ENGINEERING TOMORROW
Design Guide
VLT® Midi Drive FC 280
vlt-drives.danfoss.com
Contents |
Design Guide |
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Contents
1 Introduction |
5 |
1.1 Purpose of the Design Guide |
5 |
1.2 Additional Resources |
5 |
1.3 De€nitions |
5 |
1.4 Document and Software Version |
8 |
1.5 Approvals and Certi€cations |
8 |
1.6 Safety |
9 |
2 Product Overview |
10 |
2.1 Enclosure Size Overview |
10 |
2.2 Electrical Installation |
12 |
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 |
18 |
2.3.1 Control Modes |
18 |
2.3.2 Control Principle |
19 |
2.3.3 Control Structure in VVC+ |
19 |
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 |
22 |
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 |
28 |
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 |
36 |
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 |
41 |
2.8 Ground Leakage Current |
41 |
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1 |
Contents |
VLT® Midi Drive FC 280 |
2.9 Brake Functions |
42 |
2.9.1 Mechanical Holding Brake |
42 |
2.9.2 Dynamic Braking |
43 |
2.9.3 Brake Resistor Selection |
43 |
2.10 Motor Insulation |
44 |
2.10.1 Sine-wave Filters |
44 |
2.10.2 dU/dt Filters |
45 |
2.11 Smart Logic Controller |
45 |
2.12 Extreme Running Conditions |
46 |
2.12.1 Motor Thermal Protection |
46 |
3 Application Examples |
48 |
3.1 Introduction |
48 |
3.1.1 Encoder Connection |
48 |
3.1.2 Encoder Direction |
48 |
3.1.3 Closed-loop Drive System |
48 |
3.2 Application Examples |
49 |
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 Off (STO) |
52 |
5 RS485 Installation and Set-up |
53 |
5.1 Introduction |
53 |
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 |
54 |
5.2.1 Overview |
54 |
5.2.2 FC with Modbus RTU |
55 |
5.3 Network Con€guration |
55 |
5.4 FC Protocol Message Framing Structure |
55 |
5.4.1 Content of a Character (byte) |
55 |
5.4.2 Telegram Structure |
55 |
5.4.3 Telegram Length (LGE) |
55 |
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Design Guide |
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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 |
58 |
5.5.1 Writing a Parameter Value |
58 |
5.5.2 Reading a Parameter Value |
58 |
5.6 Modbus RTU |
59 |
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 |
59 |
5.8 Modbus RTU Message Framing Structure |
60 |
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 |
63 |
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 |
64 |
5.10.1 Read Coil Status (01 hex) |
64 |
5.10.2 Force/Write Single Coil (05 hex) |
65 |
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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 |
67 |
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 |
71 |
6.1 Type Code |
71 |
6.2 Ordering Numbers: Options, Accessories, and Spare Parts |
71 |
6.3 Ordering Numbers: Brake Resistors |
73 |
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 |
76 |
6.5 Ordering Numbers: dU/dt Filters |
77 |
6.6 Ordering Numbers: External EMC Filters |
77 |
7 Specifications |
80 |
7.1 Electrical Data |
80 |
7.2 Mains Supply |
83 |
7.3 Motor Output and Motor Data |
83 |
7.4 Ambient Conditions |
84 |
7.5 Cable Speci€cations |
84 |
7.6 Control Input/Output and Control Data |
85 |
7.7 Connection Tightening Torques |
88 |
7.8 Fuses and Circuit Breakers |
89 |
7.9 E‚ciency |
90 |
7.10 Acoustic Noise |
91 |
7.11 dU/dt Conditions |
91 |
7.12 Special Conditions |
92 |
7.12.1 Manual Derating |
93 |
7.12.2 Automatic Derating |
95 |
7.13 Enclosure Sizes, Power Ratings, and Dimensions |
96 |
Index |
99 |
4 |
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MG07B302 |
Introduction Design Guide
1 Introduction |
1 |
1 |
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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.
1.3De€nitions
1.3.1Frequency Converter
Coast
The motor shaft is in free mode. No torque on the motor.
IVLT,MAX
Maximum output current.
IVLT,N
Rated output current supplied by the frequency converter.
UVLT,MAX
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 e‚ciency.
VLT® is a registered trademark.
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
1.2 Additional Resources
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.
1.3.3 Motor
Motor running
Torque generated on the output shaft and speed from 0 RPM to maximum speed on the motor.
fJOG
Motor frequency when the jog function is activated (via digital terminals or bus).
fM
Motor frequency.
fMAX
Maximum motor frequency.
fMIN
Minimum motor frequency.
fM,N
Rated motor frequency (nameplate data).
IM
Motor current (actual).
IM,N
Nominal motor current (nameplate data).
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Introduction |
VLT® Midi Drive FC 280 |
1 1 nM,N
Nominal motor speed (nameplate data).
ns
Synchronous motor speed.
ns |
= 2 × |
Parameter 1 23 |
× 60 |
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Parameter 1 |
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39 |
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nslip
Motor slip.
PM,N
Rated motor power (nameplate data in kW or hp).
TM,N
Rated torque (motor).
UM
Instantaneous motor voltage.
UM,N
Rated motor voltage (nameplate data).
Break-away torque
Torque |
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Pull-out |
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RPM
Illustration 1.1 Break-away Torque
ηVLT
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.
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).
RefMAX
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.
RefMIN
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
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.
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Introduction |
Design Guide |
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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 off-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/off-line parameters
Changes to on-line parameters are activated immediately after the data value is changed. To activate changes to offline 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 |
1 1 |
Switch off the mains until the display (LCP) is dark, then turn power on again.
Power factor
The power factor is the relation between I1 and IRMS.
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= 3 |
x U x I |
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cos |
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Power factor |
3 |
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x U x IRMS |
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For FC 280 frequency converters, cosϕ1 = 1, therefore:
Power factor |
= |
I |
1 |
x cos |
ϕ1 |
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I |
1 |
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RMS |
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I |
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IRMS |
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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 IRMS for the same kW performance.
IRMS = I21 + I25 + I27 + .. + I2n
In addition, a high power factor indicates that the different 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 fluxoriented 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).
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7 |
Introduction |
VLT® Midi Drive FC 280 |
1 1 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 off 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.
1.4 Document and Software Version
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 |
Software |
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version |
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MG07B3 |
More information for POWERLINK and |
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software update. |
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Table 1.2 Document and Software Version
1.5 Approvals and Certi€cations
Frequency converters are designed in compliance with the directives described in this section.
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.
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 affected 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.
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Introduction Design Guide
1.5.4 UL Compliance |
1 |
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UL-listed |
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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.
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.
1.6 Safety
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.
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Product Overview |
VLT® Midi Drive FC 280 |
2 Product Overview
2 2
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 |
K1 |
K2 |
K3 |
K4 |
K5 |
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Enclosure |
IP20 |
IP20 |
IP20 |
IP20 |
IP20 |
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Power |
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range |
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[kW (hp)] |
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) |
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3-phase |
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380–480 V |
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Power |
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range |
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[kW (hp)] |
0.37–1.5 (0.5–2.0) |
2.2 (3.0) |
3.7 (5.0) |
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3-phase |
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200–240 V |
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Power |
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range |
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[kW (hp)] |
0.37–1.5 (0.5–2.0) |
2.2 (3.0) |
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phase |
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200–240 V |
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Table 2.1 Enclosure Sizes |
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1) IP21 is available for some variants of VLT® Midi Drive FC 280. With IP21 kit options mounted, all power sizes can be IP21. |
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Enclosure size is used throughout this guide whenever procedures or components differ 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.
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Product Overview |
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Design Guide |
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T/C: |
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FC- |
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280PK37T4E20H1BXCXXXSXXXXAX |
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P/N: 134U2184 |
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S/N: 000000G000 |
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0.37kW 0.5HP |
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IN: 3x380-480V 50/60Hz, 1.2/1.0A |
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OUT: 3x0-Vin 0-500Hz, 1.2/1.1A |
www.tuv.com |
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IP20 |
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ID 0600000000 |
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MADE IN |
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Danfoss A/S, 6430 Nordborg, Denmark |
DENMARK |
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Enclosure: See manual
US LISTED 5AF3 E358502 IND.CONT.EQ.
CAUTION / ATTENTION:
See manual for special condition/mains fuse
Voir manual de conditions speciales/fusibles
WARNING / AVERTISSEMENT:
Stored charge, wait 4 min.
Charge résiduelle, attendez 4 min.
1 |
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Product group and frequency converter series |
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2 |
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Power rating |
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3 |
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Voltage rating (phases and mains) |
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Illustration 2.1 Using the Nameplate to Find the Enclosure Size |
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Power rating in |
Power |
Voltage rating in |
Phases and mains voltage |
Enclosure size |
Frequency |
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nameplate |
[kW (hp)] |
nameplate |
converter |
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PK37 |
0.37 (0.5) |
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PK55 |
0.55 |
(0.75) |
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PK75 |
0.75 (1.0) |
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K1 |
K1T4 |
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P1K1 |
1.1 |
(1.5) |
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P1K5 |
1.5 |
(2.0) |
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P2K2 |
2.2 |
(3.0) |
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P3K0 |
3 (4.0) |
T4 |
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3-phase 380–480 V |
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K2 |
K2T4 |
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P4K0 |
4 (5.0) |
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P5K5 |
5.5 |
(7.5) |
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P7K5 |
7.5 (10) |
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K3 |
K3T4 |
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P11K |
11 |
(15) |
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K4 |
K4T4 |
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P15K |
15 |
(20) |
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P18K |
18.5 (25) |
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K5 |
K5T4 |
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P22K |
22 |
(30) |
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PK37 |
0.37 (0.5) |
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PK55 |
0.55 |
(0.75) |
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PK75 |
0.75 (1.0) |
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K1 |
K1T2 |
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T2 |
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3-phase 200–240 V |
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P1K1 |
1.1 |
(1.5) |
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P1K5 |
1.5 |
(2.0) |
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P2K2 |
2.2 |
(3.0) |
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K2 |
K2T2 |
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P3K7 |
3.7 |
(5.0) |
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K3 |
K3T2 |
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PK37 |
0.37 (0.5) |
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PK55 |
0.55 |
(0.75) |
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PK75 |
0.75 (1.0) |
S2 |
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Single phase 200–240 V |
K1 |
K1S2 |
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P1K1 |
1.1 |
(1.5) |
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P1K5 |
1.5 |
(2.0) |
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P2K2 |
2.2 |
(3.0) |
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K2 |
K2S2 |
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Table 2.2 Enclosure Size of FC 280
2 2
MG07B302 |
Danfoss A/S © 05/2017 All rights reserved. |
11 |
Product Overview |
VLT® Midi Drive FC 280 |
2.2 Electrical Installation
2 |
2 |
This section describes how to wire the frequency converter. |
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RFI |
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Power |
91 |
(L1/N) |
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92 (L2/L) |
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input |
93 (L3) |
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95 |
PE |
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Switch mode |
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power supply |
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10 V DC |
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24 V DC |
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15 mA |
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100 mA |
+10 V DC |
50 |
(+10 V OUT) |
+ - |
+ |
- |
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0−10 V DC |
53 |
(A IN) 2) |
0−10 V DC |
54 |
(A IN) |
0/4−20 mA |
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55 (COM digital/analog I/O)
12 |
(+24 V OUT) |
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13 |
(+24 V OUT) |
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P 5-00 |
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24 V (NPN) |
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18 |
(D IN) |
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0 V (PNP) |
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24 V (NPN) |
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19 |
(D IN) |
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0 V (PNP) |
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27 |
(D IN/OUT) |
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24 V (NPN) |
24 V |
0 V (PNP) |
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0 V |
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29 |
(D IN) |
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24 V (NPN) |
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0 V (PNP) |
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32 |
(D IN) |
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24 V (NPN) |
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0 V (PNP) |
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24 V (NPN) |
33 (D IN) |
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0 V (PNP) |
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37(STO1)4)
38(STO2)4)
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(U) 96 |
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(V) 97 |
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(W) 98 |
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(PE) 99 |
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1) |
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(-DC) 88 5) |
(+DC/R+) 89 5)
(R-) 81
Relay 1
03 02
01
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(A OUT) 42 |
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3) |
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<![if ! IE]> <![endif]>2 1 |
<![if ! IE]> <![endif]>ON |
ON = Terminated |
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OFF = Open |
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5 V |
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S801 |
0 V |
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RS485 |
(N RS485) |
69 |
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interface |
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(P RS485) |
68 |
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0 V |
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(COM RS485) 61 |
Motor
Brake resistor
250 V AC, 3 A
Analog output 0/4−20 mA
RS485
(PNP) = Source
(NPN) = Sink
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.
<![endif]>130BE202.18
12 |
Danfoss A/S © 05/2017 All rights reserved. |
MG07B302 |
Product Overview |
Design Guide |
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1 |
2 |
3 |
4 |
L1 |
L2 |
L3 |
PE |
5 |
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6 |
<![if ! IE]> <![endif]>130BF228.10 |
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7 |
2 |
2 |
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8 |
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9 |
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10 |
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11 |
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12 |
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90 |
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13 |
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14 |
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15 |
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4 |
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u |
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16 |
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v |
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4 |
w |
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PE |
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17 |
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18 |
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1 |
PLC |
10 |
Mains cable (unshielded) |
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2 |
Minimum 16 mm2 (6 AWG) equalizing cable |
11 |
Output contactor, and so on. |
3 |
Control cables |
12 |
Cable insulation stripped |
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4 |
Minimum 200 mm (656 ft) between control cables, motor |
13 |
Common ground busbar. Follow local and national |
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cables, and mains cables. |
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requirements for cabinet grounding. |
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5 |
Mains supply |
14 |
Brake resistor |
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6 |
Bare (unpainted) surface |
15 |
Metal box |
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7 |
Star washers |
16 |
Connection to motor |
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8 |
Brake cable (shielded) |
17 |
Motor |
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9 |
Motor cable (shielded) |
18 |
EMC cable gland |
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Illustration 2.3 Typical Electrical Connection
MG07B302 |
Danfoss A/S © 05/2017 All rights reserved. |
13 |
Product Overview |
VLT® Midi Drive FC 280 |
2.2.1 Motor Connection
2 2 WARNING
INDUCED VOLTAGE
Induced voltage from output motor cables that run together can charge equipment capacitors, even when the equipment is turned off 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.
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W |
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V |
98 |
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U |
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97 |
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96 |
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Illustration 2.4 Motor Connection
<![endif]>130BD531.10
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.
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.
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.
NOTICE
In motors without phase insulation, paper, or other insulation reinforcement suitable for operation with voltage supply, use a sine-wave filter on the output of the frequency converter.
14 |
Danfoss A/S © 05/2017 All rights reserved. |
MG07B302 |
Product Overview |
Design Guide |
<![endif]>130BE232.11
<![endif]>130BE804.10
2 2
Illustration 2.5 Mains, Motor, and Grounding Connection for Single-phase Units (K1, K2)
<![if ! IE]><![endif]>130BE231.11
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® Midi Drive FC 280 Operating Guide.
4.When supplied from an isolated mains source (IT mains or floating 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).
MG07B302 |
Danfoss A/S © 05/2017 All rights reserved. |
15 |
Product Overview |
VLT® Midi Drive FC 280 |
2.2.3 Control Terminal Types
2 2 Illustration 2.8 shows the removable frequency converter connectors. Terminal functions and default settings are summarized in Table 2.3 and Table 2.4.
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<![if ! IE]> <![endif]>130BE212.10 |
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2 |
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Illustration 2.8 Control Terminal Locations |
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1 |
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2 |
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<![if ! IE]> <![endif]>130BE214.10 |
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37 |
38 |
12 |
13 |
18 |
19 |
27 |
29 |
32 |
33 |
61 |
68 |
69 |
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3 |
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42 |
53 |
54 |
50 |
55 |
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Illustration 2.9 Terminal Numbers
See chapter 7.6 Control Input/Output and Control Data for terminal ratings details.
Terminal |
Parameter |
Default |
Description |
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setting |
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Digital I/O, pulse I/O, encoder |
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24 V DC supply |
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voltage. Maximum |
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12, 13 |
– |
+24 V DC |
output current is |
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100 mA for all |
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24 V loads. |
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Parameter 5-10 |
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18 |
Terminal 18 |
[8] Start |
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Digital Input |
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Digital inputs. |
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Parameter 5-11 |
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19 |
Terminal 19 |
[10] Reversing |
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Digital Input |
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Parameter 5-01 |
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Terminal 27 |
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Selectable for |
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Mode |
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either digital |
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Parameter 5-12 |
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input, digital |
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27 |
Terminal 27 |
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output, or pulse |
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Digital Input |
DI [2] Coast |
output. The |
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Parameter 5-30 |
inverse |
default setting is |
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Terminal 27 |
DO [0] No |
digital input. |
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Digital Output |
operation |
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Terminal |
Parameter |
Default |
Description |
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setting |
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Parameter 5-13 |
[14] Jog |
Digital input. |
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29 |
Terminal 29 |
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Digital Input |
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Parameter 5-14 |
[0] No |
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32 |
Terminal 32 |
Digital input, 24 V |
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operation |
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Digital Input |
encoder. Terminal |
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33 can be used for |
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Parameter 5-15 |
[0] No |
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pulse input. |
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Terminal 33 |
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operation |
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Digital Input |
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37, 38 |
– |
STO |
Functional safety |
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Analog inputs/outputs |
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Programmable |
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analog output. The |
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analog signal is 0– |
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Parameter 6-91 |
[0] No |
20 mA or 4– |
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42 |
Terminal 42 |
20 mA at a |
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operation |
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Analog Output |
maximum of |
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500 Ω. Can also |
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be con€gured as |
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digital outputs. |
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10 V DC analog |
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supply voltage. |
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50 |
– |
+10 V DC |
15 mA maximum |
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commonly used |
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for potentiometer |
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or thermistor. |
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Analog input. Only |
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Parameter |
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voltage mode is |
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53 |
group 6-1* |
– |
supported. It can |
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Analog input 53 |
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also be used as |
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digital input. |
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Parameter |
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Analog input. |
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Selectable |
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54 |
group 6-2* |
– |
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between voltage |
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Analog input 54 |
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or current mode. |
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Common for |
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55 |
– |
– |
digital and analog |
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inputs. |
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Table 2.3 Terminal Descriptions - Digital Inputs/Outputs,
Analog Inputs/Outputs
16 |
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MG07B302 |
Product Overview |
Design Guide |
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Terminal |
Parameter |
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Default |
Description |
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setting |
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Serial communication |
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Integrated RC €lter |
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for cable shield. |
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ONLY for |
61 |
– |
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– |
connecting the |
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shield when |
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experiencing EMC |
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problems. |
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Parameter |
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RS485 interface. A |
68 (+) |
group 8-3* FC |
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– |
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control card switch |
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port settings |
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is provided for |
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Parameter |
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termination |
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69 (-) |
group 8-3* FC |
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– |
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resistance. |
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port settings |
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Relays |
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Form C relay |
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output. These |
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relays are in |
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various locations |
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depending on the |
01, 02, 03 |
Parameter 5-40 |
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[1] Control |
frequency |
Function Relay |
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Ready |
converter con€gu- |
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ration and size. |
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Usable for AC or |
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DC voltage and |
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resistive or |
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inductive loads. |
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Table 2.4 Terminal Descriptions - Serial Communication
2.2.4 Wiring to Control Terminals
Control terminal connectors can be unplugged from the |
2 |
2 |
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.
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17 |
Product Overview |
VLT® Midi Drive FC 280 |
2.3 Control Structures
2 2 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 in€nitely variable speed control of 3- phased standard AC motors and permanent magnet synchronous motors.
2.3.1 Control Modes
The frequency converter controls either the speed or the torque on the motor shaft. The frequency converter also controls the process for some applications which use process data as reference or feedback, for example, temperature and pressure. Setting parameter 1-00 Con‚guration 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.
•Closed loop in VVC+ mode. This function is used in applications with low to medium dynamic variation of shaft and offers 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
works for 2 directions. The torque is calculated from the internal current measurement in the frequency converter.
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:
•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.
18 |
Danfoss A/S © 05/2017 All rights reserved. |
MG07B302 |
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 |
2 |
2 |
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.
Brake resistor
R+ |
R- |
Load sharing + 82 |
81 |
89(+) |
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L1 91 |
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L2 92 |
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Inrush |
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L3 93 |
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RFI switch
Load sharing - 88(-)
Illustration 2.10 Control Diagram
<![endif]>130BD974.10
U 96 |
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V 97 |
M |
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W 98 |
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2.3.3 Control Structure in VVC+
P 1-00
P 4-14 Con g. mode Motor speed
high limit (Hz) High
Ref.
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P 4-12 |
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S |
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Process |
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Motor speed |
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low limit (Hz) |
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P 7-20 Process feedback 1 source
P 7-22 Process feedback 2 source
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P 4-19 |
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<![if ! IE]> <![endif]>130BD371.10 |
P 1-00 |
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Max. output freq. |
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Con g. mode |
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+f max. |
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P 3-** |
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Motor |
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controller |
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Ramp |
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-f max. |
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P 4-19 |
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Max. output freq. |
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P 7-0* |
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+f max. |
+ |
S |
Speed |
Motor |
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_ |
PID |
controller |
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-f max. |
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P 7-00 Speed PID |
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feedback source
Illustration 2.11 Control Structure in VVC+ Open-loop Configurations and Closed-loop Configurations
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
MG07B302 |
Danfoss A/S © 05/2017 All rights reserved. |
19 |
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Product Overview |
VLT® Midi Drive FC 280 |
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is received and fed through the ramp limitation and speed limitation before being sent to the motor control. The output of |
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the motor control is then limited by the maximum frequency limit. |
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2 |
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2 |
If parameter 1-00 Con‚guration Mode is set to [1] Speed closed loop, the resulting reference is passed from the ramp |
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limitation and speed limitation into a speed PID control. The speed PID control parameters are in parameter group 7-0* |
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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 Con‚guration Mode to use the process PID control for closed-loop control of speed or pressure in the controlled application. The process PID parameters are in parameter groups 7-2* Process Ctrl. Feedb and 7-3* Process PID Ctrl.
20 |
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MG07B302 |
Product Overview |
Design Guide |
|
|
2.3.4Internal Current Control in VVC+ Mode
The frequency converter features an integral current limit |
2 |
2 |
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control. This feature is activated when the motor current, |
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and thus the torque, is higher than the torque limits set in |
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parameter 4-16 |
Torque Limit Motor Mode, |
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parameter 4-17 |
Torque Limit Generator Mode, and |
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parameter 4-18 |
Current Limit. |
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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.
2.3.5Local (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:
•
•
•
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.
Hand |
O |
Auto |
Reset |
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on |
on |
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Illustration 2.12 GLCP Control Keys
Hand |
O |
Auto |
On |
Reset |
On |
<![endif]>130BP046.10
<![if ! IE]><![endif]>130BB893.10
Illustration 2.13 NLCP Control Keys
Local reference forces the con€guration mode to open loop, independent of the setting in parameter 1-00 Con‚guration Mode.
Local reference is restored when the frequency converter powers down.
MG07B302 |
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21 |
Product Overview VLT® Midi Drive FC 280
2.4 Reference Handling
2 2 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.
<![if ! IE]> <![endif]>3-18 |
<![if ! IE]> <![endif]>scaling ref. |
<![if ! IE]> <![endif]>P |
<![if ! IE]> <![endif]>Relative |
<![endif]>Preset ref.
<![if ! IE]><![endif]>P 3-10
<![if ! IE]> <![endif]>P 3-15 |
<![if ! IE]> <![endif]>Ref.resource 1 |
<![if ! IE]> <![endif]>P 3-16 |
<![if ! IE]> <![endif]>resource 2 |
|
<![if ! IE]> <![endif]>Ref. |
<![if ! IE]> <![endif]>P 3-17 |
<![if ! IE]> <![endif]>resource 3 |
|
<![if ! IE]> <![endif]>Ref. |
No function
Analog ref.
Pulse ref.
Local bus ref.
DigiPot
P 3-14
Preset relative ref.
(0)
(1)
(2)
(3)
(4)
(5)
(6)
(7)
No function
Analog ref.
Pulse ref.
Local bus ref.
DigiPot
No function
Analog ref.
Pulse ref.
Local bus ref.
DigiPot
No function
Analog ref.
Pulse ref.
Local bus ref.
DigiPot
<![endif]>130BD374.10
P 3-04
(0)
(1)
D1
P 5-1x(15)
Preset '1'
External '0'
200% |
-200%
P 3-00 |
P 1-00 |
Ref./feedback range |
Con guration mode |
P 5-1x(19)/P 5-1x(20) |
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Speed |
Freeze ref./Freeze output |
open/closed loop |
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P 5-1x(28)/P 5-1x(29) |
-max ref./ |
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Input command: |
100% |
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Y |
Relative |
Catch up/ |
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X+X*Y |
slow |
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down |
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max ref. |
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P 3-12 |
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value |
% |
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min ref. |
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Freeze ref. |
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increase/ |
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decrease |
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ref. |
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P 5-1x(21)/P 5-1x(22) |
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Speed up/ speed down |
P 16-02
Ref. in %
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Scale to |
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Scale to |
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Scale to |
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Illustration 2.14 Remote Reference
22 |
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MG07B302 |
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 |
2 |
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Reference, and parameter 3-03 Maximum Reference de€ne |
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the allowed range of the sum of all references. The sum of |
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all references is clamped when necessary. The relation |
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sum of all references are shown in Illustration 2.15 and |
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Illustration 2.16. |
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P 3-00 Reference Range= [0] Min-Max |
<![if ! IE]> <![endif]>130BA184.10 |
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Resulting reference |
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P 3-03 |
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Forward |
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Illustration 2.15 Sum of All References When Reference Range is Set to 0
P 3-00 Reference Range =[1]-Max-Max
Resulting reference
<![if ! IE]><![endif]>130BA185.10
P 3-03
Sum of all references
-P 3-03
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.
MG07B302 |
Danfoss A/S © 05/2017 All rights reserved. |
23 |
Product Overview |
VLT® Midi Drive FC 280 |
P 3-00 Reference Range= [0] Min to Max
2 |
2 |
Resulting reference |
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P 3-03 |
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P 3-02 |
Sum of all |
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references |
||
|
<![endif]>130BA186.11
2.4.3Scaling of Analog and Pulse References and Feedback
References and feedback are scaled from analog and pulse inputs in the same way. The only difference 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.
Resource output |
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<![if ! IE]> <![endif]>130BD431.10 |
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[Hz] |
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High reference/ |
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feedback value 50 |
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P2 |
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Illustration 2.17 Sum of All References When Minimum Reference is Set to a Minus Value
2.4.2Scaling 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.
Low reference/ |
P1 |
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feedback value |
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Resource input |
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[V] |
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0 |
1 |
8 |
10 |
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Terminal X high
Illustration 2.18 Minimum and Maximum Endpoints
24 |
Danfoss A/S © 05/2017 All rights reserved. |
MG07B302 |
Product Overview |
Design Guide |
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|
The endpoints P1 and P2 are de€ned in Table 2.5 depending on the choice of input.
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2 |
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2 |
Input |
Analog 53 |
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Analog 54 |
Analog 54 |
Pulse input 29 |
Pulse input 33 |
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voltage mode |
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voltage mode |
current mode |
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P1=(Minimum input value, minimum reference value) |
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Minimum reference value |
Parameter 6-14 Te |
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Parameter 6-24 Te |
Parameter 6-24 Ter |
Parameter 5-52 Ter |
Parameter 5-57 Term. 33 |
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rminal 53 Low |
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rminal 54 Low |
minal 54 Low Ref./ |
m. 29 Low Ref./ |
Low Ref./Feedb. Value |
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Ref./Feedb. Value |
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Ref./Feedb. Value |
Feedb. Value |
Feedb. Value |
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Minimum input value |
Parameter 6-10 Te |
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Parameter 6-20 Te |
Parameter 6-22 Ter |
Parameter 5-50 Ter |
Parameter 5-55 Term. 33 |
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rminal 53 Low |
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rminal 54 Low |
minal 54 Low |
m. 29 Low |
Low Frequency [Hz] |
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Voltage [V] |
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Voltage [V] |
Current [mA] |
Frequency [Hz] |
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P2=(Maximum input value, maximum reference value) |
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Maximum reference value |
Parameter 6-15 Te |
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Parameter 6-25 Te |
Parameter 6-25 Ter |
Parameter 5-53 Ter |
Parameter 5-58 Term. 33 |
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rminal 53 High |
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rminal 54 High |
minal 54 High Ref./ |
m. 29 High Ref./ |
High Ref./Feedb. Value |
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Ref./Feedb. Value |
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Ref./Feedb. Value |
Feedb. Value |
Feedb. Value |
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Maximum input value |
Parameter 6-11 Te |
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Parameter 6-21 Te |
Parameter 6-23 Ter |
Parameter 5-51 Ter |
Parameter 5-56 Term. 33 |
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rminal 53 High |
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rminal 54 High |
minal 54 High |
m. 29 High |
High Frequency [Hz] |
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Voltage [V] |
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Voltage [V] |
Current [mA] |
Frequency [Hz] |
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Table 2.5 P1 and P2 Endpoints
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.
To make the dead band active and to set the amount of dead band, do the following:
•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.
P1 or P2 de€nes the size of the dead band as shown in Illustration 2.19.
Quadrant 2 |
Resource output |
Quadrant 1 |
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[Hz] or “No unit” |
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High reference/feedback 50 |
P2 |
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value |
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forward |
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<![endif]>130BD446.10
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P1 |
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Resource input |
Low reference/feedback |
0 |
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20 [mA] |
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value |
1 |
16 |
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Terminal |
Terminal X high |
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low |
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-50 |
reverse |
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Quadrant 3 |
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Quadrant 4 |
Illustration 2.19 Size of Dead Band
MG07B302 |
Danfoss A/S © 05/2017 All rights reserved. |
25 |
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Product Overview |
VLT® Midi Drive FC 280 |
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Case 1: Positive reference with dead band, digital input to trigger reverse, part I |
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Illustration 2.20 shows how reference input with limits inside minimum to maximum limits clamps. |
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2 |
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General Reference |
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General Motor |
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parameters: |
Limited to: -200%- +200% |
parameters: |
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Reference Range: Min - Max |
Motor speed direction:Both directions |
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(-40 Hz- +40 Hz) |
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Minimum Reference: 0 Hz (0,0%) |
Motor speed Low limit: 0 Hz |
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Maximum Reference: 20 Hz (100,0%) |
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Motor speed high limit: 8 Hz |
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Analog input 53 |
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Ext. reference |
Reference |
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Low reference 0 Hz |
+ |
Limited to: |
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Range: |
algorithm |
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High reference 20 Hz |
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0%- +100% |
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Low voltage 1 V |
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0.0% (0 Hz) |
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Ext. Reference |
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(0 Hz- +20 Hz) |
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High voltage 10 V |
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100.0% (20 Hz) |
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Absolute |
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0 Hz 1 V |
Ext. source 1 |
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20 Hz 10V |
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Reference |
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Range: |
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Range: |
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0.0% (0 Hz) |
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Reference is scaled |
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0.0% (0 Hz) |
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100.0% (20 Hz) |
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according to min |
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100.0% (20 Hz) |
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max reference giving a |
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speed.!!! |
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Dead band |
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Hz |
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20 |
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Hz |
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Scale to |
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V |
speed |
20 |
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1 |
10 |
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V |
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1 |
10 |
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Speed |
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setpoint |
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Range: |
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-20 |
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Digital input 19 |
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-20 Hz |
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Digital input |
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Low No reversing |
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+20 Hz |
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High Reversing |
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Limits Speed Setpoint
according to min max speed.!!!
Motor PID |
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Motor |
Range: |
Motor |
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-8 Hz |
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control |
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+8 Hz |
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Illustration 2.20 Clamping of Reference Input with Limits inside Minimum to Maximum
<![endif]>130BD454.10
26 |
Danfoss A/S © 05/2017 All rights reserved. |
MG07B302 |
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 2 2 the reference algorithm.
Ext. Reference
Absolute
0 Hz 1 V
30 Hz 10 V
Digital input
General Reference |
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General Motor |
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parameters: |
Limited to: -200%- +200% |
parameters: |
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Reference Range: -Max - Max |
Motor speed direction: Both directions |
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(-40 Hz- +40 Hz) |
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Minimum Reference: Don't care |
Motor speed Low limit: 0 Hz |
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Maximum Reference: 20 Hz (100.0%) |
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Motor speed high limit: 10 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)
30 Hz
V
1 10
Digital input 19
Low No reversing High Reversing
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+ |
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Ext. reference |
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Reference |
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Limited to: |
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Range: |
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algorithm |
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-100%- +100% |
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0.0% (0 Hz) |
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(-20 Hz- +20 Hz) |
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150.0% (30 Hz) |
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Reference |
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Reference is scaled |
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Range: |
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0.0% (0 Hz) |
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according to |
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max reference giving a |
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speed.!!! |
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Dead band |
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Scale to |
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20 Hz |
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speed |
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1 |
10 |
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Speed |
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setpoint |
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Range: |
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-20 Hz |
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+20 Hz |
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Limits Speed Setpoint |
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according to min max speed.!!! |
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Motor PID |
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Motor |
Range: |
Motor |
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–10 Hz |
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control |
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+10 Hz |
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<![endif]>130BD433.11
Illustration 2.21 Clamping of Reference Input with Limits outside -Maximum to +Maximum
MG07B302 |
Danfoss A/S © 05/2017 All rights reserved. |
27 |
Product Overview VLT® Midi Drive FC 280
|
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2.5 PID Control |
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2.5.1 Speed PID Control |
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2 |
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2 |
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Parameter 1-00 Con€guration Mode |
Parameter 1-01 Motor Control Principle |
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U/f |
VVC+ |
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[1] Speed closed loop |
Not available1) |
Active |
Table 2.6 Control Configurations, Active Speed Control
1) Not available indicates that the speci‚c mode is not available at all.
Parameter |
Description of function |
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Parameter 7-00 Speed PID Feedback Source |
Select from which input the speed PID gets its feedback. |
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Parameter 7-02 Speed PID Proportional Gain |
The higher the value, the quicker the control. However, too high a value may lead to |
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oscillations. |
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Parameter 7-03 Speed PID Integral Time |
Eliminates steady state speed error. Lower values mean quicker reaction. However, too low |
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a value may lead to oscillations. |
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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 |
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the differentiator. |
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Parameter 7-05 Speed PID Di€. Gain Limit |
If there are quick changes in reference or feedback in a given application, which means |
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that the error changes swiftly, the differentiator may soon become too dominant. This is |
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because it reacts to changes in the error. The quicker the error changes, the stronger the |
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differentiator gain is. The differentiator gain can thus be limited to allow setting of the |
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reasonable differentiation time for slow changes and a suitably quick gain for quick |
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changes. |
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Parameter 7-06 Speed PID Lowpass Filter Time |
A low-pass €lter that dampens oscillations on the feedback signal and improves steady |
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state performance. However, too long a €lter time deteriorates the dynamic performance of |
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the speed PID control. |
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Practical settings of parameter 7-06 Speed PID Lowpass Filter Time taken from the number of |
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pulses per revolution on from encoder (PPR): |
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Encoder PPR |
Parameter 7-06 Speed PID Lowpass Filter |
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Time |
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512 |
10 ms |
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1024 |
5 ms |
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2048 |
2 ms |
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4096 |
1 ms |
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Table 2.7 Speed Control Parameters
28 |
Danfoss A/S © 05/2017 All rights reserved. |
MG07B302 |