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MG.10.J8.02 – VLT is a registered Danfoss trade mark
Programmable SyncPos motion controller
Fundamentals of the SyncPos program
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How SyncPos functions
Let us explain the basic principle of SyncPos in
brief:
Determining parameters
Factory settings are stored in the program for all
parameters. These factory settings are active upon
delivery and can be re-activated at any time by
performing a reset (see page 42).
You can adjust all the parameters for your controller.
These user parameters are permanently saved in
the EEPROM and are valid for all programs.
Before you start programming it is necessary to
determine basic parameters of the VLT connected,
such as
Maximum velocit
Maximum velocit
Maximum velocit
Maximum velocit
Maximum velocity
y
y
y
y
VELMAX (1) and
Shortest ramp
Shortest ramp
Shortest ramp
Shortest ramp
Shortest ramp
RAMPMIN (31), set the PID filter
values and define the
User factor
User factor
User factor
User factor
User factor
with
POSFACT_Z (23) and POSFACT_N (26).
Within a program you can temporarily alter the para-
meters with the command SET. After running the
program these values are once again replaced with
the user parameters which have been saved.
Programming with the SyncPos macro-language
In the "EDIT" menu you can create and comment
on the programs just like in a text program. All
commands are described in detail in the Chapter
Software Reference.
Each command consists of a COMMAND WORD
+
parameter
parameter
parameter
parameter
parameter
(if necessary), whereas the parameter
can be a variable, constant or an array.
Comments are written between /* … */ or after //
for example:
POSA 3000
/* axis absolute to actual zero point move to
position 3000 */
// axis absolute to actual zero point move to
position 3000
It is particularly easy to write your program by
using the "COMMAND LIST". Once you have se-
lected the command, all the necessary input fields
are immediately opened. After entering the values
the syntax is automatically formed and you can
insert the entire command in your program.
With teach-in programming you simply move the
axis to the desired position and store the position
which has been reached. In this manner you can
quickly program the most complicated 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" function has been activated.
Naturally, you can run the program being tested in
"SINGLE STEPS" or start the program at a certain
point and have it executed step-by-step.
Before every run a new program is automatically
checked to ensure that the commands are correct.
Or you can start the "SYNTAX CHECK" without
running the program.
Saving programs in the VLT
Every time you Execute a program or start the
syntax check, this program is temporarily stored in
the RAM in an area that is always overwritten with
every subsequent test.
Once you have finished writing a program for the
SyncPos option, the temporary program can be saved
permanently in EEPROM. It will then be assigned a
number or name and can be tagged with "AUTOSTART"
so it automatically will be started after turning on the VLT.
This way you can drive the VLT offline.
All programs can also be started using the program
number via the inputs, for example from a PLC. For
this the inputs must be set accordingly with
"CONTROLLER"
→
→
→
→
→
"PARAMETERS"
→
→
→
→
→
"GLOBAL".
Optimizing the controller with the control
parameters
The position control unit integrated in the SyncPos
motion controller automatically calculates a theore-
tical set course during each sequence of move-
ments and tries to control the VLT or the motor so
that the best possible convergence to the set course
is achieved. By means of the control parameters you
can directly influence to what degree and how
quickly a deviation from the theoretical set course is
c o u n t e r a c t e d .
These PID filter parameters can also, theoretically,
be determined if you have comprehensive know-
ledge of the entire drive, including the load connec-
ted. However, the experimental method with the
functions in the "TESTRUN" menu is considerably
faster and simpler.
After every "TESTRUN" it is also possible to eva-
luate the control parameters on the basis of four
graphics: they show the actual and set curves for
the velocity, the acceleration, the position and the
power curve. Thus, you can successively adjust the
PID filter parameters and optimize the controller.
We wish you the best in your work with SyncPos!
For questions regarding programming or operating
the controller, please contact your supplier.
