Control - Danfoss VLT AutomationDrive FC 301 Programming Manual

Integrated Motion Controlle...
Fieldbus reference 1
Par. 3-16 Reference
resource 2
4 4
Par. 3-26 Position offset
Par. 3-02 Offset speed
Ramp settings:
Parameter groups
3-4*–3-7*
Illustration 4.2 Synchronization References
In each control cycle (1 ms) the profile generator calculates position, speed, and acceleration required to do the specified
movement. The outputs from the profile generator are used at inputs for the position and speed controller as described in
chapter 4.3.1 Control Loops.

4.3 Control

4.3.1 Control Loops
In positioning and synchronization mode, 2 extra control loops control the motor in addition to the motor controller
running flux control principle, sensorless, or with motor feedback. The position PI controller is the outer loop providing the
setpoint for the speed PID, which provides the reference for the motor controller. For a closed loop, feedback source can be
selected individually for each of 3 controllers.
For sensorless control principle, select [0] Motor feedb. P1-02 in the following parameters:
•
Speed PID: Parameter 7-00 Speed PID Feedback Source.
•
Position PI: Parameter 7-90 Position PI Feedback Source.
With this set-up, both controllers use the motor angle calculated by the motor controller. Illustration 4.3 shows the control
structure and parameters affecting the control behavior:
224
®
VLT AutomationDrive FC 301/302
Master position
Position ref.
Speed ref.
Acceleration/Deceleration
Danfoss A/S © 01/2018 All rights reserved.
Profile generator
Commanded
position
Synchronization:
Par. 3-22 – 3-25,
7-97, 7-99.
Speed
Acceleration
Offset handling
MG33MO02