Integrated Motion Controller; Introduction; Positioning, Homing, Synchronization - Danfoss VLT AutomationDrive FC 301 Programming Manual

Integrated Motion Controlle...

4 Integrated Motion Controller

4.1 Introduction

NOTICE
The integrated motion control is only available with special IMC software version 48.XX. To order the frequency
converter with the IMC software, use the type code with software release version S067. The IMC software removes the
4 4
following features from the frequency converter:
•
PM and SynRM motor support in VVC
•
Wobble function.
•
Surface winder function.
•
Extended process PID.
•
®
VLT
The integrated motion controller (IMC) enables position control. Position control is available when [0] U/f, [2] Flux sensorless,
or [3] Flux w/ motor feedb is selected in parameter 1-01 Motor Control Principle.
To activate the IMC functionality, select [9] Positioning or [10] Synchronization in parameter 1-00 Configuration Mode. IMC
enables the following functions:
•
Positioning: Absolute, relative, and touch probe.
•
Homing.
•
Position synchronization.
•
Virtual master.
Position control in both positioning and synchronization modes can be either sensorless or with feedback. In the sensorless
control principle, the motor angle calculated by the motor controller is used as feedback. In the closed-loop control
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principle, VLT
supports most standard incremental encoders, absolute encoders, and resolvers.
The position controller can handle both linear and rotary systems. The controller can scale positions to any relevant physical
unit such as mm or degrees.

4.2 Positioning, Homing, Synchronization

4.2.1 Positioning
The frequency converter supports relative positioning and absolute positioning. A positioning command requires 3 inputs:
•
Target position.
•
Speed reference.
•
Ramp times.
These 3 inputs can come from various sources, see Illustration 4.1.
222
Motion Control Option MCO 305 support.
AutomationDrive FC 302 supports 24 V encoders as standard. With extra options, the frequency converter
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®
VLT AutomationDrive FC 301/302
+ .
MG33MO02