Danfoss MCO 305 Design Manual page 210

MCO 305 Design Guide
32-5* Feedback Source
32-50 Source Slave
Option
Encoder 1 X56
Encoder 2 X55
Motor Control
Function
Choose the feedback source for MCO.
Choose [1] for Encoder 1.
Choose [2] for Enc2. When using motor control
principle "Flux with motor feedback" (Par. 101) it is
possible to use the flux feedback source (Par. 102)
for the MCO 305.
Choose [3] for MCO 305 feedback from feedback
source given in Par. 102. This can be internal 24V
encoder, Encoder option, or resolver option.
The resolution for Motor Control can be set in par.
32-01 Incremental Resolution.
Note: Option [2] is available with firmware version
6.7.40.
32-52 Source Master
Option
Encoder 1 X56
Encoder 2 X55
Motor Control
Function
Set the parameter Source Master:
Choose [1] for Encoder 1 on X56.
Choose [2] for Encoder 2 on X55. When using
motor control principle "Flux with motor feedback"
(Par. 101) it is possible to use the flux feedback
source (Par. 102) for the MCO 305.
Choose [3] for MCO 305 feedback from feedback
source given in Par. 102. This can be internal 24V
encoder, Encoder option, or resolver option.
Note: The parameter is available with firmware
version 6.7.40.
default setting
210
__ Parameter Reference __
[1]
[2]
[3]
[1]
[2]
[3]
[ ] value for use in communication via serial communication port
®
MG.33.L5.02 – VLT is a registered Danfoss trademark
32-6* PID-Controller
Optimize the controller using the following control
parameters:
32-60 Proportional Factor
KPROP
Range
0 – 100000
Function
The Proportional Factor KPROP 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.
Rule of Thumb:
KPROP greater = Drive will become 'stiffer'
KPROP too high = Tendency to overswing
32-61 Derivative Value for PID Control
KDER - 12
Range
0 – 100000
Function
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 will lead to a 'nervous' drive.
32-62 Integral Factor
KINT
Range
0 – 100000
Function
The Integral Factor KINT 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 cor-
responding corrective motor torque which increases
over time. Through the integral share a static posi-
tion error is reduced to zero, even if a constant
load is affecting the motor.
However, an Integral Factor which is too large
leads to a 'nervous' drive.
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