Danfoss VLT 5000 Operating Instructions Manual page 41

The different positions are programmed using P738-P743 as interface. First, the application must be
homed to get at fixed reference for measuring (and entering) the positions. When this is done the first
position is programmed;
a) P738 is set to "1" either directly or by using the digital inputs and the "link" functionality of
P737.
b) The position is programmed in P739 either directly on the LCP or by using the "TEACH-IN"
functionality (simply use the jog inputs (54, 53) to drive the application to the desired position,
then press the [JOG] and [FWD./REV.] buttons to store that position in memory).
c) The individual ramp and velocity settings for this position is specified in P740-P742.
d) For trajectory type "absolute" is selected in P743 set to ("0").
The following table shows the complete list of settings for each of the 6 target positions.
P738
1
2
3
4
5
6
Software limits (P744-P745)
The software limits are placed just in front of the hardware limit switches with a distance to the hardware
limit switches that allows for the cart to be stopped with the shortest allowable ramp (P719) before the
HW limit switch is activated.
The settings are: P744 = "370000" and P745 = "-10000".
Setting P719 and P725
If the pallet cart is transporting a loaded pallet and travelling at its top speed, it is not allowed to simply
activate the electromechanical brake (all the products on the pallet would be scattered across to floor
because of the deceleration). So if a "safety cage" or other safety device is opened and the "quick stop"
input is activated, the drive should ramp down with the appropriate ramp and then activate the safety
brake. This functionality is achieved by setting P725 to "0" and tuning P719 to the lowest allowable
setting.
Other settings (P726, P735, P736, P746)
The maximum PID track error was brought down to approximately +/- 100 QC during the optimising
sequence described above (steps 17-20). Therefore, it is an indication of an error, if the PID track error
should suddenly grow larger than approximately +/- 200 QC. Thus P726 Maximum tolerated PID error is
set at "200".
The maximum tolerated travel of the brake before replacement is estimated at 4 mm so P735 Brake
wear limit is set to "4".
If the application for some reason should ever go into the not allowed area beyond the SW limits it
should be possible to bring the application back into the allowed area by resetting the limit error and
using the jog inputs. This is achieved by setting P736 Power-recovery to "1".
The allowed position tolerance is defined to be +/- 10 mm in this application so P746 Target position
window is set to "10".
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Positioning Controller
P739 P740
40000 900
80000 2000
150000 900
220000 900
260000 2000
330000 900
P741 P742
900 500
2000 500
900 500
900 500
2000 500
900 500
MG.50.P3.02 - VLT is a registered Danfoss trademark
P743
0
0
0
0
0
0