Danfoss VLT 5000 Series Manual
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Danfoss VLT 5000 Series Manual

Synchronizing and positioning option onizing and positioning option
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See also: Instruction Manual , Technical Data Manual
MG.10.J4.02 – VLT is a registered Danfoss trade mark
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
®
VLT
5000 SyncPos option
I I I I I Safety ..................................................................... 3
I I I I I Introduction .......................................................... 5
I I I I I Input/Output terminals ........................................ 9
I I I I I Fundamentals of the SyncPos program .......... 19
Starting the SyncPos option step-by-step ............ 25
Optimizing the PID-Controller ............................... 31
I I I I I PC Software interface ......................................... 3 2
I I I I I Programming with SyncPos .............................. 5 9
Introduction and basics ......................................... 61
I I I I I Software Reference ............................................ 6 8
List of Commands ................................................. 68
All commands from ACC to #INCLUDE ............... 70
I I I I I Parameter Reference ........................................ 125
VLT and SyncPos parameter ............................... 125
VLT parameters .................................................... 126
SyncPos parameters ............................................ 129
I I I I I Messages and Error Reference ....................... 155
I I I I I Program Samples ............................................. 163
I I I I I Appendix ............................................................ 167
Glossary terms ..................................................... 168
What's new in PC Software 2.0x /
Option Card Software 3.00? ................................ 168
What's new in PC Software 2.1x /
Option Card Software 3.1x? ................................. 169
Index .................................................................... 179
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  • Page 1 Glossary terms ............. 168 What's new in PC Software 2.0x / Option Card Software 3.00? ........ 168 What's new in PC Software 2.1x / Option Card Software 3.1x? ......... 169 Index ..............179 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 2 IBM is a registered trademark of International Business Machines, Inc. Microsoft, MS, MS-DOS, Microsoft NT, Windows and Wingdings are either registered trademarks or trademarks of the Microsoft Corporation in the USA and/or other countries. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 3 ® 5000 SyncPos option I Safety ..............4 Chapter 1 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 4 24 V DC, load-sharing (linkage of DC intermediate circuit), as well as the motor connection for kinetic back-up. Using VLT 5001-5006: wait at least 4 minutes Using VLT 5008-5500: wait at least 15 minutes MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 5 ® 5000 SyncPos option I Introduction ............6 Chapter 2 I Why choose Danfoss? ..........7 I Available literature ..........8 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 6 Plus, the handbook ends with a short cycle times. Detailed instructions on how to pro- glossary. ceed can be found in the section ‘Ten steps for optimum control’. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 7 Menus and functions are printed in normal text six continents. with capitals, for example: "CONTROLLER" → → → → → "PARAMETERS"..With the new VLT 5000 Series, we are introducing Commands and parameters V V C PLUS .
  • Page 8 InterBus-S MG.50.FX.YY MG.50.DX.YY MG.50.GX.YY MG.10.JX.02 MG.10.G1.51 MG.10.JX.03 Bookstyle IP 20 Compact IP 20 Compact IP 54 IP 20 terminal LonWorks cover Manual MI.50.H1.51 Loadsharing Device Net instructions Manual MI.50.NX.YY Instructions MI.66.AX.YY MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 9: Table Of Contents

    VLT control card terminals ........10 Option card terminals ..........10 Supply voltages ............. 12 Option card layout ..........13 Dip switch .............. 13 Technical data ............14 Connection examples ..........15 MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 10: Vlt Control Card Terminals

    OPTION 0 – 20 mA analogue output (default setting) OPTION 4 – 20 mA analogue output OPTION 0 – 32000P pulse output Digital Inputs Master / Virtual Master Digital Outputs Feedback MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 11 Z in Absolute input Clk out Clk out Data in Data in Not used Not used Virtual master A out A out B out B out Z out Z out Fig. 1 MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 12: Supply Voltages

    24 V supply from the control card must be disconnected, this is done by opening Load on control card switch 1.1 and 1.5. (24 V supply, terminal 12/13 and outputs, terminal 42/45) MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 13: Option Card Layout

    When using the virtual master function termination must be switched off (sw 1.2-1.4) in all options except on the first and the last station connected in the network. See also connection example on page 16 and 17. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 14: Technical Data

    Data coding ............................. Gray code Data length ............................... 25 bit Parity ................................. none Clock frequency ........................105 or 260 kHz Protocol ..............................Gray Maximum positions per revolution ......................8192 Maximum number of revolutions ......................4096 MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 15: Connection Examples

    Minimum frequency ..........................150 Hz Maximum number of slaves ................31 (more when using repeaters) Maximum cable length ........................... 400 m I I I I I Connection examples ABSOLUTE ENCODER Master Slave Master Slave MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 16 ® 5000 SyncPos option EXTERNAL SUPPLY / DIGITAL IN/OUTPUT The terminating resistors on both end of the bus have to be switch on with dip switch SW 1.2–4. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 17 ® 5000 SyncPos option left: encoder connection for positioning applications below: encoder connection for master-/slave synchronization MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 18 ® 5000 SyncPos option Encoder connections for the synchronizing with virtual master. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 19: I I I I I Fundamentals Of The Syncpos Program

    How the control process works ......31 Significance and influence of the control parameters ............. 31 Optimizing your controller settings step-by-step .. 33 What to do if … ............. 35 Examples of control optimization ......35 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 20 The SyncPos software contains all commands and menus necessary for the configuration, programming, optimization and, finally, for the transfer of commands to the SyncPos option. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 21: How Syncpos Functions

    PID filter parameters and optimize the controller. We wish you the best in your work with SyncPos! For questions regarding programming or operating the controller, please contact your supplier. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 22: Requirements

    – click and pull the window whether the [NUM lock key] or the [Shift in the desired direction. lock key] have been pressed and are ac- tive. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 23: Using The Mouse

    [F9] you can very effectively control the step-by-step execution of a program: each time you press [F9], one line of the program is run. Or with [F1] you can access the on-line help. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 24: List Of Shortcuts

    Start "DEVELOPMENT" → → → → → "EXECUTE" [F5] Select line [CNTL] +[ ALT] + [F8] In the "SINGLE-STEP" mode starts one program line each time it is pressed. [F9] Calls up the "COMMAND LIST" [F12] MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 25: I I I I I Starting The Syncpos Option Step-By-Step

    Follow the directions given during the installation program and list the hard drive on which SyncPos should be installed. SyncPos and the program samples included will be installed in the directory listed. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 26: Setting Of Vlt Parameters

    The baud rate in the VLT (Par 501) and in the program must always agree. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 27: Setting Of Syncpos Option Parameters

    For position synchronizing it must even be higher so that the slave can catch up lost position related to the master. All velocity commands (VEL, CVEL) are related to this value. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 28 Marker signal type must be selected for master and slave: 0 = index pulse (positive flank) 1 = index pulse (negative flank) 2 = external marker (positive flank) 3 = external marker (negative flank) MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 29: Checking Encoder Connection And Direction Of Rotation

    For a full rotation you should receive 4 times the value of the resolution of the encoder, that means 2000 if the Encoder counts per revolution is 500. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 30: Execute The Test Run Program

    Proportional factor Proportional factor Proportional factor Proportional factor KPROP (11) Proportional factor or increase the Derivative factor Derivative factor Derivative factor Derivative factor Derivative factor KDER (12). MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 31: I I I I I Optimizing The Pid Controller

    Benefits from using feed- forwards control is a very fast and accurate response to changes in the setpoint reference. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 32 KPROP is increased simultaneously: faster reaction to control deviation at the same level of vibration; KDER too large heavy vibrations, instability. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 33: Optimizing Your Controller Settings Step-By-Step

    30% of the calculated set value. However, then it is necessary also to use the feed- forward part of the controller in order to achieve the corresponding control. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 34 (which is good) and increasing over- 100 and a deceleration value of 100 should be shoot and oscillations in the system (which is sufficient. Start out with a low setting of bad). FFACC approx. 10. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 35: What To Do If

    PID controller out- put is too small or the VLT/motor is not sized cor- rectly and therefore does not provide enough energy for peak consumption during acceleration. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 36 Determining the maximum velocity or maximum speed The drive does not achieve maximum speed and thus starts to brake too late, since it is trying to catch up with the position reference. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 37 "COMPILER" ............55 "INTERFACE" ............55 "COLORS EDITOR" ..........55 "LANGUAGE" ............56 "WINDOW" menu ..........56 "CASCADE" ............56 "TILE VERTICALLY" ..........56 "TILE HORIZONTALLY" .......... 56 "HELP" menu ............57 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 38 User Unit can be found in the introduction to the software reference. All commands and parameters are described in detail and then alphabetically ordered in the chapters Software Reference and Parameter Reference. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 39: I Pc Software Interface "File" Menu

    If you have not yet saved the newly written file or the changes in the old file, answer the question which follows with "YES", , , , , otherwise the new file will not be saved. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 40: Save" And "Save As

    Click on → → → → → "PRINTER SETTINGS", if you want to set the paper size, the output size (scaling) or other options. You can find more information on the pos- sibilities for Window’s "PRINTER SETUP" in the Windows help. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 41: Edit" Menu

    Context menus appear in the window at the loca- tion where you are currently working. You can close the context menu by clicking out- side of the context menu without having selected a command. Or press [ESC]. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 42: Undo

    PC again. Thus, in general, you should also save all programs on the hard drive of the computer. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 43: Execute

    If a program with an error message was aborted, you can → → → → → "CONTINUE" it again with this function once you have removed the error and/or erased the error message. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 44: Command List

    Either you can insert the command in your program immediately: click on "INSERT". "EXECUTE NOW" Or click on "EXECUTE NOW" and test this com- mand before Inserting it in your program. Enabled drives start up. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 45: Controller" Menu

    "SAVE" the last temporary pr temporary pr temporary pr temporary pr temporary program ogram ogram ogram ogram exe- cuted. "PROGRAMS" → "START" In this dialog window you can select a program and start it directly. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 46: Autostart

    If, in principle, you plan to start the programs via the parameter PRGPAR (102) or via the inputs, then the autostart program is only executed once (for example for HOME functions). MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 47: Controller" → → → → → "Parameters

    The units of the parameter values and all other information concerning the parameters can be found in the Software Reference in the section Parameters. This information is arranged according to the internal parameter numbers (in increasing order). MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 48: Parameters" → → → → → "Name

    In the field "NAME" enter a name for the VLT (no longer than 8 characters) or overwrite the existing name and click on "OK"..MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 49: Parameters" → → → → → "Save To File

    With → "SAVE RAM" you can also save the current array values in the EEPROM. "SAVE RAM" corre- sponds to the command SAVEPROM, since all programs, parameters and arrays are saved. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 50: Memory" → → → → → "Delete Eeprom

    EEPROM are also overwritten! With "RESET" → → → → → "PARAMETERS" all global para- meters and all axis parameters in the SyncPos option are reset to the factory settings. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 51: Testrun" Menu

    80% of the entire recording time. internal between measurements, not the Thus vibrations at the target position are easily controller sample interval. recognizable. Example: 50 measurements in intervals of 30 ms = 1.5 sec recording time. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 52: Execute "Testrun

    Proportional Proportional Proportional and Derivative factor Derivative factor Derivative factor Derivative factor Derivative factor (ca. 20) and set the integral factor to zero. Then, starting from these values, optimize the controller. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 53: Display Recording

    = acceleration. The positioning graph shows the set positions (dark or brown curve) and the positions actually achieved (light or red curve). MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 54 "TESTRUN" acceleration graph The light green curve shows the actual path of acceleration, the dark curve shows the desired trapeze-shaped set curve during acceleration and deceleration. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 55: Settings" Menu

    "SETTINGS." Select the type, e.g. Comment, and Increase the maximum values permitted if the select the desired color. Click OK to store the new number of labels is not sufficient for text input. settings. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 56: Language

    SyncPos window and display the files along- side each other. I I I I I "TILE HORIZONTALLY" The SyncPos window is divided up and the files shown on top of each other. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 57: Compiler

    You can print the help text or [INSERT] it in your edit window with "EDIT" → → → → → "COPY". For example, this can be used to insert complete program strings from program samples. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 58 ® 5000 SyncPos option MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 59: I I I I I Programming With Syncpos 5

    VLT parameter and SyncPos parameter .... 125 VLT parameters ........... 126 VLT parameter list ..........128 All SyncPos parameters in Alphabetical Order ... 129 All SyncPos parameters in Detail ....... 131 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 60 You can reconstruct as many as 50 programs with assistance of the information in the example programs in this chapter. And in chapter Parameter Reference all the parameters are described, first in general and then in detail. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 61: I I I I I Programming With Syncpos Fundamental Program Layout

    Inadmissible is nesting comments (/* ..../*....*/) /* If input 3 not = 1, run in speed mode */ • • • • • Use of line identification within the loop. GOTO main MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 62: Interrupt

    “jam” is Do not use WAITT in connection with inter- created. That means that actually only the ON rupts since the waiting process starts again PERIOD function is executed. after the interruption. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 63 If the same input resp. interrupt occurs again while the procedure is being executed this is noted again and subsequently executed. Thus, an interrupt can only be lost if it occurs twice during the execution of an interrupt procedure. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 64: Elements Of The Programming Language

    … can be written in small or capital letters (no difference!) Example … may not be identical to a command name DIM target1[20], target2[20], target3[20] MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 65: Arithmetic

    The maximum number of variables can be set in the menu "SETTINGS" → "COMPILER". MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 66 Comparison Operations and Logical Operations Comparison operations > greater than < less than ≥ greater than or equal to ≤ less than or equal to the same as not equal Logical operations MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 67: User Unit

    The priorities are described in decreasing order: multiplicative – additive >> << bit-by-bit shifting ≥ ≤ > < relation equality & bit-by-bit and bit-by-bit inclusive or (logical and) (logical or) MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 68: I Software Reference List Of Commands

    CPOS reads set position REPEAT beginning of repeat loop MAPOS queries actual position of the REPEAT... UNTIL conditional loop, with an end master criteria MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 69 ON STATBIT call up a subprogram when bit n master of the VLT status is set PULSVEL sets velocity for the virtual ON TIME calls subroutine after single master timing MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 70: All Commands From Acc To #Include

    PRINT APOS minimum acceleration time: 1000 msec /* display the actual position of axis on the PC */ maximum velocity: 1500 Rpm (25 Rev./s) velocity resolution: Program sample APOS_01.M, GOSUB_01.M, MOTOR_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 71 1 = speed mode is active Bit 1 1 = positioning procedure is active Bit 0 1 = target position reached; motor is not in motion Command group Cross Index WAITAX, STAT MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 72 (16 bit) into the send buffer on the communication option, from where it is send via the network to the master. Command group Communication option MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 73 Communication option function MOTOR STOP, ERRCLR, ON ERROR GOSUB see command COMOPTGET Syntax-Example Command group CONTINUE Communication option /* continue interrupted motion procedure */ Cross Index Program sample COMOPTGET MSTOP_01.M Program sample COM_OPT MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 74 Parameter: POSFACT_Z (23), POSFACT_N (26) ACC, DEC, CVEL, CSTOP Syntax-Example Syntax-Example PRINT CPOS CSTART /* rpm mode start */ /* actual command position of axis */ Program sample Program sample CMODE_01.M CPOS_01.M GOSUB_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 75 0, i.e. the motor will not turn, and a velocity input via CVEL will start the movement in speed control mode. Command group Cross Index ACC, DEC, CSTART, CSTOP Parameter: VELMAX (1) Syntax-Example CVEL 100 Program sample CMODE_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 76 1000 msec POSA 80000 /* Absolute positioning */ maximum velocity: 1500 Rpm DEF ORIGIN /* define acutal position as velocity resolution: zero point */ Program sample DORIG_01.M, ORIG_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 77 RAM after the program is exited. t = time delay in milliseconds (maximum MLONG) Command group Command group Cross Index WAITT, WAITI, WAITAX Syntax-Example DELAY 1000 /* 1 second delay */ Program sample DELAY_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 78 Summary Definition of an array Syntax DIM array [n] Parameter array = name of the array = number of array elements MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 79 ON INT, ON COMBIT, ON STATBIT, ON PARAM, ON PERIOD, ON TIME, ENABLE .. Interrupts Syntax example DISABLE ALL /* Switch off all interrupts */ DISABLE STATBIT /* Switch off the interrupt for the status bit */ MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 80 Command group INI, CON Cross Index ON ERROR GOSUB, ERRNO, CONTINUE, MOTOR ON Messages and Error reference Syntax-Example ERRCLR /* erase actual error alarm */ Program sample ERROR_01.M, IF_01.M, INDEX_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 81 /* Print-out positive positioning limit */ posdiff = GET POSERR /* Read actual setting tolerated position error */ Syntax-Example PRINT GET I_BREAK /* reads input for abort */ Program sample GETP_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 82 SUBPROG testup Cross Index Command line 1 SETVLT Command line n RETURN Syntax-Example ENDPROG PRINT GETVLT 202 Program sample /* reads parameter 202 output frequency high */ GOSUB_01.M AXEND_01.M, INCL_01.M, STAT_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 83 Please note, that ON PERIOD xx GOSUB xx must be disabled during homing. E.g. ON PERIOD n GOSUB x and the resetting after homing is completed. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 84 IF ENDIF IN_01.M, … construction. Summary Conditional single or multiple program branching. (When the conditions are fulfilled, then ...., else ....) MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 85 /* If high level on terminal 2, set output 01 */ Syntax-Example OUT 1 1 an1 = INAD 53 ELSE PRINT “Analog input 53 “ ,an1 OUT 1 0 ENDIF Program sample IN_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 86 /* store the condition of the first 8 inputs */ Example IN1 = low, IN2 = high, IN3 = high, all other inputs are low res = 2^1 + 2^2 = 6 Program sample INB_01.M, INB_02.M, OUTB_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 87 CANCEL CHANGE DATA à-key á-key â-key 1024 ß-key 2048 START 4096 FWD. REV. 8192 16384 STOP / RESET 32768 Combinations send the corresponding values: OK and CANCEL START and á-key 4608 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 88 1 = online, that means changes via the LCP display are active at once Command group Cross Index LINKGPAR, SET, GET User parameter, Parameter reference Syntax-Example LINKAXPAR POSERR 712 “position error” 300 5000 0 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 89 LINKGPAR I_ERRCLR 710 “ “ 0 33 0 /* Predefined global parameter */ LINKGPAR 132 711 “name” 0 100000 0 /* Free internal user parameter */ LINKGPAR PRGPAR 701 “auto-program” –1 10 0 /* Define autostart */ MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 90 GOTO, WHILE…ENDWHILE, REPEAT…UNTIL Syntax-Example next_in: /* jump to label */ command line 1 command line n LOOP 9 next_in /* repeat loop contents 10 times */ Program sample LOOP_01.M APOS_01.M, IN_01.M, MOTOR_01.M, NOWAI_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 91 = actual velocity of the master in qc/sec, the master */ valve is signed Command group AVEL Cross Index PRINT MAVEL /* queries actual velocity of the master and print to PC */ MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 92 MOTOR OFF Syntax-Example MOTOR OFF Syntax-Example /* switch off controller of the axis */ MOTOR ON /* switch on controller of the axis */ Program sample MOTOR_01.M Program sample POS_01.M MOTOR_01.M POS_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 93 Command group Cross Index SET, SYNCPOSOFFS (54) Cross Index POSA, POSR, CSTART, CONTINUE, CSTOP Syntax example MOVESYNCORIGIN 1000 Syntax-Example MOTOR STOP /* interrupt motion of the axis */ Program sample MSTOP_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 94 /* no waiting after POS-commands */ NOWAIT OFF Syntax-Example /* wait after POS-commands till target reached */ ON COMBIT 5 GOSUB test // set interrupt on fieldbus bit 5 Program sample NOWAI_01.M, MSTOP_01.M, OUT_01.M, VEL_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 95 NOWAIT is automatically set to ON. If the error subroutine is exited with the error still active because e.g. ERRCLR was not carried out or another error has occurred, then a new call takes place. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 96 The subroutine to be called up must be defined DELAY_01.M, GSVEL_01.M within the SUBMAINPROG and ENDPROG identified program. The identification of an interrupt and the call up of the corresponding subroutine requires a maximum of 2 milliseconds. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 97 Syntax-Sample LINKAXPAR POSERR 712 „position error“ 300 5000 0 ON PARAM 712 GOSUB poserr // when position error is changed SUBMAINPROG SUBPROG poserr PRINT „New position error: „, GET POSERR RETURN MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 98 (exception: error interrupt), then it will be ignored and thus lost. Peculiarities The subroutine to be called up must be defined within the SUBMAINPROG and ENDPROG identified program. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 99 OUT 6 0 /* 06 off */ ON TIME 200 GOSUB off1 /* light off again after 200 ms */ Program sample SUBMAINPROG OUT_01.M SUBPROG off1 OUT 1 0 RETURN ENDPROG MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 100 OUTAN 0X2000 /* set speed reference 50 % */ /* disable outputs 2 and 4, switch through all other outputs */ OUTB 0 128 /* switch through output 8 only, disable others */ Program sample OUTB_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 101 // is bit 2 of PCD3 high? Syntax-Example OUTDA 42 5000 /* set analogue output to 10 mA */ /* condition: parameter 319 is set on the range 0 up to 20 mA */ MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 102 Program sample POS_01.M Return value u(n) = result of the PID calculation Command group Syntax-Example e = INAD 53 u = PID e PRINT “input = “,e, “output = “,u MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 103 PRINT variable /* print contents of variables */ PRINT APOS /* print returned value function */ PRINT “Variable“, variable,“Pos.:",APOS /* print mixed information */ Program sample Uses – see all program samples MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 104 Changes in the acceleration in PULSACC PULSACC are only valid after the next PULSVEL command. Summary Set acceleration for the virtual master Syntax PULSACC a Parameter a = acceleration in Hz/sec Command group Cross Index PULSVEL MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 105 UNTIL (A != 1) /* Abort condition */ Syntax SAVE part Program sample part = ARRAYS REPEA_01.M AXPARS DIM_01.M, ONINT_01.M, OUT_01.M, INKEY_01.M GLBPARS Command group Cross Index DELETE ARRAYS, SAVEPROM MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 106 Command group Cross Index Parameter-reference Syntax-Example SET POSLIMIT 100000 /* set positive positioning limit */ SET KPROP 150 /* change proportional factor */ Syntax-Example SET KPROP 150 /* change proportional factor */ MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 107 Syntax-Example SETMORIGIN 10000 Syntax-Example /* Set the zero point for the master at 10000 */ SET ORIGIN 50000 /* set temporary zero point to 50000 */ Program sample TORIG_01.M OUT_01.M, VEL_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 108 REGWINMIN. As soon as the control window is transmission) set, the axis controller is switched on again. SETVLT 202 60000 Command group Cross Index AXEND Syntax-Example PRINT STAT /* print status word */ Program sample STAT_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 109 /* begin SP-section */ STAT_01.M SUBPROG sp1 /* begin sp1 command line 1 command line n RETURN /* end sp1 ENDPROG /* end SP-section Program sample GOSUB_01.M, AXEND_01.M, ERROR_01.M, IF_01.M, STAT_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 110 SYNCERR. When defined in SYNCMSTART (62), the system waits for the first evaluation of the marker pulses on starting SYNCM and only then the offset SYNCPOSOFFS (54) is applied. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 111 (e.g. because only the master has moved in reverse) then the slave will wait at velocity 0. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 112 SYNCREADY is set. Otherwise it is deleted. If the fault counter is greater that the value deter- mined by the parameter SYNCFAULT (57) then the flag SYNCFAULT is set. Otherwise it is deleted. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 113 This flag is no longer deleted unless SYNCM is started again or deleted with SYNCSTATCLR. Command group Cross Index SYNCSTATCLR Syntax-Example IF (SYNCSTAT & 4) THEN OUT 1 1 /* If ACCURACY then set output */ ENDIF MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 114 = actual_pos + error old_error, cvel, avel are maintained. Sumerr is also accepted unchanged. Summary velocity synchronization with the master Syntax SYNCV MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 115 EN- CODER (2). 4103 As above for the master 4105 Current master position without conversion (qc) (see MAPOS) 4106 Last Master index position without conver- sion (qc) (see MIPOS) MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 116 = indices of the three values to be recorded. The agreements for the system array apply. Three values are always recorded. array name = Name of the array used for the recording MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 117 // Increase velocity to 100% TESTSTART 200 // Start recording (200 measurements) DELAY 20 // Wait 20 ms POSA 100000 // Start positioning with new velocity NOWAIT OFF // Wait untill positioning is finished MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 118 PRINT TIME /* print current system-time */ /* query actual position error of the axis */ timestop1 = TIME /* store current entary system-time */ Program sample ACC_01.M, DELAY_01.M, EXIT_01.M, GOSUB_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 119 SYNCP or SYNCM follows the VEL command. Command group REL, ABS Cross Index ACC, POSA, POSR Parameter: Maximum velocity VELMAX (1) Syntax-Example VEL 100 /* Velocity 100 */ Program sample VEL_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 120 WAITI 6 OFF /* Wait till Low level reached input 6 */ WAITI 6 0 /* 3 alternative forms: */ WAIT I 6 OFF WAIT I 6 0 Program sample WAIT_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 121 /* wait 5000 seconds */ WAITP 50000 /* wait on position 50000 */ WAIT T 5000 /* Alternative form: */ OUT 1 1 /* set output 1 */ NOWAIT OFF Program sample WAIT_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 122 LOOP, REPEAT ..UNTIL ..Syntax-Example WHILE (A != 1 AND B == 0) DO command line 1 command line n ENDWHILE Program sample WHILE_01.M INKEY_01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 123 LCP display. #DEBUG instructions are only of use in the step-by-step program processing – they are otherwise ignored. Command group Cross Index Look up user Interface: "DEVELOPMENT" → "EXECUTE" → "SINGLE STEP" MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 124 “.M”. The commands within the file to be included must have correct syntax. Command group Syntax-Example #INCLUDE INC_UP01.M /* Include contents from file INC_UP01.M */ Program sample INCL_01.M + INCSTA01.M + INCPOS01.M + INCIN01.M MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 125: Vlt Parameter And Syncpos Parameter

    1 = Offline change means that a change to the Please note that an EEPROM has limited lifetime; but in can be reprogrammed parameter value is activated when the OK key approximately 10000 times. is pressed. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 126: Vlt Parameters

    130 – 229 GET/SET parameter number Ex.: var = GET 131 — GETVLT/SETVLT parameter number Ex.: var = GETVLT 780 795-799 130 – 229 GET/SET parameter number Ex.: var = GET 132 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 127 The inverter dead time com- pensation is providing better control performance in open loop control. Content active inverter dead time compensation Value range 0; 1 0 = OFF 1 = ON MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 128: Vlt Parameter List

    1) The maximum range is -2 to 2 -1 (-2147483648 to 2147483647) but the actual range is specified when defining a user param- eter in the application program using LINKGPAR or LINKAXPAR. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 129: All Syncpos Parameters In Alphabetical Order

    I_POSLIMITSW Positive limit switch – I_PRGCHOICE Input for beginning program choice – I_PRGSTART Input for program start – I_REFSWITCH Input for reference switch – KDER Derivative value for PID control – MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 130 Limit value for reading in target window TESTWIN Size of target window TIMER Sampling time for PID control msec VELMAX Maximum velocity 3000 VELMAXQC Maximum velocity (internal parameter) qc/ms * 1/65536 VELRES Velocity resolution MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 131: All Syncpos Parameters In Detail

    Therefore, it is the responsibility of the programmer and the user to observe the performance ranges of the drive and of the system. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 132 (220 kHz) may not be exceeded. ] ≤ 220 kHz Encoder revolution ENCODER * VELMAX MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 133 Unit Value range # 500000 0 … MLONG When using the command DEF ORIGIN the path limitation is automatically adapted so that the original position of the positioning range is maintained. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 134: Value Range 0

    Thus the program would be 'stuck' after the cor- responding positioning command. A target window of 0 deactivates the monitoring of the actual position and only monitors the com- mand position. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 135 0 … 65000 KPROP greater = Drive will become ‘stiffer’ KPROP too high = Tendency to overswing Content Proportional value for PID control Parameter Group Value range # 30 1 … 65000 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 136 As a guideline, it is wise to set the quadruple of Encoder counts per revolution. This corresponds to one encoder rotation. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 137 Content Limit value for integral sum for PID control Parameter Group Value range 0 … 65000 0 = OFF MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 138 The following context is valid: max. position (UU) * POSFACT_Z < MLONG Value range 1 … 65535 TESTVAL must always be set to be greater than TESTWIN. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 139 ORIGIN, HOME, INDEX, IPOS, MIPOS and negatively; WAITNDX. POSA 10000 = position –10000 The use of SYNCM should be avoided as it will not function correctly. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 140 Unit VELRES; Content Standard = Shortest ramp Value range # 50 Parameter Group 1 … VELRES Unit msec Value range # 1000 1 … 65535 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 141 For a BANDWIDTH of 500 only 50 % of the set value is output. Thus, values less than 1000 limit the P-share accordingly. Value range # 1000 0 … 1000 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 142 VELRES (22) Parameter Group Parameter Group Unit Unit VELRES Value range 0 … MLONG Value range # 10 1 … 65535 HOME_RAMP can never have a higher value than DFLTACC (34). MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 143: Parameter Group Axi

    = no function Content –1 … –8 = Reaction to a negative edge Behavior in event of an error on input 1 … 8 Parameter Group Value range 0 … 3 MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 144: No Function

    1 … 8 SUBPROG err_handle WAITI 1 = no function –1 … –8 = Reaction to a negative edge ERRCLR on input 1 … 8 OUT 1 1 RETURN MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 145 Thus, this results in a ratio of 3 : 1; only every 3rd Unit slave pulse is evaluated. Value range 1 … MLONG/max. master velocity MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 146 A minus sign supplies the syn- chronization error to SYNCERR Value range with polarity sign. It is then pos- sible to tell whether the –MLONG … MLONG synchronization is running ahead or behind. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 147 SYNCMPULSS is only valid for marker synchroni- zations (SYNCM). Content Marker number for fault Content Marker interval slave Parameter Group Parameter Group Value range # 10 Unit 0 … 65535 Value range # 500 0 … MLONG MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 148 Parameter Group Value range 0 … 3 0 = index pulse (positive flank) 1 = index pulse (negative flank) 2 = external marker (positive flank) 3 = external marker (negative flank) MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 149 Output for motion command active Content Parameter Group velocity filter Syntax Value range SET SYNCVFTIME value value = filter time constants –8 … 8 Parameter Group MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 150 % Syntax set syncvelrel value value = percent value Parameter Group Unit Value range 0 … MLONG 0 = OFF, i.e. no restriction MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 151 This flag can be reset with an interrupt (ON STATBIT). Sample Marker interval SYNCMPULSM = 30000 Tolerance window SYNCMWINM = 1000 Only one marker within an interval of 29000 to 31000 is accepted. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 152 If no marker is within the tolerance window, the corresponding flag (SYNCSTAT) is set and no marker correction carried out. This flag can be reset with an interrupt (ON STATBIT). MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 153 Thus it is possible to choose between a maximum of 128 programs, identified with the numerals 0 to 127. Content Input for program selections start number Parameter Group Value range 0 … 8 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 154 1 … 8 does not influence the use of the OUT and OUTB commands. With these commands it is also possible to change the outputs which have predefined functions. MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 155: I I I I I Messages And Error Reference

    I I I I I Messages and Error Reference Chapter 6 VLT and SyncPos messages ........ 156 Table of Messages ..........156 SyncPos messages in detail ........ 157 VLT software SyncPos messages (PC software) .. 161 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 156 Timeout while waiting for index TOO MANY ONTIME Too many time interrupts OUT OF MEMORY (VAR) No more room for variables MEMORY locked The program memory is write-protected. INTERNAL ERROR Internal error ## MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 157 Cause A communication or program error. O.ERR_7 SyncPos Axis no: 1 - Home vel 0 The program must be re-compiled and re-loaded. Cause HOME was executed with HOME_VEL set to zero. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 158 O.ERR 13 can only be reset using the ERRCLR command or with "Break" [Esc] in the PC software and only when the VLT is in the "ready" state, which means none of the above may be true. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 159 Avoid too many (10 is maximum) opposing sub- Remember to follow the recommendations routine calls, concerning saving programs and parameters avoid subroutines which call themselves (re before deleting the EEPROM. cursive subroutine procedures). MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 160 Too many ON TIME or ON PERIOD commands were used within the program. A maximum of 12 of these ON TIME and/or ON PERIOD commands are allowed within one program..MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 161 Meaning If such an error should occur, please contact your dealer and report the error number displayed to the technical service department. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 162 In order to be able to save a file, the following conditions must be fulfilled: • Identical software versions, that provides same number and order of the parameters • same configuration (e.g. same number of axes) MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 163 If the VLT is turned off or the plug is pulled, etc. the window is disconnected from the VLT and the lost connection is registered. I I I I I Timeout: no reply from VLT SyncPos Timeout: no reply from VLT Meaning The VLT does not answer; check the connection. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 164 In the online help you will find all the other pro- gram samples, which are mentioned in the chapter software reference. You can copy these programs or parts of them directly into your program. MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 165 /* Copy 4 words from send array to communication option */ /* Print data of receive array */ print “RECEIVED(4 WORDS)”,” “,receive [1],” “,receive [2],” “,receive [3],” “,receive [4] GOTO main /* End of program */ MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 166 = 1 res = test [4] - test [2] /* Calculate distance between 2 consecutive master markers */ PRINT “Master distance “, res /* Print result */ ENDIF GOTO main MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 167 Glossary terms ............. 168 What’s new in PC Software 2.0x / Option Card Software 3.00? ........ 168 What’s new in PC Software 2.1x / Option Card Software 3.1x? ......... 169 Index ..............171 MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 168: Glossary Terms

    (for example mm). This factor is a fraction which consists of a nume- rator and denominator. 1 User unit = POSFACT_Z / POSFACT_N Zero impulse = Index impulse MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 169: What's New In Pc Software 2.1X Option Card Software 3.1X

    SYSVAR System variable (Pseudo array) ON PARAM Interrupt when a parameter n is reads system values. changed TESTSETP Specify recording data for test TESTSTART Start the recording of a test run MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 170 LINKSYSVAR and observed on the LCP display. SYNCMSTART (62) Additional possibilities to define the start conditions of the marker synchronization. SYNCVFTIME (65) Master filter for SYNCP and SYNCM MG.10.J4.02 – VLT is a registered Danfoss trade mark...

  • Page 171: Index

    Connection examples ..........15 Digital inputs ..........10, 11, 14 Constants ............... 64 Digital outputs ........... 10, 11, 14 Context menu ............41 DIM ................ 78 Context-sensitive help ........... 57 DIM Statement ............64 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 172 Save and save as ..........40 Interrupt nesting ..........63 Forward Feel Acceleration FFACC( 37) ....141 Use of variables within interrupt procedures ..62 Forward Feel Acceleration FFVEL ( 36) ....141 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 173 Option card layout ..........13 Internal error ## ..........160 Option card terminals ........... 10 Limit switch activated ........159 ORIGINOFFS (42) ..........143 Lost connection to ........... 162 OUT ............... 99 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 174 REPEAT .. UNTIL ..........105 Source Code ............168 Repeat next command ......... 41 Starting SyncPos ........... 25 Reset Arrays ............50 STAT ..............108 Reset parameters ..........50 Sub programs ............61 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 175 Acceleration graph ..........54 motor vibrates heavily ........30 Current graph ............. 54 stationary precision is required ......35 Positioning graph ..........53 there is a tendency towards instability ....35 MG.10.J4.02 – VLT is a registered Danfoss trade mark...
  • Page 176 2.1x / Option Card Software 3.1x ...... 169 WHILE .. DO .. ENDWHILE ........ 122 Window menu ............56 Cascade ............. 56 Printing or copying help texts ......57 Tile vertically ............56 Zero impulse ............168 MG.10.J4.02 – VLT is a registered Danfoss trade mark...

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