Danfoss MCO 351 Operating Instructions Manual
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Danfoss MCO 351 Operating Instructions Manual

Danfoss MCO 351 Operating Instructions Manual

Positioning controller vlt automationdrive fc 301/302
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MAKING MODERN LIVING POSSIBLE
Operating Instructions
Positioning Controller MCO 351
®
VLT
AutomationDrive FC 301/302
www.danfoss.com/drives

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Summary of Contents for Danfoss MCO 351

  • Page 1 MAKING MODERN LIVING POSSIBLE Operating Instructions Positioning Controller MCO 351 ® AutomationDrive FC 301/302 www.danfoss.com/drives...

  • Page 3: Table Of Contents

    4.5.2 MCO Digital Inputs Terminal (X57) 4.5.3 MCO Digital Outputs Terminal (X59) 4.5.4 MCO Encoder Connection 4.5.4.1 Encoder Connection Examples 4.6 Fieldbus Interface 4.6.1 Introduction 4.6.2 Data Layout 5 Commissioning 5.1 Safety Instructions MG33R302 Danfoss A/S © 04/2014 All rights reserved.
  • Page 4 6.6 Index Positioning 6.7 Quick Bus Positioning 7 Diagnostics 7.1 Troubleshooting 7.2 Error Messages 8 Appendix 8.1 Abbreviations and Conventions 8.2 Glossary of Key Terms 8.3 Positioning 8.3.1 Positioning Table 8.3.2 Positioning Templates Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 5 Contents Operating Instructions 8.3.2.1 Example of Index Positioning via Fieldbus 8.3.2.2 Example of Index Positioning via Quick Bus Index MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 6: Introduction

    Instructions is a prerequisite for: It is available with and without conformal coating. • Trouble-free operation As the MCO 351 is a standard product with fixed • functional properties, no additional application Recognition of product liability claims programming is required.

  • Page 7: Approvals

    1.5 Disposal Equipment containing electrical components can not be disposed of together with domestic waste. It must be separately collected with electrical and electronic waste according to local and currently valid legislation. MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 8: Safety

    5.5–37 kW 380–480 0.25–7.5 kW 11–75 kW 525–600 0.75–7.5 kW 11–75 kW 525–690 11–75 kW High voltage may be present even when the warning indicator lights are off. Table 2.1 Discharge Time Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 9: Functional Safety

    NOTICE Installation at high altitudes: • 380–500 V: Enclosure A, B, and C: At altitudes above 2 km, contact Danfoss regarding PELV. • 380–500 V: Enclosure D, E, and F: At altitudes above 3 km, contact Danfoss regarding PELV. •...

  • Page 10: Mechanical Installation

    B, C, D, E, and F (except B3) 130B7533 Table 3.1 Mounting Kits Do not mount the small fan for B4, C3, C4, D, E, and F. Illustration 3.1 Bookstyle Enclosure – A2, A3, B3 Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 11 Mechanical Installation Operating Instructions Illustration 3.2 Compact Enclosure – A5, B (except B3), C, D, E, F MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 12: Electrical Installation

    C option cover. If these connections are used, cut out the plastic parts above the connectors and mount the cable relief. Illustration 4.2 Removing the Front Cover Illustration 4.1 Location of Encoder and I/O Terminals Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 13: Frequency Converter Control Card Terminals

    4.2 Frequency Converter Control Card Terminals ® The terminals on the VLT AutomationDrive control card are allocated for the MCO 351. Do not change the following parameters for I/O settings: • Parameters 5-10 to 5-15 set to [0] No operation (default setting) •...
  • Page 14 53 ±10 V-In Manual jog positive 54 ±10 V-In Manual jog negative 55 Common for analogue inputs Supply voltage: 12, 13 +24 V Out 20 Common for digital inputs (common with X55/4-X56/4- X58/2) Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 15: Wiring Diagram

    Reference index Bit 4 /CLK DATA /DATA Illustration 4.5 Wiring Diagram NOTICE Input 29 is not available in FC 301. Therefore only 16 positions can be selected via digital inputs in FC 301. MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 16: Mco Option Card Terminals

    Negative hardware limit switch Home switch Go to target position Reset home flag Reset touch probe position Quick stop Go to home position Latch new reference position index number Illustration 4.8 X57 Digital Inputs Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 17: X58 24 V Dc Supply

    Homing completed Reference position reached Error Reference index bit 0 Reference index bit 1 Reference index bit 2 Reference index bit 3 Reference index bit 4 Illustration 4.10 X59 Digital Outputs MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 18: Description Of Terminals

    RS-485 Shield Integrated RC-filter for cable screen. Only for connecting the screen when experiencing EMC problems. RxTx+ A control card switch is provided for termination resistance. RxTx– Table 4.2 Control Card Terminals Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 19: Mco Digital Inputs Terminal (X57)

    Mirror of the currently locked-in reference index bit 3. Not used in fieldbus mode. Reference index bit 4 Mirror of the currently locked-in reference index bit 4. Not used in fieldbus mode. Table 4.4 MCO Digital Outputs Terminal (X59) MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 20: Mco Encoder Connection

    Encoder connected to X55 for positioning loop. Since the encoder is not mounted directly on the motor shaft, this MCO 351 provides 2 encoder interfaces, X55 and X56. configuration can be used for the MCO positioning loop Terminal block X55 is configured as the default feedback and the FC speed control loop.
  • Page 21 (X56) is needed for running closed FC speed control loop. MCB 103 MOTOR Illustration 4.15 Resolver Mounted on the Motor MOTOR Illustration 4.14 Encoders Mounted on the Motor and the Gear MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 22: Fieldbus Interface

    The example in Illustration 4.16 is based on the layout of a Profibus telegram, the so-called PPO: Quick bus go to target Illustration 4.16 Example using PROFIBUS PPO Type 5 Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 23 Quick Bus target deceleration Reference index bit 0 Reference index bit 1 Reference index bit 2 Reference index bit 3 Reference index bit 4 Reference index bit 5 Table 4.5 Fieldbus Control Signals (Inputs) MG33R302 Danfoss A/S © 04/2014 All rights reserved.
  • Page 24 Current index bit 5 Actual position (high word) Parameter 34-50 Actual Position (high word) Actual position (low word) Parameter 34-50 Actual Position (low word) Error status 19-93 Error Status Table 4.6 Fieldbus Control Signals (Outputs) Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 25: Commissioning

    The motor should now rotate. calculation should be made automatically. This is only possible when encoder and speed parameters have been If the motor rotates in the wrong (negative) set. direction, exchange the motor phases. MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 26: Description Of Application Parameters

    5.5.1 19-** Application Parameters Option: Function: Electronic This parameter determines the behaviour of The 19-** parameters configure the MCO 351 Positioning brake the motor after an error is detected. Controller specific application software. The other The motor ramps down to standstill with the parameters configure the underlying MCO firmware.
  • Page 27 19-18 Jog Velocity Scaling Option: Function: No scaling The jog velocity is defined in encoder revolutions per minute (ERPM). Scaling The jog velocity is scaled by Motor/Encoder Gear Numerator/Gear Denominator. MG33R302 Danfoss A/S © 04/2014 All rights reserved.
  • Page 28 If a touch probe position is already defined, the application moves directly to that position. NOTICE This parameter is automatically updated depending on parameter 19-23 Index Number. Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 29 Touch probe Positioning is relative to a touch probe positive position expected in positive direction. Touch probe Positioning is relative to a touch probe negative position expected in negative direction. MG33R302 Danfoss A/S © 04/2014 All rights reserved.
  • Page 30 6 = VLT not running 7 = Brake wear limit 8 = Quick stop 9 = PID error too big 12 = Reverse operation 13 = Forward operation 92 = Encoder hardware error Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 31: Mco Basic Settings

    Encoder 2 encoder, the resolution must be interface (X55/X62) in positions per set in (pulses per revolution)/4. revolution. The encoder resolution can be found on the encoder nameplate or datasheet. MG33R302 Danfoss A/S © 04/2014 All rights reserved.
  • Page 32 Position, …), all user inputs (parameter 19-24 Index Target Position, …), and all synchronization factors, as well as the velocities (parameter 33-03 Velocity of Home Motion). Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 33: And 32-4*, Encoder 1 Parameters

    RS-422 is connected. CAN encoder An encoder with a CAN interface is 1000 qc = qc = qc = 1 UU connected. Illustration 5.1 Example 1 Parameter 32-12 User Unit Numerator = 1000 MG33R302 Danfoss A/S © 04/2014 All rights reserved.
  • Page 34 On Select this option if the MCO is the only clock generator for the connected absolute encoder. NOTICE This parameter is only visible when parameter 32-32 Absolute Protocol is not set to [0] None. Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 35: Feedback Source

    Motor Control can be set in parameter encoder. Instead, the old value is 32-01 Incremental Resolution. kept and the differences from the new encoder are added. This makes it possible to change encoders “on the run”. MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 36: And 32-7*, Pid-Controller Parameters

    As output the full command value. For a a guideline, it is wise to set the Bandwidth of 500, only 50% of the set value is quadruple of encoder counts per Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 37 0 within the 3 ms – defined period. 4 ms – This handling of the integral part can be an 5 ms – advantage for synchronisation applications, where MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 38: Velocity & Acceleration

    This parameter determines the shortest increase acceleration by maximum jerk until the maximum 3600.000 s] ramp (maximum acceleration). It indicates acceleration (defined by parameter 32-81 Shortest Ramp) is the length of the minimum acceleration Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 39 If set to [0], this defaults to the same value as 32-86 Parameters 32-81 Shortest Ramp and Acceleration Up for Limited Jerk 32-86 Acceleration Up for Limited Jerk are time values in milliseconds. Calculation sample: MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 40: Mco Advanced Settings

    Parameter 19-93 P33-02 Error Status is set to either [2] Positive HW limit or [3] Negative HW limit. For behaviour after an error, see parameter 33-83 Behaviour after Error. Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 41 Limit Value. If the result is lower, then the position actual position and only monitors the command has been reached, otherwise a new reading is position. taken. This parameter indicates the time interval between the measurements. MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 42: Global Parameters

    Option: Function: Coast Standard, that is, motor moves in coasting, control loop is interrupted. Coast and brake This option is the same as option [0] but brake output (if defined) is activated. Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 43: Mco Data Readouts

    PCD 9 Read from MCO [34-30] PCD 10 Read from MCO 5.8.3 34-4*, Inputs and Outputs 34-40 Digital Inputs Readout status of the digital inputs. 34-41 Digital Outputs Readout status of the digital outputs. MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 44: Application Examples

    Stop Time defined in P 19-11 Time Position reached Motor Motor stop - Brake closed demagnetized Illustration 6.2 Coast Delay Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 45: Hardware End Limit

    19-27: Index Maximum Velocity (RPM, on the encoder side) • 19-28: Index Trajectory Type (absolute, relative, or touch probe) • 19-29 Parameter Save: Save parameter settings for Illustration 6.4 MCO and FC 300 Controlled Brake 19-24 to 19-28 MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 46: Quick Bus Positioning

    Application Examples Operating Instructions 6.7 Quick Bus Positioning Inputs: • 18 Reference index bit 0 The MCO 351 is controlled by an overall control system, • 19 Reference index bit 1 e.g. a PLC system. • 33 Reference index bit 2 Parameter 19-04 Control Source must be set to [1] Fieldbus •...

  • Page 47: Diagnostics

    The option sometimes forgets changes to trajectory data after a Changes to trajectory data values are not saved after power-down power cycle. unless parameter 19-29 Parameter Save is activated before power- down. Table 7.1 Troubleshooting MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 48: Error Messages

    19-06 Error Behaviour and the motor is coasted regardless of the setting in parameter 19-09 Automatic Brake Control. • Clear the error to resume normal operation. Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 49 Open or short circuit in accordance with the displayed indicator light. • An error is displayed even if no encoder is connected and the monitor is active (parameter 32-09 Encoder Monitoring = [1] 3 channels. Table 7.2 Error Messages MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 50: Appendix

    Numbered lists indicate procedures. Bullet lists indicate other information and description of illustrations. Italicised text indicates: • Cross-reference • Link • Footnote • Parameter name, parameter group name, Illustration 8.1 Incremental Encoder Signals parameter option Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 51 34-56 Track Error. The maximum tolerated PID signals, SIN and COS, deliver each value between 0 and 1. error is entered in parameter 32-67 Maximum Tolerated Position Error in quad counts (qc). MG33R302 Danfoss A/S © 04/2014 All rights reserved.

  • Page 52: Positioning

    000F 0010 0011 0012 0013 0014 0015 0016 0017 0018 0019 001A 001B 001C 001D 001E 001F * = For FC 302 only. Not valid for FC 301. Table 8.2 Positioning Table Danfoss A/S © 04/2014 All rights reserved. MG33R302...

  • Page 53: Positioning Templates

    Move to relative position 10000 UU with velocity 750 RPM, ramp-up time 1 s and ramp-down time 500 ms Move to absolute position 131072 UU with velocity 500 RPM and ramp-up/down time 100 ms Reset a pending error via Quick Bus Table 8.4 Example of Index Positioning via Quick Bus MG33R302 Danfoss A/S © 04/2014 All rights reserved.
  • Page 54 Feedback source................... 33 Brake control..................42 FFVEL Auto-calculation..............26 Brake delay....................25 Fieldbus control signals.............. 21, 22 Brake wear limit..................25 Fieldbus interface................. 20 Force home..................... 38 Coast delay....................25 Commanded position................. 41 Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 55 Supplied by external 24 V DC............40 Ramp for home motion..............38 Mechanical installation................. 8 Ramp type....................36 Motor/encoder gear denominator..........25 Ramp up time..................27 Motor/encoder gear numerator............. 25 Reverse behaviour for slave.............. 35 Rotational direction................30 MG33R302 Danfoss A/S © 04/2014 All rights reserved.
  • Page 56 Trajectory type..................27 User actual position setting.............. 24 User unit denominator............... 31 User unit numerator................31 Velocity..................... 36 Velocity feed-forward................. 34 Velocity of home motion..............38 Velocity resolution................37 X55 Feedback Encoder Input............14 Danfoss A/S © 04/2014 All rights reserved. MG33R302...
  • Page 57 Index Operating Instructions MG33R302 Danfoss A/S © 04/2014 All rights reserved.
  • Page 58 Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without subsequential changes being necessary in specifications already agreed. All trademarks in this material are property of the respective companies.

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