Setting Of Parameters For Canopen Master Encoder; Setting Of Velocity Parameters; Setting Of Home Parameters; Setting Of Synchronization Parameters - Danfoss MCO 305 Operating Instructions Manual

How to Install
32-3* Encoder 1 - Master
32-30 Incremental Signal Type
32-31 Incremental Resolution
32-32 Absolute Protocol
32-33 Absolute Resolution
32-35 Absolute Encoder Data Length
32-36 Absolute Encoder Clock Frequency
32-37 Absolute Encoder Clock Generation
32-38 Absolute Encoder Cable Length
32-39 Encoder Monitoring
32-40 Encoder Termination
For CAN Encoders
32-44 Enc.1 node ID
32-45 Enc.1 CAN guard
33-91 X62 MCO CAN baud rate
3.4.3 Setting of parameters for CANopen
Master encoder
- In 32-30 Incremental Signal Type select the setting
[3] "CAN encoder".
- In 32-31 Incremental Resolution set the resolution
of the encoder.
- In 32-44 Enc.1 node ID set the CAN ID of the
encoder.
- In 32-45 Enc.1 CAN guard activate or deactivate
the guarding.
- In 33-91 X62 MCO CAN baud rate set in the CAN
bus baud rate.

3.4.4 Setting of Velocity Parameters

Define 32-80 Maximum Velocity (Encoder), the Maximum
Velocity of the shaft where the encoder is mounted in RPM.
32-8* Velocity & Acceleration
32-80 Maximum Velocity (Encoder)
32-81 Shortest Ramp
NOTE
For synchronizing application the setting of the follower
drive must be at least the same as the maximum velocity
of the master in order to be able to synchronize. For
position synchronizing it must even be higher so that the
follower drive can catch up lost position related to the
master. All velocity commands (VEL, CVEL) are related to
this value.
Define 32-81 Shortest Ramp. That is the time from 0 to
maximum velocity and from maximum velocity to 0. All
acceleration and deceleration commands (ACC, DEC) are
related to this value.
MCO 305 Operating Instructions

3.4.5 Setting of Home Parameters

[1] RS422
Homing is not necessary in standard synchronization
1024
applications and applications using an absolute encoder.
[0] None
When using an incremental encoder the controller must be
8192
run to home after being switched on. During this process
25
the reference switch defines the position at which 0 is
262000
located and how the VLT AutomationDrive functions
[1] On
during a home run: input depends on the application.
0
Define 33-03 Velocity of Home Motion: Home speed is
[0] Off
entered in % relative to the maximum speed of the
[1] On
frequency converter.
127
33-0* Home Motion
[0] Off
33-00 Force HOME
[20] 125 kbps
33-01 Zero Point Offset from Home Pos.
33-02 Ramp for Home Motion
33-03 Velocity of Home Motion
33-04 Behaviour during HomeMotion

3.4.6 Setting of Synchronization Parameters

The following parameters are only relevant for synchro-
nizing applications:
The Synchronizing Factors Master and Slave must be set
according to the gear ratio between master and slave
encoder.
Example:
Both encoders have 1024 PPR, master is
running 305 RPM and slave must run 1220
RPM.
Default
33-10 Sync Factor Master
1500 33-11 Sync Factor Slave
1.000 Alternative:
33-10 Sync Factor Master
33-11 Sync Factor Slave
The following parameters are only relevant when using
synchronizing with marker correction (SYNCM):
Marker Number for Master and Slave must be set according
to the ratio between the number of marker signals from
master and slave. A ratio of 1:1 means that each slave
marker will be aligned with each master marker. A ratio of
2:1 means that each slave marker will be aligned with each
second master marker.
®
MG.33.K3.02 - VLT is a registered Danfoss trademark
•
33-10 Sync Factor Master
•
33-11 Sync Factor Slave
•
33-15 Marker Number for Master
•
33-16 Marker Number for Slave
3 3
Default
[0] not forced
0
10
10
[0] Reverse +
Index
= 305 and
= 1220
= 1
= 4
15