Danfoss MCO 305 Operating guide
Contents |
MCO 305 Operating Instructions |
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Contents
1 Introduction |
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1.1 Available Literature for VLT AutomationDrive, MCO 305 and MCT 10 Motion |
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Control Tool |
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1.2 Symbols and Conventions |
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1.3 Abbreviations |
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2.1 High Voltage Warning |
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2.2 Safety Instructions |
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2.3 Before Commencing Repair Work |
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2.4 Avoid Unintended Start |
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2.5 Safe Stop of FC 302 |
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2.6 General Warning |
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3 How to Install |
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3.1 How to Get Started |
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3.1.1 Initialisation to Default Settings |
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3.2 System Overview |
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3.2.1 Electrical Installation |
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3.2.2 MCO 305 Control Terminals |
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3.2.3 Terminal overview |
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3.2.4 Encoder Connections Examples |
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3.2.5 Virtual Master Connection |
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3.3 Commissioning Guide |
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3.4 Basic MCO Parameter Settings |
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3.4.1 Setting of Encoder Parameters |
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3.4.2 Setting of parameters for CANopen feedback encoder |
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3.4.3 Setting of parameters for CANopen Master encoder |
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3.4.4 Setting of Velocity Parameters |
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3.4.5 Setting of Home Parameters |
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3.4.6 Setting of Synchronization Parameters |
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3.5 Connecting and Testing the Encoder(s) |
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3.5.1 Execute the Encoder Test Program |
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3.5.2 Checking Master Encoder for Synchronizing Applications |
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3.5.3 Ending the Encoder Check |
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3.6 PID Controller Settings |
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3.6.1 Sample Program: Feed-forward Calculation |
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3.6.2 Influence to the Control Loop when Changing Parameters |
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3.7 Executing a Test Program |
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4 Optimizing the PID controller |
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4.1 How to Control Process Works |
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MG.33.K3.02 - VLT® is a registered Danfoss trademark |
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Contents |
MCO 305 Operating Instructions |
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4.2 Significance and Influence of the Controller Parameters |
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4.3 PID Factors |
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4.3.1 Derivative Value for PID Control |
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4.3.2 Integral Factor: KINT |
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4.3.3 Limit Value for Integral Sum: KILIM |
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4.3.4 Velocity Feed-forward: FFVEL |
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4.3.5 Acceleration Feed-forward: FFACC |
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4.3.6 Sampling Time for PID Control: TIMER |
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4.3.7 PID Bandwidth |
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4.4 Optimizing your Controller Settings Step-by-Step |
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4.4.1 Ten Steps for Optimum Control |
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5 How to Install the Application |
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5.1 Download Application Program and Configuration |
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5.2 Backup and Restore |
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5.3 How to Connect and Run Multiple Frequency Converters |
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6 General Specifications |
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6.1 Protection and Features |
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6.2 Technical Data |
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6.3 Supply Voltage Overview |
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7 Troubleshooting |
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7.1 Warnings and Error Messages |
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7.2 APOSS Software Messages |
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8 Appendix |
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8.1 Parameter Lists |
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8.1.1 Application Parameters, Parameter Group 19-** |
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8.1.2 MCO Basics Settings, Parameter Group 32-** |
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8.1.3 MCO Advanced Settings, Parameter Group 33-** |
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8.1.4 MCO Data Readouts, Parameter Group 34-** |
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Index |
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MG.33.K3.02 - VLT® is a registered Danfoss trademark |
Introduction |
MCO 305 Operating Instructions |
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1 Introduction
1.1Available Literature for VLT AutomationDrive, MCO 305 and MCT 10 Motion Control Tool
-The MCO 305 Design Guide entails all technical information about the option board and customer design and applications.
-The MCO 305 Command Reference completes the MCO 305 Design Guide with detailed description of all commands available for programming MCO 305.
-The VLT AutomationDrive Operating Instructions provide the necessary information for getting the frequency converter up and running.
-The VLT AutomationDrive Programming Guide provides complete descriptions of all parameters in the frequency converter.
-The VLT AutomationDrive Design Guide entails all technical information about the frequency converter and customer design and applications.
-The VLT AutomationDrive Profibus Operating Instructions provide the information required for controlling, monitoring and programming the drive via a Profibus fieldbus.
-The VLT AutomationDrive DeviceNet Operating Instructions provide the information required for controlling, monitoring and programming the drive via a DeviceNet fieldbus.
-The VLT AutomationDrive MCT10 Operating Instructions provide information for installation and use of the software on a PC.
Danfoss Drives technical literature is also available online at www.danfoss.com/drives.
1 1
CAUTION
Indicates a situation that may result in equipment or property-damage-only accidents.
NOTE
Indicates highlighted information that should be regarded with attention to avoid mistakes or operate equipment at less than optimal performance.
Approvals
Conventions
The information in this manual follows the system and uses the typographical features described below to the greatest extent possible:
Menus and Functions
Menus and functions are printed italics, for example:Controller → Parameters.
Commands and Parameters
Commands and parameter names are written in capitals, for example: AXEND and KPROP; Parameters are printed in italics, for example: Proportional factor.
Parameter Options
Values for use to select the parameter options are written in brackets, e.g. [3].
1.2 Symbols and Conventions
Symbols
The following symbols are used in this manual.
WARNING
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.
CAUTION
Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury. It may also be used to alert against unsafe practices.
Keys
The names of keys and function keys are printed in brackets, for example the control key [Cntl] key, or just [Cntl], the [Esc] key or the [F1] key.
MG.33.K3.02 - VLT® is a registered Danfoss trademark |
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Introduction |
MCO 305 Operating Instructions |
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1 1
1.3 Abbreviations
Automatic Motor Adaptation |
AMA |
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Direct Current |
DC |
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Frequency Converter |
FC |
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Local Control Panel |
LCP |
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Master Unit |
MU |
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Millisecond |
ms |
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Minute |
min |
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Motion Control Option |
MCO |
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Motion Control Tool |
MCT |
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Parameter |
par. |
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Protective Extra Low Voltage |
PELV |
Position Control Loop |
PID |
Pulses per Revolution |
PPR |
Quad-counts |
qc |
Revolutions per Minute |
RPM |
Second |
sec. |
Switch normally closed |
nc |
Switch normally open |
no |
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User Unit |
UU |
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Volts |
V |
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MG.33.K3.02 - VLT® is a registered Danfoss trademark |
Safety Instructions and Gen... |
MCO 305 Operating Instructions |
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2.1 High Voltage Warning
MCO 305 2 2
Operating Instructions
Software version: 5.xx
These Operating Instructions can be used for the MCO 305 option board with all FC 300 frequency converters with software version later than 5.xx.
The software version number can be seen from 15-43 Software Version for the frequency converter and in 15-61 Option SW Version for the MCO 305
2.1.1 High Voltage Warning
The voltage of the VLT AutomationDrive is dangerous whenever the converter is connected to mains. Incorrect fitting of the motor or VLT AutomationDrive may cause damage to the equipment, serious injury or death. Consequently, it is essential to comply with the instructions in this manual as well as local and national rules and safety regulations. At altitudes above 2km, please contact Danfoss Drives regarding PELV.
2.3Before Commencing Repair Work
1.Disconnect VLT AutomationDrive from mains.
2.Disconnect DC bus terminals 88 and 89.
3.Wait at least 4 minutes.
4.Remove motor plugs.
2.2Safety Instructions
-Make sure the VLT AutomationDrive is properly connected to earth.
-Do not remove mains plugs or motor plugs while the VLT AutomationDrive is connected to mains.
-Protect users against supply voltage.
-Protect the motor against overloading according to national and local regulations.
-Motor overload protection is not included in the default settings. To add this function, set par. 1-90
Motor thermal protection to value ETR trip or ETR warning. For the North American market:
-ETR functions provide class 20 motor overload protection, in accordance with NEC.
-The earth leakage current exceeds 3.5 mA.
-The [OFF] key is not a safety switch. It does not disconnect the VLT AutomationDrive from mains.
2.4 Avoid Unintended Start
While VLT AutomationDrive is connected to mains, the motor can be started/stopped using digital commands, bus commands, references or via the LCP.
-Disconnect the VLT AutomationDrive from mains whenever personal safety considerations make it necessary to avoid unintended start.
-To avoid unintended start, always activate the [OFF] key before changing parameters.
-Unless terminal 37 (safe stop) is turned off, an electronic fault, temporary overload, a fault in the mains supply, or lost motor connection may cause a stopped motor to start.
MG.33.K3.02 - VLT® is a registered Danfoss trademark |
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Safety Instructions and Gen... |
MCO 305 Operating Instructions |
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2.5 Safe Stop of FC 302
2 2 The FC 302 can perform the Designated Safety Function Uncontrolled Stopping by removal of power (as defined by IEC 61800-5-2) or Stop Category 0 (as defined in EN 60204-1). It is designed and approved suitable for the requirements of Safety Category 3 according to EN 954/PLd according to ISO 13849-1. This functionality is called Safe Stop.
In order to install and use the Safe Stop function in accordance with the requirements of Safety Category 3 according to EN 954-1/PLd according to ISO 13849-1, the related information and instructions of the VLT AutomationDrive Design Guide MG.33.BX.YY must be followed! The information and instructions of Operating Instructions are not sufficient for a correct and safe use of the Safe Stop functionality.
2.6 General Warning
WARNING
Touching the electrical parts may be fatal – even after the equipment has been disconnected from mains. Also make sure that all voltage inputs have been disconnected, such as load-sharing (linkage of DC intermediate circuit), as well as the motor connection for kinetic back-up. Using VLT AutomationDrive (at and below 7.5kW):
wait at least xx minutes.
xx = The waiting time using the VLT AutomationDrive is different for different sizes: Please see period of waiting time xx in the VLT AutomationDrive Operating Instructions, MG. 33.AX.YY.
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MG.33.K3.02 - VLT® is a registered Danfoss trademark |
How to Install |
MCO 305 Operating Instructions |
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3 How to Install
3.1 How to Get Started
Please consult the VLT AutomationDrive Operating Instructions for correct installation of VLT AutomationDrive, these instructions cover installation of MCO 305.
3.1.1 Initialisation to Default Settings
Initialize the frequency converter to default setting in two ways:
Recommended initialisation (via 14-22 Operation Mode)
1.Select 14-22 Operation Mode
2.Press [OK]
3.Select “Initialization”
4.Press [OK]
5.Cut off the mains supply and wait until the displays turns off.
6.Reconnect the mains supply – the frequency converter is now reset.
Manual initialisation
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Disconnect from mains and wait until the display |
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2.Press [Status] – [Main Menu] – [OK] at the same time:
3.Reconnect mains supply while pressing the keys.
4.Release the keys after 5 sec.
5.The frequency converter is now programmed according to default settings.
NOTE
When carrying out manual initialization, serial communication and fault log settings are reset. All MCO 305 programs and arrays are deleted!
This method initializes all except:
15-00 Operating Hours
15-03 Power Up's
15-04 Over Temp's
15-05 Over Volt's
NOTE
MCO 305 programs and arrays are not affected.
14-22 Operation Mode initialises all except:
14-50 RFI Filter
8-30 Protocol
8-31 Address
8-32 FC Port Baud Rate
8-35 Minimum Response Delay
8-36 Max Response Delay
8-37 Max Inter-Char Delay
15-00 - 15-05 Operating Data
15-20 - 15-22 Historic log
15-30 - 15-32 Fault log
33-90 X62 MCO CAN node ID
33-91 X62 MCO CAN baud rate
MG.33.K3.02 - VLT® is a registered Danfoss trademark |
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How to Install |
MCO 305 Operating Instructions |
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3.2 System Overview
This is only relevant if the MCO 305 is delivered as an option for upgrading an existing VLT AutomationDrive. When ordered with the frequency converter, MCO 305 is preinstalled from factory. For retrofit, a mounting kit must be
3 3 purchased.
There is a different mounting kit for different frames. MCO 305 is to be used in slot C0 but can be combined with another option in slot C1.
Mounting kit depending on frame |
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Bookstyle |
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A2 and A3 |
(40 mm for one C option) |
130B7530 |
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A2 and A3 |
(60 mm for C0 + C1 option) |
130B7531 |
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B3 |
(40 mm for one C option) |
130B1413 |
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B3 |
(60 mm for C0 + C1 option) |
130B1414 |
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Compact |
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A5 |
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130B7532 |
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B, C, D, E and F (except B3) |
130B7533 |
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Do not mount the small fan for B4, C3, C4, D, E and F
Illustration 3.1 Bookstyle - A2, A3, B3
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MG.33.K3.02 - VLT® is a registered Danfoss trademark |
How to Install |
MCO 305 Operating Instructions |
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3 3
Illustration 3.2 Compact - A5, B (except B3), C, D, E, F
MG.33.K3.02 - VLT® is a registered Danfoss trademark |
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How to Install |
MCO 305 Operating Instructions |
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3.2.1 Electrical Installation
All control cables must be screened and the cable screen must be connected to earth at both ends. It is very important to use the correct cable for encoders to avoid noise
3 3 problems, always follow the prescriptions of the encoder supplier. See also VLT AutomationDrive Design Guide (MG. 33.AX.YY) for more information regarding EMC correct cable installation.
3.2.2 MCO 305 Control Terminals
Frame size A2 and A3:
Encoder and I/O terminal are located behind the C option terminal cover, see Illustration 3.3.
MCO CAN bus terminals and debug terminals (RS485) are located on the top of the c-option cover. If these connections are used cut out the plastic parts above the connectors and mount the cable relief
Frame size A5, B1 and B2:
All MCO 305 terminals are located next to the VLT AutomationDrive control card. Remove the front cover to get access, see illustration.
MCO 305 control terminals are plug connectors with screw terminals; the terminal blocks are duplicated to enable use of the same MCO 305 in all frame sizes. See Illustration 3.5 to locate the terminal blocks:
<![if ! IE]><![endif]>
130BT334.10
<![endif]>11.130BA248
Illustration 3.4 Removing Front Cover
Illustration 3.3 Location of Encoder and I/O Terminals
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How to Install |
MCO 305 Operating Instructions |
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MCO control terminals are plug connectors with screw terminals. Terminals X55, X56, X57, X58 and X59 are duplicated to be used for both bookstyle and compact frame size.
X55 = Encoder 2
X56 = Encoder 1
X57 = Digital inputs
X58 = 24V DC supply
X59 = Digital outputs
X62 = MCO CAN Bus
X60 = Debug connections (RS-485)
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X62 |
X60 |
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X55
X56
X57
X58
X59
Illustration 3.5 Location of Terminal Blocks
Terminal block 1 is to be used with bookstyle and terminal block 2 with compact.
3.2.3 Terminal overview
Terminal |
Terminal number |
Descriptive Name Encoder 2 |
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block |
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(Feedback) |
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+24V Supply |
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+8V Supply |
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+5V Supply |
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GND |
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A |
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X55 |
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A not |
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B |
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B not |
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9 |
Z / Clock |
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10 |
Z not / Clock not |
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11 |
DATA |
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DATA not |
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Terminal |
Terminal number |
Descriptive Name Encoder 1 |
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block |
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(Master) |
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1 |
+24V Supply |
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2 |
N/A |
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3 |
+5V Supply |
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4 |
GND |
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5 |
A |
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X56 |
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A not |
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B |
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B not |
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Z / Clock |
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10 |
Z not / Clock not |
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11 |
DATA |
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DATA not |
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Terminal |
Terminal number |
Descriptive Name Digital inputs |
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block |
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1 |
Digital Input |
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2 |
Digital Input |
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3 |
Digital Input |
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4 |
Digital Input |
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X57 |
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Digital Input |
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6 |
Digital Input |
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7 |
Digital Input |
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8 |
Digital Input |
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Digital Input |
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Digital Input |
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Terminal |
Terminal number |
Descriptive Name Supply |
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block |
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X58 |
1 |
+24V Supply |
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2 |
GND |
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MG.33.K3.02 - VLT® is a registered Danfoss trademark |
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How to Install |
MCO 305 Operating Instructions |
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Terminal |
Terminal number |
Descriptive Name Digital |
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block |
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outputs |
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1 |
Digital Output/Input |
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2 |
Digital Output/Input |
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3 |
Digital Output |
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3 |
3 |
X59 |
4 |
Digital Output |
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5 |
Digital Output |
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6 |
Digital Output |
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7 |
Digital Output |
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8 |
Digital Output |
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Illustration 3.7 5V Incremental Encoder (RS-422) Supplied by an |
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Terminal |
Terminal number |
MCO Debug (RS485) |
External Power Source |
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block |
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1CS |
Control Select |
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62 |
RxD/TxD - P |
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X60 |
63 |
RxD/TxD - N |
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66 |
OV |
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67 |
+5V |
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1CS is high when transmissions is active |
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Terminal |
Terminal number |
MCO CAN Bus |
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block |
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1 |
N/A |
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2 |
CAN - L |
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X62 |
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DRAIN |
Illustration 3.8 24V Absolute Encoder (SSI) Supplied by MCO 305 |
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4 |
CAN - H |
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5 |
N/A |
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3.2.4 Encoder Connections Examples
24V |
8V |
5V |
GND |
A |
A |
B |
B |
Z |
Z |
D |
D |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
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<![endif]>130BA163.10
5V incremental encoder
Illustration 3.6 5V Incremental Encoder (RS-422) Supplied by MCO 305
Illustration 3.9 24V Absolute Encoder (SSI) Supplied by an External Power Source
NOTE
When external power supply is used, ensure the same potential between GND on external supply and encoder connections (4). This is to avoid common mode disturbances.
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MG.33.K3.02 - VLT® is a registered Danfoss trademark |
How to Install MCO 305 Operating Instructions
3.2.5 Virtual Master Connection
When more than 2 MCO 305 master encoder interfaces are |
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interconnected termination must be on (32-40 Encoder |
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Termination = ON) at both ends of the bus. Termination must |
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be off (32-40 Encoder Termination = OFF) in all other MCOs. |
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MG.33.K3.02 - VLT® is a registered Danfoss trademark |
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