Danfoss VLT AutomationDrive FC 301 Programming Manual page 227

Integrated Motion Controlle...
Par. 7-90 Position PI
Feedback Source
Profile
Commanded
generator
position
Speed
Acceleration
Illustration 4.3 Positioning and Synchronization Mode
4.3.2 Control and Status Signals
IMC control and status signals are available as digital I/O bits and fieldbus bits. Table 4.1 shows the available options:
Name
Control signals
Activates the master offset when
Enable master offset parameter 17-93 Master Offset Selection is set to
options [0]–[5].
Start homing Starts selected homing function.
Start virtual master Starts the virtual master.
Activate touch Selects touch probe positioning mode.
Relative position Selects between absolute and relative positioning.
Enable reference Starts selected motion.
Sync. to position
Selects positioning in synchronizing mode.
mode
Home sensor Selects input for home sensor.
Home sensor inverse Selects input for home sensor.
Touch sensor Selects input for touch probe sensor.
Touch sensor inverse Selects input for touch probe sensor.
Selects speed mode when parameter 1-00 Configu-
Speed mode ration Mode is set to [9] Positioning or [10]
Synchronization.
Changes the sign of the set target position. For
Target inverse example, if the set target is 1000, the activation of
this option changes the value to -1000.
Status signals
Reverse after ramp Indicates the sign of speed reference after the ramp.
Virtual master dir. Controls the direction of followers.
Homing is completed with the selected homing
Homing OK
function.
Positioning: Target position reached.
On target Synchronization: Follower position aligned with
master position.
Position error Maximum position error exceeded.
MG33MO02
Programming Guide
7-9*
Par. 7-99
Position PI
Ctrl.
+
Par. 7-98
Position PI
Feed
Forward
Factor
Par. 1-69
System Inertia
Function
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Par. 7-00 Speed PID
Feedback Source
4-1*
7-0*
Speed PID
Par. 7-08
Speed PID
Torque
Accel. Feed
Forward
Factor
Digital Control word
input 1)
x x
x x
x x
x x
x x
x x
x x
x –
x –
x –
x –
x x
x x
– –
– –
– –
– –
– –
Flux motor
+
control
Digital Status word
output
– –
– –
– –
– –
– –
– –
– –
– –
– –
– –
– –
– –
– –
x –
x –
x x
x x
x x
225
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