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Commissioning
Setting of PID:
32-60 Proportional factor ≈ FFVEL/50
32-61 Derivative factor ≈ FFVEL/10
32-62 Integral factor = 5
5.5 Description of Application Parameters
5.5.1 19-** Application Parameters
The 19-** parameters configure the MCO 351 Positioning
5
5
Controller specific application software. The other
parameters configure the underlying MCO firmware.
19-00 Control Mode
Option:
[0]
MCO
*
control
[1]
VLT control The motor is controlled by VLT and not by
19-01 Endless Positioning
Option:
[0]
Limited The positioning is performed in a limited position
*
[1]
Endless The positioning is performed continuously in 1
19-02 Block Direction
Option:
[0]
No blocking
*
[1]
Block
reverse
[2]
Block
forward
19-03 Touch Probe Delay
Range:
0
[1–100000 ms] This parameter enables compensation for any
19-04 Control Source
Option:
[0]
Digital I/O The positioning is controlled via digital inputs.
*
[1]
Fieldbus
24
Function:
The motor is controlled by MCO.
MCO. Manual running is possible. Note that
the standard controller functions, for example,
limit switches and other safety-related
functions, are not active.
Function:
range without position overflow.
direction. Also remember to set parameters 19-08
Power Recovery, 33-43 Negative Software End Limit
Active, and 33-44 Positive Software End Limit Active
to [0].
Function:
The motor is enabled to move in both
directions.
Defined as an error situation ("Reverse
operation prohibited" – ERROR STATUS = 12)
if the motor is moving in reverse direction.
Defined as an error situation ("Forward
operation prohibited" – ERROR STATUS = 13)
if the motor is moving in forward direction.
Function:
fixed delay in the touch probe.
Function:
The positioning is controlled via fieldbus.
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Operating Instructions
19-05 User Actual Position Setting
Range:
0
[–1073741824 to
1073741824]
19-06 Error Behaviour
Option:
[0]
Electronic
*
brake
[1]
Mechanical
brake
NOTICE
The brake is always activated after an error situation (or
quick stop), regardless of the setting in parameter 19-09
Automatic Brake Control.
19-07 Error Reset
Option:
[0]
No reset
*
[1]
Reset
error
19-08 Power-Recovery
Option:
[0]
Disabled When the power recovery function is disabled (set
[1]
Enabled When the power recovery function is enabled (set
*
Function:
At power-up, if parameter 33-00 Force
Home is set to [0] Home not forced, the
actual position is equal to the value set
here.
Function:
This parameter determines the behaviour of
the motor after an error is detected.
The motor ramps down to standstill with the
shortest possible ramp (parameter 32-81).
After achieving standstill it activates the
electronic brake according to the setting of
parameter 19-10 Coast Delay. If the motor is
coasted at any point during ramp down (for
example, due to an overcurrent trip), the
motor immediately activates the brake and
coasts the motor.
The motor immediately activates the brake
and coasts the motor.
Function:
No error reset.
By selecting this option, it is possible to clear
the error flag (if the reason for the error is not
still present). The parameter automatically resets
to [0] No reset when the error is successfully
cleared.
Function:
to [0]), it is not possible to drive the application
by any means (neither jogging nor positioning) as
long as the application is outside the HW or SW
limits. The only way to recover from this situation
is to move the application by hand.
to [1]), it is possible to make a partial reset of the
limit error (ERROR STATUS = 2/3/4/5), whereby it
is possible to use the jogging function to drive
the application out of the HW or SW limit area. It
is not possible to drive the application with
homing, positioning, or jogging (in the wrong
direction), as long as the application is still within
the HW or SW limit area. The error occurred output
remains high to indicate that these restrictions are
in effect. As soon as the application is moved
MG33R302
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