MAKING MODERN LIVING POSSIBLE
Operating Instructions
Positioning Controller MCO 351
VLT® AutomationDrive FC 301/302
www.danfoss.com/drives
Contents |
Operating Instructions |
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Contents
1 Introduction |
4 |
1.1 Purpose of the Manual |
4 |
1.2 Additional Resources |
4 |
1.3 Overview |
4 |
1.3.1 Software Version |
4 |
1.4 Approvals |
5 |
1.5 Disposal |
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2 Safety |
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2.1 Safety Symbols |
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2.2 Safety Warnings |
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2.3 Functional Safety |
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3 Mechanical Installation |
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4 Electrical Installation |
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4.1 MCO 350/351 Control Terminals |
10 |
4.1.1 Enclosure Types A2 and A3 |
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4.1.2 Enclosure Types A5, B1, and B2 |
10 |
4.2 Frequency Converter Control Card Terminals |
11 |
4.3 Wiring Diagram |
13 |
4.4 MCO Option Card Terminals |
14 |
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 |
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4.4.4 X58 24 V DC Supply |
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4.4.5 X59 Digital Outputs |
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4.4.6 X62 MCO-CAN |
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4.5 Description of Terminals |
16 |
4.5.1 Frequency Converter Control Card Terminals |
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4.5.2 MCO Digital Inputs Terminal (X57) |
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4.5.3 MCO Digital Outputs Terminal (X59) |
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4.5.4 MCO Encoder Connection |
18 |
4.5.4.1 Encoder Connection Examples |
18 |
4.6 Fieldbus Interface |
20 |
4.6.1 Introduction |
20 |
4.6.2 Data Layout |
20 |
5 Commissioning |
23 |
5.1 Safety Instructions |
23 |
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Danfoss A/S © 04/2014 All rights reserved. |
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Contents |
Operating Instructions |
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5.2 Basic Parameters Set-up |
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5.3 Basic Set-up |
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5.4 PID Settings |
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5.5 Description of Application Parameters |
24 |
5.5.1 19-** Application Parameters |
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5.6 MCO Basic Settings |
29 |
5.6.1 32-0* and 32-1*, Encoder 2 Parameters |
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5.6.2 32-3* and 32-4*, Encoder 1 Parameters |
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5.6.3 32-5* Feedback Source |
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5.6.4 32-6* and 32-7*, PID-Controller Parameters |
34 |
5.6.5 32-8* Velocity & Acceleration |
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5.7 MCO Advanced Settings |
38 |
5.7.1 33-0* Home Motion |
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5.7.2 33-4* Limit Handling |
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5.7.3 33-8*, Global Parameters |
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5.7.4 33-9*, MCO Port Settings |
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5.8 MCO Data Readouts |
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5.8.1 34-0*, PCD Write Parameters |
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5.8.2 34-2*, PCD Read Parameters |
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5.8.3 34-4*, Inputs and Outputs |
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5.8.4 34-5*, Process Data |
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6 Application Examples |
42 |
6.1 Homing |
42 |
6.2 Touch Probe Positioning |
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6.3 Brake Control |
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6.4 Hardware End Limit |
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6.5 Software Limits |
43 |
6.6 Index Positioning |
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6.7 Quick Bus Positioning |
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7 Diagnostics |
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7.1 Troubleshooting |
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7.2 Error Messages |
46 |
8 Appendix |
48 |
8.1 Abbreviations and Conventions |
48 |
8.2 Glossary of Key Terms |
48 |
8.3 Positioning |
50 |
8.3.1 Positioning Table |
50 |
8.3.2 Positioning Templates |
51 |
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Danfoss A/S © 04/2014 All rights reserved. |
MG33R302 |
Contents |
Operating Instructions |
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8.3.2.1 Example of Index Positioning via Fieldbus |
51 |
8.3.2.2 Example of Index Positioning via Quick Bus |
51 |
Index |
52 |
MG33R302 |
Danfoss A/S © 04/2014 All rights reserved. |
3 |
Introduction |
Operating Instructions |
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1 |
1 |
1 Introduction |
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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
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/DrivesSolutions/Documentations/VLT+Technical+Documentation.htm for listings.
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.
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
1.3.1 Software Version
Refer to parameter 19-90 Type/Version for the software version number.
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Introduction |
Operating Instructions |
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1.4 Approvals |
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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.
MG33R302 |
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5 |
Safety |
Operating Instructions |
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2 Safety
2 2
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] |
Minimum waiting time (minutes) |
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15 |
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200–240 |
0.25–3.7 kW |
5.5–37 kW |
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380–480 |
0.25–7.5 kW |
11–75 kW |
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525–600 |
0.75–7.5 kW |
11–75 kW |
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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
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Danfoss A/S © 04/2014 All rights reserved. |
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Safety Operating Instructions
NOTICE
Installation at high altitudes:
• |
380–500 V: Enclosure A, B, and C: At altitudes |
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above 2 km, contact Danfoss regarding PELV. |
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•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.
2.3Functional 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.
MG33R302 |
Danfoss A/S © 04/2014 All rights reserved. |
7 |
Mechanical Installation |
Operating Instructions |
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3 Mechanical Installation
This chapter is only relevant if the MCO 350/351 is delivered as an option for upgrading an existing VLT®
3 3 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. |
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Bookstyle Enclosure |
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A2 and A3 |
(40 mm for 1 C option) |
130B7530 |
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A2 and A3 |
(60 mm for C0 + C1 option) |
130B7531 |
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B3 |
(40 mm for 1 C option) |
130B1413 |
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B3 |
(60 mm for C0 + C1 option) |
130B1414 |
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Compact Enclosure |
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A5 |
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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
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Mechanical Installation |
Operating Instructions |
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3 3
Illustration 3.2 Compact Enclosure – A5, B (except B3), C, D, E, F
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Electrical Installation |
Operating Instructions |
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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
4 4 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.
<![if ! IE]><![endif]>11.130BA248
4.1.2 Enclosure Types A5, B1, and B2
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.
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Illustration 4.2 Removing the Front Cover
Illustration 4.1 Location of Encoder and I/O Terminals
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Electrical Installation
2 X62
1
X55
X56
X57
X58
X59
Operating Instructions
X60 |
<![if ! IE]> <![endif]>130BB794.10 |
4.2 Frequency Converter Control Card |
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Terminals |
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The terminals on the VLT® AutomationDrive control card are allocated for the MCO 351.
Do not change the following parameters for I/O settings:
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Parameters 5-10 to 5-15 set to [0] No operation |
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(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
1 |
Terminal block 1 |
2 |
Terminal block 2 |
X55 |
Encoder 2 |
X56 |
Encoder 1 |
X57 |
Digital inputs |
X58 |
24 V DC supply |
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X59 |
Digital outputs |
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X60 |
MCO CAN Bus |
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X62 |
Debug connections (RS 485) |
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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.
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Digital inputs |
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12 |
+24 V OUT |
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13 |
+24 V OUT |
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18 |
Reference index bit 0 |
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19 |
Reference index bit 1 |
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27 |
Enable (error clear in digital control mode) |
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Reference index bit 4 |
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Reference index bit 3 |
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Reference index bit 2 |
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20 |
COM D in |
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37 |
Safe Torque Off (STO) |
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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-X56/4- X58/2)
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Electrical Installation |
Operating Instructions |
4.3 Wiring Diagram
+24 V OUT |
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+24 V OUT |
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Reference index Bit 0 |
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18 |
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Reference index Bit 1 |
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19 |
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Enable (error clear in dig. control mode) |
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27 |
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Reference index Bit 4 |
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29 |
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Reference index Bit 3 |
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32 |
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Reference index Bit 2 |
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33 |
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COM D in |
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Safe torque o (STO) |
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37 |
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COM A out |
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39 |
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Touchprobe pos. locked |
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+10 V OUT |
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50 |
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Manual Jog positive |
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53 |
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Manual Jog negative |
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54 |
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COM A in |
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Touchprobe switch |
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1 |
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Positive HW limit switch |
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2 |
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Negative HW limit switch |
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3 |
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Home reference switch |
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4 |
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Go to target position |
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5 |
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Reset Home ag |
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6 |
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Reset Touchprobe pos. |
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Quickstop |
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8 |
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Go to Home position |
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9 |
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Latch new index |
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10 |
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+24 V supply |
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1 |
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COM |
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2 |
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Homing completed |
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1 |
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Reference pos. reached |
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2 |
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Error occured |
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3 |
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Reference index Bit 0 |
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4 |
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Reference index Bit 1 |
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5 |
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Reference index Bit 2 |
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6 |
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Reference index Bit 3 |
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7 |
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Reference index Bit 4 |
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8 |
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FC300 |
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91 |
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L1 |
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Mains |
92 |
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L2 |
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93 |
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L3 |
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PE |
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PE |
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Digital |
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96 |
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U |
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97 |
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V |
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Inputs |
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Motor |
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98 |
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W |
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99 |
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PE |
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Relay |
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01 |
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Brake Supply |
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02 |
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Brake |
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Brake COM |
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Analog |
01 |
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03 |
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Output |
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Relay |
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04 |
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05 |
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Analog |
02 |
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06 |
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Inputs |
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S201, S202 = O |
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MCO 351 |
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TTL |
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SSI |
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SINCOS |
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1 |
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+24 V DC out |
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2 |
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+8 V DC out |
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3 |
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+5 V DC out |
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X57 |
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X55 |
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4 |
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COM |
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5 |
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A |
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SIN |
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Digital |
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Encoder 2 |
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6 |
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/A |
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REFSIN |
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Inputs |
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7 |
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B |
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COS |
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8 |
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/B |
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REFCOS |
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9 |
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Z |
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CLK |
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10 |
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/Z |
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/CLK |
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11 |
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DATA |
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X58 |
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12 |
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/DATA |
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24 V DC |
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Supply |
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1 |
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+24 V DC out |
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2 |
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+8 V DC out |
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3 |
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+5 V DC out |
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4 |
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X59 |
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COM |
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X56 |
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5 |
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Digital |
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A |
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Outputs |
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Encoder 1 |
6 |
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/A |
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7 |
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B |
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Z |
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/CLK |
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DATA |
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/DATA |
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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.
<![endif]>130BD658.10
4 4
MG33R302 |
Danfoss A/S © 04/2014 All rights reserved. |
13 |
4 4
Electrical Installation |
Operating Instructions |
|
|
4.4 MCO Option Card Terminals
Technical data on these terminals can be found in the
Motion Control Option MCO 305 Operating Instructions.
4.4.1 X55 Feedback Encoder Input
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 10 11 12 |
<![if ! IE]> <![endif]>130BD653.10 |
|
Pin number |
TTL encoder |
SSI encoder |
SinCos encoder |
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1 |
+24 V DC |
+24 V DC |
+24 V DC |
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Supply |
Supply |
Supply |
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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 |
- |
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10 |
Z not |
CLK not |
- |
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11 |
- |
DATA |
- |
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12 |
- |
DATA not |
- |
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Illustration 4.6 X55 Feedback Encoder Input
4.4.2X56 Master Encoder Input/Virtual Master Output
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 10 11 12 |
<![if ! IE]> <![endif]>130BD653.10 |
|
Pin number |
TTL encoder |
SSI encoder |
1 |
+24 V DC Supply |
+24 V DC Supply |
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2 |
+8 V DC Supply |
+8 V DC Supply |
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3 |
+5 V DC Supply |
+5 V DC Supply |
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4 |
GND |
GND |
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5 |
A |
- |
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6 |
A not |
- |
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7 |
B |
- |
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8 |
B not |
- |
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9 |
Z |
CLK |
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10 |
Z not |
CLK not |
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11 |
- |
DATA |
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12 |
- |
DATA not |
Illustration 4.7 X56 Master Encoder Input/Virtual Master
Output
4.4.3 |
X57 Digital Input |
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<![if ! IE]> <![endif]>130BD655.10 |
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
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Pin |
Description |
number |
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1 |
Touch probe switch |
2 |
Positive hardware limit switch |
3 |
Negative hardware limit switch |
4 |
Home switch |
5 |
Go to target position |
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6 |
Reset home flag |
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7 |
Reset touch probe position |
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8 |
Quick stop |
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9 |
Go to home position |
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10 |
Latch new reference position index number |
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Illustration 4.8 X57 Digital Inputs
14 |
Danfoss A/S © 04/2014 All rights reserved. |
MG33R302 |
Electrical Installation |
Operating Instructions |
|
|
4.4.4 X58 24 V DC Supply
1 |
2 |
<![if ! IE]> <![endif]>130BD656.10 |
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Pin Description number
1+24 V
2COM
Illustration 4.9 X58 24 V DC Supply
4.4.5 X59 Digital Outputs
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
<![if ! IE]> <![endif]>130BD657.10 |
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4.4.6 X62 MCO-CAN
1 |
2 |
3 |
4 |
5 |
<![if ! IE]> <![endif]>130BD672.10 |
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4 4
Pin number |
Description |
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1 |
– |
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2 |
CAN_L (CAN low) |
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3 |
Drain |
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4 |
CAN_H (CAN high) |
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5 |
– |
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Illustration 4.11 X62 MCO CAN
Pin |
Description |
number |
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1 |
Homing completed |
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2 |
Reference position reached |
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3 |
Error |
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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
MG33R302 |
Danfoss A/S © 04/2014 All rights reserved. |
15 |
Electrical Installation |
Operating Instructions |
|
|
4.5 Description of Terminals
4.5.1 Frequency Converter Control Card Terminals
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Connector |
Terminal |
Designation |
Description |
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Inputs |
12, 13 |
+24 V OUT |
24 V (+1, –3 V) power supply |
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Max. load: |
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VLT® AutomationDrive FC 301: 130 mA |
4 |
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4 |
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VLT® AutomationDrive FC 302: 200 mA |
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18 |
Reference index bit 0 (LSB) |
Reference position index number bit 0 (least significant bit). Not used in |
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fieldbus mode. |
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19 |
Reference index bit 1 |
Reference position index number bit 1. Not used in fieldbus mode. |
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20 |
COM D IN |
Ground for 24 V – common with 39, 55, X55/4, X56/4, and X58/2 |
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27 |
Enable (error clear in digital |
To enable operation, this input must be maintained at high in both |
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control mode) |
digital control mode and fieldbus control mode. |
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Digital control mode: Errors are cleared on the rising edge. Must be 0 V |
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for at least 1 ms to guarantee edge detection. |
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29 |
Reference index bit 4 (msb) |
Reference position index number bit 4 (most significant bit). Not used in |
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fieldbus mode. Not available in VLT® AutomationDrive FC 301. |
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32 |
Reference index bit 3 |
Reference position index number bit 3. Not used in fieldbus mode. |
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33 |
Reference index bit 2 |
Reference position index number bit 2. Not used in fieldbus mode. |
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37 |
Safe Torque Off (STO) |
Safe input. Used for STO. |
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Relay 01 |
01 |
COM Relay 01 |
Common terminal for Relay 01. |
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02 |
Connect to electro-mechanical |
Normal Open Relay 01 is open (brake activated) during power off and |
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brake NO |
start-up of the FC 300. It is always open after a Quick Stop procedure or |
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with an error situation. Relay 01 only closes with motion procedures or if |
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specified in parameter 19-09 Automatic Brake Control. |
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03 |
NC |
Normal Closed |
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Relay 02 |
04 |
COM Relay 02 |
Common terminal for Relay 02. |
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05 |
Brake activated NC |
Normal Closed Relay 02 is closed to indicate an activated electrome- |
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chanical brake. It is open to indicate a deactivated electromechanical |
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brake. Not used in fieldbus control mode. |
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06 |
NO |
Normal Open |
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Analogue I/O |
39 |
COM A OUT |
Ground for analog output. Common with 20 and 55. |
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42 |
Touch probe position locked in |
This analog output delivers either 0 mA (not locked in) or 20 mA (locked |
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in) at a maximum of 500 Ω. |
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50 |
+10 V OUT |
Power supply for manual JOG inputs (terminal 53 and 54). |
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Maximum 15 mA. |
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53 |
±10 V-In Manual jog positive |
When high (above 5 V), the drive travels with jogging speed (parameter |
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19-16) and ramp (parameter 19-17) in the positive direction. When low |
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(below 5 V), the drive ramps down and stops if no other motion |
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procedure is activated. Jog positive has higher priority than jog negative. |
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Not used in fieldbus mode by default. Can be enabled via parameter |
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19-31 Digital Jog in field Bus mode. |
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54 |
±10 V-In Manual jog negative |
When high (above 5 V), the drive travels with jogging speed (parameter |
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19-16) and ramp (parameter 19-17) in the negative direction. When low |
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(below 5 V), the drive ramps down and stops if no other motion |
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procedure is activated. Not used in fieldbus mode by default. Can be |
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enabled via parameter 19-31 Digital Jog in field Bus mode. |
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55 |
COM A IN |
Ground for analogue inputs. Common with 20 and 39. |
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RS-485 |
61 |
Shield |
Integrated RC-filter for cable screen. Only for connecting the screen |
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when experiencing EMC problems. |
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68 |
RxTx+ |
A control card switch is provided for termination resistance. |
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69 |
RxTx– |
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Table 4.2 Control Card Terminals
16 |
Danfoss A/S © 04/2014 All rights reserved. |
MG33R302 |