Danfoss MCO 351 Operating guide

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MAKING MODERN LIVING POSSIBLE

Operating Instructions

Positioning Controller MCO 351

VLT® AutomationDrive FC 301/302

www.danfoss.com/drives

Contents Operating Instructions

Contents

1 Introduction

1.1 Purpose of the Manual

1.2 Additional Resources

1.3 Overview

1.3.1 Software Version 4

1.4 Approvals

1.5 Disposal

2 Safety

2.1 Safety Symbols

2.2 Safety Warnings

2.3 Functional Safety

3 Mechanical Installation

4 Electrical Installation

4.1 MCO 350/351 Control Terminals

4.1.1 Enclosure Types A2 and A3 10

4 4 4 4

5 5

6 6 6 7

10 10

4.1.2 Enclosure Types A5, B1, and B2 10

4.2 Frequency Converter Control Card Terminals

4.3 Wiring Diagram

4.4 MCO Option Card Terminals

4.4.1 X55 Feedback Encoder Input 14

4.4.2 X56 Master Encoder Input/Virtual Master Output 14

4.4.3 X57 Digital Input 14

4.4.4 X58 24 V DC Supply 15

4.4.5 X59 Digital Outputs 15

4.4.6 X62 MCO-CAN 15

4.5 Description of Terminals

4.5.1 Frequency Converter Control Card Terminals 16

4.5.2 MCO Digital Inputs Terminal (X57) 17

4.5.3 MCO Digital Outputs Terminal (X59) 17

4.5.4 MCO Encoder Connection 18

4.5.4.1 Encoder Connection Examples 18

4.6 Fieldbus Interface

11 13 14

4.6.1 Introduction 20

4.6.2 Data Layout 20

5 Commissioning

5.1 Safety Instructions

23 23

Contents Operating Instructions

5.2 Basic Parameters Set-up

5.3 Basic Set-up

5.4 PID Settings

5.5 Description of Application Parameters

5.5.1 19-** Application Parameters 24

5.6 MCO Basic Settings

5.6.1 32-0* and 32-1*, Encoder 2 Parameters 29

5.6.2 32-3* and 32-4*, Encoder 1 Parameters 31

5.6.3 32-5* Feedback Source 33

5.6.4 32-6* and 32-7*, PID-Controller Parameters 34

5.6.5 32-8* Velocity & Acceleration 36

5.7 MCO Advanced Settings

5.7.1 33-0* Home Motion 38

5.7.2 33-4* Limit Handling 38

5.7.3 33-8*, Global Parameters 40

5.7.4 33-9*, MCO Port Settings 40

5.8 MCO Data Readouts

23 23 23 24

5.8.1 34-0*, PCD Write Parameters 41

5.8.2 34-2*, PCD Read Parameters 41

5.8.3 34-4*, Inputs and Outputs 41

5.8.4 34-5*, Process Data 41

6 Application Examples

6.1 Homing

6.2 Touch Probe Positioning

6.3 Brake Control

6.4 Hardware End Limit

6.5 Software Limits

6.6 Index Positioning

6.7 Quick Bus Positioning

7 Diagnostics

7.1 Troubleshooting

7.2 Error Messages

42 42 42 42 43 43 43 44

45 45 46

8 Appendix

8.1 Abbreviations and Conventions

8.2 Glossary of Key Terms

8.3 Positioning

8.3.1 Positioning Table 50

8.3.2 Positioning Templates 51

48 48 48 50

Contents Operating Instructions

8.3.2.1 Example of Index Positioning via Fieldbus 51

8.3.2.2 Example of Index Positioning via Quick Bus 51

Index

Introduction Operating Instructions

1 Introduction

1.1 Purpose of the Manual

These Operating Instructions provide information for safe installation and commissioning of the VLT® Positioning

Controller MCO 351. The Operating Instructions are intended for use by qualified personnel. Read and follow the Operating Instructions to use the product safely and professionally, and pay particular attention to the safety instructions and general warnings. Keep these Operating Instructions available with the MCO 351 at all times.

Compliance with the information in these Operating Instructions is a prerequisite for:

Trouble-free operation

•

Recognition of product liability claims

•

Therefore, read the Operating Instructions before working with the MCO 351.

VLT® is a registered trademark.

1.2 Additional Resources

1.3

Overview

The VLT® Positioning Controller MCO 351 is for use with the FC 300 series frequency converters. The control card option expands the functional properties of the frequency converter in positioning applications. It is user-friendly,

enabling the set-up of all parameters via the VLT AutomationDrive Local Control Panel (LCP) or via the VLT

MCT 10 Set-up Software.

The module is available as an option card for field installation or as a built-in option in all VLT® AutomationDrives.

It is available with and without conformal coating.

As the MCO 351 is a standard product with fixed functional properties, no additional application programming is required.

The positioning controller can handle most positioning applications with vertical as well as horizontal movements. The option is suited for applications with an overall control system, for example a PLC.

Resources available to understand advanced frequency converter and MCO functions and programming:

VLT® AutomationDrive FC 301/FC 302 Operating

•

Instructions

VLT® AutomationDrive FC 301/FC 302 Design

•

Guide

VLT® AutomationDrive FC 301/FC 302

•

Programming Guide Motion Control Option MCO 305 Operating

•

Instructions Motion Control Option MCO 305 Design Guide

•

Supplementary publications and manuals are available from Danfoss. See www.danfoss.com/BusinessAreas/DrivesSo-

lutions/Documentations/VLT+Technical+Documentation.htm

for listings.

The main features are:

Direct positioning via fieldbus

•

Relative, absolute, and touch probe positioning

•

32 fixed positions (64 via fieldbus)

•

End limit handling (software and hardware)

•

Mechanical brake handling

•

Error handling

•

Jog speed/manual operation

•

Home function

•

Auto PID calculation

•

Software Version

1.3.1

Refer to parameter 19-90 Type/Version for the software version number.

Introduction Operating Instructions

1.4 Approvals

NOTICE

The T7 (525-690 V) frequency converters are not certified for UL.

1.5 Disposal

Equipment containing electrical components can not be disposed of together with domestic waste. It must be separately collected with electrical and electronic waste according to local and currently valid legislation.

Safety

Operating Instructions

2 Safety

2.1 Safety Symbols

The following symbols are used in this document:

WARNING

Indicates a potentially hazardous situation which could result in death or serious injury.

CAUTION

Indicates a potentially hazardous situation which could result in minor or moderate injury. It may also be used to alert against unsafe practices.

NOTICE

Indicates important information, including situations that may result in damage to equipment or property.

2.2 Safety Warnings

WARNING

HIGH VOLTAGE

Frequency converters contain high voltage when connected to AC mains input power. Failure to perform installation, start up, and maintenance by qualified personnel could result in death or serious injury.

Installation, start up, and maintenance must be

•

performed by qualified personnel only.

WARNING

UNINTENDED START

When the frequency converter is connected to AC mains, DC power supply, or load sharing, the motor may start at any time. Unintended start during programming, service, or repair work can result in death, serious injury, or property damage. The motor can start by means of an external switch, a serial bus command, an input reference signal from the LCP or LOP, via remote operation using MCT 10 software, or after a cleared fault condition. To prevent unintended motor start:

Disconnect the frequency converter from the

•

mains. Press [Off/Reset] on the LCP before

•

programming parameters. Ensure that the frequency converter, motor, and

•

any driven equipment is fully wired and assembled when the frequency converter is connected to AC mains, DC power supply, or load sharing.

WARNING

DISCHARGE TIME

Frequency converters contain DC link capacitors that can remain charged even when AC mains is disconnected. To avoid electrical hazards, remove AC mains from the frequency converter before doing any service or repair and wait the amount of time specified in Table 2.1. Failure to wait the specified time after power has been removed before doing service or repair on the unit could result in death or serious injury.

Voltage [V]

200–240 0.25–3.7 kW 5.5–37 kW 380–480 0.25–7.5 kW 11–75 kW 525–600 0.75–7.5 kW 11–75 kW 525–690 N/A 11–75 kW High voltage may be present even when the warning indicator lights are off.

Table 2.1 Discharge Time

Minimum waiting time (minutes)

4 15

Safety Operating Instructions

NOTICE

Installation at high altitudes:

380–500 V: Enclosure A, B, and C: At altitudes

•

above 2 km, contact Danfoss regarding PELV. 380–500 V: Enclosure D, E, and F: At altitudes

•

above 3 km, contact Danfoss regarding PELV. 525–690 V: At altitudes above 2 km, contact

•

Danfoss regarding PELV.

2.3 Functional Safety

Safe Torque Off is an option. To run Safe Torque Off, additional wiring for the frequency converter is required.

Refer to VLT® Frequency Converters Safe Torque Off Operating Instructions for further information.

2 2

Mechanical Installation Operating Instructions

3 Mechanical Installation

This chapter is only relevant if the MCO 350/351 is delivered as an option for upgrading an existing VLT

AutomationDrive. When ordered with the frequency converter, MCO 350/351 is pre-installed. For retrofit, purchase a mounting kit.

There is a different mounting kit for different enclosures. Use MCO 350/351 in slot C0 or combine it with another option in slot C1.

Mounting kit depending on enclosure Order no.

Bookstyle Enclosure

A2 and A3 (40 mm for 1 C option) 130B7530 A2 and A3 (60 mm for C0 + C1 option) 130B7531 B3 (40 mm for 1 C option) 130B1413 B3 (60 mm for C0 + C1 option) 130B1414

Compact Enclosure

A5 130B7532 B, C, D, E, and F (except B3) 130B7533

Table 3.1 Mounting Kits

Do not mount the small fan for B4, C3, C4, D, E, and F.

Illustration 3.1 Bookstyle Enclosure – A2, A3, B3

Mechanical Installation Operating Instructions

3 3

Illustration 3.2 Compact Enclosure – A5, B (except B3), C, D, E, F

130BA248.11

130BT334.10

Electrical Installation Operating Instructions

4 Electrical Installation

Refer to the safety warnings in chapter 2 Safety before installing the MCO.

Screen all control cables and connect the cable screen to ground at both ends to avoid EMC problems. Always

follow the instructions of the encoder supplier. See also

VLT

AutomationDrive FC 301/FC 302 0.25-75 kW Design

Guide for more information regarding cable installation.

4.1 MCO 350/351 Control Terminals

4.1.1 Enclosure Types A2 and A3

Encoder and I/O terminal are located behind the C option terminal cover, see Illustration 4.1.

MCO CAN bus terminals and debug terminals (RS-485) are 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.

Enclosure Types A5, B1, and B2

4.1.2

All MCO 350/351 terminals are located next to the VLT AutomationDrive control card. Remove the front cover to get access. See Illustration 4.2.

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 enclosure type. See Illustration 4.3 to locate the terminal blocks.

Illustration 4.1 Location of Encoder and I/O Terminals

Illustration 4.2 Removing the Front Cover

X62

X55

X56

X57

X58

X59

X60

130BB794.10

Electrical Installation Operating Instructions

4.2

Frequency Converter Control Card Terminals

The terminals on the VLT® AutomationDrive control card are allocated for the MCO 351.

Do not change the following parameters for I/O settings:

Parameters 5-10 to 5-15 set to [0] No operation

•

(default setting) Parameters 3-15, 3-16 and 3-17 set to [0] No

•

function (default setting) Parameter 6-50 set to [52] MCO 0–20 mA

•

4 4

1 Terminal block 1 2 Terminal block 2 X55 Encoder 2 X56 Encoder 1 X57 Digital inputs X58 24 V DC supply X59 Digital outputs X60 MCO CAN Bus X62 Debug connections (RS 485)

Illustration 4.3 Location of Terminal Blocks 1 and 2

Illustration 4.4 FC 300 Terminals

Technical data on these terminals can be found in the VLT® AutomationDrive FC 301/FC 302 Design Guide.

Use terminal block 1 with bookstyle and terminal block 2 with compact.

Electrical Installation Operating Instructions

Digital inputs

12 +24 V OUT 13 +24 V OUT 18 Reference index bit 0 19 Reference index bit 1 27 Enable (error clear in digital control mode) 29 Reference index bit 4

32 Reference index bit 3 33 Reference index bit 2 20 COM D in 37 Safe Torque Off (STO)

Table 4.1 Digital Inputs

Relay 1:

Mechanical brake (normally open)

Relay 2:

Mechanical brake monitoring (normally closed)

Analog input:

53 ±10 V-In Manual jog positive 54 ±10 V-In Manual jog negative 55 Common for analogue inputs

Supply voltage:

12, 13 +24 V Out 20 Common for digital inputs (common with X55/4-X56/4X58/2)

FC300

Reference index Bit 1

Enable (error clear in dig. control mode)

Reference index Bit 4

Reference index Bit 3

Reference index Bit 2

Touchprobe pos. locked

Manual Jog positive

Reset Touchprobe pos.

Go to Home position

Latch new index

Homing completed

Reference pos. reached

Reference index Bit 0

Reference index Bit 1

Reference index Bit 2

Reference index Bit 3

Reference index Bit 4

+24 V DC out

+8 V DC out

+5 V DC out

COM

+24 V DC out

+8 V DC out

+5 V DC out

COM

CLK

/CLK

DATA

/DATA

Analog Output

Analog Inputs

S201, S202 = O

MCO 351

Relay

Mains

Motor

X56

Encoder 1

X55

Encoder 2

+24 V OUT

Reference index Bit 0

COM D in Safe torque o (STO)

COM A in

+10 V OUT

Quickstop

Manual Jog negative

COM A out

Touchprobe switch

Positive HW limit switch

Negative HW limit switch

Home reference switch

Go to target position

Reset Home ag

+24 V supply

COM

Error occured

53 54

8 9

Digital Inputs

X57 Digital Inputs

X58 24 V DC Supply

X59 Digital Outputs

01 Brake Supply

Brake Brake COM

TTL SSI SINCOS

CLK

/CLK

DATA

/DATA

SIN

REFSIN

COS

REFCOS

1 2

130BD658.10

Electrical Installation Operating Instructions

4.3 Wiring Diagram

4 4

Illustration 4.5 Wiring Diagram

NOTICE

Input 29 is not available in FC 301. Therefore only 16 positions can be selected via digital inputs in FC 301.

130BD653.10

1 2 3 4 5 7

116

8 10

130BD653.10

1 2 3 4 5 7

116

8 10

1 2 3 4 5 7 96 8 10

130BD655.10

Electrical Installation Operating Instructions

X56 Master Encoder Input/Virtual

4.4 MCO Option Card Terminals

4.4.2 Master Output

Technical data on these terminals can be found in the Motion Control Option MCO 305 Operating Instructions.

4.4.1 X55 Feedback Encoder Input

Pin number TTL encoder SSI encoder

1 +24 V DC Supply +24 V DC Supply 2 +8 V DC Supply +8 V DC Supply 3 +5 V DC Supply +5 V DC Supply

Pin number TTL encoder SSI encoder SinCos encoder

1 +24 V DC

Supply 2 +8 V DC Supply +8 V DC Supply +8 V DC Supply 3 +5 V DC Supply +5 V DC Supply +5 V DC Supply 4 GND GND GND 5 A - +SIN 6 A not - REFSIN 7 B - +COS 8 B not - REFCOS 9 Z CLK 10 Z not CLK not 11 - DATA 12 - DATA not -

Illustration 4.6 X55 Feedback Encoder Input

+24 V DC

Supply

+24 V DC

Supply

4 GND GND 5 A 6 A not 7 B 8 B not 9 Z CLK 10 Z not CLK not 11 - DATA 12 - DATA not

Illustration 4.7 X56 Master Encoder Input/Virtual Master Output

X57 Digital Input

4.4.3

Pin number

1 Touch probe switch 2 Positive hardware limit switch 3 Negative hardware limit switch 4 Home switch 5 Go to target position 6 Reset home flag 7 Reset touch probe position 8 Quick stop 9 Go to home position 10 Latch new reference position index number

Illustration 4.8 X57 Digital Inputs

Description

1 2

130BD656.10

1 2 3 4 5 76 8

130BD657.10

3 4 5

130BD672.10

Electrical Installation Operating Instructions

4.4.4 X58 24 V DC Supply

Pin number

1 +24 V 2 COM

Illustration 4.9 X58 24 V DC Supply

4.4.5

Description

X59 Digital Outputs

X62 MCO-CAN

4.4.6

Pin number Description

1 – 2 CAN_L (CAN low) 3 Drain 4 CAN_H (CAN high) 5 –

Illustration 4.11 X62 MCO CAN

4 4

Pin number

1 Homing completed 2 Reference position reached 3 Error 4 Reference index bit 0 5 Reference index bit 1 6 Reference index bit 2 7 Reference index bit 3 8 Reference index bit 4

Illustration 4.10 X59 Digital Outputs

Description

Electrical Installation

Operating Instructions

4.5 Description of Terminals

4.5.1 Frequency Converter Control Card Terminals

Connector Terminal Designation Description Inputs

Relay 01

Relay 02

Analogue I/O

RS-485

12, 13 +24 V OUT 24 V (+1, –3 V) power supply

Max. load: VLT® AutomationDrive FC 301: 130 mA VLT® AutomationDrive FC 302: 200 mA

18 Reference index bit 0 (LSB) Reference position index number bit 0 (least significant bit). Not used in

fieldbus mode. 19 Reference index bit 1 Reference position index number bit 1. Not used in fieldbus mode. 20 COM D IN Ground for 24 V – common with 39, 55, X55/4, X56/4, and X58/2 27 Enable (error clear in digital

control mode)

29 Reference index bit 4 (msb) Reference position index number bit 4 (most significant bit). Not used in

32 Reference index bit 3 Reference position index number bit 3. Not used in fieldbus mode. 33 Reference index bit 2 Reference position index number bit 2. Not used in fieldbus mode. 37 Safe Torque Off (STO) Safe input. Used for STO. 01 COM Relay 01 Common terminal for Relay 01. 02 Connect to electro-mechanical

brake NO

03 NC Normal Closed 04 COM Relay 02 Common terminal for Relay 02. 05 Brake activated NC Normal Closed Relay 02 is closed to indicate an activated electrome-

06 NO Normal Open 39 COM A OUT Ground for analog output. Common with 20 and 55. 42 Touch probe position locked in This analog output delivers either 0 mA (not locked in) or 20 mA (locked

50 +10 V OUT Power supply for manual JOG inputs (terminal 53 and 54).

53 ±10 V-In Manual jog positive When high (above 5 V), the drive travels with jogging speed (parameter

54 ±10 V-In Manual jog negative When high (above 5 V), the drive travels with jogging speed (parameter

55 COM A IN Ground for analogue inputs. Common with 20 and 39. 61 Shield

68 RxTx+ A control card switch is provided for termination resistance. 69 RxTx–

To enable operation, this input must be maintained at high in both

digital control mode and fieldbus control mode.

Digital control mode: Errors are cleared on the rising edge. Must be 0 V

for at least 1 ms to guarantee edge detection.

fieldbus mode. Not available in VLT® AutomationDrive FC 301.

Normal Open Relay 01 is open (brake activated) during power off and

start-up of the FC 300. It is always open after a Quick Stop procedure or

with an error situation. Relay 01 only closes with motion procedures or if

specified in parameter 19-09 Automatic Brake Control.

chanical brake. It is open to indicate a deactivated electromechanical

brake. Not used in fieldbus control mode.

in) at a maximum of 500 Ω.

Maximum 15 mA.

19-16) and ramp (parameter 19-17) in the positive direction. When low

(below 5 V), the drive ramps down and stops if no other motion

procedure is activated. Jog positive has higher priority than jog negative.

Not used in fieldbus mode by default. Can be enabled via parameter

19-31 Digital Jog in field Bus mode.

19-16) and ramp (parameter 19-17) in the negative direction. When low

(below 5 V), the drive ramps down and stops if no other motion

procedure is activated. Not used in fieldbus mode by default. Can be

enabled via parameter 19-31 Digital Jog in field Bus mode.

Integrated RC-filter for cable screen. Only for connecting the screen

when experiencing EMC problems.

Table 4.2 Control Card Terminals

Electrical Installation Operating Instructions

4.5.2 MCO Digital Inputs Terminal (X57)

Terminal Designation Description

1 Touch probe switch input Input triggered on the rising edge. If this signal goes high when no touch probe target

position is locked, a new touch probe target position is calculated and locked in memory.

2 Positive hardware limit switch

input

3 Negative hardware limit switch

input 4 Home reference switch input Active high. Marks the home position in the application. 5 Go to the target position Active high. Upon activation the motor goes to the specified target position. A low

6 Reset home flag Active high. This input clears the home flag. This allows the performance of a 2nd

7 Reset touch probe position Active high. This input clears the touch probe position flag. The reset is necessary to

8 Quick stop

9 Go to home position While this input is high the motor executes the homing sequence and no position or

10 Latch new reference position

index number

Input triggered on the falling edge. Triggers a hardware limit error and the motor is stopped according to parameter 19-06 Error Behaviour. Input triggered on the falling edge. Triggers a hardware limit error and the motor is stopped according to parameter 19-06 Error Behaviour.

signal interrupts any positioning sequence. Not used in fieldbus mode.

homing sequence.

carry out a touch probe positioning command to a new target position. Not used in fieldbus mode. Active low. This input activates the Quick Stop function. The motor is stopped according to the setting of parameter 19-06 Error Behaviour. After that, the electromechanical brake is always activated when the Quick stop input is activated, regardless of the parameter 19-06 Error Behaviour setting.

jog operations are carried out. Any homing sequence is interrupted by a low state on this input. Not used in fieldbus mode. Active on the rising edge (must be 0 V for at least 1 ms to guarantee edge detection): Latches reference position index number specified on terminal 18, 19, 29, 32, 33 into memory. Digital output 4-8 is changed to mirror the new reference index specified when using digital input control. Not used in fieldbus mode.

4 4

Table 4.3 MCO Digital Inputs Terminal (X57)

MCO Digital Outputs Terminal (X59)

4.5.3

Terminal Designation Description

1 Homing completed Active high. This output is always high if an absolute encoder is used. 2 Referenced position

reached

3 Error occurred Active high. This output is set every time an error occurs. It is cleared every time a successful error

4 Reference index bit 0 Mirror of the currently locked-in reference index bit 0. Not used in fieldbus mode. 5 Reference index bit 1 Mirror of the currently locked-in reference index bit 1. Not used in fieldbus mode. 6 Reference index bit 2 Mirror of the currently locked-in reference index bit 2. Not used in fieldbus mode. 7 Reference index bit 3 Mirror of the currently locked-in reference index bit 3. Not used in fieldbus mode. 8 Reference index bit 4 Mirror of the currently locked-in reference index bit 4. Not used in fieldbus mode.

Table 4.4 MCO Digital Outputs Terminal (X59)

Active high. This output is set when the target position is reached according to the setting of parameter 33-47 Size of Target Window.

clear is carried out. This output remains high as long as the power recovery function is selected (parameter 19-08 Power-Recovery) and active.

MOTOR

X55 X56

130BD828.10

MOTOR

X55 X56

130BD829.10

Electrical Installation Operating Instructions

4.5.4 MCO Encoder Connection

MCO 351 provides 2 encoder interfaces, X55 and X56. Terminal block X55 is configured as the default feedback encoder input.

Encoder supported

TTL/RS422 incremental encoder (X55, X56)

•

SSI absolute encoder - Grey code (X55, X56)

•

Sin/Cos Encoder 1 Vpp (only X55)

•

Resolver (needs extra option MCB103) - only in

•

speed closed loop. CANopen encoder (X62)

•

Example 2

Encoder connected to X55 for positioning loop. Since the encoder is not mounted directly on the motor shaft, this configuration can be used for the MCO positioning loop and the FC speed control loop.

NOTICE

Use parameter 32-50 Source Slave for setting encoder feedback to [1] Encoder 1 X56 or [3] Motor Control.

4.5.4.1 Encoder Connection Examples

Example 1

Encoder connected to X55 for positioning loop. Since the encoder is mounted directly on the motor shaft, the same feedback can be used for the MCO positioning loop and the FC speed control loop.

Illustration 4.12 Encoder Mounted on the Motor

Illustration 4.13 Encoder Mounted on the Gear Box

130BD830.10

MOTOR

X55 X56

MOTOR

X55 X56

MCB 103

130BD831.10

Electrical Installation Operating Instructions

Example 3

Encoder connected to X55 for positioning loop. Since the encoder is not mounted directly on the motor shaft, a 2nd encoder connection (X56) is needed for running closed FC speed control loop.

Example 4

Resolver feedback used. MCB 103 option is needed. FC speed control loop must be closed.

4 4

Illustration 4.14 Encoders Mounted on the Motor and the Gear Box

Illustration 4.15 Resolver Mounted on the Motor

175ZA813.12

Quick bus go to target

Electrical Installation Operating Instructions

4.6 Fieldbus Interface

4.6.1 Introduction

This section is only relevant if the frequency converter is equipped with a fieldbus interface (option) as well as the positioning controller.

The positioning controller is controlled via the digital/analog inputs or via fieldbus. Select the control source in parameter 19-04 Control Source. There can only be 1 control source at a time, meaning that the digital/analog inputs are inactive when

fieldbus is selected as control source and vice-versa. The only exceptions are listed in Table 4.5. In fieldbus mode, it is possible to specify the target position and velocity. If the acceleration and deceleration PCDs are left blank, the values for acceleration and deceleration from index 1 are used.

Data Layout

4.6.2

Control and status signals are transferred via the so-called process data channel (PCD) of the various fieldbus interfaces. The telegram structure and the available number of data words depends on the fieldbus used. Refer to the manual of the fieldbus option in use for further details. The example in Illustration 4.16 is based on the layout of a Profibus telegram, the so-called PPO:

Illustration 4.16 Example using PROFIBUS PPO Type 5

Electrical Installation Operating Instructions

Fieldbus control signals (inputs)

Fieldbus [word.bit]

1.1 Quick bus go to target (high) N/A

1.2 Reset error (high) 27

1.3 Go to home position (high) 9

1.4 Read new trajectory index (high) 10

1.5 Start index positioning (high)/Stop index

1.6 Reset home status (high) 6

1.7 Reset touch probe position (high) 7

1.8 Quick stop (low) 8

1.9 Positive jog (high) 53

1.10 Negative jog (high) 54

1.11 Quick bus type absolute (high) N/A

1.12 Quick bus type relative (high) N/A

1.13 Quick bus type touch probe positive (high) N/A

1.14 Quick bus type touch probe negative (high) N/A

1.15 Teach in (via LCP or fieldbus) (high) [Back] and [Cancel] on the LCP

1.16 Change sign on quick bus target position (high) N/A 2 Quick bus target position (MSB) N/A 3 Quick bus target position (LSB) N/A 4 Quick bus target velocity N/A 5 Quick bus target acceleration N/A 6 Quick Bus target deceleration N/A

7.1 Reference index bit 0 18

7.2 Reference index bit 1 19

7.3 Reference index bit 2 33

7.4 Reference index bit 3 32

7.5 Reference index bit 4 29

7.6 Reference index bit 5 N/A

Fieldbus mode Corresponding input

positioning (manual mode activated) (low)

4 4

Table 4.5 Fieldbus Control Signals (Inputs)

Electrical Installation Operating Instructions

Fieldbus control signals (outputs)

Fieldbus [word.bit]

1.1 Homing done (high) 1

1.2 Referenced position reached (high) 2

1.3 Error occurred (high) 3

1.4 Electro-mechanical brake closed (high) 04

1.5 Touch probe position locked (high) N/A

1.6 Watchdog output (toggling) N/A

1.7 Positive hardware limit (high) N/A

1.8 Negative hardware limit (high) N/A

2.1 Current index bit 0 4

2.2 Current index bit 1 5

2.3 Current index bit 2 6

2.4 Current index bit 3 7

2.5 Current index bit 4 8

2.6 Current index bit 5 N/A 3 Actual position (high word) 4 Actual position (low word) 5 Error status

Table 4.6 Fieldbus Control Signals (Outputs)

Fieldbus mode Corresponding output/parameter

Parameter 34-50 Actual Position (high word) Parameter 34-50 Actual Position (low word)

19-93 Error Status

Commissioning

5 Commissioning

Operating Instructions

5.1 Safety Instructions

Refer to the safety warnings in chapter 2 Safety before commissioning.

5.2 Basic Parameters Set-up

VLT Parameter Groups

Parameter 1-** Motor data, open or closed loop,

•

AMA Parameter 2-** Dynamic brake

•

Parameter 3-** Reference range and limits, Ramps

•

Parameter 4-** Speed limits, Torque limits

•

Parameter 7-** If using the Drive speed closed

•

loop, tune it before MCO PID

MCO Basic Parameters

Parameter 32-0* Encoder2 (feedback) set-up type

•

and resolution Parameter 32-3* Encoder1 (if used) set-up type

•

and resolution Parameter 32-6* Set PID values

•

Parameter 32-8* Maximum velocity, Ramps

•

5.3

Basic Set-up

Refer to the safety warnings in chapter 2 Safety before commissioning.

For information on applying power and operation of the LCP, refer to the VLT® AutomationDrive FC 301/FC 302

Operating Instructions.

1. Check the motor connection. Control the brake externally from the option until set-up is finished, because the mechanical brake control cannot be guaranteed during this basic set-up. Also ensure that the motor can rotate freely without causing damage or injury.

2. Remove all signals to inputs. Only Input 27 (coast), I8 (Qstop), I3 (Negative HW limit) and I2 (Positive HW limit) must be connected and high.

Select Off Mode

4. Run the Quick Set-up with the correct motor data.

Go to Hand on mode and set the frequency for a low positive value, for example +3 Hz in the reference value. The motor should now rotate.

6. If the motor rotates in the wrong (negative) direction, exchange the motor phases.

7. Set the parameters for feedback encoder in

parameter group 32-0* Encoder 2 parameters and, if needed, parameters for encoder in parameter group 32-3* Encoder 1 parameters.

For incremental encoder:

Set parameter 32-00 Incremental Signal Type to the type needed. Set the

resolution of the encoder in parameter 32-01 Incremental Resolution. Set parameter 32-00 Incremental Signal Type.

For absolute encoder:

Set parameter 32-00 Incremental Signal Type to [0]. Set parameter 32-02 Absolute Protocol to the encoder type used and 32-03 Absolute Resolution to the encoder

resolution. Set the data bit and clock settings for the absolute encoder from parameter 32-05 Absolute Encoder Data

Length to 32-08 Absolute Encoder Cable Length.

8. Press the [Status] button on the LCP. Now the

RPM and Actual Position values appear in the upper line of the display.

9. Optimise the PID controller(s).

5.4

PID Settings

Calculate Feed forward velocity (FFVEL – 32-65 Velocity Feed Forward)

FFVEL =

Use parameter 19-19 FFVEL Auto-calculation to specify if the calculation should be made automatically. This is only possible when encoder and speed parameters have been set.

MaxVelEnc x EncRes x Tsample

FFVEL = 32-65 Velocity Feed Forward

•

MaxVelEnc = parameter 32-80 Maximum Velocity

•

(Encoder)

EncRes = Encoder resolution

•

Tsample = PID sampling time (32-69 Sampling

•

Time for PID Control)

62914560000

For incremental and sinusoidal encoders:

EncRes = 4 x (32-01 Incremental Resolution)

For CAN encoders: EncRes = 1 x

(parameter 32-01 Incremental Resolution) For absolute encoders: EncRes = 32-03

Absolute Resolution

5 5

Commissioning Operating Instructions

Setting of PID:

19-05 User Actual Position Setting

Range: Function:

32-60 Proportional factor ≈ FFVEL/50 32-61 Derivative factor ≈ FFVEL/10 32-62 Integral factor = 5

5.5 Description of Application Parameters

5.5.1 19-** Application Parameters

The 19-** parameters configure the MCO 351 Positioning Controller specific application software. The other

parameters configure the underlying MCO firmware.

19-00 Control Mode

Option: Function:

[0] * MCO

control

[1] VLT control The motor is controlled by VLT and not by

The motor is controlled by MCO.

MCO. Manual running is possible. Note that the standard controller functions, for example, limit switches and other safety-related functions, are not active.

0 [–1073741824 to

1073741824]

At power-up, if parameter 33-00 Force Home is set to [0] Home not forced, the actual position is equal to the value set here.

19-06 Error Behaviour

Option: Function:

[0] * Electronic

brake

[1] Mechanical

brake

This parameter determines the behaviour of the motor after an error is detected. The motor ramps down to standstill with the shortest possible ramp (parameter 32-81). After achieving standstill it activates the electronic brake according to the setting of parameter 19-10 Coast Delay. If the motor is coasted at any point during ramp down (for example, due to an overcurrent trip), the motor immediately activates the brake and coasts the motor. The motor immediately activates the brake and coasts the motor.

NOTICE

19-01 Endless Positioning

Option: Function:

[0] * Limited The positioning is performed in a limited position

range without position overflow.

[1] Endless The positioning is performed continuously in 1

direction. Also remember to set parameters 19-08

Power Recovery, 33-43 Negative Software End Limit Active, and 33-44 Positive Software End Limit Active

to [0].

19-02 Block Direction

Option: Function:

[0] * No blocking The motor is enabled to move in both

directions.

[1] Block

reverse

[2] Block

forward

Defined as an error situation (“Reverse operation prohibited” – ERROR STATUS = 12) if the motor is moving in reverse direction. Defined as an error situation (“Forward operation prohibited” – ERROR STATUS = 13) if the motor is moving in forward direction.

19-03 Touch Probe Delay

Range: Function:

0 [1–100000 ms] This parameter enables compensation for any

fixed delay in the touch probe.

19-04 Control Source

Option: Function:

[0] * Digital I/O The positioning is controlled via digital inputs. [1] Fieldbus The positioning is controlled via fieldbus.

The brake is always activated after an error situation (or quick stop), regardless of the setting in parameter 19-09 Automatic Brake Control.

19-07 Error Reset

Option: Function:

[0] * No reset No error reset. [1] Reset

error

By selecting this option, it is possible to clear the error flag (if the reason for the error is not still present). The parameter automatically resets to [0] No reset when the error is successfully cleared.

19-08 Power-Recovery

Option: Function:

[0] Disabled When the power recovery function is disabled (set

to [0]), it is not possible to drive the application by any means (neither jogging nor positioning) as long as the application is outside the HW or SW limits. The only way to recover from this situation is to move the application by hand.

[1]*Enabled When the power recovery function is enabled (set

to [1]), it is possible to make a partial reset of the limit error (ERROR STATUS = 2/3/4/5), whereby it is possible to use the jogging function to drive the application out of the HW or SW limit area. It is not possible to drive the application with homing, positioning, or jogging (in the wrong direction), as long as the application is still within the HW or SW limit area. The error occurred output remains high to indicate that these restrictions are in effect. As soon as the application is moved

Commissioning Operating Instructions

19-08 Power-Recovery

Option: Function:

outside the HW or SW limit area, the error is automatically cleared and the error occurred signal goes low to indicate that normal operation is restored.

19-09 Automatic Brake Control

Option: Function:

[0] Disabled When the automatic brake control function is

disabled (set to [0]), the frequency converter control loop is active, even at standstill.

[1] * Enabled When the automatic brake control function is

enabled (set to [1]), the electromechanical brake is automatically activated every time the application has been at standstill for a time period specified in parameter 19-12 Hold Delay. This is especially useful in hoist applications where the motor could overheat if it has to deliver full torque at standstill for a prolonged period.

19-10 Coast Delay

Range: Function:

200ms [0–

1000 ms]

Used with the automatic brake control function. The coast delay is the delay after activating the electro-mechanical brake before disabling the controller and coasting the motor. Useful in hoisting applications where the load would otherwise drop a little after each stop. This is because the activation of the brake is slower than the deactivation of the motor.

19-11 Brake Delay

Range: Function:

200ms [0–

1000 ms]

Used with the automatic brake control function. The brake delay is the delay after activating the control and magnetising the motor, before the brake is deactivated. Useful in applications with (typically large) motors that take a longer time to be fully magnetised than the time it takes for the electro-mechanical brake to deactivate.

19-12 Hold Delay

Range: Function:

0 s [0–

10000 s]

Used with the automatic brake control function. The hold delay is a waiting period in which the brake is not activated, even though the application is at standstill. Useful in applications where a sequence of fast positioning commands is followed by longer standstill periods.

19-13 Brake Wear Limit

Range: Function:

0 [0–

1073741824 UU]

If a value higher than [0] (disabled) is set, the motor defines an error situation (Brake wear limit exceeded – ERROR STATUS = 7) if the drive moves more than the number of user units (UU) specified in this parameter while the electronic brake is activated.

19-14 Motor/Encoder Gear Numerator

Range: Function:

1 [1–

100000]

If the encoder is mounted on a gear where 5 revolutions of the motor correspond to 2 revolutions of the encoder, this parameter should be set to [5] (the number of motor revolutions) and parameter 19-15 Motor/Encoder Gear Denominator should be set to [2] (the number of encoder revolutions). If the encoder is mounted directly on the motor shaft, this parameter setting should remain at [1].

19-15 Motor/Encoder Gear Denominator

Range: Function:

1 [1–100000]

See the description of parameter 19-14 Motor/ Encoder Gear Numerator. If the encoder is mounted directly on the motor shaft, this parameter setting should remain at [1].

19-16 Maximum Jog Velocity

Range: Function:

100 ERPM [1–20000

ERPM]

The maximum speed allowed while jogging the application is specified in terms of Encoder Revolutions Per Minute (ERPM).

NOTICE

This setting must never exceed a value that is approximately 5% lower than the value in parameter 32-80 Maximum Velocity (Encoder).

19-17 Jog Ramp Time

Range: Function:

5000ms [10–

100000 ms]

19-18 Jog Velocity Scaling

Option: Function:

[0] * No scaling The jog velocity is defined in encoder

[1] Scaling The jog velocity is scaled by Motor/Encoder

This parameter specifies the ramp-up time and the ramp-down time used during jogging. The ramp time is defined as the time in milliseconds it would take to ramp from standstill to the maximum allowed velocity in parameter 32-80 Maximum Velocity (Encoder).

revolutions per minute (ERPM).

Gear Numerator/Gear Denominator.

5 5

Commissioning Operating Instructions

19-19 FFVEL Auto-calculation

Option: Function:

[0] * Disabled Automatic calculation is disabled for both

velocity feed forward (FFVEL) and velocity control loop (PID).

[1] FFVEL

enabled

[2] FFVEL +

PID

enabled

The optimal setting of parameter velocity feed forward is calculated automatically. This parameter automatically resets to [0] Disabled when the calculation is complete. The optimal setting of parameter velocity feed forward, proportional, derivative, and integral factor is calculated automatically. This parameter automatically resets to [0] Disabled when the calculation is complete. Parameter 32-80 Maximum Velocity Parameter 32-00 OR 32-02 Encoder type Parameter 32-01 OR 32-03 Encoder resolution Parameter 19-14 motor/encoder gear ratio

numerator Parameter 19-15 motor/encoder gear ratio denominator

NOTICE

A change to any one of these parameters prompts a recalculation, since the optimum value of the regulation parameters has changed.

19-20 Factory Reset

Option: Function:

[0] * Disabled No parameters reset. [1] Enabled Resets all parameter values to default and also

resets all trajectory data. The parameter automatically resets to [0] Disabled when the reset is successfully carried out.

19-21 Link LCP Input to Index

Option: Function:

[0] * Disabled Disables the automatic update of parameter

19-23 Index Number. This is necessary when programming a position number different from the one loaded into the PLC memory.

[1] Enabled

Parameter 19-23 Index Number is automatically updated with the last position reference number that has been loaded into memory. This enables the operator to see what position reference is given by the PLC system.

19-23 Index Number

Range: Function:

0 [0–31

(0–63 in fieldbus mode)]

Specifies which position data should be displayed in parameters 19-24 Index Target Position to 19-28 Index Trajectory Type. Whenever this number is changed, the current values of the index parameters are stored in the memory under the previously specified index number. After that, the values of the index parameters are updated with the data stored in the memory relevant to the newly specified index number.

19-24 Index Target Position

Range: Function:

0 [–

1073741824 to 1073741824 UU]

The meaning of this parameter depends on the position type specified in parameter 19-28 Trajectory Type. If parameter 19-28 Index Trajectory Type = [0] Absolute, the value of this parameter refers to an absolute position (relative to the fixed Home position). If parameter 19-28 Index Trajectory Type = [1] Relative, and the last position was obtained through jogging, the value of this parameter is a position relative to that position. If the last position was reached as a result of a positioning command, then the value of this parameter specifies a position relative to the last target position (whether it was reached or not). If parameter 19-28 Index Trajectory Type = [2] Touch probe positive, the application moves in the positive direction until a touch probe position is defined. If a touch probe position is already defined, the application moves directly to that position. A touch probe position is defined as the position at which the touch probe switch input goes high plus the value of parameter 19-24 Index Target Position. A touch probe position is cleared by a high signal on the reset touch probe position input. The output Touch probe position locked is high if a touch probe position is defined. If parameter 19-28 Trajectory Type = [3] Touch probe negative, the application moves in a negative direction until a touch probe position is defined. If a touch probe position is already defined, the application moves directly to that position.

NOTICE

This parameter is automatically updated depending on parameter 19-23 Index Number.

Commissioning Operating Instructions

19-25 Index Ramp Up Time

Range: Function:

5000 [10–

100000 ms]

The index ramp-up time is defined as the time in milliseconds it would take to ramp from standstill to the maximum allowed velocity set in parameter 32-80 Maximum Velocity (Encoder). This setting is relevant during positioning with the current trajectory index.

NOTICE

This parameter is automatically updated depending on parameter 19-23 Index Number.

19-26 Index Ramp Down Time

Range: Function:

5000 [10–

100000 ms]

The index ramp-down time is defined as the time in milliseconds it would take to ramp from the maximum allowed velocity set in parameter 32-80 Maximum Velocity (Encoder) to standstill. This setting is relevant during positioning with the current trajectory index.

NOTICE

This parameter is automatically updated depending on parameter 19-23 Index Number.

19-27 Index Maximum Velocity

Range: Function:

100 ERPM [1–20000

ERPM]

The index maximum velocity is defined as the velocity in encoder revolutions per minute (ERPM). This setting is relevant during positioning with the current trajectory index.

NOTICE

This parameter is automatically updated depending on parameter 19-23 Index Number. The setting should never exceed a value that is approximately 5% lower than the value calculated in parameter 32-80 Maximum Velocity (Encoder).

19-28 Index Trajectory Type

Option: Function:

[0] * Absolute

[1] Relative Positioning is relative to the last target

[2] Touch probe

positive

[3] Touch probe

negative

Positioning is absolute, related to the Home position.

position, whether it was reached or not. When jogging was executed previously, positioning is relative to the position reached via jogging. Positioning is relative to a touch probe position expected in positive direction. Positioning is relative to a touch probe position expected in negative direction.

Also see parameter 19-24 Index Target Position.

NOTICE

This parameter is automatically updated depending on parameter 19-23 Index Number.

19-29 Parameter Save

Option: Function:

[0] * No action No trajectory data saved. Trajectory data are

not automatically saved and are therefore not automatically available after powercycle.

[1] Save

persistent

19-30 Main Screen Setup Save

Option: Function:

[0] * No action Main screen set-up is not saved persistent.

[1] Save

persistent

19-31 Digital Jog in Field Bus mode

Option: Function:

[0] * Off [1] Activates jog with digital inputs (53, 54), also in field

bus mode.

19-90 Type/Version

Range: Function:

[351xxyy] The text in this parameter shows the MCO product

19-91 Software Version

Range: Function:

[xxyy] The text in this parameter shows the software version

number (xx = major version code, yy = minor version code).

19-92 New Index

Range: Function:

0 [0–31

(0–63 in fieldbus mode)]

Saves trajectory data persistent and parameters too. This parameter automatically resets to [0] when the data is saved successfully.

The main screen set-up is not automatically saved and is therefore not automatically available after a power-cycle. Saves main screen set-up persistent. This parameter automatically resets to [0] No action when the main screen set-up is saved successfully.

type/software version.

Currently latched index number.

5 5

Commissioning Operating Instructions

19-93 Error Status

Option: Function:

[0] * 0 = OK

1 = Homing needed 2 = Positive HW limit 3 = Negative HW limit 4 = Positive SW limit 5 = Negative SW limit 6 = VLT not running 7 = Brake wear limit 8 = Quick stop

9 = PID error too big 12 = Reverse operation 13 = Forward operation 92 = Encoder hardware error

This is a read-only parameter. It displays the current fault code.

Commissioning Operating Instructions

5.6 MCO Basic Settings

5.6.1 32-0* and 32-1*, Encoder 2 Parameters

The 32-0* and 32-1* parameters configure the interface for encoder 2.

32-00 Incremental Signal Type (0x1234) Slave Denominator (Subindex 02)

This parameter specifies the type of incremental encoder connection to Encoder 2 interface (X55 and X62 if a CAN encoder is used).

Option: Function:

[0] None No incremental encoder is

used.

[1] * RS422 (5 V TTL) Digital incremental encoder

with an interface according to RS422 is connected.

[2] Sinusoidal 1 Vpp Analog incremental encoder

with 1 V peak-peak signal is connected.

[3] CAN encoder CAN encoder is used.

32-01 Incremental Resolution

Range: Function:

1024* [1073741823] The encoder resolution is used to

calculate velocity in RPM (revolutions per minute) as well as time-out for detection of the zero pulse with homing. Set the resolution of the incremental encoder connected to Encoder 2 interface (X55 and X62 if a CAN encoder is used). The encoder resolution can be found on the encoder nameplate or datasheet. If parameter 32-00 Incremental Signal Type is set to:

[0] Digital incremental encoder,

•

the resolution must be set in pulses per revolution.

[1] Analog incremental encoder,

•

the resolution must be set in sinusoidal signal periods per revolution.

[2] CAN encoder and the CAN

•

encoder is an incremental encoder, the resolution must be set in pulses per revolution. If the CAN encoder is an absolute encoder, the resolution must be set in (pulses per revolution)/4.

NOTICE

The parameters for the incremental resolution (32-01 or 32-31) are always used, even if the CAN encoder is an

absolute encoder. But a quarter of the encoder resolution must be set for a CAN absolute encoder. The reason is the internal calculation, which uses 4 times the number of counts, because an incremental encoder returns 4 times more quad counts than its counts. An absolute encoder only returns this real resolution as a maximum value.

NOTICE

When [3] Motor Control is selected in parameter 32-50 Source Slave, the resolution can be set with this

parameter. The resolution value must be a second power, otherwise rounding errors lead to positioning drifts. The maximum frequency of the encoder signal must not exceed 410 kHz. The parameter is only visible when parameter 32-00 Incremental Signal Type is not set to [0] None.

32-02 Absolute Protocol

This parameter specifies the type of absolute encoder connected to Encoder 2 interface (X55 and X62 if a CAN encoder is used).

Option: Function:

[0] * None No absolute encoder is connected. [1] HIPERFACE HIPERFACE absolute encoder is connected.

The selection includes the default settings encoder ID 1 and encoder parity even.

[4] SSI An absolute encoder with SSI interface is

connected

[5] SSI with filter An absolute encoder with SSI interface is

connected and the communication/ signal is unstable.

A leap in the position data is detected if it is larger than the encoder resolution/2. The correction is made with an artificial position value, which is calculated from the last velocity. If the error continues for more than 100 readouts (>100 ms), there is no further correction, which then leads to a position error (error 108).

32-03 Absolute Resolution

Range: Function:

8192* [1 to

1073741823]

The encoder resolution is used to calculate the velocity in RPM (revolutions per minute). Set the resolution of the absolute encoder connected to Encoder 2 interface (X55/X62) in positions per revolution. The encoder resolution can be found on the encoder nameplate or datasheet.

5 5

Commissioning Operating Instructions

NOTICE

The parameter is only visible when parameter 32-02 Absolute Protocol is not set to [0] None.

32-04 Absolute Encoder Baudrate X55

Select the baud rate of the attached encoder.

Option: Function:

[0] 600 Baud [1] 1200 [2] 2400

[3] 4800 [4] * 9600 [5] 19200 [6] 38400

32-05 Absolute Encoder Data Length

Range: Function:

25* [8-37 Bit] Specify the number of data bits for the

connected absolute encoder, see encoder datasheet. This is required for the MCO to generate the correct number of clock bits.

NOTICE

The parameter is only visible when parameter 32-02 Absolute Protocol is not set to [0] None.

32-06 Absolute Encoder Clock Frequency

Range: Function:

262.000* [78.124–

2000.000 kHz]

Specifies the frequency of the absolute encoder clock signal generated by the MCO. Set a frequency appropriate for the connected encoder.

NOTICE

This parameter is only visible when parameter 32-02 Absolute Protocol is not set to [0] None.

32-07 Absolute Encoder Clock Generation

Select whether the MCO should generate an absolute encoder clock signal or not.

Option: Function:

[0] Off Select this option if more MCOs are connected to the

same absolute encoder and another MCO generates the clock signal. Only 1 device is allowed to generate the clock signal and only 1 device (encoder or MCO) is allowed to generate the data signal when multiple MCOs are interconnected.

[1] * On Select this option if the MCO is the only clock

generator for the connected absolute encoder.

NOTICE

This parameter is only visible when parameter 32-02 Absolute Protocol is not set to [0].

32-08 Absolute Encoder Cable Length

Range: Function:

0* [0-300m]The absolute encoder (SSI) clock and data signals

will be out of synchronisation if the signal delay caused by the encoder cable is too long. The MCO automatically compensates the cable delay when the cable length is known. The cable delay compensation is based on a cable delay of approximately 6 ns (6 x 10-9 seconds) per meter. Specify the total cable length (in meters) between the MCO and the absolute encoder.

NOTICE

This parameter is only visible when parameter 32-02 Absolute Protocol is not set to [0] None.

32-09 Encoder Monitoring

Monitoring of open-circuit and short-circuit of the encoder inputs can be enabled or disabled. An encoder error issues fault code 192.

Option: Function:

[0] * Off Hardware monitoring is not

required.

[1] 3 channels All 3 channels (A, B, and

Index) are monitored.

[2] 2 channels Channels A and B are

monitored.

32-10 Rotational Direction

Normally, a positive reference value initiates a positive change of the position. If not, the reference value can be reversed internally.

Option: Function:

[1] * No action No change. Positive reference values

produce positive encoder values.

[2] Reference

reversed

[3] User Units

reversed (–1)

The sign of the reference value is reversed internally (plus becomes minus and vice-versa). This is equal to a reversal of the motor cables, or a transposition of the A and B tracks on the encoder. The sign of the user unit is reversed. Thus, positive reference values produce positive encoder values which are indicated as negative values, however. This applies to all outputs (parameters

34-50 Actual Position, 34-51 Commanded Position, …), all user inputs (parameter 19-24 Index Target Position, …), and all

synchronization factors, as well as the velocities (parameter 33-03 Velocity of Home Motion).

130BD771.10

500 25

50 1

qc =

1000

qc = qc = 1 UU

4 10 4

130BD772.10

500 5

3600 3600

qc =

qc = 1 UU

qc = 1 UU =

Parameter 32-12 User Unit Numerator

Parameter 32-11 User Unit Denominator

4 500 4

Commissioning Operating Instructions

32-10 Rotational Direction

Normally, a positive reference value initiates a positive change of the position. If not, the reference value can be reversed internally.

Option: Function:

[4] User Units and

Reference reversed (–2)

The sign of the reference value is reversed internally; in addition, the sign of the user unit is negated as in option [3].

32-11 User Unit Denominator

Range: Function:

1* [1 to

1073741823]

All path information in motion commands is made in user units and are converted to quadcounts internally. By selecting these scaling units correspondingly, it is possible to work with any technical measurement unit (for example mm). This factor is a fraction, which consists of a numerator and denominator.

1 UU =

P32-12 User Unit Numerator

P32-11 User Unit Denominator

Scaling determines how many quad-counts make up a user unit. For example, if it is 50375/1000, then 1 UU corresponds to exactly

50.375 qc.

32-12 User Unit Numerator

Range: Function:

1* [1 to

10737418237/ max. position (UU)]

All path information in motion commands is made in user units and is converted to quadcounts internally. By selecting these scaling units correspondingly, it is possible to work with any technical measurement unit (for example mm). This factor is a fraction, which consists of a numerator and denominator.

1 UU =

P32-12 User Unit Numerator

P32-11 User Unit Denominator

Scaling determines how many quad-counts make up a user unit.

Example 1

Shaft or spindle

25 motor revolutions result in 1 spindle revolution; gearing factor = 25/1 Encoder resolution (incremental encoder) = 500 Spindle gradient = 1 revolution of the spindle = 5 mm Scaling factor when working with 1/10 mm resolution = 5 x 10 = 50

Illustration 5.1 Example 1

32-12 User Unit Numerator

Range: Function:

Parameter 32-11 User Unit Denominator = 1

Example 2

Cylinder

Gear factor = 5/1 Encoder resolution (incremental encoder) = 500 One revolution of the cylinder is 360 degrees. Work with a resolution of 1/10 degrees, which means that 1 revolution of the cylinder is divided into 3600 units. Scaling factor = 3600

Illustration 5.2 Example 2

Parameter 32-12 User Unit Numerator = 25 Parameter 32-11 User Unit Denominator = 9

32-14 Encoder 2 node ID

Range: Function:

127* [1-127] Enter the feedback CAN encoder node ID.

32-15 Encoder 2 CAN Guard

Feedback CAN encoder guardians can be enabled or disabled.

Option: Function:

[0] * Off Default setting. No monitoring. [1] On Feedback CAN encoder is monitored.

5.6.2 32-3* and 32-4*, Encoder 1 Parameters

The 32-3* and 32-4* parameters configure the interface for encoder 1.

32-30 Incremental Signal Type

Specifies the type of incremental encoder connected to Encoder 1 interface (X56 and X62 if a CAN encoder is used).

Option: Function:

[0] None No incremental encoder is

connected.

[1] * RS422 (5 V TTL) A digital incremental encoder with

an interface according to RS-422 is connected.

[3] CAN encoder An encoder with a CAN interface is

connected.

5 5

Parameter 32-12 User Unit Numerator = 1000

Commissioning Operating Instructions

32-31 Incremental Resolution

Range: Function:

1024* [1 to

1073741823]

Set the resolution of the incremental encoder connected to Encoder 1 interface (X56). The encoder resolution can be found on the encoder nameplate or datasheet.

Digital incremental encoder

•

(parameter 32-30 = [1]): The resolution must be set in pulses per revolution.

CAN encoder (parameter 32-30 =

•

[3]):

Incremental encoder:

Pulses per revolution

Absolute encoder:

Pulses per revolution/4

32-34 Absolute Encoder Baudrate X56

Select the baud rate of the attached encoder.

Option: Function:

[0] 600 Baud [1] 1200 Baud [2] 2400 Baud [3] 4800 Baud [4] * 9600 Baud [5] 19200 Baud [6] 38400 Baud

32-35 Absolute Encoder Data Length

Range: Function:

25* [8-37 Bit] Specifies the number of data bits for the

connected absolute encoder, see encoder datasheet. This is required for the MCO to generate the correct number of clock bits.

NOTICE

The parameters for the incremental resolution (32-01 or 32-31) are always used, even if the CAN encoder is an

absolute encoder. However, a quarter of the encoder resolution must be set for a CAN absolute encoder. The maximum frequency of the encoder signal must not exceed 410 kHz. This parameter is only visible when parameter 32-30 is not set to [0] None.

32-32 Absolute Protocol

Specifies the type of absolute encoder connected to Encoder 1 interface (X56/X62).

Option: Function:

[0] * None No absolute encoder is connected. [4] SSI An absolute encoder with SSI interface is

connected.

[5] SSI with filter An absolute encoder with SSI interface is

connected and the communication/signal is unstable.

32-33 Absolute Resolution

Range: Function:

8192* [1 to 1073741823] This parameter is only visible when

parameter 32-32 Absolute Protocol is not set to [0] None.

The parameter is only visible when parameter 32-32 Absolute Protocol is not set to [0] None.

32-36 Absolute Encoder Clock Frequency

Range: Function:

262.000* [78.125–

2000.000 kHz]

Specifies the frequency of the absolute encoder clock signal generated by the MCO. Set a frequency appropriate for the connected encoder.

NOTICE

The parameter is only visible when parameter 32-32 Absolute Protocol is not set to [0] None.

32-37 Absolute Encoder Clock Generation

Select whether the MCO should generate an absolute encoder clock signal or not.

Option: Function:

[0] Off Select this option if more MCOs are connected to the

[1] * On Select this option if the MCO is the only clock

generator for the connected absolute encoder.

NOTICE

This parameter is only visible when parameter 32-32 Absolute Protocol is not set to [0] None.

Commissioning Operating Instructions

32-38 Absolute Encoder Cable Length

Range: Function:

0* [0–

300 m]

The absolute encoder (SSI) clock and data signals will be out of synchronisation if the signal delay caused by the encoder cable is too long. The MCO automatically compensates the cable delay when the cable length is known. The cable delay compensation is based on a cable delay of approximately 6 ns (6 x 10-9 seconds) per meter. Specify the total cable length (in meters) between the MCO and the absolute encoder.

NOTICE

This parameter is only visible when parameter 32-32 Absolute Protocol is not set to [0] None.

32-39 Encoder Monitoring

Monitoring of open-circuit and short-circuit of the encoder inputs can be enabled or disabled. An encoder error issues fault code 192.

Option: Function:

[0] * Off Hardware monitoring is not

required.

[1] 3 channels All 3 channels (A, B, and

Index) are monitored.

[2] 2 channels Channels A and B are

monitored.

32-40 Encoder Termination

Termination resistors can be switched on or off for encoder 1.

Option: Function:

[0] Off Select this option if high input impedance is required

when 1 encoder is connected to multiple MCOs.

[1] * On Select this option when the encoder is only connected

to this MCO.

32-43 Encoder 1 Control

The encoder control word configures the position evaluation after a change of encoder source. Soft encoder changing is useful if encoders should be switched while running. If this is done without using this parameter, then setting the new encoder typically causes a position error because the encoder values are not the same.

Option: Function:

[0] * No soft changing Select this option to switch

directly to the position data of the new encoder.

[1] Encoder soft

changing enable

Select this option to not switch entirely to the value of the new encoder. Instead, the old value is kept and the differences from the new encoder are added. This makes it possible to change encoders “on the run”.

32-43 Encoder 1 Control

Option: Function:

[2] Soft zero setting

enable

[3] Encoder soft

changing and soft zero enable

Select this option if it is not desired to really change the encoder value when homing is carried out. If the soft zero setting is on, then homing can be carried out and the new reported actual position is [0] afterwards. This option enables the smooth changing of the feedback encoder in the software while running, and setting the position to [0] without losing the actual position.

32-44 Encoder 1 node ID

Range: Function:

127* [1–127] Enter the CAN encoder node ID.

32-45 Encoder 1 CAN Guard

CAN encoder guardians can be enabled or disabled.

Option: Function:

[0] * Off Default setting. No monitoring. [1] On CAN encoder is monitored.

5.6.3 32-5* Feedback Source

The 32-5* parameters configure the feedback source.

32-50 Source Slave

Specifies the feedback source for MCO.

Option: Function:

[1] Encoder 1

X56

[2] * Encoder 2

X55

[3] Motor Control Select this option for MCO feedback from

Select this option to use encoder 1 as the feedback source. Select this option to use encoder 2 as the feedback source.

the feedback source specified in parameter 1-02 Flux Motor Feedback Source. This can be an internal 24 V encoder, encoder option, or resolver option. The resolution for Motor Control can be set in parameter 32-01 Incremental Resolution.

5 5

Commissioning Operating Instructions

32-52 Source Master

Option: Function:

[1] * Encoder 1 X56 Source master is encoder 1 on X56. [2] Encoder 2 X55 Source master is encoder 2 on X55. [3] Motor Control This source master can be an internal 24 V

encoder, encoder option, or resolver option.

5.6.4 32-6* and 32-7*, PID-Controller Parameters

The 32-6* and 32-7* parameters optimise the controller.

32-60 Proportional Factor

Range: Function:

30* [0–

100000]

The proportional factor indicates the linear correction factor with which the deviation between the current set and actual position is evaluated and a corresponding correction of the motor speed is made. The greater the value, the stiffer the motor behaviour becomes. There is a tendency to overswing if the value is too high.

32-61 Derivative Value for PID Control

Range: Function:

0* [0–100000] The derivative value is the correction factor with

which the changing speed of a motor position error is evaluated. The derivative value works against the tendency to overswing due to a high P-share and dampens the system. However, if the derivative value selected is too large, this leads to unstable motor behaviour.

32-62 Integral Factor

Range: Function:

0* [0–

100000]

The integral factor is the weighting factor with which, at time n, the sum of all motor position errors are evaluated. The integral factor of the PID filter causes a corresponding corrective motor torque, which increases over time. Through the integral share, a static position error is reduced to 0, even if a constant load is affecting the motor. However, an integral factor, which is too large leads to unstable motor behaviour.

32-63 Limit Value for Integral Sum

Range: Function:

1000* [0–1000] 0 = integral off.

Limits the integral sum to avoid instability and PID wind-up in case of feedback error.

32-64 PID Bandwidth

Range: Function:

1000* [0–1000

[1/10%]]

0 = PID off. The value 1000 means that the PID filter can output the full command value. For a Bandwidth of 500, only 50% of the set value is

32-64 PID Bandwidth

Range: Function:

output. Thus, values less than 1000 limit the P-share accordingly. The bandwidth, in which the PID controller should function, can be limited. For example, to avoid the build-up of vibration for a system, which could be jeopardised by vibration. However, it is then necessary to enter considerably higher values for the parameters 32-65 Velocity Feed-Forward and 32-66 Acceleration Feed-Forward to achieve the corresponding control. A system adjusted in such a manner is not as dynamic as it could be, but is considerably more stable and experiences less uncontrolled vibration.

32-65 Velocity Feed-Forward

Range: Function:

0* [0–

100000]

When a control has a limited bandwidth, a base velocity must be set. This rules out that the control entirely prevents the motor from running due to the limit set. This parameter indicates the value with which the velocity forward feed is completed. When working with a normal PID algorithm, the velocity feed-forward must always be the same as the derivative factor to achieve typical dampening derivative.

32-66 Acceleration Feed-Forward

Range: Function:

0* [0–

100000]

Set the base acceleration whenever the bandwidth is limited. This prevents the control from not accelerating at all due to the limit set. This parameter indicates the value with which the acceleration forward feed is completed. For a normal PID algorithm, this value is equal to 0.

32-67 Maximum Tolerated Position Error

Range: Function:

20000* [1 to

1073741823 qc]

Defines the tolerance allowed between the current actual position and the calculated command position. If the defined value is exceeded, the position control is turned off and a position error is triggered. The position error does not affect the positioning accuracy. It determines how precisely the theoretically calculated path of motion must be followed, without an error being triggered. However, to avoid frequent errors, the value must be bigger than the capability of the axis, to follow the position generated by the trajectory generator. As a guideline, it is wise to set the quadruple of encoder counts per

Control ON

Control OFF

Control ON

Deactivation

Size

Deactivation

Size

Activation

Size

Activation

Size

Target

Position

130BD767.10

Commissioning Operating Instructions

32-67 Maximum Tolerated Position Error

Range: Function:

revolution. This corresponds to 1 encoder rotation.

WARNING

UNINTENDED START

The motor can restart unintentionally if the value of this parameter is higher than the acceptable position deviation.

Ensure that the value of this parameter is lower

•

32-71 Size of the Control Window (Activation)

Range: Function:

0* [0 to

1073741823 qc]

The parameters 32-71 Size of the Control

Window (Activation) and 32-72 Size of the Control Window (Deactivation) are used to

turn the position control within defined areas (control windows) on and off. Parameter 32-71 Size of the Control Window (Activation) indicates the size of the window outside of which the control should restart.

than the acceptable position deviation.

32-68 Reverse Behaviour for Slave

This parameter determines the behaviour while moving in reverse (moving in a negative direction).

Option: Function:

[0] * Reversing allowed. – [1] Reversing only allowed

when the master is reversed.

[2] Reversing blocked. –

–

32-69 Sampling Time for PID Control

Range: Function:

2* [1–

1000 ms]

Determines the sampling time of the position control algorithm. For example, increase the value of the factory settings as follows:

For very low pulse frequencies, such as 1–

•

2 qc per sampling time: At least 10–20 qc per sampling time are required.

For very slow systems with a long dead

•

time: If 1 ms is used here for control, large motors will vibrate.

NOTICE

This value has a direct effect on the feedforward calculation. For example, if the value in this parameter is doubled, then the effectiveness of parameter 32-65 Velocity Feed-Forward is halved.

32-70 Scan Time for Profile Generator

This parameter sets the sample time for the profile generator, which is independent of the sample time for the PID controller. For demanding background control tasks, the execution time of the application programme may rise drastically. In such cases, the profile generator scan time can be increased to 2. Values higher than 2 ms provide hardly any benefits.

Option: Function:

[1] 1 ms – [2] * 2 ms – [3] 3 ms – [4] 4 ms – [5] 5 ms –

Illustration 5.3 Size of the Control Window

32-72 Size of the Control Window (Deactivation)

Range: Function:

0* [0 to 1073741823

qc]

Indicates the size of the window inside of which the control is to be deactivated until parameter 32-71 Size of the Control Window (Activation) is reached again.

32-73 Integral Limit Filter Time

Range: Function:

0* [–10000

to 10000]

Time in ms, which is used to increase or decrease the integral limit of the position control loop up to parameter 32-63 Limit Value for Integral Sum. The integral part of the PID position control loop can be active all the time, just during a movement, or just at standstill. The value of this parameter determines this behaviour. Using value 0 activates the integral part of the PID position control loop all the time according to parameter 32-62 Integral Factor and the limitation parameter 32-63 Limit Value for Integral Sum. Using a value >0 activates the integral part of the PID position control loop just during a motor movement. If the motor is at standstill, the integral part is reduced to 0. If the motor starts to move, the integration limit is increased from 0 to the defined value in 32-63 Limit Value for Integral Sum within the period of time set in parameter 32-73 Integral Limit Filter Time. If the motor stops again, the integral part is reduced again by decreasing the limit to 0 within the defined period. This handling of the integral part can be an advantage for synchronisation applications, where

5 5

130BD768.10

1 2 3

0 50 100 150 200 250 300 350 400 450

130BD769.10

1 2 3

0 50 100 150 200 250 300 350 400 450

130BD770.10

1 2 3

0 50 100 150 200 250 300 350 400 450

500 550

Commissioning

Operating Instructions

32-73 Integral Limit Filter Time

Range: Function:

low synchronisation errors are requested, but no hard regulation at standstill is desired. Using a value <0 only activates the integral part of the PID position control loop at standstill. If the motor starts to move, the integral part is reduced to 0 by decreasing the integration limit within the period of time given by the absolute value set in parameter 32-73 Integral Limit Filter Time. If the motor stops again, the integration

limit increased from 0 to the value defined in parameter 32-63 Limit Value for Integral Sum

32-81 Shortest Ramp

Range: Function:

phase to achieve the rated velocity. Always set the ramps via the option card and not in the frequency converter. The frequency converter ramps (parameters 3-41 and 3-42) must always be set to minimum.

32-82 Ramp Type

This parameter defines the ramp type: trapeze, sinusoidal, or limited jerk. These ramp types are relevant for all movements.

Option: Function:

[0] * Linear

within the defined period of time. This handling of the integral part can be helpful to prevent unstable motor behaviour during a movement, but still ensure an accurate positioning result at standstill. Also see parameters 32-60 Proportional Factor and 32-61 Derivative Value for PID Control.

Illustration 5.4 Linear Ramp

32-74 Position Error Filter Time

Range: Function:

0* [0–

10000]

Time frame in milliseconds for triggering position error state. Too large tracking errors (parameter 19-93 Error Status = 9) only trigger an error state if they exist longer than the position error filter time set in this parameter. The default value is [0]. If the value is not [0], then a position error is only produced if the value in parameter 32-67 Maximum Tolerated Position Error is exceeded for a time longer than the position error filter time.

[1] S-ramp

1 = Acceleration 2 = Speed 3 = Position

Illustration 5.5 S-Ramp

5.6.5 32-8* Velocity & Acceleration

The 32-8* parameters specify velocity, acceleration, and ramp.

32-80 Maximum Velocity (Encoder)

Range: Function:

1500* [1–

100000 RPM]

32-81 Shortest Ramp

Range: Function:

1.000* [0.001–

3600.000 s]

This parameter defines the rated speed of the motor. This value is listed in RPM and is needed for the calculation of ramps and actual velocities. The nominal speed refers to the speed of the encoder. For linear encoders, this equals the number of increments per minute divided by the value in parameter 32-01 Incremental Resolution or 32-03 Absolute Resolution.

This parameter determines the shortest ramp (maximum acceleration). It indicates the length of the minimum acceleration

1 = Acceleration 2 = Speed 3 = Position

[2] Movements with

limited jerk

Illustration 5.6 Movements with Limited Jerk

1 = Acceleration 2 = Speed 3 = Position

Movements with limited jerk start with acceleration 0 and increase acceleration by maximum jerk until the maximum acceleration (defined by parameter 32-81 Shortest Ramp) is

Commissioning Operating Instructions

reached. The movement then continues with maximum acceleration. At the end, the acceleration is decreased by maximum jerk until acceleration returns to 0. The maximum jerk is calculated by parameter 32-86 Acceleration Up for Limited Jerk.

When using ramp type 2, also see parameters 32-86 to 32-89.

32-83 Velocity Resolution

Range: Function:

1000* [Fixed

to 1000]

Defines a relative size for the velocity values of the motion commands and parameters. The information concerning speed and acceleration can then be made in whole numbers in relation to this scaling. The value 1000 means that the information in the commands is related to 1000, thus in per mill.

32-84 Default Velocity

Range: Function:

50* [1 to value in

parameter 32-83 Velocity Resolution]

Indicates the default velocity, which is always used when no velocity is defined in the application. This value refers to parameter 32-83 Velocity Resolution.

32-85 Default Acceleration

Range: Function:

100* [0 to

1073741823]

Indicates the default acceleration used when an acceleration value is not defined in the application. This value is in relation to parameter 32-81 Shortest

Ramp and refers to parameter 32-83 Velocity Resolution.

32-86 Acceleration Up for Limited Jerk

Range: Function:

100* [0 to

1073741823 ms]

Acceleration ramp-up constant for limited jerk movements. This specifies the time in ms required to ramp the acceleration up from 0 to maximum acceleration. There are 4 different parameters for limited jerk: 32-86 to 32-89. In this parameter, the maximum jerk used in parameter 32-82 Ramp Type for ramp type 2 is calculated. The following formulae are used:

Max. accel. =

Max. jerk =

Max. velocity

Parameter 32-81

Max. accel.

Parameter 32-86

NOTICE

Parameters 32-81 Shortest Ramp and 32-86 Acceleration Up for Limited Jerk

are time values in milliseconds.

Calculation sample:

32-86 Acceleration Up for Limited Jerk

Range: Function:

32-80 Maximum Velocity (Encoder) = 3000 RPM 32-01, 32-31 Incremental Resolution = 500 counts/rev PPR

32-81 Shortest Ramp = 500 ms 32-86 Acceleration Up for Limited Jerk = 200

ms This results in: 32-80 Maximum Velocity (Encoder) = 3000 x 500 x (4/60) = 100000 qc/s = 100 qc/ms MaxAcc = 200000 qc/s2 = 0.2 qc/ms MaxJerk = 1000000 qc/s3 = 0.001 qc/ms

32-87 Acceleration Down for Limited Jerk

Range: Function:

0* [0 to

1073741823 ms]

Acceleration ramp-down constant. This specifies the time in milliseconds required to ramp the acceleration down from maximum acceleration to 0 (that is, normally to constant maximum velocity). If set to [0], this defaults to the same value as in parameter 32-86 Acceleration Up for Limited Jerk.

NOTICE

If set to [0], this defaults to the same value as parameter 32-86 Acceleration Up for Limited Jerk.

32-88 Deceleration Up for Limited Jerk

Range: Function:

0* [0 to 1073741823

ms]

Deceleration ramp-up constant. This specifies the number of milliseconds required to ramp the deceleration up from 0 to maximum deceleration.

NOTICE

If set to [0], this defaults to the same value as parameter 32-86 Acceleration Up for Limited Jerk.

32-89 Decleration Down for Limited Jerk

Range: Function:

0* [0 to 1073741823

ms]

Deceleration ramp-down constant. This specifies the number of milliseconds required to ramp the deceleration down from maximum deceleration to 0 (that is, normally to 0 velocity).

NOTICE

If set to [0], this defaults to the same value as 32-86 Acceleration Up for Limited Jerk

5 5

Commissioning

Operating Instructions

5.7 MCO Advanced Settings

5.7.1 33-0* Home Motion

NOTICE

Ramp for Home Motion can never have a higher value than parameter 32-85 Default Acceleration.

The 33-0* parameters specify the behaviour for homing run and home motion.

33-00 Force Home

Option: Function:

[0] * Homing

run is not forced

[1] Home

forced

After being turned on the current position is valid as the real zero point.

After turning on the frequency converter and after changing axis parameters, a forced tracking of the home position must be made before a motion command is executed, either directly or by the programme. In this setting, movement to the home position must be completed before any other positioning movement can take place. For a motion command that is not executed with a terminated homing run, the error 1 is triggered in parameter 19-93 Error Status.

33-03 Velocity of Home Motion

Range: Function:

10* [– value to +

value in parameter 32-83

Velocity Resolution]

Determines the velocity of home motion, with which the movement to the reference switch is made. The velocity refers to the rated speed and depends on parameter 32-83 Velocity Resolution. A negative sign means that the search is made in the other direction. The following cohesion for the ramp is calculated as follows: Home velocity in RPM =

P33-03 P32-83

NOTICE

Since the program always searches for the reference switch in the same direction of rotation (depending on sign), this should be set at the limits of the motion area.

NOTICE

For safety reasons, and to avoid false positioning, the parameter should always be set to [1], which forces tracking of the home position. However, to ensure correct function, a homing run must be completed before the first motion command.

This is the only way to guarantee that the motor actually moves towards, rather than away from, the reference switch when moving home. To maintain a good repeatability of the reference motion, do not use more than 10% of the maximum speed.

33-01 Zero Point Offset from Home Position

Range: Function:

0* [–1073741823 to

+1073741823 qc]

Used to introduce an offset compared to the reference switch or index pulse. After homing, the motor is positioned to the value in this parameter.

33-02 Ramp for Home Motion

Range: Function:

10* [1 to value in

parameter 32-83

Velocity Resolution]

Acceleration to be used during movement to home position. This statement refers to the minimum ramp, defined in parameter 32-81 Shortest Ramp. This unit results from parameter 32-83 Velocity Resolution usually in % of the minimal ramp; 50% means half as fast, that is, twice as long. The following formula for the ramp is calculated as follows: Home ramp time =

P32-83 P33-02

× P32-81 in ms

33-04 Behaviour during Home Motion

Option: Function:

[0] * Reverse and

index

[1] Reverse no

index

[2] Forward and

index

[3] Forward no

index

Moves to reference switch with velocity of home motion and direction, then reverses and slowly leaves the switch. Then it moves to the next index impulse. As option [0], but does not search for index impulse. As option [0] but without reversing. Instead it continues movement in the same direction out of the switch. As option [1] but without reversing.

5.7.2 33-4* Limit Handling

The 33-4* parameters determine the limit switch behaviour.

When the positive or negative hardware limit switch has been activated, the movement is stopped. Parameter 19-93

Error Status is set to either [2] Positive HW limit or [3] Negative HW limit. For behaviour after an error, see

parameter 33-83 Behaviour after Error.

Commissioning

Operating Instructions

33-41 Negative Software End Limit

Range: Function:

–500000* [–1073741823

to +1073741823 qc]

Indicates the negative position limit for all movements. If this value is exceeded, then error 5 is triggered. This parameter is only active if parameter 33-43 Negative Software End Limit Active has been set. If a positioning command is entered, which exceeds the limits set, then it is not executed.

33-42 Positive Software End Limit

Range: Function:

500000* [–1073741823

to +1073741823 qc]

Indicates the positive position limit for all movements. If this value is exceeded, then error 4 is triggered. This parameter is only active if parameter 33-44 Positive Software End Limit Active has been set. If a positioning command is entered, which exceeds the limits set, it is not executed.

33-43 Negative Software End Limit Active

Option: Function:

[0] * Inactive Negative software end limit is not monitored. [1] Active The negative software end limit is monitored.

During every movement, checks ascertain whether the target position is located outside of the permissible movement range. In this case, error message 5 is issued in parameter 19-93 Error Status, and the motor control is switched off.

33-44 Positive Software End Limit Active

Option: Function:

[0] * Inactive Positive software end limit is not monitored. [1] Active The positive software end limit is monitored.

During every movement, checks ascertain whether the target position is located outside of the permissible movement range. In this case, error message 4 is issued in parameter 19-93 Error Status, and the motor control is switched off.

33-45 Time in Target Window

Range: Function:

0* [0–10

ms]

Once the target window has been reached, the position is read twice and the difference is compared with parameter 33-46 Target Window Limit Value. If the result is lower, then the position has been reached, otherwise a new reading is taken. This parameter indicates the time interval between the measurements.

NOTICE

The time is limited to 10 ms because during that time the application program is blocked, and the monitoring of the limit switch and the position error is not active.

33-46 Target Window Limit Value

Range: Function:

1* [1–10000

qc]

The target window is read with an interval of the time set in parameter 33-45 Time in Target Window. The target window has been reached when 2 consecutive readings are within the target window set in parameter 33-46 Target Window Limit Value.

NOTICE

Example: When the time set in parameter 33-45 Time in Target Window is 1000 ms, then the target window is

registered as reached 1000 ms after the position is within the target window.

33-47 Size of Target Window

Range: Function:

0* [0–

10000 qc]

0 = Off Indicates the size of the target window. A position is only viewed as reached when the trajectory generator is finished, the actual position is within the window, and the velocity is less than parameter 33-46 Target Window Limit Value (prerequisite is that both parameters 33-47 Size of Target Window and 33-45 Time in Target Window are activated.) In this content the velocity is given as:

P33-46 in qc

P33-45

The controller waits to execute the next command until the actual position is within the target window. If this parameter is not active, the target has been reached if the set position equals the target position. However, this does not necessarily correspond with the actual position of the motor.

NOTICE

If the target window surrounding the end position is selected to be too small, the motor could move in a small area around the end position, without reaching the target window. Thus the application programme would be stuck after the corresponding positioning command. A target window of 0 deactivates the monitoring of the actual position and only monitors the command position.

5 5

Commissioning Operating Instructions

NOTICE

Different handling of the target window to adapt to the needs of CANopen: If parameter 33-45 Time in Target

Window is set but parameter 33-46 Target Window Limit Value is not set, then it is assumed that a CANopen

encoder is used. In that case, it is checked if the time within the target window is longer than the value set in parameter 33-45 Time in Target Window. If so, the position has been reached. Otherwise, the position has not been reached.

5.7.3 33-8*, Global Parameters

33-81 Power-up State

Option: Function:

[0] Motor

off

[1] * MotoronSelect this option if the motor must be

Select this option if the motor must remain uncontrolled (the frequency converter is coasted) after power-up. Frequency converter and position control must be enabled by pressing [Auto On] on the LCP before movement can be started.

controlled after power-up, the positioning controller is active and keeps the actual position until another control command is given.

33-83 Behaviour After Error

With hardware and software limit switches, it is possible to clear a software limit error and then drive in the opposite direction. If a movement in the wrong direction is attempted again, a new error is generated. Handling of hardware limit switches is the same as software limit switches. This means that the error can be cleared and then the motor is enabled to move in the opposite direction. Error 198 (Limit sw. violation) is issued if a movement in the wrong direction is attempted.

Option: Function:

[2] Controlled stop Motor stop with maximum

deceleration (stop ramp), then standstill control.

[3] Controlled stop and

brake

[5] Handled by the

application programme

This option is the same as option [2] and, in addition, brake output (if defined) is activated, but only after the motor is stopped. The behaviour is defined by the application programme.

NOTICE

Define brake output in parameters 33-63 to 33-70, O_FUNCTION_n options 5 and 6 (see Motion Control Option MCO 305 Design Guide).

33-82 Drive Status Monitoring

This parameter enables/disables monitoring of the FC 300 status while position control from the MCO is active.

Option: Function:

[0] Off Select this option if monitoring must be disabled,

meaning that the MCO tries to control the motor independent of the FC 300 status. Error message 6 in parameter 19-93 Error Status is issued if it is attempted to start a movement while the FC 300 is not enabled.

[1] * On Select this option if monitoring must be enabled. Error

113 occurs if the FC 300 is not enabled while the MCO is in position control, for example if the motor trips.

33-83 Behaviour After Error

33-85 MCO Supplied by External 24 V DC

Option: Function:

[0] * No External 24 V supply not connected. [1] Yes External 24 V supply connected to terminal X58.

5.7.4 33-9*, MCO Port Settings

33-91 X62 MCO CAN Baud Rate

This parameter defines the baud rate of the MCO CAN interface.

Option: Function:

[16] 10 Kbps – [17] 20 Kbps – [18] 50 Kbps – [19] 100 Kbps – [20] * 125 Kbps – [21] 250 Kbps – [22] 500 Kbps – [24] 1000 Kbps –

Option: Function:

[0] * Coast Standard, that is, motor

moves in coasting, control loop is interrupted.

[1] Coast and brake This option is the same as

option [0] but brake output (if defined) is activated.

Commissioning Operating Instructions

5.8 MCO Data Readouts

The parameters in the 34-0* and 34-2* groups support the PCD array reading and writing, and are in accordance with the PROFIdrive profile.

5.8.1 34-0*, PCD Write Parameters

34-01 to 34-10 PDCn Write to MCO

PCDs 1-7 are used by MCO as default. The remaining PCDs can be configured to write user-defined parameters.

Option: Function:

[34-01] PCD 1 Write to MCO [34-02] PCD 2 Write to MCO [34-03] PCD 3 Write to MCO [34-04] PCD 4 Write to MCO [34-05] PCD 5 Write to MCO [34-06] PCD 6 Write to MCO [34-07] PCD 7 Write to MCO [34-08] PCD 8 Write to MCO [34-09] PCD 9 Write to MCO [34-10] PCD 10 Write to MCO

5.8.4 34-5*, Process Data

Some actual data from the application programme can be read via the following parameters.

34-50 Actual Position

Current slave position in user units (UU).

34-51 Commanded Position

Commanded position in user units (UU).

34-52 Actual Master Position

Current master position in qc.

34-56 Track Error

Queries the actual position error of the axis in user units (either a plus or minus value).

34-58 Actual Velocity

Actual velocity in UU/s.

34-59 Actual Master Velocity

Actual master velocity in qc/s.

5 5

5.8.2 34-2*, PCD Read Parameters

34-21 to 34-31 PCDn Read from MCO

PCDs 1- 5 are used by MCO as default. The remaining PCDs can be configured to read user-defined parameters, for example to read the digital inputs.

Option: Function:

[34-21] PCD 1 Read from MCO [34-22] PCD 2 Read from MCO [34-23] PCD 3 Read from MCO [34-24] PCD 4 Read from MCO [34-25] PCD 5 Read from MCO [34-26] PCD 6 Read from MCO [34-27] PCD 7 Read from MCO [34-28] PCD 8 Read from MCO [34-29] PCD 9 Read from MCO [34-30] PCD 10 Read from MCO

5.8.3 34-4*, Inputs and Outputs

34-40 Digital Inputs

Readout status of the digital inputs.

34-41 Digital Outputs

Readout status of the digital outputs.

130BB996.10

Time

Time deﬁned in P 19-11

Start magnetizing the motor [MOTOR ON] Brake closed

Start

Start positioning Brake opened

130BB997.10

Time

Time deﬁned in P 19-11

Position reached Motor stop - Brake closed

Stop

Motor demagnetized

Application Examples Operating Instructions

6 Application Examples

6.1 Homing

Function Digital control

mode

Homing IN 9 PCD[1].3 PCD[1].3 Clear home status

Table 6.1 Homing Signals

IN 6 PCD[1].6 PCD[1].6

Fieldbus mode

Quick bus (Fieldbus mode)

NOTICE

Connect the homing switch to IN 4 and select the sequence in parameter 33-04 Behaviour during Home Motion.

6.3

Brake Control

Important parameters:

19-09 Automatic Break Control

•

19-10 Coast Delay

•

19-11 Brake Delay

•

19-12 Hold Delay

•

19-13 Brake Wear Limit

•

If the application is not equipped with an electromechanical brake, these parameters are not relevant. However, it is important to set parameter 19-09 Automatic Brake Control to [0] Disabled to enable the motor also at standstill.

6.2 Touch Probe Positioning

The target position is calculated relative to the actual position, after the touch probe input is activated. Similar configuration like relative/absolute positioning, but: Parameter 19-28 Index Trajectory Type must be either positive (2) or negative (3) By using quick bus: PCD[1].13 (positive) / PCD[1].14 (negative) Parameter 19-03 Touch Probe Delay in ms.

Start procedure:

After start positioning is activated, the mechanical brake is opened after the time selected in 19-11 Brake Delay. This time delay is to ensure that the motor is fully magnetised when the brake is released, preventing the load from dropping after start.

Operating mode

Function Digital

control mode

Start positioning IN 5 PCD[1].5 PCD[1].1 Position reached OUT 2 PCD[1].2 PCD[1].2 Reset touch probe

Table 6.2 Operating Mode

IN 7 PCD[1].7 PCD[1].7

Fieldbus mode

Quick bus (Fieldbus mode)

Illustration 6.1 Brake Delay

Stop procedure:

At position reached the delay selected in 19-10 Coast Delay ensures that the brake is closed when the controller coasts the motor.

Illustration 6.2 Coast Delay

130BB998.10

MCO351 controlled

Mech. brake

130BB999.10

FC300 controlled

MCO351 controlled

Relay 1

Relay 2

Application Examples

Operating Instructions

Parameter 19-12 Hold delay

Especially used for applications where a sequence of fast positioning is followed by a longer standstill time. It defines the time period in which the brake is not activated, even though the application is at standstill. This spares the brakes for wear for rapid positioning.

Parameter 19-13 Brake wear limit

Monitors the wear of the brake. It defines the numbers of user units the motor can move while the brake is closed.

Illustration 6.3 MCO Controlled Brake

Using both FC 300 and MCO brake control

For extra safety both MCO and FC 300 can be used for mechanical brake control. The FC 300 only has influence during start-up. In normal conditions, after the time in parameter 19-11, the current activating the FC brake control should be reached. If the MCO loses control over the motor and the controller cannot magnetise the motor, the brake cannot open. Without FC brake control, the brake opens shortly and closes again because of position

error. It is important to optimise the time in parameter 19-11 Brake Delay according to the maximum allowed

position error.

Illustration 6.4 MCO and FC 300 Controlled Brake

6.4 Hardware End Limit

The hardware end limit switch is an emergency switch for the application.

Inputs:

X57/2: Positive hardware limit switch input

•

X57/3: Negative hardware limit switch input

•

Must be kept high to start/run the application.

6.5 Software Limits

The software limits are placed just in front of the hardware limit switches with a distance to the hardware limit switches, which allows for the motor to be stopped with the shortest allowable ramp before the HW limit switch is activated.

Parameters:

33-41: Negative Software Limit

•

33-42: Positive Software Limit

•

33-43: Negative Software Limit Active

•

33-44: Positive Software Limit Active

•

Either both or no software limits must be active. Activating only one border is not valid. The motor must be repowered after activating or deactivating software limits.

6.6

Index Positioning

Positions with individual ramps, velocity, and positioning type can be predefined in the VLT® Positioning Controller

MCO 351.

64 positions when using fieldbus option.

•

32 positions when using digital I/O and FC 302.

•

16 positions when using digital I/O and FC 301.

•

Parameters used for definition of index positioning:

19-23: Reference Index No.

•

19-24: Index Target Position (UU)

•

19-25: Index Ramp Up Time (ms)

•

19-26: Index Ramp Down Time (ms)

•

19-27: Index Maximum Velocity (RPM, on the

•

encoder side) 19-28: Index Trajectory Type (absolute, relative, or

•

touch probe) 19-29 Parameter Save: Save parameter settings for

•

19-24 to 19-28

6 6

Application Examples Operating Instructions

Inputs:

18 Reference index bit 0

•

19 Reference index bit 1

•

33 Reference index bit 2

•

32 Reference index bit 3

•

29 Reference index bit 4

•

Outputs:

X59/4 Reference index bit 0

•

X59/5 Reference index bit 1

•

X59/6 Reference index bit 2

•

X59/7 Reference index bit 3

•

X59/8 Reference index bit 4

•

Operating procedure:

1. Select index (DI 18, 19, 29, 32, 33/PCD[7].1, .2, .3, . 4, .5, .6)

2. Latch index (DI 10/PCD[1].4)

3. New index read? (DO 4, 5, 6, 7, 8/PCD[2].1, .2, .3, . 4, .5, .6)

4. Start positioning (DI 5/PCD[1].5)

5. Referenced position reached (DO 2/PCD[1].2)

6.7

Quick Bus Positioning

The MCO 351 is controlled by an overall control system, e.g. a PLC system.

Parameter 19-04 Control Source must be set to [1] Fieldbus to enable fieldbus operation.

Operating procedure:

1. Referenced target position: PCD[2]msb + PCD[3]lsb (UU)

2. Type: PCD[1].11 (Absolute)/PCD[1].12 (Relative)

3. Sign: PCD[1].16 (negative)

4. Velocity: PCD[4] (RPM, on the encoder side)

5. Acceleration: PCD[5] (% of shortest ramp time in parameter 32-81)

6. Deceleration: PCD[6] (% of shortest ramp time in parameter 32-81)

7. Go to target position: PCD[1].1 (Start/Stop)

8. Position reached: PCD[1].2

Quick stop: PCD[1].8 (must always be enabled to allow operation) Reset error: PCD[1].2

Input 18 (LSB) 19 33 32 29 (MSB) Index

state 0 0 0 0 0 0 state 0 1 1 0 0 6 state 1 0 1 1 0 13

Table 6.3 Index Numbering using Digital Inputs

PCD(7) Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Index

state 0 0 0 0 0 0 0 state 0 1 1 0 0 0 6 state 1 0 1 1 0 1 45

Table 6.4 Index Numbering using PCD

Fieldbus communication is supported only if PCD channels are available, such as Profibus, DeviceNet, Ethernet/IP, CANopen etc.

A table for noting the positioning settings can be found in chapter 8.3.1 Positioning Table.

Diagnostics

Operating Instructions

7 Diagnostics

7.1 Troubleshooting

Problem Solution

When a PID tracking error too big error (19-93 Error Status) occurs, the inverter also trips on ALARM 13 (overcurrent)

Parameter 32-80 Maximum Velocity (Encoder) needs adjusting. Increase the setting in parameter 3-03 Maximum Reference. Doing

The frequency converter frequently trips on ALARM 7 (DC Overvoltage) while ramping down.

The frequency converter frequently trips on ALARM 13 (overcurrent) while ramping up.

The correct target position is reached, but the PID tracking error (parameter 34-56 Track Error) is too big while the motor is turning.

The option sometimes forgets changes to trajectory data after a power cycle.

Check the velocity setting.

•

Check encoder for correct rotation direction.

•

Check encoder wiring and parameter configuration.

•

Check for correct brake handling.

•

Check velocity limits.

•

The time set in parameter 3-81 Quick Stop Ramp Time is too

•

short. Increase the setting.

this also affects the performance of the parameters 32-60 Propor- tional Factor to 32-66 Acceleration Feed-Forward. Smaller changes to parameter 3-03 Maximum Reference may not have any noticeable effect on most of these parameters but 32-65 Velocity Feed-Forward should always be recalculated using the autocalculation function 19-19 FFVEL Auto-calculation.

Use a higher ramp time setting in parameter 19-17 Jog Ramp

•

Time for jogging and parameter 19-26 Index Ramp Down Time for positioning.

Check PCD [6] Quickbus Target Deceleration.

•

If a lower ramp time is required, install a brake resistor.

•

The ramp settings require too much torque. Determine which

•

operation (manual move or positioning) caused the trip, and then set the corresponding ramp time (parameter 19-17 Jog Ramp Time for jogging and parameter 19-25 Index Ramp Up Time for positioning) with a higher ramp time setting.

Check PCD [5] Quickbus Target Acceleration.

•

The PID controller may be unstable – optimise the PID controller

•

parameters.

Harder settings of the PID controller may be required – optimise

•

the PID controller parameters.

Changes to trajectory data values are not saved after power-down unless parameter 19-29 Parameter Save is activated before powerdown.

7 7

Table 7.1 Troubleshooting

Diagnostics Operating Instructions

7.2 Error Messages

The LCP shows all error messages on the status screen (below the index number). They are also shown in parameter 19-93

Error Status. Detailed information, additional notes on possible causes of errors, and tips for clearing errors can be found in Table 7.2.

Parameter 19-93, value

0 Status OK. No errors detected No errors detected. 1 Homing needed

2 Positive hardware limit exceeded

3 Negative hardware limit exceeded

4 Positive software limit exceeded

5 Negative software limit exceeded

6 VLT not running

7 Brake wear limit exceeded

8 Quick stop input activated

Status/error message Meaning/cause

A positioning command to a certain position has been issued while the home

•

position is not defined.

Clear the error and complete a homing sequence successfully before issuing

•

the next position command to the application.

The positive hardware switch input has been activated.

•

The application has hit the positive limit marker switch. Alternatively, the

•

connection to the limit switch has been lost or the limit switch is defective.

The negative hardware switch input has been activated.

•

The application has hit the negative limit marker switch. Alternatively, the

•

connection to the limit switch has been lost or the limit switch is defective.

A motor command has caused the software limit switch to be activated. The

•

maximum limit is specified in parameter 33-42 Positive Software End Limit.

Move the application back from the limit before clearing the error. If power

•

recovery is enabled in parameter 19-08 Power-Recovery, this can be done through an error reset and a negative jog (input 54).

A motor command has caused the software limit switch to be activated. The

•

maximum limit is specified in parameter 33-41 Negative Software End Limit.

Move the application back from the limit before clearing the error. If power

•

recovery is enabled in parameter 19-08 Power-Recovery, this can be done through an error reset and a positive jog (input 53).

The motor was not magnetised in a situation where it should have been. The

•

electromechanical brake is immediately activated in this case regardless of the settings in parameters 19-12 Hold Delay and 19-06 Error Behaviour.

While the motor was holding/driving the load, the frequency converter either

•

tripped, connection to terminal X57/8 was lost, or the Hand On or Off key on the LCP was pressed.

This error message is given if the motor has moved more than the allowed

•

number of user units specified in parameter 19-13 Brake Wear Limit while the electronic brake was activated.

The mechanical brake is worn and must be replaced in the near future or the

•

limit specified in parameter 19-13 Brake Wear Limit is too low.

The quick stop input has been activated. As a safety precaution, the electro-

•

mechanical brake is activated according to the setting in parameter 19-06 Error Behaviour and the motor is coasted regardless of the setting in parameter 19-09 Automatic Brake Control.

Clear the error to resume normal operation.

•

Diagnostics Operating Instructions

9 Controller (PID) tracking error too big

12 Reverse operation prohibited The motor has been operated in reverse direction while this was not allowed

13 Forward operation prohibited The motor has been operated in forward direction while this was not allowed

92 Error from encoder monitoring

Table 7.2 Error Messages

The difference between the desired setpoint position and the actual position

•

read via the encoder feedback has exceeded the limit specified in parameter 32-67 Maximum Tolerated Position Error.

Reasons:

•

The encoder is not properly connected. Check the encoder

connection.

The encoder is counting positive in the wrong direction. Switch A

and B channels if necessary.

The PID controller settings are not properly optimised. Follow the

instructions for optimising.

The limit specified in parameter 32-67 Maximum Tolerated Position

Error may be too low.

according to the setting in parameter 32-68 Reverse Behaviour for Slave.

Open or short circuit in accordance with the displayed indicator light.

•

An error is displayed even if no encoder is connected and the monitor is

•

active (parameter 32-09 Encoder Monitoring = [1] 3 channels.

7 7

Appendix Operating Instructions

8 Appendix

8.1 Abbreviations and Conventions

Abbreviation Explanation

AC Alternating current AEO Automatic Energy Optimisation AWG American Wire Gauge AMA Automatic Motor Adaptation °C DC Direct current EMC Electromagnetic compatibility ETR Electronic thermal relay f

M,N

FC Frequency converter HO High overload IP Ingress protection I

LIM

INV

M,N

VLT,MAX

VLT,N

LCP Local Control Panel N.A. Not applicable NO Normal overload P

M,N

PCB Printed circuit board PE Protective earth PELV Protective Extra Low Voltage PM motor Permanent magnet motor Regen Regenerative terminals RPM Revolutions per minute T

LIM

M,N

Table 8.1 Abbreviations

Degrees Celsius

Nominal motor frequency

Current limit Rated inverter output current Nominal motor current Maximum output current Rated output current supplied by the frequency converter

Nominal motor power

Torque limit Nominal motor voltage

8.2

Glossary of Key Terms

Absolute value encoder

This is a special form of encoder, as it indicates not only the speed and direction of rotation, but also the absolute physical position. This is communicated via transfer of the position in parallel form or in the form of a telegram in serial form. Absolute value encoders also come in 2 versions: Single-turn encoders supply an absolute position via a specific quantity, or via a freely definable number of rotations.

AMA

Automatic Motor Adaptation - function in parameter 1-29 Automatic Motor Adaptation (AMA).

ERPM

The speed is defined in relation to the RPM of the encoder. To underline this, the term encoder revolutions per minute is selected as the unit.

Motor/encoder gear ratio

Since the encoder is not necessarily mounted on the motor itself, the relationship between the nominal motor speed in RPM and the nominal encoder speed in ERPM must be specified.

Incremental encoder

This is an encoder system that picks up the speed and the direction of rotation and transmits on the appropriate configuration. The number of tracks, and thus the number of signals, indicate the properties of the encoder system. There are single-track systems that deliver a pulse signal dependent on the speed as well as a fixed direction signal. Dual-track systems deliver 2 pulse signals that are offset 90 degrees. By evaluating the 2 tracks, the direction signal is also obtained. As well as the 2 tracks of the dual-track encoder, 3-track encoders deliver an additional zero-track, which emits a signal when the zeros transit is passed through.

Conventions

Numbered lists indicate procedures. Bullet lists indicate other information and description of illustrations. Italicised text indicates:

Cross-reference

•

Link

•

Footnote

•

Parameter name, parameter group name,

•

Illustration 8.1 Incremental Encoder Signals

parameter option

130BD659.10

Go to target position I 5 X57/5 PCD 1.5

Touch probe switch I 1 X57/1

Velocity

Reference pos. reached O 2 X59/2 PCD 1.2

Reset touch probe pos. I 7 X57/7 PCD 1.7

Touchprobe pos. locked

PCD 1.5

19-24 (19-28=2)

Touchprobe

Target position

Appendix Operating Instructions

Illustration 8.2 Incremental Encoder Signals

Quad counts

Through edge detection, a quadrupling of the increments is produced by both tracks (A/B) of the incremental encoder. This improves the resolution.

Touch probe positioning

Illustration 8.4 Touch Probe Positioning

Illustration 8.3 Derivation of Quad Counts

SinCos encoder

Like the incremental encoder, the SinCos encoder delivers 2 tracks, one shifted 90° from the other. The signal form is not rectangular but sinusoidal. This allows a higher resolution of the encoder position since the 2 analog signals, SIN and COS, deliver each value between 0 and 1.

NOTICE

A delay in the touch probe sensor makes the target position drift. This means that the target position becomes larger than stated in parameter 19-24 Index Target Position. To compensate for this, specify a delay value in parameter 19-03 Touch Probe Delay. Only a constant delay can be compensated for, and not a variable delay.

Track error

The PID track error is defined as the difference between the internal controller setpoint and the actual position. The track error is specified in user units (UU) and is displayed in parameter 34-56 Track Error. The maximum tolerated PID error is entered in parameter 32-67 Maximum Tolerated Position Error in quad counts (qc).

8 8

Appendix

8.3 Positioning

8.3.1 Positioning Table

Operating Instructions

Position

[INDEX]

Parameter

19-23

0 0 0 0 0 0 0000

1 0 0 0 0 1 0001

2 0 0 0 1 0 0002 3 0 0 0 1 1 0003 4 0 0 1 0 0 0004 5 0 0 1 0 1 0005 6 0 0 1 1 0 0006

7 0 0 1 1 1 0007 8 0 1 0 0 0 0008

9 0 1 0 0 1 0009 10 0 1 0 1 0 000A 11 0 1 0 1 1 000B 12 0 1 1 0 0 000C 13 0 1 1 0 1 000D 14 0 1 1 1 0 000E 15 0 1 1 1 1 000F 16 1 0 0 0 0 0010 17 1 0 0 0 1 0011 18 1 0 0 1 0 0012 19 1 0 0 1 1 0013 20 1 0 1 0 0 0014 21 1 0 1 0 1 0015 22 1 0 1 1 0 0016 23 1 0 1 1 1 0017 24 1 1 0 0 0 0018 25 1 1 0 0 1 0019 26 1 1 0 1 0 001A 27 1 1 0 1 1 001B 28 1 1 1 0 0 001C 29 1 1 1 0 1 001D 30 1 1 1 1 0 001E 31 1 1 1 1 1 001F

* = For FC 302 only. Not valid for FC 301.

FC 300

Terminal

29* 32 33 19 18

Target Position

Parameter

19-24

Ramp-up time

Parameter

19-25

Ramp-down

time

Parameter

19-26

Velocity

Parameter

19-27

Trajectory type

Parameter

19-28

Fieldbus

[HEX]

PCD 7

Table 8.2 Positioning Table

Appendix Operating Instructions

8.3.2 Positioning Templates

8.3.2.1 Example of Index Positioning via Fieldbus

PCD 1 – – – – PCD 7

0 0 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Error reset (toggle bit 2)

0 0 8 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Real target position for index 1

0 0 8 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1

Move to index 1 target position

0 0 9 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1

Real target position for index 0

0 0 8 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Jog forward (move manually in positive direction)

0 1 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Table 8.3 Example of Index Positioning via Fieldbus

8.3.2.2

0 4 8 0 0 0 0 0 F F F F 0 3 E 8 0 1 F 4 0 1 F 4

0 4 8 1 0 0 0 0 F F F F 0 3 E 8 0 1 F 4 0 1 F 4

0 8 8 1 0 0 0 0 2 7 1 0 0 2 E E 0 3 E 8 0 1 F 4

0 4 8 1 0 0 0 1 F F F F 0 1 F 4 0 0 6 4 0 0 6 4

0 4 8 2 X X X X X X X X X X X X X X X X X X X X

Table 8.4 Example of Index Positioning via Quick Bus

Example of Index Positioning via Quick Bus

PCD 1 PCD 2 PCD 3 PCD 4 PCD 5 PCD 6

Read: Absolute position 65535 UU; Velocity 1000 RPM; Ramp-up/down time 500 ms

Move to absolute position 65535 UU with velocity 1000 RPM and ramp-up/down time 500 ms

Move to relative position 10000 UU with velocity 750 RPM, ramp-up time 1 s and ramp-down time 500 ms

Move to absolute position 131072 UU with velocity 500 RPM and ramp-up/down time 100 ms

Reset a pending error via Quick Bus

8 8

Index Operating Instructions

Index

Abbreviations......................................................................................... 48

Absolute encoder

Baudrate X55..................................................................................... 30

Baudrate X56..................................................................................... 32

Cable length................................................................................ 30, 33

Clock frequency......................................................................... 30, 32

Clock generation....................................................................... 30, 32

Data length................................................................................. 30, 32

Absolute protocol......................................................................... 29, 32

Absolute resolution...................................................................... 29, 32

Acceleration down for limited jerk................................................. 37

Acceleration feed-forward................................................................ 34

Acceleration up for limited jerk....................................................... 37

Actual master position....................................................................... 41

Actual master velocity........................................................................ 41

Actual position...................................................................................... 41

Actual velocity....................................................................................... 41

Additional resources.............................................................................. 4

Advanced settings............................................................................... 38

ALARM 13................................................................................................ 45

AMA........................................................................................................... 48

Appendix................................................................................................. 48

Application examples

Brake control..................................................................................... 42

Hardware end limit.......................................................................... 43

Homing................................................................................................ 42

Index positioning............................................................................. 43

Quick bus positioning.................................................................... 44

Software limits.................................................................................. 43

Touch probe positioning.............................................................. 42

Application parameters...................................................................... 24

Approvals................................................................................................... 5

Automatic brake control.................................................................... 25

Basic settings.......................................................................................... 29

Basic set-up............................................................................................. 23

Behaviour after error........................................................................... 40

Behaviour during home motion..................................................... 38

Block direction....................................................................................... 24

Brake control.......................................................................................... 42

Brake delay.............................................................................................. 25

Brake wear limit..................................................................................... 25

Coast delay.............................................................................................. 25

Commanded position......................................................................... 41

Control mode......................................................................................... 24

Control source....................................................................................... 24

Control terminals.................................................................................. 10

Conventions........................................................................................... 48

DC Overvoltage..................................................................................... 45

Deceleration up for limited jerk...................................................... 37

Decleration down for limited jerk.................................................. 37

Default acceleration............................................................................ 37

Default velocity..................................................................................... 37

Derivative value for PID control...................................................... 34

Diagnostics............................................................................................. 45

Digital inputs.......................................................................................... 41

Digital jog in field bus mode............................................................ 27

Digital outputs....................................................................................... 41

Discharge time......................................................................................... 6

Disposal...................................................................................................... 5

Drive status monitoring..................................................................... 40

Electrical installation........................................................................... 10

Encoder 1

CAN guard.......................................................................................... 33

Control................................................................................................. 33

Node ID................................................................................................ 33

Encoder 2

CAN guard.......................................................................................... 31

Node ID................................................................................................ 31

Parameters......................................................................................... 29

Encoder monitoring..................................................................... 30, 33

Encoder termination........................................................................... 33

Endless positioning.............................................................................. 24

ERPM......................................................................................................... 48

Error behaviour..................................................................................... 24

Error messages...................................................................................... 46

Error reset................................................................................................ 24

Error status.............................................................................................. 28

Factory reset........................................................................................... 26

Feedback source................................................................................... 33

FFVEL Auto-calculation...................................................................... 26

Fieldbus control signals.............................................................. 21, 22

Fieldbus interface................................................................................. 20

Force home............................................................................................. 38

Index Operating Instructions

Global parameters................................................................................ 40

Glossary.................................................................................................... 48

Hold delay............................................................................................... 25

Home motion......................................................................................... 38

Homing.................................................................................................... 42

Incremental resolution................................................................ 29, 32

Incremental signal type............................................................... 29, 31

Index number........................................................................................ 26

Index positioning.................................................................................. 43

Index target position........................................................................... 26

Installation

Electrical.............................................................................................. 10

Mechanical............................................................................................ 8

Integral factor........................................................................................ 34

Integral limit filter time....................................................................... 35

Jog ramp time........................................................................................ 25

Jog velocity scaling.............................................................................. 25

Limit handling........................................................................................ 38

Limit value for integral sum.............................................................. 34

Link LCP input to index...................................................................... 26

Main screen setup save...................................................................... 27

Maximum jog velocity........................................................................ 25

Maximum tolerated position error................................................. 34

Maximum velocity......................................................................... 27, 45

Maximum velocity (encoder)........................................................... 36

MCO

CAN baud rate (X62)....................................................................... 40

Data readouts.................................................................................... 41

Option card terminals.................................................................... 14

Port settings....................................................................................... 40

Supplied by external 24 V DC...................................................... 40

Mechanical installation......................................................................... 8

Motor/encoder gear denominator................................................. 25

Motor/encoder gear numerator..................................................... 25

Negative software end limit............................................................. 39

Negative software end limit active................................................ 39

New index............................................................................................... 27

Option card terminals

X55 Feedback Encoder Input....................................................... 14

X56 Master Encoder Input/Virtual Master Output............... 14

X57 Digital Inputs..................................................................... 14, 17

X58 24 V DC Supply......................................................................... 15

X59 Digital Outputs.................................................................. 15, 17

X62 MCO CAN................................................................................... 15

Overcurrent............................................................................................ 45

Parameter groups................................................................................. 23

Parameter save...................................................................................... 27

PCD read parameters.......................................................................... 41

PCD write parameters......................................................................... 41

PCDn read from MCO.......................................................................... 41

PDCn write to MCO.............................................................................. 41

PID

Bandwidth.......................................................................................... 34

Controller............................................................................................ 34

Sampling time for PID control..................................................... 35

Settings................................................................................................ 23

Position error filter time..................................................................... 36

Positioning

Via fieldbus......................................................................................... 51

Via quick bus...................................................................................... 51

Positioning table................................................................................... 50

Positive software end limit................................................................ 39

Positive software end limit active................................................... 39

Power-recovery..................................................................................... 24

Power-up state...................................................................................... 40

Proportional factor............................................................................... 34

Quick bus positioning......................................................................... 44

Ramp down time.................................................................................. 27

Ramp for home motion...................................................................... 38

Ramp type............................................................................................... 36

Ramp up time........................................................................................ 27

Reverse behaviour for slave.............................................................. 35

Rotational direction............................................................................. 30

Index Operating Instructions

X56 Master Encoder Input/Virtual Master Output.................... 14

Safe Torque Off........................................................................................ 7

Safety regulations................................................................................... 6

Safety warnings....................................................................................... 6

Sampling time for PID control......................................................... 35

Scan time for profile generator....................................................... 35

Settings

Advanced............................................................................................ 38

Basic...................................................................................................... 29

Shortest ramp........................................................................................ 36

Size of target window......................................................................... 39

Size of the control window (activation)....................................... 35

Size of the control window (deactivation).................................. 35

Software limits....................................................................................... 43

Software version............................................................................... 4, 27

Source master........................................................................................ 34

Source slave............................................................................................ 33

STO............................................................................................................... 7

X57 Digital Inputs.......................................................................... 14, 17

X58 24 V DC Supply............................................................................. 15

X59 Digital Outputs...................................................................... 15, 17

X62 MCO CAN........................................................................................ 15

Zero point offset from home position.......................................... 38

Target window limit value................................................................ 39

Terminals

X55 Feedback Encoder Input....................................................... 14

X56 Master Encoder Input/Virtual Master Output............... 14

X57 Digital Inputs..................................................................... 14, 17

X58 24 V DC Supply......................................................................... 15

X59 Digital Outputs.................................................................. 15, 17

X62 MCO CAN................................................................................... 15

Time in target window....................................................................... 39

Touch probe delay............................................................................... 24

Touch probe positioning................................................................... 42

Track error............................................................................................... 41

Trajectory type....................................................................................... 27

User actual position setting.............................................................. 24

User unit denominator....................................................................... 31

User unit numerator............................................................................ 31

Velocity..................................................................................................... 36

Velocity feed-forward......................................................................... 34

Velocity of home motion................................................................... 38

Velocity resolution............................................................................... 37

X55 Feedback Encoder Input........................................................... 14

Index Operating Instructions

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130R0328 MG33R302 04/2014

*MG33R302*

Danfoss MCO 351 Operating guide

Specifications and Main Features

Frequently Asked Questions

User Manual