Mco Basics Settings - Danfoss MCO 305 Design Manual

MCO 305 Design Guide

MCO Basics Settings

32-0* Encoder 2 - Slave
32-3* Encoder 1 – Master
32-5* Feedback Source
32-6* PID controller
32-8* Velocity & Acceleration
32-0* Encoder 2 - Slave
Following parameters configures the interface for
the Encoder 2:
32-00 Incremental Signal Type
ENCODERTYPE
Option
None
RS422 (TTL/line driver)
Sinusoidal 1Vpp
CAN encoder
Function
Specifies type of the incremental encoder connec-
ted to Encoder 2 interface (X55 and X62 if CAN
encoder is used).
Select None [0] if no incremental encoder is con-
nected.
Select RS422 (TTL/Line driver) [1] if a digital
incremental encoder with an interface according to
RS422 is connected.
Select Sinusoidal 1Vpp [2] if an analog incremental
encoder with 1 V peak-peak signal is connected.
Select CAN encoder [3] if a MCO CAN encoder is
used.
ENCODERTYPE == 9 is supported starting with
MCO 5.00. This slave simulation can be used for
testing. This parameter cannot be selected in the
menu; it is set in the APOSS program.
Using 2-digits parameters allows assigning the
encoder, if one wishes to alternately use two
motors with one control (instead of the previous
SWAPMENC command).
SET ENCODERTYPE 1n or
SET ENCODERTYPE 2n
default setting
201
__ Parameter Reference __
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page 202
page 209
page 210
page 213
[0]
[1]
[2]
[3]
[ ] value for use in communication via serial communication port
®
MG.33.L5.02 – VLT is a registered Danfoss trademark
NB!:
Prior to the commands to change the
encoder a MOTOR OFF must always be
executed in order to avoid a tolerated
position error exceeded. Also, the controller para-
meters or axis parameters must be changed if both
motors are different.
The motor leads can be switched via relay.
NB!:
In this changeover, no positions are lost,
even if the motors are moved by hand
while the other motor is controlled. It is
possible to always access the uncontrolled motor
through MAPOS as well.
This parameter setting cannot be selected in the
menu; it is set in the APOSS program.
Sample
OUT 1 1 // switch motor leads
SET KPROP ... // change axis parameters
SET ENCOERTYPE 11
MOTOR ON // turn on control again
POSA 10000
// move the motor which is connected
// to the master encoder
MOTOR OFF
OUT 1 0 // Switch motor leads
SET KPROP ... // Change axis parameters
SET ENCOERTYPE 21
MOTOR ON // Turn on control again
POSA 0
// Move the motor again which is connected
// to the slave encoder
// assign encoder 1
// assign encoder 2