44: ...ot begin until the next edge comes from the sensor SYNCCMM 0 Synchronize in CAM Mode until motor stop SYNCCSTART 1 Engage roller with start point pair 1 Synchronous operation WAITI 4 ON Wait for input...

Страница 45: ...cessing point Thus it would be better to install the sensor in such a way that the distance to the processing point is either smaller or substantially larger than one master cycle length here for exam...

Страница 46: ...25 Syncfactor Slave 50 9 4 Enter the gearing factor of the slave in user untis UU The input should be possible in 1 10 mm resolution The drive is connected with the conveyor belt by means of a gearin...

Страница 47: ...as a distance of 390 mm from the processing point stamp touches the box and detects the beginning of the box corresponds to slave position 1000 Thus the marker distance is 3900 Enter this value in the...

Страница 48: ...otoelec tric beam This corresponds to the beginning of the box 1000 Then the slave will be moved further by 2900 marker distance 3900 1000 thus the slave is exactly in front of the processing point wi...

Страница 49: ...ubprogram whenever a defined master position has been passed both in the positive or negative direction to be precise It is possible to realize many applications that are typical for the packaging ind...

Страница 50: ...Preparing SINGLE STEP 55 Set Breakpoints 55 Change and read variables online 56 GO Debug and SINGLESTEP 56 END DEBUG 56 SHOW WATCH 56 SYNTAX CHECK 57 COMPILE TO FILE 57 BREAK ALL 57 SELECT CONTROLLER...

Страница 51: ...nu 71 WINDOW CAM menu 72 CAM Profile 72 CAM Editor Messages 73 Index Card FIX POINTS 73 Index Card START STOP POINTS 74 Index Cards CURVE DATA CURVE INFO and Parameter 75 Index Card CURVE DATA 75 Inde...

Страница 52: ...he icon in order to open a program file In the menu FILE OPEN select the file you want with a double click or by clicking on OK If the file you are looking for is still in the list of files last used...

Страница 53: ...desired number of copies and start the printer with OK The dialog field that appears is somewhat different depending on your operating system Windows 95 or Windows NT For further information please r...

Страница 54: ...lso names the line number contai ning the incorrect command The current line number can be found in the status bar for example 13 1 This means that the cursor is located in line 13 at position 1 Conte...

Страница 55: ...errors A debug mode and online status information as well as the possibility to change the variables during program execution make programming easier You should always subject newly written pro grams...

Страница 56: ...essage Preparing SINGLESTEP Single step processing Tracing is particularly suitable for testing newly developed programs and can be helpful when searching for errors Click on DEVELOPMENT PREPARE SINGL...

Страница 57: ...n DEVELOPMENT EXECUTE or press F5 in order to process the program until the next breakpoint By pressing F9 the program will then stop before the next program line by pressing F5 before each breakpoint...

Страница 58: ...ces a debug file in addition to checking the syntax This file will be called temp ad COMPILE TO FILE When this menu item is selected the current file will be compiled and saved in a binary file A SAVE...

Страница 59: ...ld for the axis NB In general the values entered during pro gramming are not tested whether they are within the permissible range Due to the multitude of possible applications and various motor sizes...

Страница 60: ...it directly UPLOAD SOURCE All programs marked with can be read out of the control in source coding format and can be filed on your PC for subsequent use Select the desired program and click on UPLOAD...

Страница 61: ...L if you want to delete all the programs in the VLT Make sure beforehand that you have saved the programs on the PC or in the archive for safety reasons CONTROLLER PARAMETERS The parameters in the CON...

Страница 62: ...ters online Click on CONTROLLER PARAMETERS AXIS and mark the controller the parameters of which you want to view or change in the subsequent dialog window Also select the type in the field PARAMETERS...

Страница 63: ...change the parameter in the corresponding index cards NB These changes only relate to the cnf file but not to the parameter in the controller To accept the changed settings of the cnf file into the co...

Страница 64: ...e the user parameters including the arrays in a file with the extension cnf This way you can quickly load the parameters in another VLT or re load them in the VLT at any subsequent time for example af...

Страница 65: ...n load these into the VLT again once the EEPROM has been deleted Check whether you have saved the parameters for all the VLTs connected in a file on the com puter Click on MEMORY DELETE EEPROM Re load...

Страница 66: ...cceleration and deceleration are entered in percent of the respective maximum value Complete the measurements with the values most often needed for the controller for velocity accele ration and decele...

Страница 67: ...l factor to zero Then starting from these values optimize the controller If it is at all possible you should optimize the control ler first with the motor and the drive until the rea dings are no long...

Страница 68: ...eed in ms acceleration 7 The set acceleration curve shows the diffe rence to the values of the set speed see 5 in the case that position data is being recorded this means the change in the speed in ms...

Страница 69: ...is effect occurs when the positioning distance is too short to achieve the maximum velocity at the desired acceleration TESTRUN acceleration graph The light green curve shows the actual path of accele...

Страница 70: ...ers and calculation modi and Recal Button Index cards Table of the FIX POINTS and START STOP POINTS Index cards CURVE DATA CURVE INFO and all parameters according to the dialog fields of the SyncPos p...

Страница 71: ...not contain a curve an empty file will be opened When an old version of a cnf file one that has does not have all the newest parameters defined is loaded then the CAM Editor will now use appropria te...

Страница 72: ...nough fixpoints for a curve section at least three PERMANENT RECALCULATION In all interactive actions and many other actions the curve is recalculated and displayed immediately Turn off PERMANENT RECA...

Страница 73: ...n the pop up menu How to move Fixpoints interactively with the mouse Move the mouse cursor to a fixpoint until the hand icon appears click on the left mouse button and drag the point to the desired ne...

Страница 74: ...ou can always delete the last point or insert an additional point in the table You can insert or delete points in the table with the help of the pop up menu Using the right mouse button click on the p...

Страница 75: ...fined the slave will be engaged with the set maximum velocity in the case of SYNCCSTART These points are always entered in ascending order too This is because the run direction will be taken into acco...

Страница 76: ...umber of Intervals You can define the number of straight sections that are used for the entire curve with the number of intervals Do not select intervals that are too small this would only lead to an...

Страница 77: ...urve profile Activate VEL LIMIT Max Actual Acceleration The value indicates the maximum acceleration of the slave in this curve application in units that describe the change of the slave in relation t...

Страница 78: ...g content units input areas and factory settings of these parameters consult the Parameter Reference section or select the input field of the parameter and press F1 In addition the maximum velocity an...

Страница 79: ...u need the RS232 standard interface in the PC or an additional RS232 interface card and an external converter for a RS485 connection COLORS EDITOR In order to provide greater clarity different colors...

Страница 80: ...ages gra phics and explanation from the glossary for example MLONG Click on beside of the popup or press the Esc key to close the popup Printing or copying help texts You can print the help text or in...

Страница 81: ...Programmable SyncPos motion controller MG 10 J8 02 VLT is a registered Danfoss trade mark 80 PC Software Interface...

Страница 82: ...dling 83 FILE menu in MCT10 Mode 84 FILE NEW 84 FILE OPEN 84 FILE SAVE AS 84 FILE PRINT and PRINT SETUP 84 FILE LAST FILE 84 DEVELOPMENT menu in MCT10 Mode 84 Online Mode 84 Offline Mode 84 DEVELOPMEN...

Страница 83: ...ted to the fact that all file handling is limited to MCT10 only These limitations concerning the SyncPos GUI are explained in this chapter e g how to open and save files or how to edit a cnf curve or...

Страница 84: ...e if all files are closed File Handling MCT10 is responsible for the handling of SyncPos program files m as well as SyncPos configuration files cnf This means that files can only be crea ted opened up...

Страница 85: ...rint setup has to be done via the MCT10 of course FILE LAST FILE There is no last file list because SyncPos can not open up any file if running in MCT10 mode DEVELOPMENT Menu in MCT10 Mode Online Mode...

Страница 86: ...s instead of the four sectors just the parameter index cards FILE menu CAM Editor in MCT10 Mode Due to the fact that all file handling is done by MCT10 many menu items are disabled permanent or specif...

Страница 87: ...and the curve data and to edit inter active the curve VIEW menu CAM Editor in MCT Mode As long as there is no curve data present in the configuration file all items are disabled PC Software Interface...

Страница 88: ...tructure 89 Interrupt 90 Elements of the Programming Language 92 Arithmetic 93 User unit 95 Software Reference List of Commands 96 All Commands from ACC to INCLUDE 99 Parameter Reference VLT parameter...

Страница 89: ...ser unit Experienced users should inform themselves about the SyncPos specific basic principles e g user unit or parameters All commands are described in the Software Reference first in a general over...

Страница 90: ...nc_flag 1 ENDIF RETURN SUBPROG errhandle WAITI 18 on waiting for digital input 18 clear the error sync_flag 0 ERRCLR RETURN ENDPROG Sequential command processing In general a command is processed to t...

Страница 91: ...arts again after the interruption Use of variables within interrupt procedures The example above with the SyncPos machine code clearly shows that it is necessary to use the utmost care when assigning...

Страница 92: ...s the following is true ON INT ON COMBIT ON STATBIT If two input interrupts occur simultaneously then the one with the lower number is executed first however the other is not lost After the interrupt...

Страница 93: ...Arrays Writing programs with dialog requires user input or positions to be stored for a longer period of time for example even after the VLT has been turned off Usually such input consists of several...

Страница 94: ...lowing statements are correct Example xpos 1 10000 xpos 2 20000 xpos 3 30000 i 1 WHILE i 20 DO ypos i i 1000 i i 1 ENDWH ILE zpos 1 APOS POSA xpos 1 offs 1 xpos 2 20 Arrays versus Variables In general...

Страница 95: ...unt of the expression abs 5 5 Bit operators Symbol Meaning Syntax Example Description and 7 6 6 bit by bit relationship or 2 4 6 bit by bit relationship invert 7 6 bit by bit inversion left shift 3 1...

Страница 96: ...can standardize the unit with a factor This factor is a fraction which consists of a numerator and denominator 1 UU POSFACT_Z 23 POSFACT_N 26 Master Units MU The curve length or the master cycle lengt...

Страница 97: ...with conditional alternative branching ELSE with alternative branching ENDIF end of the conditional program execution LOOP repeats loop CONTINUE continues positioning from point of interruption for ex...

Страница 98: ...reely available PID completes PID calculation PRINT output display texts and variables STAT reads axis status TESTSETP Specify recording data for test run TESTSTART Start the recording of a test run T...

Страница 99: ...tive to the actual position VE L sets velocity Software Reference Synchronization SYN Commands to synchronize the slave with the master or the master simulation DEF SYNCORIGIN Defines master slave rel...

Страница 100: ...locit velocit velocity y y y y VELMAX 1 as well as V V V V Velocit elocit elocit elocit elocity resolution y resolution y resolution y resolution y resolution VELRES 22 NB If you work with the SyncPos...

Страница 101: ...23 and POSFACT_N 26 Syntax Example PRINT APOS display the actual position of axis on the PC Program sample APOS_01 M GOSUB_01 M MOTOR_01 M Software Reference AVEL This function returns the actual velo...

Страница 102: ...terminated With the help of the bit operators the desired information from the axis status can be filtered out Summary reads info on status of program execution Syntax res AXEND Return value res axis...

Страница 103: ...1 8 of PPO type 5 are not assigned a parameter number by parameter 915 and 916 but are used as a free data area which can be used in a SyncPos program The command COMOPTGET is copying the data receiv...

Страница 104: ...mple MSTOP_01 M CPOS The CPOS command queries the actual comman ded position of the axis related to the actual zero point The commanded position is understood to be the temporary set position which is...

Страница 105: ...l not rotate but the PID controller is active All CVEL commands following the start of speed mode will be carried out immediately i e a corres ponding speed change will take place immediate ly with th...

Страница 106: ...DEFMCPOS and DEFMORIGIN can still modify this position Command group CAM Cross Index APOS DEF ORIGIN SET ORIGIN POSA POSR DEFMCPOS Parameter SYNCFACTM SYNCTACTS Syntax example PRINT CURVEPOS print ac...

Страница 107: ...st ramp Shortest ramp Shortest ramp Shortest ramp RAMPMIN 31 and Maximum velocit Maximum velocit Maximum velocit Maximum velocit Maximum velocity y y y y VELMAX 1 as well as V V V V Velocit elocit elo...

Страница 108: ...yntax DEF ORIGIN Command group INI Cross Index POSA Syntax Example POSA 80000 Absolute positioning DEF ORIGIN define actual position as zero point Program sample DORIG_01 M ORIG_01 M DEF SYNCORIGIN Th...

Страница 109: ...the end before the command following the DELAY instruction is com menced Summary Time delay Syntax DELAY t Parameter t time delay in milliseconds maximum MLONG Command group CON Cross Index WAITT WAIT...

Страница 110: ...anent even when the power supply is switched off insofar as it is saved with SAVEPROM or SAVE ARRAYS In contrast to variables arrays have a validity not only for one but for all programs in the VLT fl...

Страница 111: ...ll exist but is not processed anymore Exception DISABLE ALL The detection is still running in the background and the interrupt is captured in case of a non edge sensitive or a message oriented interru...

Страница 112: ...for the communication bit ERRCLR An option card error can be cleared via the ERRCLR command However the cause of the error must be eliminated first otherwise the same error alarm will occur again If...

Страница 113: ...cting to a limit switch Cross Index ON ERROR GOSUB SET PRGPAR AUTOSTART Syntax Example EXIT Program termination Program sample EXIT_01 M ERROR_01 M GSVEL_01 M GET Reads the value of an axis parameter...

Страница 114: ...6 617 Parameter par parameter number Return value res parameter value Command group PAR Cross Index SETVLT Syntax Example PRINT GETVLT 202 reads parameter 202 output frequency high GETVLTSUB GETVLTSUB...

Страница 115: ...line 1 Command line n RETURN ENDPROG Program sample GOSUB_01 M AXEND_01 M INCL_01 M STAT_01 M GOTO The GOTO command enables an unconditional jump to the indicated program position and the program proc...

Страница 116: ...arker signal 1 Like 0 but without searching for the index pulse 2 Like 0 but leaving the switch without reversing the direction 3 Like 2 but without searching for the index pulse If HOME is aborted vi...

Страница 117: ...tion should be available Following the ELSE instruction is a program part that must be carried out in as much as none of the conditions are fulfilled The ELSEIF and ELSE instructions can but do not ha...

Страница 118: ...4 store condition input 4 in variable in4 IF IN 2 THEN If high level on terminal 2 set output 01 OUT 1 1 ELSE OUT 1 0 ENDIF Program sample IN_01 M INAD The INAD command reads the value of the analog...

Страница 119: ...ts Example IN1 low IN2 high IN3 high all other inputs are low res 2 1 2 2 6 Program sample INB_01 M INB_02 M OUTB_01 M INDEX Movement to the index position of the encoder will be started via the INDEX...

Страница 120: ...ey code Return value key code for the received character resp 1 in case no character available Following key codes are sent back as long as the key is pressed If more than one key were pressed simulta...

Страница 121: ...the actual position value is hardware stored in real time a buffer in an internal processor register when the configured signal is high Then it will be copied in the system variable IPOS If simultaneo...

Страница 122: ...rrect Command group PAR Cross Index LINKGPAR SET GET User parameter Parameter reference Syntax Example LINKAXPAR POSERR 712 position error 300 50000 0 LINKGPAR With LINKGPAR it is possible to link a p...

Страница 123: ...VAR User parameter Parameter Reference Syntax Example LINKSYSVAR 33 795 internal line number LINKSYSVAR 30 796 Motor voltage Determine with user parameter 11 and 12 line number in the first display li...

Страница 124: ...ive in qc sec with qc referring to the master encoder The accuracy of the values depends on the dura tion of the measurement averaging The standard setting is 20 ms but this can be changed by the user...

Страница 125: ...e copied in the system variable MIPOS If simultaneously to the marker position an interrupt is initiated ON INT 1 GOSUB and within this inter rupt it is operated with MIPOS you should use be fore read...

Страница 126: ...Syntax MOTOR OFF Command group INI Cross Index MOTOR ON Syntax Example MOTOR OFF switch off controller of the axis Program sample MOTOR_01 M POS_01 M MOTOR ON The motor control can be enabled again fo...

Страница 127: ...t no new positioning command is given during braking Summary stops the drive Syntax MOTOR STOP Command group CON Cross Index POSA POSR CSTART CONTINUE CSTOP Syntax Example MOTOR STOP interrupt motion...

Страница 128: ...ondition before the next command can be begun Command group CON Cross Index WAITAX AXEND POSA POSR HOME INDEX Syntax Example NOWAIT ON no waiting after POS commands NOWAIT OFF wait after POS commands...

Страница 129: ...POS or ON MCPOS Syntax ON DELETE pos GOSUB name Parameter pos value name name of subprogram Description The command can be used to delete an ON APOS interrupt which is defined as follows ON sign APOS...

Страница 130: ...am now The old defini tion of interrupt 1 ON APOS 10000 GOSUB hitinfo is still valid without any modification ON ERROR GOSUB By using the ERROR GOSUB instruction a sub routine will be defined which ca...

Страница 131: ...r the last subroutine command RETURN the program will continue from the point of interrupt Summary Defining an interrupt input Syntax ON INT n GOSUB name Parameter n number of the input to be monitore...

Страница 132: ...n passed in positive or negative direc tion For example in order to set an output at any point in the case of a linear drive slave with a traversing range from 0 to 10000 UU NB An ON MAPOS Interrupt c...

Страница 133: ...f the subprogram 100 xxx 0 positive direction negative direction NB A DEFMCPOS or a SETCURVE must always be placed in front of the command ON MCPOS GOSUB since otherwise the curve position is not know...

Страница 134: ...is automatically set to ON Command group INT Cross Index SUBPROG RETURN Syntax Sample LINKAXPAR POSERR 712 position error 300 5000 0 ON PARAM 712 GOSUB poserr when position error is changed SUBMAINPRO...

Страница 135: ...routine name Explanation i e the axis is within the tolerance range of the control window REGWINMAX REGWINMIN As soon as the control window is set the axis controller is switched on again Priority If...

Страница 136: ...IOD GOSUB Syntax Example OUT 1 1 light on ON TIME 200 GOSUB off1 light off again after 200 ms SUBMAINPROG SUBPROG off1 OUT 1 0 RETURN ENDPROG OUT The 8 digital outputs of the SyncPos option and the 2...

Страница 137: ...Example MOTOR OFF OUTAN 0X2000 set speed reference 50 OUTB With the OUTB command the condition of the digital outputs can be changed byte by byte The byte value transferred determines the condition o...

Страница 138: ...20 mA Option 4 20 mA then value 0 100000 corresponding to 4 20 mA Option 0 32 kHz then value 0 100000 corresponding to 0 32 kHz Parameter VLT5000Flux no output number 26 42 45 and 46 value if paramete...

Страница 139: ...d Return value u n result of the PID calculation Command group I O Syntax Example e INAD 53 u PID e PRINT input e output u POSA The axis can be moved to a position absolute to the actual zero position...

Страница 140: ...TVEL 33 and DFLTACC 34 Command group ABS CAM Cross Index CURVEPOS SET ORIGIN Syntax example POSA CURVEPOS Move slave to the curve position corresponding to the master position POSR The axis can be mov...

Страница 141: ...t text information PRINT Information is important print information without line feed variable 10 PRINT variable print contents of variables PRINT APOS print returned value function PRINT Variable var...

Страница 142: ...EPEAT UNTIL The REPEAT UNTIL construction enables any num ber of repetitions of the enclosed program section dependent on abort criteria The abort criteria con sist of one or more comparative procedur...

Страница 143: ...ters 130 229 individually in the EEPROM use the com mand SAVE GLBPARS NB The EEPROM can only handle execution of this command up to 10000 times Command group INI Cross Index DELETE ARRAYS SAVEPROM SAV...

Страница 144: ...al used curve which is described in array This command has to be used before you can use the commands CURVEPOS SYNCCxx SYNCCSTART or SYNCCSTOP When this command is executed the necessary pre calculati...

Страница 145: ...or the master at 10000 SET ORIGIN Any absolute position can temporarily be set as a new reference point for absolute positioning com mand POSA by use of the SET ORIGIN com mand This position is called...

Страница 146: ...m reference high to 60 Hz Conversion index 3 Multiplied with 103 during transmission SETVLT 202 60000 SETVLTSUB With the SETVLT commands VLT parameters can be changed temporarily and thus the configur...

Страница 147: ...range of the control window REGWINMAX REGWINMIN As soon as the control window is set the axis controller is switched on again Command group I O Cross Index AXEND Syntax Example PRINT STAT print status...

Страница 148: ...ogram sample GOSUB_01 M AXEND_01 M ERROR_01 M IF_01 M STAT_01 M SWAPMENC This command allows swapping of the master and slave encoders This is particularly meaningful if one wishes to alternately use...

Страница 149: ...ar of CAM Editor SETCURVE curve Set curve SYNCC Synchronization in CAM Mode SYNCCMM Like SYNCC the command SYNCCMM brings about a synchronization in CAM Mode but beyond that it also performs a marker...

Страница 150: ...correction Syntax SYNCCMS num Parameter num number of curves to be processed 0 the drive remains in CAM Mode until another mode is started with commands such as MOTOR STOP CSTART POSA etc NB SYNCCMS...

Страница 151: ...e synchronization SYNCCSTART 1 Engage slave at point A from start stop point pair 1 SYNCCSTOP This command stops synchronization without leaving SYNCC mode The slave will be disengaged according to th...

Страница 152: ...r running behind positive result Summary Queries actual synchronization error of the slave Syntax res SYNCERR Return value res actual synchronization error of the slave in UU and a as an absolute valu...

Страница 153: ...e following parameters could lead to overdefinition it is important to ensure that these values are logical match one another and are consistent with the information on the gear factors SYNCMARKM 52 a...

Страница 154: ...ary angle position synchronization with the master Syntax SYNCP NB As soon as the deviation between the position of the slave and master is less than SYNCACCURACY 55 the ACCURACY flag is set If REVERS...

Страница 155: ...ameter SYNCFAULT 57 then the flag SYNCFAULT is set Otherwise it is deleted SYNCMMHIT SYNCSMHIT SYNCMMHIT and SYNCSMHIT are set when the master marker resp the slave marker is occurred These flags are...

Страница 156: ...cover the position V t Master velocity Slave velocity synchronization command For synchronization and during the synchronization process neither the pre set velocity VEL nor the pre set acceleration A...

Страница 157: ...t 16 33 9 Output Byte 0 17 Top 2 bytes which are provided by the SyncPos command STAT 22 Value which is also supplied by the SyncPos command TIME 28 Actual motor current 1 100 Amp 30 Motor voltage vol...

Страница 158: ...mand Error occurred not used PG_FLAG_POSREACHED 4 L Flag for Position reached PG_FLAG_INDEX_HIT 8 L Flag for Index observed PG_FLAG_WRAP_OCC 16L Flag for Wraparound occurred not used PG_FLAG_POS_ERR 3...

Страница 159: ...G_G_LASTMMDIST Contains the last measured distance between two master marker qc master 4244 PFG_G_MMARKCORR Contains the gear correction factor which was calculated scaled with PFG_G_SCALESHIFT 4245 P...

Страница 160: ...tem array apply Three values are always recorded array name Name of the array used for the recording Array format The values are stored as follows within the array all values 4 Byte Designation Conten...

Страница 161: ...VEL 100 Increase velocity to 100 TESTSTART 200 Start recording 200 measurements DELAY 20 Wait 20 ms POSA 100000 Start positioning with new velocity NOWAIT OFF Wait untill positioning is finished TIME...

Страница 162: ...aled velocity value NB If no velocity has been set prior to a positio ning or synchronizing command then the value of parameter DFLTVEL 33 will be used If the velocity needs to be altered during posit...

Страница 163: ...e inputs Command group CON Cross Index ON INT GOSUB DELAY WAITT WAITAX VLT5000 manual Syntax Example WAITI 4 ON Wait till High level reached input 4 WAITI 4 1 3 alternative forms WAIT I 4 ON WAIT I 4...

Страница 164: ...AITI WAITAX Syntax Example NOWAIT ON POSA 100000 WAITP 50000 wait on position 50000 OUT 1 1 set output 1 NOWAIT OFF WAITT The WAITT command is suitable for achieval of a defined program time delay The...

Страница 165: ...endless loop the processed commands within the loop must have a direct or indirect influence on the result of the abort check Command group CON Cross Index LOOP REPEAT UNTIL Syntax Example WHILE A 1...

Страница 166: ...program a Compiler Directive The INCLUDE instruction can be placed in any program position as many times as desired within a program However attention must be given to the fact that the data to be in...

Страница 167: ...Online executes a changes to the parameter value immediately after the input in display 1 Offline change means that a change to the parameter value is activated when the OK key is pressed An user par...

Страница 168: ...dependent 0 05 sec Parameter 208 Power dependent 0 05 sec Factory settings VLT5000 Parameters 300 303 305 308 314 changed to No operation 0 Parameters 319 321 changed to Option 0 20mA 91 Parameters 3...

Страница 169: ...H 707 36 FFVEL 708 37 FFACC 709 65 SYNCVFTIME 710 779 130 229 GET SET parameter number Ex var GET 131 780 GETVLT SETVLT parameter number 781 Program ID Ex var GETVLT 780 795 799 130 229 GET SET parame...

Страница 170: ...purpose of this parameter is switching off the active dead time compensation to avoid instability Select OFF when the VLT is controlled from the SyncPos option in speed position or synchronizing cont...

Страница 171: ...defining a user para meter in the application program using LINKGPAR or LINKAXPAR PNU Parameter Factory Range Changes 4 Setup Con Data description settings during version type Operation index 700 Sys...

Страница 172: ...PRGSTART Input for program start 103 GLI 0 I_REFSWITCH Input for reference switch 45 AXI 0 KDER Derivative value for PID control 703 12 AXR 1 KILIM Limit value for integral sum for PID control 705 21...

Страница 173: ...XS qc 1000 SYNCFACTM Synchronization factor master M S 49 AXS qc 1 SYNCFACTS Synchronization factor slave M S 50 AXS qc 1 SYNCFAULT Marker number for fault 57 AXS 10 SYNCMARKM Marker number for master...

Страница 174: ...or POSERR 15 the quad count unit qc is valid 4 quad counts correspond to one sensor unit Abbreviation For a description which is not dependent on the version or the hardware variables were used in the...

Страница 175: ...used or not is entered in the parameter HOMETYPE 40 Limit values In order to guarantee perfect functioning of the SyncPos option the product of the Encoder counts Encoder counts Encoder counts Encoder...

Страница 176: ...t for all movement If this value is exceeded then an error is triggered POSLIMIT is only active if SWPOSLIMACT 20 is set If a positioning command is entered which exceeds the limits set then it is not...

Страница 177: ...um speed should be used 8 TESTWIN TESTWIN indicates the size of the target window AA position is only viewed as reached when the refe rence run trapez is executed the actual position is within the win...

Страница 178: ...statements made with the assistance of the scaling VELRES 22 refer to this acceleration This internal parameter which cannot be changed is automatically calculated from RAMPMIN 31 which the user enter...

Страница 179: ...rrective motor torque which increases over time Through the integral share a static posi tion error is reduced to zero even if a constant load is affecting the motor However an integral factor which i...

Страница 180: ...lerated position error position error position error position error position error are too small this could result in frequent errors As a guideline it is wise to set the quadruple of Encoder counts p...

Страница 181: ...below Portability If SYNCMFTIME is 0 the behavior is same as up to Option Card version 5 04 that means the filter time for marker correction depends on the parameter value of SYNCVFTIME 65 Filtering...

Страница 182: ...r to calculate the filtered sum Then we subtract the filtered error sum from the unfiltered one This result is then used to correct the marker correction This corrected correction is then given into t...

Страница 183: ...itive software limit switch is to be moni tored In this case it is checked whether the target position is located outside of the permissible move ment range during every movement If necessary an error...

Страница 184: ...ple 2 provided that Encoder Incremental encoder in the case of absolute encoders the multiplier 4 is omitted Scaling factor Number of user units UU qc that correspond to one revolu tion at the drive I...

Страница 185: ...n will be delayed by this amount of time in any case Content Limit value for readings in target window Parameter Group Axis parameter Inputs Outputs AXI CAM Editor index card Inp Outp Unit qc Value ra...

Страница 186: ...ternal markers are used IPOS MIPOS Parameter Reference 28 POSDRCT A normal requirement for the axis controller is that a positive reference value brings about a positive change of the position If this...

Страница 187: ...E The Parameter gives the possibility to set the sample time for the profile generator which is independent of the sample time for the PID controller For demanding control tasks in the background SYNC...

Страница 188: ...h then a base velocity must be set so that it can be ruled out that the control will entirely prevent the drive from running due to the limit set FFVEL indicates the value with which the velocity feed...

Страница 189: ...thout reversing Content Behavior during movement to home Parameter Group Axis parameter Home AXH CAM Editor index card Home Value range 0 3 0 37 FFACC 708 Set the base velocity whenever you have limit...

Страница 190: ...zero point is set Content Zero point offset for machine zero point or index Parameter Group Axis parameter Home AXH CAM Editor index card Home Unit qc Value range MLONG MLONG 0 Parameter Reference 43...

Страница 191: ...ould be interpreted as the positive limit switch It is possible to react to a positive or negative edge using a positive or negative number Content Positive limit switch Parameter Group Axis parameter...

Страница 192: ...ACTM The synchronization is described with a ratio of qc Master Slave SYNCFACTM determines the syn chronization factor for the master SYNCFACTM 49 and SYNCFACTS 50 make the compensation of different d...

Страница 193: ...ollows Scaling factor 2 r 10 2 60 10 3969 91 Scaling factor 3970 Since an error will occur in any case due to the rounding a marker adjustment must be performed after each full revolution Parameter Re...

Страница 194: ...ctual master position is compared with actual commanded position 52 SYNCMARKM SYNCMARKM and SYNCMARKS must be set accor ding to the ratio between the number of marker signals from master and slave A r...

Страница 195: ...CFACTS 50 MLONG SYNCFACTS 50 0 55 SYNCACCURACY Defines how large the difference between the actual master and slave position can be during a position synchronization SYNCP and SYNCM so that the requir...

Страница 196: ...SYNCMPULSM indicates how many qc master lie between two master markers If you use the encoder index impulse as a marker signal then the distance between two markers is the resolution qc of the encode...

Страница 197: ...marker SYNCMTYPM is only valid for synchronization with marker correction SYNCM and SYNCCMM or if you want to use the command MIPOS in your program Master marker signal Input 5 Content Marker type for...

Страница 198: ...d with the marker behind correction is backward 5 After reaching the master velocity the next slave marker will be aligned with the closest master marker correction can be forward or backward always t...

Страница 199: ...mdvel ms _filt With the following Cmdvel set velocity Old_Cmdvel last set velocity Actvel actual velocity of the master ms sampling time fixed 1ms _filt filter time constants Generally the value for t...

Страница 200: ...on for marker evaluation The follo wing is valid If the slave need to catch up it runs with the maxi mum speed allowed this is either the speed set with VEL or the master velocity calculated with MAVE...

Страница 201: ...ncoders the following commands can not be used DEF ORIGIN HOME INDEX and WAITNDX NB The following commands can only be used with absolute encoders if external markers are used IPOS MIPOS 68 SYNCMWINM...

Страница 202: ...ange 0 MLONG or max Marker interval SYNCMPULSS 59 0 0 The window is not monitored 1 MLONG Only one marker is accepted within the window If no marker is within the tolerance window the corresponding fl...

Страница 203: ...after power up Portability Parameter value 1000 with option card version 5 00 onwards Example SET PRGPAR 5 program number 5 is started immediately after power up and after execution of autoexec SET PR...

Страница 204: ...itive edge on input 1 8 0 no function 0 1 8 Reaction to a negative edge on input 1 8 107 I_ERRCLR I_ERRCLR determines which input is used to clear an error It is possible to react to a positive or neg...

Страница 205: ...Programmable SyncPos motion controller MG 10 J8 02 VLT is a registered Danfoss trade mark 204 Parameter Reference...

Страница 206: ...d Danfoss trade mark Programmable SyncPos motion controller Messages and Error Reference Chapter 6 Messages and Error Reference VLT and SyncPos messages 206 SyncPos messages in detail 207 VLT software...

Страница 207: ...r not found 10 UNKNOWN COMMAND Unknown command 11 SOFTWARE LIMIT ACT Axis no 1 Software limit switch activated 12 ILLEGAL PARAMET NO Illegal parameter number 13 General VLT error General VLT error 14...

Страница 208: ...ERR_7 SyncPos Axis no 1 Home vel 0 Cause HOME was executed with HOME_VEL set to zero O ERR_8 SyncPos Axis no 1 Position error Meaning The distance between the set and the real position was greater tha...

Страница 209: ...LT is not ready but the PID controller is active The VLT status word Bit 09 and Bit 11 is monitored every 20 msec when the PID controller is active The VLT is in the Not ready state when it has an ala...

Страница 210: ...rmitted are 32 ON INT 32 ON STATBIT 32 ON COMBIT 10 ON PARAM 20 ON APOS ON MAPOS ON MCPOS O ERR_51 SyncPos Too many nested GOSUB commands Cause In the program too many calls from one subroutine to ano...

Страница 211: ...executed and the timeout listed was exceeded Cause The timeout is probably too short or the index impulse could not found see also O ERR_9 O ERR_84 SyncPos Too many time interrupts Meaning Too many O...

Страница 212: ...VLT software SyncPos messages The VLT software SyncPos messages are arranged in alphabetical order Letters following a sign represent variables which can be used in plain text at the corresponding lo...

Страница 213: ...y The parameter number and the sequence must be cor rect and numbering must be continuous Cause In order to be able to save a file the following conditions must be fulfilled Identical software version...

Страница 214: ...T is a registered Danfoss trade mark Programmable SyncPos motion controller Chapter 8 Program samples Introduction and warning 214 COM_OPT 215 Marker count 215 Master simulation via software command 2...

Страница 215: ...only be used with a drive which can turn freely without a path limi tation The drive should be fixed in a stable holding device When using a linear unit limit switches for path limitation must be mou...

Страница 216: ...om comm option to receive array COMOPTSEND 4 send Copy 4 words from send array to communication option Print data of receive array print RECEIVED 4 WORDS receive 1 receive 2 receive 3 receive 4 GOTO m...

Страница 217: ...aster via software command DIM curve 112 test 1000 SET MENCODERTYPE 6 switch to internal software simulation SETCURVE curve simpos 0 SYNCC 0 SYNCCSTART 0 start SYSVAR 4105 simpos set master position i...

Страница 218: ...C Software 2 1x Option Card Software 3 1x 219 2 2x and in SyncPos Motion Controller Software 221 New hardware 222 2 3x and in SyncPos Motion Controller Software 222 What s new in the PC Software Versi...

Страница 219: ...POSFACT_Z 23 and POSFACT_N 26 is not used for all path and position parameters For various parameters for example a software limit switch like I_POSLIMITSW 46 and the parameter T T T T Tolerated posi...

Страница 220: ...when Bit n is set ON STATBIT Interrupt when Bit n is set ON PARAM Interrupt when a parameter n is changed New commands DEFMORIGIN Set the current master position as the zero point for the master DELE...

Страница 221: ...s way can then be laid on a VLT parameter 795 799 with LINKSYSVAR and observed on the LCP display New Parameters ESCCOND 70 With ESCCOND you can determine how the VLT will react to a program terminati...

Страница 222: ...ave to the curve position corresponding to the master position SETCURVE Set CAM curve SYNCC Synchronization in CAM Mode SYNCCMM Synchronization in CAM Mode with master marker correction SYNCCMS Synchr...

Страница 223: ...y option card software version 4 xx or newer The old hardware is supported by option card software version 3 12 or older What s new in PC Software 2 2x and in SyncPos Motion Controller What s new in P...

Страница 224: ...a fast access the function has also been placed as a button on the toolbar A COMPILE TO FILE menu item has been added to compile the current file and save it in a binary file The SYNTAX CHECK will now...

Страница 225: ...is active or not SYSVAR Delivers some more information for the user New system process data index 35 for unfiltered value of analog input 1 and some more axis process data indices 4113 4128 and 4240...

Страница 226: ...se of this point is up to the user we just speak of a path which can be a start or a stop sequence Every path consists of 2 points If we are moving forward the path starts start or stop with the a poi...

Страница 227: ...T or SYNCCSTOP command is executed but we have to reserve the room right now CAM Array Definition Part Index Name Unit Value Description General 1 Identification dec 999 000 001 Number to identify arr...

Страница 228: ...tartStopLen dec 0 Maximum length of start stop path no of int points 11 StartStopNo dec 0 Number of start stop point pairs n see below 12 MMaxCycles dec 0 Max number of cycles per minute application i...

Страница 229: ...olation Point no n slave coordinate StartStop Indices 1 STPoint_1 a index dec 0 Index in Interpolation Array corresponding to Startpoint 2 STPoint_1 b index dec 0 Index in Interpolation Array correspo...

Страница 230: ...M box with SyncPos operates 48 How a CAM control with SP operates 38 Internal Realization as Array 38 Interpolation 38 Problematic situations marker distance 44 Quick Start Tutorial 39 Tangent Points...

Страница 231: ...ts outputs 10 11 14 DIM 109 DIM Statement 92 Dip switch 13 222 DISABLE interrupts 110 Display Recording 67 E Edit menu 53 Cut Copy Paste 53 Find and Replace 53 Undo 53 ENABLE interrupts 111 Encoder Co...

Страница 232: ...range 173 Input values 90 Installing SyncPos 26 Integral factor KINT 13 33 178 Integration limit KILIM 21 33 182 Interface Settings Scan Range 78 Interpolation 38 Interrupt 90 General processing of in...

Страница 233: ...ands 209 Too many time interrupts 210 Unknown command 207 User Abort 209 MIPOS 124 MK3A 11 MK3B 11 MK3C 11 MK3D 11 MOTOR OFF 125 MOTOR ON 125 MOTOR STOP 126 Move to position 58 MOVESYNCORIGIN 126 N Na...

Страница 234: ...cessing 89 SET 143 Set axis parameters online 61 Set Breakpoints 55 SET ORIGIN 144 SETMORIGIN 144 Setting of SyncPos parameters 28 Encoder 28 Home 29 Synchronization 29 Velocity 29 Setting of VLT para...

Страница 235: ...ve test run parameters 36 66 TESTSETP 159 TESTSTART 160 TESTTIM 24 184 TESTVAL 25 184 TESTWIN 8 171 176 Text retrieval 79 TIME 159 160 TIMER 14 178 179 180 Tips for Increasing Program Readability 89 t...

Страница 236: ...LUX Rev 2004 07 14 www danfoss com drives 175R0060 MG10J802 MG10J802 MG10J802 VLT 5000 5000 FLUX Programmable SyncPos motion controller Operating Instructions OperatingInstructions Programmable SyncPo...

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