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Commissioning
5 Commissioning
5.1 Safety Instructions
Refer to the safety warnings in chapter 2 Safety before
commissioning.
5.2 Basic Parameters Set-up
VLT Parameter Groups
•
Parameter 1-** Motor data, open or closed loop,
AMA
•
Parameter 2-** Dynamic brake
•
Parameter 3-** Reference range and limits, Ramps
•
Parameter 4-** Speed limits, Torque limits
•
Parameter 7-** If using the Drive speed closed
loop, tune it before MCO PID
MCO Basic Parameters
•
Parameter 32-0* Encoder2 (feedback) set-up type
and resolution
•
Parameter 32-3* Encoder1 (if used) set-up type
and resolution
•
Parameter 32-6* Set PID values
•
Parameter 32-8* Maximum velocity, Ramps
5.3 Basic Set-up
Refer to the safety warnings in chapter 2 Safety before
commissioning.
For information on applying power and operation of the
®
LCP, refer to the VLT
AutomationDrive FC 301/FC 302
Operating Instructions.
1.
Check the motor connection. Control the brake
externally from the option until set-up is finished,
because the mechanical brake control cannot be
guaranteed during this basic set-up. Also ensure
that the motor can rotate freely without causing
damage or injury.
2.
Remove all signals to inputs. Only Input 27
(coast), I8 (Qstop), I3 (Negative HW limit) and I2
(Positive HW limit) must be connected and high.
3.
Select Off Mode
4.
Run the Quick Set-up with the correct motor
data.
5.
Go to Hand on mode and set the frequency for a
low positive value, for example +3 Hz in the
reference value. The motor should now rotate.
6.
If the motor rotates in the wrong (negative)
direction, exchange the motor phases.
MG33R302
Operating Instructions
7.
8.
9.
5.4 PID Settings
Calculate Feed forward velocity (FFVEL – 32-65 Velocity
Feed Forward)
FFVEL =
•
•
•
•
Use parameter 19-19 FFVEL Auto-calculation to specify if the
calculation should be made automatically. This is only
possible when encoder and speed parameters have been
set.
Danfoss A/S © 04/2014 All rights reserved.
Set the parameters for feedback encoder in
parameter group 32-0* Encoder 2 parameters and,
if needed, parameters for encoder in parameter
group 32-3* Encoder 1 parameters.
7a
For incremental encoder:
Set parameter 32-00 Incremental Signal
Type to the type needed. Set the
resolution of the encoder in parameter
32-01 Incremental Resolution. Set
parameter 32-00 Incremental Signal Type.
7b
For absolute encoder:
Set parameter 32-00 Incremental Signal
Type to [0]. Set parameter 32-02 Absolute
Protocol to the encoder type used and
32-03 Absolute Resolution to the encoder
resolution. Set the data bit and clock
settings for the absolute encoder from
parameter 32-05 Absolute Encoder Data
Length to 32-08 Absolute Encoder Cable
Length.
Press the [Status] button on the LCP. Now the
RPM and Actual Position values appear in the
upper line of the display.
Optimise the PID controller(s).
62914560000
MaxVelEnc x EncRes x Tsample
FFVEL = 32-65 Velocity Feed Forward
MaxVelEnc = parameter 32-80 Maximum Velocity
(Encoder)
EncRes = Encoder resolution
-
For incremental and sinusoidal encoders:
EncRes = 4 x (32-01 Incremental
Resolution)
-
For CAN encoders: EncRes = 1 x
(parameter 32-01 Incremental Resolution)
-
For absolute encoders: EncRes = 32-03
Absolute Resolution
Tsample = PID sampling time (32-69 Sampling
Time for PID Control)
5
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