How To Programme Synchronisation - Danfoss MCO 350 Operating Instructions Manual

4. Synchronisation
Parameter No. 19-03
Test run distance: Record the distance (quad counts) for the drive to run during optimisation.
Then use the following procedure:
1.
2.
4
3.
4.
For test run with virtual master the following parameters must be set:
Parameter No. 19-16
Virtual master reference: Select the reference source for setting the velocity of the virtual master.
"0" is analogue input 53, "1" is parameter 310 sub-index 0 and "2" is Fieldbus PCD 2.
Parameter No. 19-17
Virtual master acceleration: Set the acceleration of the virtual master in encoder pulses per sec-
ond 2
Parameter No. 19-18
Virtual master maximum speed: Set the maximum velocity of the virtual master in encoder pulses
per second.
Then use the following procedure:
1.
2.
3.
4.
The optimised values are automatically saved.

4.3.5. How to Programme Synchronisation

Change the value of parameter 33-80 to "2". This will start the synchronisation application pro-
gram. To do the synchronisation programming use the following parameters:
Parameter No. 19-01
Type of operation: Record "0" or "3" for speed synchronisation.
56
Close the contacts at terminal 32 (clockwise/forward direction) or terminal 33 (counter-
clockwise/reverse). During the test the last value of the first display line will indicate the
track error (PID error). After the test run is completed you can see the maximum track
error (PID error) in the display.
Increase the P-portion (par. 3260). After each change you should make a test run to find
the right setting. If the drive becomes unsteady or if a message is given about over-
voltage or over-current, then reduce the value in parameter 3260 to about 70-80% of
the set value.
Now set the D-portion (parameter 3261) to 5 times the value of parameter 3260.
If a lower synchronising error is required the I-portion (parameter 3262) can be set to a
low value e.g. 10 but be careful a too high value will course overshoot and instability.
.
Disconnect the master encoder from the synchronising controller (X56). Start test run
with virtual master by activating input 3. During test run you can read the track error in
the last value of the first display line. At stop the maximum track error during the test
run is read out. Because velocity synchronisation is selected (parameter 1904 = 0) the
track error is velocity deviance between master and slave.
If more accurate and dynamic control is required the P-portion (parameter 3260) must
be increased. If the slave becomes unstable the value must be reduced to by approxi-
mately 25%.
Now set the D-portion (parameter 3261) to 5 times the value of parameter 3260
If a lower synchronising error is required the I-portion (parameter 3262) can be set to a
low value e.g. 10 but be careful a too high value will course overshoot and instability.
MG.33.Q1.02 - VLT
Syncronising Controller MCO 350 Operating
®
is a registered Danfoss trademark
Instructions