Danfoss FC 280 Design guide

ENGINEERING TOMORROW

Design Guide

VLT® Midi Drive FC 280

vlt-drives.danfoss.com

Contents Design Guide

Contents

1 Introduction

1.1 Purpose of the Design Guide

1.2 Additional Resources

1.3 Denitions

1.4 Document and Software Version

1.5 Approvals and Certications

1.6 Safety

2 Product Overview

2.1 Enclosure Size Overview

2.2 Electrical Installation

2.2.1 Motor Connection 14

2.2.2 AC Mains Connection 15

2.2.3 Control Terminal Types 16

2.2.4 Wiring to Control Terminals 17

2.3 Control Structures

2.3.1 Control Modes 18

2.3.2 Control Principle 19

2.3.3 Control Structure in VVC

2.3.4 Internal Current Control in VVC+ Mode 21

2.3.5 Local (Hand On) and Remote (Auto On) Control 21

2.4 Reference Handling

2.4.1 Reference Limits 23

2.4.2 Scaling of Preset References and Bus References 24

2.4.3 Scaling of Analog and Pulse References and Feedback 24

2.4.4 Dead Band Around Zero 25

2.5 PID Control

2.5.1 Speed PID Control 28

2.5.2 Process PID Control 31

2.5.3 Process Control Relevant Parameters 32

2.5.4 Example of Process PID Control 33

2.5.5 Process Controller Optimization 35

2.5.6 Ziegler Nichols Tuning Method 36

2.6 EMC Emission and Immunity

2.6.1 General Aspects of EMC Emission 36

2.6.2 EMC Emission 38

2.6.3 EMC Immunity 40

2.7 Galvanic Isolation

2.8 Ground Leakage Current

Contents

VLT® Midi Drive FC 280

2.9 Brake Functions

2.9.1 Mechanical Holding Brake 42

2.9.2 Dynamic Braking 43

2.9.3 Brake Resistor Selection 43

2.10 Motor Insulation

2.10.1 Sine-wave Filters 44

2.10.2 dU/dt Filters 45

2.11 Smart Logic Controller

2.12 Extreme Running Conditions

2.12.1 Motor Thermal Protection 46

3 Application Examples

3.1 Introduction

3.1.1 Encoder Connection 48

3.1.2 Encoder Direction 48

3.1.3 Closed-loop Drive System 48

3.2 Application Examples

3.2.1 AMA 49

3.2.2 Speed 49

3.2.3 Start/Stop 50

3.2.4 External Alarm Reset 51

3.2.5 Motor Thermistor 51

3.2.6 SLC 51

4 Safe Torque O (STO)

5 RS485 Installation and Set-up

5.1 Introduction

5.1.1 Overview 53

5.1.2 Network Connection 53

5.1.3 Hardware Set-up 54

5.1.4 Parameter Settings for Modbus Communication 54

5.1.5 EMC Precautions 54

5.2 FC Protocol

5.2.1 Overview 54

5.2.2 FC with Modbus RTU 55

5.3 Network Conguration

5.4 FC Protocol Message Framing Structure

5.4.1 Content of a Character (byte) 55

5.4.2 Telegram Structure 55

5.4.3 Telegram Length (LGE) 55

Contents Design Guide

5.4.4 Frequency Converter Address (ADR) 56

5.4.5 Data Control Byte (BCC) 56

5.4.6 The Data Field 56

5.4.7 The PKE Field 56

5.4.8 Parameter Number (PNU) 57

5.4.9 Index (IND) 57

5.4.10 Parameter Value (PWE) 57

5.4.11 Data Types Supported by the Frequency Converter 57

5.4.12 Conversion 57

5.4.13 Process Words (PCD) 58

5.5 Examples

5.5.1 Writing a Parameter Value 58

5.5.2 Reading a Parameter Value 58

5.6 Modbus RTU

5.6.1 Prerequisite Knowledge 59

5.6.2 Overview 59

5.6.3 Frequency Converter with Modbus RTU 59

5.7 Network Conguration

5.8 Modbus RTU Message Framing Structure

5.8.1 Introduction 60

5.8.2 Modbus RTU Telegram Structure 60

5.8.3 Start/Stop Field 60

5.8.4 Address Field 60

5.8.5 Function Field 60

5.8.6 Data Field 61

5.8.7 CRC Check Field 61

5.8.8 Coil Register Addressing 61

5.8.9 How to Control the Frequency Converter 63

5.8.10 Function Codes Supported by Modbus RTU 63

5.8.11 Modbus Exception Codes 63

5.9 How to Access Parameters

5.9.1 Parameter Handling 63

5.9.2 Storage of Data 64

5.9.3 IND (Index) 64

5.9.4 Text Blocks 64

5.9.5 Conversion Factor 64

5.9.6 Parameter Values 64

5.10 Examples

5.10.1 Read Coil Status (01 hex) 64

5.10.2 Force/Write Single Coil (05 hex) 65

Contents

VLT® Midi Drive FC 280

5.10.3 Force/Write Multiple Coils (0F hex) 65

5.10.4 Read Holding Registers (03 hex) 65

5.10.5 Preset Single Register (06 hex) 66

5.10.6 Preset Multiple Registers (10 hex) 66

5.11 Danfoss FC Control Prole

5.11.1 Control Word According to FC Prole (8-10 Protocol = FC Prole) 67

5.11.2 Status Word According to FC Prole (STW) 68

5.11.3 Bus Speed Reference Value 70

6 Type Code and Selection

6.1 Type Code

6.2 Ordering Numbers: Options, Accessories, and Spare Parts

6.3 Ordering Numbers: Brake Resistors

6.3.1 Ordering Numbers: Brake Resistors 10% 73

6.3.2 Ordering Numbers: Brake Resistors 40% 75

6.4 Ordering Numbers: Sine-wave Filters

6.5 Ordering Numbers: dU/dt Filters

6.6 Ordering Numbers: External EMC Filters

7 Specications

7.1 Electrical Data

7.2 Mains Supply

7.3 Motor Output and Motor Data

7.4 Ambient Conditions

7.5 Cable Specications

7.6 Control Input/Output and Control Data

7.7 Connection Tightening Torques

7.8 Fuses and Circuit Breakers

7.9 Eciency

7.10 Acoustic Noise

7.11 dU/dt Conditions

7.12 Special Conditions

7.12.1 Manual Derating 93

7.12.2 Automatic Derating 95

7.13 Enclosure Sizes, Power Ratings, and Dimensions

Index

Introduction Design Guide

1 Introduction

1.1 Purpose of the Design Guide

This design guide is intended for project and systems engineers, design consultants, and application and product specialists. Technical information is provided to understand the capabilities of the frequency converter for integration into motor control and monitoring systems. Details concerning operation, requirements, and recommendations for system integration are described. Information is provided for input power characteristics, output for motor control, and ambient operating conditions for the frequency converter.

Also included are:

Safety features.

•

Fault condition monitoring.

•

Operational status reporting.

•

Serial communication capabilities.

•

Programmable options and features.

•

Design details such as site requirements, cables, fuses, control wiring, the size and weight of units, and other critical information necessary to plan for system integration are also provided.

Reviewing the detailed product information in the design stage enables developing a well-conceived system with optimal functionality and

VLT® is a registered trademark.

Additional Resources

1.2

eciency.

Denitions

1.3

1.3.1 Frequency Converter

Coast

The motor shaft is in free mode. No torque on the motor.

VLT,MAX

Maximum output current.

VLT,N

Rated output current supplied by the frequency converter.

VLT,MAX

Maximum output voltage.

1.3.2 Input

Control commands

Start and stop the connected motor with LCP and digital inputs. Functions are divided into 2 groups.

Functions in group 1 have higher priority than functions in group 2.

Group 1 Precise stop, coast and reset stop, precise stop

and coast stop, quick stop, DC braking, stop, and

[OFF].

Group 2 Start, pulse start, reversing, start reversing, jog,

and freeze output.

Table 1.1 Function Groups

1.3.3 Motor

1 1

Resources available to understand operations and programming of the frequency converter:

VLT® Midi Drive FC 280 Operating Guide, provides

•

information 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 parameter descriptions.

Supplementary publications and manuals are available from Danfoss. See drives.danfoss.com/knowledge-center/ technical-documentation/ for listings.

Motor running

Torque generated on the output shaft and speed from 0 RPM to maximum speed on the motor.

JOG

Motor frequency when the jog function is activated (via digital terminals or bus).

Motor frequency.

MAX

Maximum motor frequency.

MIN

Minimum motor frequency.

M,N

Rated motor frequency (nameplate data).

Motor current (actual).

M,N

Nominal motor current (nameplate data).

175ZA078.10

Pull-out

RPM

Torque

Introduction

VLT® Midi Drive FC 280

M,N

Nominal motor speed (nameplate data).

Synchronous motor speed.

2 × Parameter 1−23 × 60s

ns=

slip

Parameter 1−39

Motor slip.

M,N

Rated motor power (nameplate data in kW or hp).

M,N

Rated torque (motor).

Instantaneous motor voltage.

M,N

Rated motor voltage (nameplate data).

Break-away torque

Preset reference

A dened preset reference to be set from -100% to +100% of the reference range. Selection of 8 preset references via the digital terminals. Selection of 4 preset references via the bus.

Pulse reference

A pulse frequency signal transmitted to the digital inputs (terminal 29 or 33).

Ref

MAX

Determines the relationship between the reference input at 100% full scale value (typically 10 V, 20 mA) and the resulting reference. The maximum reference value is set in parameter 3-03 Maximum Reference.

Ref

MIN

Determines the relationship between the reference input at 0% value (typically 0 V, 0 mA, 4 mA) and the resulting reference. The minimum reference value is set in parameter 3-02 Minimum Reference.

1.3.5 Miscellaneous

Analog inputs

The analog inputs are used for controlling various functions of the frequency converter.

There are 2 types of analog inputs:

Current input: 0–20 mA and 4–20 mA.

•

Voltage input: 0–10 V DC.

•

Analog outputs

The analog outputs can supply a signal of 0–20 mA, or 4– 20 mA.

Automatic motor adaptation, AMA

Illustration 1.1 Break-away Torque

VLT

The eciency of the frequency converter is dened as the ratio between the power output and the power input.

Start-disable command

A start-disable command belonging to the control commands in group 1. See Table 1.1 for more details.

Stop command

A stop command belonging to the control commands in group 1. See Table 1.1 for more details.

1.3.4 References

Analog reference

A signal transmitted to the analog inputs 53 or 54 can be voltage or current.

Binary reference

A signal transmitted via the serial communication port.

The AMA algorithm determines the electrical parameters for the connected motor at standstill.

Brake resistor

The brake resistor is a module capable of absorbing the brake power generated in regenerative braking. This regenerative brake power increases the DC-link voltage, and a brake chopper ensures that the power is transmitted to the brake resistor.

CT characteristics

Constant torque characteristics used for all applications such as conveyor belts, displacement pumps, and cranes.

Digital inputs

The digital inputs can be used for controlling various functions of the frequency converter.

Digital outputs

The frequency converter features 2 solid-state outputs that can supply a 24 V DC (maximum 40 mA) signal.

DSP

Digital signal processor.

Introduction Design Guide

ETR

Electronic thermal relay is a thermal load calculation based on present load and time. Its purpose is to estimate the motor temperature.

FC standard bus

Includes RS485 bus with FC protocol or MC protocol. See parameter 8-30 Protocol.

Initializing

If initializing is carried out (parameter 14-22 Operation Mode), the frequency converter returns to the default

setting.

Intermittent duty cycle

An intermittent duty rating refers to a sequence of duty cycles. Each cycle consists of an on-load and an o-load period. The operation can be either periodic duty or nonperiodic duty.

LCP

The local control panel makes up a complete interface for control and programming of the frequency converter. The LCP is detachable. With the installation kit option, the LCP can be installed up to 3 m (9.8 ft) from the frequency converter in a front panel.

NLCP

The numerical local control panel interface for control and programming of the frequency converter. The display is numerical and the panel is used to show process values. The NLCP has storing and copy functions.

GLCP

The graphic local control panel interface for control and programming of the frequency converter. The display is graphic and the panel is used to show process values. The GLCP has storing and copy functions.

lsb

Least signicant bit.

msb

Most signicant bit.

MCM

Short for mille circular mil, an American measuring unit for cable cross-section. 1 MCM = 0.5067 mm2.

On-line/o-line parameters

Changes to on-line parameters are activated immediately after the data value is changed. To activate changes to o- line parameters, press [OK].

Process PID

The PID control maintains speed, pressure, and temperature by adjusting the output frequency to match the varying load.

PCD

Process control data.

PFC

Power factor correction.

Power cycle

Switch o the mains until the display (LCP) is dark, then turn power on again.

Power factor

The power factor is the relation between I1 and I

Power factor = 

For FC 280 frequency converters,

Power factor = 

3xUxI1cosϕ1

3xUxI

I1xcosϕ1

RMS

 = 

RMS

cosϕ



1 = 1, therefore:

RMS

The power factor indicates to which extent the frequency converter imposes a load on the mains supply. The lower the power factor, the higher the I

RMS

for the

same kW performance.

I

RMS

= 

 + I

 + I

 + .. + I

In addition, a high power factor indicates that the dierent harmonic currents are low. The built-in DC coils (T2/T4) and PFC (S2) produce a high power factor, minimizing the imposed load on the mains supply.

Pulse input/incremental encoder

An external, digital pulse transmitter used for feeding back information on motor speed. The encoder is used in applications where great accuracy in speed control is required.

RCD

Residual current device.

Set-up

Save parameter settings in 4 set-ups. Change among the 4 parameter set-ups and edit 1 set-up while this set-up is inactive.

SFAVM

Acronym describing the switching pattern stator uxoriented asynchronous vector modulation.

Slip compensation

The frequency converter compensates for the motor slip by giving the frequency a supplement that follows the measured motor load, keeping the motor speed almost constant.

Smart logic control (SLC)

The SLC is a sequence of user-dened actions executed when the smart logic controller evaluates the associated

user-dened events as true (Parameter group 13-** Smart Logic Control).

STW

Status word.

THD

Total harmonic distortion states the total contribution of harmonic distortion.

Thermistor

A temperature-dependent resistor placed where the temperature is monitored (frequency converter or motor).

1 1

Introduction

VLT® Midi Drive FC 280

Trip

Trip is a state entered in fault situations. Examples of fault situations:

The frequency converter is subject to an over

•

voltage.

The frequency converter protects the motor,

•

process, or mechanism.

Restart is prevented until the cause of the fault has disappeared, and the trip state is canceled by activating reset or, in some cases, by being programmed to reset automatically. Do not use trip for personal safety.

Trip lock

Trip lock is a state entered in fault situations when the frequency converter is protecting itself and requiring physical intervention. For example, a short circuit on the output triggers a trip lock. A locked trip can only be canceled by cutting o mains, removing the cause of the fault, and reconnecting the frequency converter. Restart is prevented until the trip state is canceled by activating reset or, sometimes, by being programmed to reset automatically. Do not use trip lock for personal safety.

VT characteristics

Variable torque characteristics used for pumps and fans.

VVC

If compared with standard voltage/frequency ratio control, voltage vector control (VVC+) improves the dynamics and stability, both when the speed reference is changed and in relation to the load torque.

60° AVM

Refer to the switching pattern 60° asynchronous vector modulation.

Document and Software Version

1.4

1.5.1 CE Mark

The CE mark (Communauté européenne) indicates that the product manufacturer conforms to all applicable EU directives.

The EU directives applicable to the design and manufacture of frequency converters are:

The Low Voltage Directive.

•

The EMC Directive.

•

The Machinery Directive (for units with an

•

integrated safety function).

The CE mark is intended to eliminate technical barriers to free trade between the EC and EFTA states inside the ECU. The CE mark does not regulate the quality of the product. Technical specications cannot be deduced from the CE mark.

1.5.2 Low Voltage Directive

Frequency converters are classied as electronic components and must be CE labeled in accordance with the Low Voltage Directive. The directive applies to all electrical equipment in the 50–1000 V AC and the 75– 1500 V DC voltage ranges.

The directive mandates that the equipment design must ensure the safety and health of people and livestock, and the preservation of material by ensuring the equipment is properly installed, maintained, and used as intended. Danfoss CE labels comply with the Low Voltage Directive, and Danfoss provides a declaration of conformity at request.

This manual is regularly reviewed and updated. All suggestions for improvement are welcome. Table 1.2 shows the document version and the corresponding software version.

Edition Remarks

MG07B3

1.5

Frequency converters are designed in compliance with the directives described in this section.

More information for POWERLINK and

software update.

Table 1.2 Document and Software Version

Approvals and Certications

Software

version

1.3

1.5.3 EMC Directive

Electromagnetic compatibility (EMC) means that electromagnetic interference between pieces of equipment does not hinder their performance. The basic protection requirement of the EMC Directive 2014/30/EU states that devices that generate electromagnetic interference (EMI) or whose operation could be aected by EMI must be designed to limit the generation of electromagnetic interference and shall have a suitable degree of immunity to EMI when properly installed, maintained, and used as intended.

A frequency converter can be used as standalone device or as part of a more complex installation. Devices in either of these cases must bear the CE mark. Systems must not be CE marked but must comply with the basic protection requirements of the EMC directive.

Introduction Design Guide

1.5.4 UL Compliance

UL-listed

Illustration 1.2 UL

Applied standards and compliance for STO

Using STO on terminals 37 and 38 requires fulllment of all provisions for safety including relevant laws, regulations, and guidelines. The integrated STO function complies with the following standards:

IEC/EN 61508:2010, SIL2

•

IEC/EN 61800-5-2:2007, SIL2

•

IEC/EN 62061:2015, SILCL of SIL2

•

EN ISO 13849-1:2015, Category 3 PL d

•

Frequency converters can be subject to regional and/or national export control regulations.

An ECCN number is used to classify all frequency converters that are subject to export control regulations.

1 1

The ECCN number is provided in the documents accompanying the frequency converter.

In case of re-export, it is the responsibility of the exporter to ensure compliance with the relevant export control regulations.

Safety

1.6

Frequency converters contain high-voltage components and have the potential for fatal injury if handled improperly. Only qualied personnel are allowed to install and operate the equipment. Do not attempt repair work without rst removing power 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:

Discharge time.

•

Detailed safety instructions and warnings.

•

Strict adherence to safety precautions and notices is mandatory for safe operation of the frequency converter.

130BA870.10

130BA809.10

130BA810.10

Product Overview

VLT® Midi Drive FC 280

2 Product Overview

2.1 Enclosure Size Overview

Enclosure size depends on power range. For details about dimensions, refer to chapter 7.13 Enclosure Sizes, Power Ratings, and Dimensions.

Enclosure

size

Enclosure

protection

Power

range

[kW (hp)]

3-phase

380–480 V

Power

range

[kW (hp)]

3-phase

200–240 V

Power

range

[kW (hp)]

single-

phase

200–240 V

K1 K2 K3 K4 K5

IP20 IP20 IP20 IP20 IP20

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)

0.37–1.5 (0.5–2.0) 2.2 (3.0) 3.7 (5.0) – –

0.37–1.5 (0.5–2.0) 2.2 (3.0) – – –

Table 2.1 Enclosure Sizes

1) IP21 is available for some variants of VLT® Midi Drive FC 280. With IP21 kit options mounted, all power sizes can be IP21.

Enclosure size is used throughout this guide whenever procedures or components dier between frequency converters based on physical size.

Find the enclosure size using the following steps:

1. Obtain the following information from the type code on the nameplate. Refer to Illustration 2.1.

1a Product group and frequency converter series (characters 1–6), for example FC 280.

1b Power rating (characters 7–10), for example PK37.

1c Voltage rating (phases and mains) (characters 11–12), for example T4.

2. Within Table 2.2,

nd the power rating and voltage rating, and look up the enclosure size of FC 280.

130BF709.10

VLT

MADE IN

DENMARK

T/C: FC-280PK37T4E20H1BXCXXXSXXXXAX

0.37kW 0.5HP IN: 3x380-480V 50/60Hz, 1.2/1.0A OUT: 3x0-Vin 0-500Hz, 1.2/1.1A IP20

P/N: 134U2184 S/N: 000000G000

Midi Drive www.danfoss.com

CAUTION / ATTENTION:

WARNING / AVERTISSEMENT:

See manual for special condition/mains fuse Voir manual de conditions speciales/fusibles

Enclosure: See manual 5AF3 E358502 IND.CONT.EQ.

Stored charge, wait 4 min. Charge r

siduelle, attendez 4 min.

US LISTED

www.tuv.com

ID 0600000000

Danfoss A/S, 6430 Nordborg, Denmark

1 2 3

Product Overview Design Guide

1 Product group and frequency converter series

2 Power rating

3 Voltage rating (phases and mains)

Illustration 2.1 Using the Nameplate to Find the Enclosure Size

2 2

Power rating in

nameplate

[kW (hp)]

PK37 0.37 (0.5)

PK55 0.55 (0.75)

PK75 0.75 (1.0)

P1K1 1.1 (1.5)

P1K5 1.5 (2.0)

P2K2 2.2 (3.0)

P3K0 3 (4.0)

P4K0 4 (5.0)

P5K5 5.5 (7.5)

P7K5 7.5 (10) K3 K3T4

P11K 11 (15)

P15K 15 (20)

P18K 18.5 (25)

P22K 22 (30)

PK37 0.37 (0.5)

PK55 0.55 (0.75)

PK75 0.75 (1.0)

P1K1 1.1 (1.5)

P1K5 1.5 (2.0)

P2K2 2.2 (3.0) K2 K2T2

P3K7 3.7 (5.0) K3 K3T2

PK37 0.37 (0.5)

PK55 0.55 (0.75)

PK75 0.75 (1.0)

P1K1 1.1 (1.5)

P1K5 1.5 (2.0)

P2K2 2.2 (3.0) K2 K2S2

Table 2.2 Enclosure Size of FC 280

Power

Voltage rating in

nameplate

Phases and mains voltage Enclosure size

T4 3-phase 380–480 V

T2 3-phase 200–240 V

S2 Single phase 200–240 V

Frequency

converter

K1 K1T4

K2 K2T4

K4 K4T4

K5 K5T4

K1 K1T2

K1 K1S2

Power input

Switch mode

power supply

Motor

Analog output

interface

(PNP) = Source (NPN) = Sink

ON = Terminated OFF = Open

Brake resistor

91 (L1/N) 92 (L2/L) 93 (L3)

50 (+10 V OUT)

53 (A IN)

54 (A IN)

55 (COM digital/analog I/O)

0/4−20 mA

12 (+24 V OUT)

13 (+24 V OUT)

18 (D IN)

10 V DC 15 mA 100 mA

+ - + -

(U) 96

(V) 97

(W) 98

(PE) 99

(A OUT) 42

(P RS485) 68

(N RS485) 69

(COM RS485) 61

0 V

5 V

S801

0/4−20 mA

RS485

+10 V DC

0−10 V DC

24 V DC

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)

P 5-00

(+DC/R+) 89

(R-) 81

0−10 V DC

(-DC) 88

RFI

0 V

250 V AC, 3 A

Relay 1

130BE202.18

Product Overview

VLT® Midi Drive FC 280

2.2 Electrical Installation

This section describes how to wire the frequency converter.

Illustration 2.2 Basic Wiring Schematic Drawing

A = Analog, D = Digital

1) Built-in brake chopper is only available on 3-phase units.

2) Terminal 53 can also be used as digital input.

3) Switch S801 (bus terminal) can be used to enable termination on the RS485 port (terminals 68 and 69).

4) Refer to chapter 4 Safe Torque O (STO) for the correct STO wiring.

5) The S2 (single-phase 200–240 V) frequency converter does not support load sharing application.

130BF228.10

L1 L2 L3

Product Overview Design Guide

2 2

1 PLC 10 Mains cable (unshielded)

Minimum 16 mm2 (6 AWG) equalizing cable

3 Control cables 12 Cable insulation stripped

4 Minimum 200 mm (656 ft) between control cables, motor

cables, and mains cables.

5 Mains supply 14 Brake resistor

6 Bare (unpainted) surface 15 Metal box

7 Star washers 16 Connection to motor

8 Brake cable (shielded) 17 Motor

9 Motor cable (shielded) 18 EMC cable gland

Illustration 2.3 Typical Electrical Connection

11 Output contactor, and so on.

13 Common ground busbar. Follow local and national

requirements for cabinet grounding.

130BD531.10

Product Overview

2.2.1 Motor Connection

VLT® Midi Drive FC 280

WARNING

INDUCED VOLTAGE

Induced voltage from output motor cables that run together can charge equipment capacitors, even when the equipment is turned o and locked out. Failure to run output motor cables separately or use shielded cables could result in death or serious injury.

Run output motor cables separately.

•

Use shielded cables.

•

Comply with local and national electrical codes

•

for cable sizes. For maximum cable sizes, see chapter 7.1 Electrical Data.

Follow motor manufacturer wiring requirements.

•

Motor wiring knockouts or access panels are

•

provided at the base of IP21 (NEMA type 1) units.

Do not wire a starting or pole-changing device

•

(for example Dahlander motor or slip ring induction motor) between the frequency converter and the motor.

Procedure

1. Strip a section of the outer 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 xation and electrical contact between the cable shield and ground.

3. Connect the ground cable to the nearest grounding terminal in accordance with the grounding instructions provided in chapter

Grounding in the VLT® Midi Drive FC 280 Operating Guide. See Illustration 2.4.

4. Connect the 3-phase motor wiring to terminals 96 (U), 97 (V), and 98 (W), as shown in Illustration 2.4.

5. Tighten the terminals in accordance with the information provided in chapter 7.7 Connection Tightening Torques.

Illustration 2.4 Motor Connection

The mains, motor, and grounding connection for singlephase and 3-phase frequency converters are shown in Illustration 2.5, Illustration 2.6, and Illustration 2.7, respectively. Actual congurations vary with unit types and optional equipment.

NOTICE

In motors without phase insulation, paper, or other insulation reinforcement suitable for operation with voltage supply, use a sine-wave lter on the output of the frequency converter.

130BE232.11

130BE231.11

130BE804.10

Product Overview Design Guide

2 2

Illustration 2.5 Mains, Motor, and Grounding Connection for

Single-phase Units (K1, K2)

Illustration 2.6 Mains, Motor, and Grounding Connection for 3-

phase Units (K1, K2, K3)

Illustration 2.7 Mains, Motor, and Grounding Connection for 3-

phase Units (K4, K5)

2.2.2 AC Mains Connection

Size the wiring based on the input current of the

•

frequency converter. For maximum wire sizes, see chapter 7.1 Electrical Data.

Comply with local and national electrical codes

•

for cable sizes.

Procedure

1. Connect the AC input power cables to terminals N and L for single-phase units (see Illustration 2.5), or to terminals L1, L2, and L3 for 3-phase units (see Illustration 2.6 and Illustration 2.7).

2. Depending on the conguration of the equipment, connect the input power to the mains input terminals or the input disconnect.

3. Ground the cable in accordance with the grounding instructions in chapter Grounding in

the VLT

4. When supplied from an isolated mains source (IT mains or oating delta) or TT/TN-S mains with a grounded leg (grounded delta), ensure that the RFI lter screw is removed. Removing the RFI screw prevents damage to the DC link and reduces ground capacity currents in accordance with IEC 61800-3 (see Illustration 7.13, the RFI screw locates on the side of the frequency converter).

Midi Drive FC 280 Operating Guide.

130BE212.10

1 2

130BE214.10

37 38 12 13 18 19 27 29 32 33 61

42 53 54 50 55

68 69

Product Overview

VLT® Midi Drive FC 280

2.2.3 Control Terminal Types

Illustration 2.8 shows the removable frequency converter connectors. Terminal functions and default settings are summarized in Table 2.3 and Table 2.4.

Illustration 2.8 Control Terminal Locations

Illustration 2.9 Terminal Numbers

See chapter 7.6 Control Input/Output and Control Data for terminal ratings details.

Terminal Parameter

Digital I/O, pulse I/O, encoder

12, 13 – +24 V DC

Parameter 5-10

Terminal 18

Digital Input

Parameter 5-11

Terminal 19

Digital Input

Parameter 5-01

Terminal 27

Mode

Parameter 5-12

Terminal 27

Digital Input

Parameter 5-30

Terminal 27

Digital Output

Default

setting

[8] Start

[10] Reversing

DI [2] Coast

inverse

DO [0] No

operation

Description

24 V DC supply

voltage. Maximum

output current is

100 mA for all

24 V loads.

Digital inputs.

Selectable for

either digital

input, digital

output, or pulse

output. The

default setting is

digital input.

Terminal Parameter

Parameter 5-13

37, 38 – STO

50 – +10 V DC

55 – –

Table 2.3 Terminal Descriptions - Digital Inputs/Outputs,

Analog Inputs/Outputs

Terminal 29

Digital Input

Parameter 5-14

Terminal 32

Digital Input

Parameter 5-15

Terminal 33

Digital Input

Analog inputs/outputs

Parameter 6-91

Terminal 42

Analog Output

Parameter

group 6-1*

Analog input 53

Parameter

group 6-2*

Analog input 54

Default

setting

[14] Jog Digital input.

[0] No

operation

[0] No

operation

[0] No

operation

–

Description

Digital input, 24 V

encoder. Terminal

33 can be used for

pulse input.

Functional safety

inputs.

Programmable

analog output. The

analog signal is 0–

20 mA or 4–

20 mA at a

maximum of

500 Ω. Can also

be congured as

digital outputs.

10 V DC analog

supply voltage.

15 mA maximum

commonly used

for potentiometer

or thermistor.

Analog input. Only

voltage mode is

supported. It can

also be used as

digital input.

Analog input.

Selectable

between voltage

or current mode.

Common for

digital and analog

inputs.

Product Overview Design Guide

Terminal Parameter

Serial communication

61 – –

Parameter

68 (+)

69 (-)

01, 02, 03

group 8-3* FC

port settings

Parameter

group 8-3* FC

port settings

Parameter 5-40

Function Relay

Default

setting

Relays

[1] Control

Ready

–

Description

Integrated RC lter

for cable shield.

ONLY for

connecting the

shield when

experiencing EMC

problems.

RS485 interface. A

control card switch

is provided for

termination

resistance.

Form C relay

output. These

relays are in

various locations

depending on the

frequency

converter congu-

ration and size.

Usable for AC or

DC voltage and

resistive or

inductive loads.

2.2.4 Wiring to Control Terminals

Control terminal connectors can be unplugged from the frequency converter for ease of installation, as shown in Illustration 2.8.

For details about STO wiring, refer to chapter 4 Safe Torque O (STO).

NOTICE

Keep control cables as short as possible and separate them from high-power cables to minimize interference.

1. Loosen the screws for the terminals.

2. Insert sleeved control cables into the slots.

3. Fasten the screws for the terminals.

4. Ensure that the contact is rmly established and not loose. Loose control wiring can be the source of equipment faults or less than optimal operation.

See chapter 7.5 Cable Specications for control terminal cable sizes and chapter 3 Application Examples for typical control cable connections.

2 2

Table 2.4 Terminal Descriptions - Serial Communication

Product Overview

VLT® Midi Drive FC 280

2.3 Control Structures

A frequency converter recties AC voltage from mains into

DC voltage. Then the DC voltage is converted into an AC current with a variable amplitude and frequency.

The motor is supplied with variable voltage/current and frequency, enabling phased standard AC motors and permanent magnet synchronous motors.

innitely variable speed control of 3-

Speed/torque reference

The reference to these controls can be either a single reference or the sum of various references including relatively scaled references. Reference handling is explained in detail in chapter 2.4 Reference Handling.

Process control

There are 2 types of process control:

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 which use process data as reference or feedback, for example, temperature and pressure. Setting parameter 1-00 Congu- ration Mode determines the type of control.

Speed control

There are 2 types of speed control:

Speed open-loop control, which does not require

•

any feedback from the motor (sensorless).

Speed closed-loop PID control, which requires a

•

speed feedback to an input. A properly optimized speed closed-loop control has higher accuracy than a speed open-loop control.

Select which input to use as speed PID feedback in parameter 7-00 Speed PID Feedback Source.

Torque control

The torque control function is used in applications where the torque on motor output shaft controls the application as tension control. Select [2] Torque closed loop or [4] Torque open loop in parameter 1-00 Conguration Mode. Torque setting is done by setting an analog, digital, or buscontrolled reference. When running torque control, it is recommended to run a full AMA procedure, because correct motor data is important in achieving optimal performance.

works for 2 directions. The torque is calculated from the internal current measurement in the frequency converter.

Process closed-loop control, which runs speed

•

open-loop to control the motor internally, is a basic process PID controller.

Extended PID speed open-loop control, which

•

also runs speed open-loop to control the motor internally, extends the function of the basic process PID controller by adding more functions. For example, feed forward control, clamping, reference/feedback lter, and gain scaling.

Closed loop in VVC+ mode. This function is used

•

in applications with low to medium dynamic variation of shaft and oers excellent performance in all 4 quadrants and at all motor speeds. The speed feedback signal is mandatory. Ensure that the encoder resolution is at least 1024 PPR, and the shield cable of the encoder is properly grounded, because the accuracy of the speed feedback signal is important. Tune parameter 7-06 Speed PID Lowpass Filter Time to get the best speed feedback signal.

Open loop in VVC+ mode. The function is used in

•

mechanically robust applications, but the accuracy is limited. Open-loop torque function

130BD974.10

L2 92

L1 91

L3 93

U 96

V 97

W 98

RFI switch

Inrush

R+ 82

Load sharing -

88(-)

R81

Brake resistor

Load sharing +

89(+)

Cong. 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 PID

P 7-20 Process feedback 1 source

P 7-22 Process feedback 2 source

P 7-00 Speed PID

feedback source

P 1-00

Cong. mode

P 4-19 Max. output freq.

-f max.

Motor controller

P 4-19 Max. output freq.

+f max.

P 3-**

P 7-0*

130BD371.10

Product Overview Design Guide

2.3.2 Control Principle

VLT® Midi Drive FC 280 is a general-purpose frequency converter for variable speed applications. The control principle is based on VVC+.

FC 280 frequency converters can handle asynchronous motors and permanent magnet synchronous motors up to 22 kW (30 hp).

The current-sensing principle in FC 280 frequency converters is based on the current measurement by a resistor in the DC link. The ground fault protection and short circuit behavior are handled by the same resistor.

2 2

Illustration 2.10 Control Diagram

2.3.3

Control Structure in VVC

Illustration 2.11 Control Structure in VVC+ Open-loop Congurations and Closed-loop Congurations

In the conguration shown in Illustration 2.11, parameter 1-01 Motor Control Principle is set to [1] VVC+ and parameter 1-00 Conguration Mode is set to [0] Speed open loop. The resulting reference from the reference handling system

Product Overview

is received and fed through the ramp limitation and speed limitation before being sent to the motor control. The output of the motor control is then limited by the maximum frequency limit.

VLT® Midi Drive FC 280

If parameter 1-00 Conguration Mode is set to [1] Speed closed loop, the resulting reference is passed from the ramp limitation and speed limitation into a speed PID control. The speed PID control parameters are in parameter group 7-0* Speed PID Ctrl. The resulting reference from the speed PID control is sent to the motor control limited by the frequency limit.

Select [3] Process in parameter 1-00 pressure in the controlled application. The process PID parameters are in parameter groups 7-2* Process Ctrl. Feedb and 7-3* Process PID Ctrl.

Conguration Mode to use the process PID control for closed-loop control of speed or

130BP046.10

Hand

O

Auto

Reset

Hand On

Oﬀ Reset

Auto On

130BB893.10

Product Overview Design Guide

2.3.4

Internal Current Control in VVC

Mode

The frequency converter features an integral current limit control. This feature is activated when the motor current, and thus the torque, is higher than the torque limits set in

parameter 4-16 Torque Limit Motor Mode, parameter 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 tries to get below the preset torque limits as quickly as possible without losing control of the motor.

2.3.5 Local (Hand On) and Remote (Auto On) Control

Operate the frequency converter manually via the local control panel (graphic LCP or numerical LCP) or remotely via analog/digital inputs or eldbus. Start and stop the frequency converter by pressing the [Hand On] and [Reset] keys on the LCP. Set-up is required via the following parameters:

2 2

Parameter 0-40 [Hand on] Key on LCP.

•

Parameter 0-44 [O/Reset] Key on LCP.

•

Parameter 0-42 [Auto on] Key on LCP.

•

Reset alarms via the [Reset] key or via a digital input, when the terminal is programmed to Reset.

Illustration 2.12 GLCP Control Keys

Illustration 2.13 NLCP Control Keys

Local reference forces the loop, independent of the setting in parameter 1-00 Congu- ration Mode.

conguration mode to open

Local reference is restored when the frequency converter powers down.

No function

Analog ref.

Pulse ref.

Local bus ref.

Preset relative ref.

Preset ref.

Local bus ref.

No function

Analog ref.

Pulse ref.

Analog ref.

Pulse ref.

Local bus ref.

No function

Local bus ref.

Pulse ref.

No function

Analog ref.

Input command: Catch up/ slow down

Catchup Slowdown

value

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

max ref.

min ref.

DigiPot

D1 P 5-1x(15) Preset '1' External '0'

Process

Torque

Speed open/closed loop

(1)

(2)

(3)

(4)

(5)

(6)

(7)

(0)

(1)

Relative scaling ref.

P 3-18

Ref.resource 1

P 3-15

Ref. resource 2

P 3-16

Ref. resource 3

P 3-17

200%

-200%

-100%

100%

Ref./feedback range

P 3-00

Conguration mode

P 1-00

P 3-14

±100%

130BD374.10

P 16-01

P 16-02

P 3-12

P 5-1x(21)/P 5-1x(22)

P 5-1x(28)/P 5-1x(29)

P 5-1x(19)/P 5-1x(20)

P 3-04

Freeze ref. & increase/ decrease ref.

Catch up/ slow down

P 3-10

Product Overview

VLT® Midi Drive FC 280

2.4 Reference Handling

Local reference

The local reference is active when the frequency converter is operated with [Hand On] active. Adjust the reference by [▲]/[▼] and [◄/[►].

Remote reference

The reference handling system for calculating the remote reference is shown in Illustration 2.14.

Illustration 2.14 Remote Reference

Resulting reference

Sum of all

references

Forward

Reverse

P 3-00 Reference Range= [0] Min-Max

130BA184.10

-P 3-03

P 3-03

P 3-02

-P 3-02

P 3-00 Reference Range =[1]-Max-Max

Resulting reference

Sum of all references

-P 3-03

P 3-03

130BA185.10

Product Overview Design Guide

The remote reference is calculated once in every scan interval and initially consists of 2 types of reference inputs:

1. X (the external reference): A sum (see parameter 3-04 Reference Function) of up to 4 externally selected references, comprising any combination (determined by the setting of

parameter 3-15 Reference 1 Source, parameter 3-16 Reference 2 Source, and parameter 3-17 Reference 3 Source) of a xed

preset reference (parameter 3-10 Preset Reference), variable analog references, variable digital pulse references, and various eldbus references in any unit the frequency converter is monitoring ([Hz], [RPM], [Nm], and so on).

2. Y (the relative reference): A sum of 1 xed preset reference (parameter 3-14 Preset Relative Reference) and 1 variable analog reference (parameter 3-18 Relative Scaling Reference Resource) in [%].

The 2 types of reference inputs are combined in the following formula: Remote reference=X+X*Y/100%. If relative reference is not used, set parameter 3-18 Relative

Scaling Reference Resource to [0] No function and parameter 3-14 Preset Relative Reference to 0%. The digital

inputs on the frequency converter can activate both the catch up/slow down function and the freeze reference function. The functions and parameters are described in

the VLT® Midi 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 in parameter group 5-5* Pulse Input. Reference limits and ranges are set in parameter group 3-0* Reference Limits.

2.4.1 Reference Limits

Parameter 3-00 Reference Range, parameter 3-02 Minimum Reference, and parameter 3-03 Maximum Reference dene

the allowed range of the sum of all references. The sum of all references is clamped when necessary. The relation between the resulting reference (after clamping) and the sum of all references are shown in Illustration 2.15 and Illustration 2.16.

Illustration 2.15 Sum of All References When Reference Range

is Set to 0

2 2

Illustration 2.16 Sum of All References When Reference Range

is Set to 1

The value of parameter 3-02 Minimum Reference cannot be set to less than 0, unless parameter 1-00 Conguration Mode is set to [3] Process. In that case, the following relations between the resulting reference (after clamping) and the sum of all references are as shown in Illustration 2.17.

130BA186.11

P 3-03

P 3-02

Sum of all references

P 3-00 Reference Range= [0] Min to Max

Resulting reference

Resource output [Hz]

Resource input

Terminal X high

High reference/ feedback value

130BD431.10

[V]

Low reference/ feedback value

Product Overview

VLT® Midi Drive FC 280

2.4.3 Scaling of Analog and Pulse References and Feedback

References and feedback are scaled from analog and pulse inputs in the same way. The only dierence is that a reference above or below the specied minimum and maximum endpoints (P1 and P2 in Illustration 2.18) are clamped while feedbacks above or below are not.

Illustration 2.17 Sum of All References When Minimum

Reference is Set to a Minus Value

2.4.2 Scaling of Preset References and Bus References

Preset references are scaled according to the following rules:

When parameter 3-00 Reference Range is set to [0]

•

Min–Max, 0% reference equals 0 [unit] where unit can be any unit, for example RPM, m/s, and bar. 100% reference equals the maximum (absolute value of parameter 3-03 Maximum Reference, absolute value of parameter 3-02 Minimum Reference).

When parameter 3-00 Reference Range is set to [1]

•

-Max–+Max, 0% reference equals 0 [unit], and 100% reference equals maximum reference.

Bus references 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 3-00 Reference Range is set to [1]

•

-Max–+Max, -100% reference equals -maximum reference, and 100% reference equals maximum reference.

Illustration 2.18 Minimum and Maximum Endpoints

Resource output [Hz] or “No unit”

Resource input [mA]

Quadrant 2

Quadrant 3

Quadrant 1

Quadrant 4

Terminal X high

Low reference/feedback value

High reference/feedback value

-50

165020

130BD446.10

forward

reverse

Terminal low

Product Overview Design Guide

The endpoints P1 and P2 are dened in Table 2.5 depending on the choice of input.

Input Analog 53

voltage mode

P1=(Minimum input value, minimum reference value)

Minimum reference value Parameter 6-14 Te

rminal 53 Low

Ref./Feedb. Value

Minimum input value Parameter 6-10 Te

rminal 53 Low

Voltage [V]

P2=(Maximum input value, maximum reference value)

Maximum reference value Parameter 6-15 Te

rminal 53 High

Ref./Feedb. Value

Maximum input value Parameter 6-11 Te

rminal 53 High

Voltage [V]

Table 2.5 P1 and P2 Endpoints

Analog 54

voltage mode

Parameter 6-24 Te

rminal 54 Low

Ref./Feedb. Value

Parameter 6-20 Te

rminal 54 Low

Voltage [V]

Parameter 6-25 Te

rminal 54 High

Ref./Feedb. Value

Parameter 6-21 Te

rminal 54 High

Voltage [V]

Analog 54

current mode

Parameter 6-24 Ter

minal 54 Low Ref./

Feedb. Value

Parameter 6-22 Ter

minal 54 Low

Current [mA]

Parameter 6-25 Ter

minal 54 High Ref./

Feedb. Value

Parameter 6-23 Ter

minal 54 High

Current [mA]

Pulse input 29 Pulse input 33

Parameter 5-52 Ter

m. 29 Low Ref./

Feedb. Value

Parameter 5-50 Ter

m. 29 Low

Frequency [Hz]

Parameter 5-53 Ter

m. 29 High Ref./

Feedb. Value

Parameter 5-51 Ter

m. 29 High

Frequency [Hz]

Parameter 5-57 Term. 33

Low Ref./Feedb. Value

Parameter 5-55 Term. 33

Low Frequency [Hz]

Parameter 5-58 Term. 33

High Ref./Feedb. Value

Parameter 5-56 Term. 33

High Frequency [Hz]

2.4.4 Dead Band Around Zero

Sometimes, the reference (in rare cases also the feedback) should have a dead band around 0 to ensure that the machine is stopped when the reference is near 0.

2 2

To make the dead band active and to set the amount of dead band, do the following:

P1 or P2

Set either the minimum reference value (see Table 2.5 for relevant parameter) or maximum reference value at 0. In

•

other words, either P1 or P2 must be on the X-axis in Illustration 2.19.

Ensure that both points dening the scaling graph are in the same quadrant.

•

denes the size of the dead band as shown in Illustration 2.19.

Illustration 2.19 Size of Dead Band

-20

130BD454.10

Analog input 53

Low reference 0 Hz High reference 20 Hz Low voltage 1 V High voltage 10 V

Ext. source 1

Range:

0.0% (0 Hz)

100.0% (20 Hz)

Ext. reference

Range:

0.0% (0 Hz)

20 Hz 10V

Ext. Reference

Absolute 0 Hz 1 V

Reference algorithm

Reference

100.0% (20 Hz)

0.0% (0 Hz)

Range:

Limited to:

0%- +100%

(0 Hz- +20 Hz)

Limited to: -200%- +200% (-40 Hz- +40 Hz)

Reference is scaled according to min

max reference giving a speed.!!!

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

Dead band

Digital input

General Reference parameters: Reference Range: Min - Max Minimum Reference: 0 Hz (0,0%)

Maximum Reference: 20 Hz (100,0%)

General Motor parameters: Motor speed direction:Both directions Motor speed Low limit: 0 Hz Motor speed high limit: 8 Hz

Product Overview

VLT® Midi Drive FC 280

Case 1: Positive reference with dead band, digital input to trigger reverse, part I

Illustration 2.20 shows how reference input with limits inside minimum to maximum limits clamps.

Illustration 2.20 Clamping of Reference Input with Limits inside Minimum to Maximum

30 Hz

20 Hz

130BD433.11

-20 Hz

Analog input 53

Low reference 0 Hz High reference 20 Hz Low voltage 1 V High voltage 10 V

Ext. source 1

Range:

0.0% (0 Hz)

150.0% (30 Hz)

Ext. reference Range:

0.0% (0 Hz)

30 Hz 10 V

Ext. Reference

Absolute 0 Hz 1 V

Reference 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 Hz

Range:

Speed setpoint

Motor

control

Range:

–10 Hz +10 Hz

Motor

Digital input 19 Low No reversing

High Reversing

Limits Speed Setpoint according to min max speed.!!!

Motor PID

Dead band

Digital input

General Reference

parameters:

Reference Range: -Max - Max Minimum Reference: Don't care

Maximum Reference: 20 Hz (100.0%)

General Motor parameters: Motor speed direction: Both directions Motor speed Low limit: 0 Hz Motor speed high limit: 10 Hz

Product Overview Design Guide

Case 2: Positive reference with dead band, digital input to trigger reverse, part II

Illustration 2.21 shows how reference input with limits outside -maximum to +maximum limits clamps to the input low and high limits before adding to external reference, and how the external reference is clamped to -maximum to +maximum by the reference algorithm.

2 2

Illustration 2.21 Clamping of Reference Input with Limits outside -Maximum to +Maximum

Product Overview

VLT® Midi Drive FC 280

2.5 PID Control

2.5.1 Speed PID Control

Parameter 1-00 Conguration Mode

[1] Speed closed loop

Table 2.6 Control Congurations, Active Speed Control

1) Not available indicates that the

Parameter Description of function

Parameter 7-00 Speed PID Feedback Source Select from which input the speed PID gets its feedback.

Parameter 7-02 Speed PID Proportional Gain The higher the value, the quicker the control. However, too high a value may lead to

Parameter 7-03 Speed PID Integral Time Eliminates steady state speed error. Lower values mean quicker reaction. However, too low

Parameter 7-04 Speed PID Dierentiation Time Provides a gain proportional to the rate of change of the feedback. A setting of 0 disables

Parameter 7-05 Speed PID Di. Gain Limit If there are quick changes in reference or feedback in a given application, which means

Parameter 7-06 Speed PID Lowpass Filter Time A low-pass lter that dampens oscillations on the feedback signal and improves steady

specic mode is not available at all.

Parameter 1-01 Motor Control Principle

U/f

Not available

oscillations.

a value may lead to oscillations.

the dierentiator.

that the error changes swiftly, the dierentiator may soon become too dominant. This is

because it reacts to changes in the error. The quicker the error changes, the stronger the

dierentiator gain is. The dierentiator gain can thus be limited to allow setting of the

reasonable dierentiation time for slow changes and a suitably quick gain for quick

changes.

state performance. However, too long a lter time deteriorates the dynamic performance of

the speed PID control.

Practical settings of parameter 7-06 Speed PID Lowpass Filter Time taken from the number of

pulses per revolution on from encoder (PPR):

Encoder PPR Parameter 7-06 Speed PID Lowpass Filter

512 10 ms

1024 5 ms

2048 2 ms

4096 1 ms

VVC

Active

Time

Table 2.7 Speed Control Parameters

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Danfoss FC 280 Design guide

Specifications and Main Features

Frequently Asked Questions

User Manual