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MCO351 Positioning Controller
Contents
Introduction
Fieldbus Interface
Application examples
MG.33.R1.02 - VLT
®
is a registered Danfoss trademark
Contents
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Summary of Contents for Danfoss MCO351
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Page 1: Table Of Contents
Parameter Settings Timing of the Electromechanical brake (par. 19-10 to 19-12) Setting of par. 32-11 and 32-12 Setting for the Homing Procedure (par. 33-00 to 33-04) Programming positions (par. 19-23 to 19-28) MG.33.R1.02 - VLT ® is a registered Danfoss trademark... - Page 2 Contents MCO351 Positioning Controller Software Limits (par. 33-41 to 33-44) Setting par. 32-81 and 19-06 Other Settings 6. Troubleshooting Frequently Asked questions Error Messages Glossary of Key Terms Index MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
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Page 3: Safety Regulation
When using a PM-motor, make sure it is disconnected. Before doing service on the frequency converter wait at least the amount of time indicated below: MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 4: High Voltage
Installation in high altitudes 380 - 500 V: At altitudes above 3 km, please contact Danfoss Drives regarding PELV. 525 - 690 V: At altitudes above 2 km, please contact Danfoss Drives regarding PELV. -
Page 5: Avoid Unintended Start
FC 301 A1 enclosure: When Safe Stop is included in the drive, position 18 of Type Code must be either T or U. If position 18 is B or X, Safe Stop Terminal 37 is not included! Example: Type Code for FC 301 A1 with Safe Stop: FC-301PK75T4Z20H4TGCXXXSXXXXA0BXCXXXXD0 MG.33.R1.02 - VLT ® is a registered Danfoss trademark... - Page 6 FC 300 Design Guide MG.33.BX.YY must be fol- lowed! The information and instructions of the Operating Instructions are not sufficient for a correct and safe use of the Safe Stop functionality! MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
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Page 7: Safe Stop Installation (Fc 302 And Fc 301 - A1 Enclosure Only)
380 - 500 V frequency converters. If this is done it will reduce the RFI performance to A2 level. For the 525 - 690 V frequency converters, par 14-50 has no function. The RFI switch cannot be opened. MG.33.R1.02 - VLT ® is a registered Danfoss trademark... - Page 8 2. Introduction MCO351 Positioning Controller MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
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Page 9: Introduction
+ 5 V Supply A not A not B not B not Z / Clock Z / Clock Z / Clock not Z / Clock not Data Data Data not Data not MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 10: Encoder Monitor
Each encoder channel has a LED showing the status: Green light means OK, no light means fault. An encoder fault will result in an ”Option error” 192 if encoder monitoring is activated via parameter 3239 (master) and 3209 (slave). MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 11: Option Card Layout
The digital inputs are galvanic isolated from the internal electronics and can be sourced by an external 24V power supply. Digital outputs: Number of programmable digital outputs 8 (6) Terminal block Terminal number ,3,4,5,6,7,8 Driver type push/pull MG.33.R1.02 - VLT ® is a registered Danfoss trademark... - Page 12 2) 150 m cable is possible up to 500 kHz clock frequency, above 500 kHz cable length must be limited further. Encoder Output Number of encoder outputs Terminal block Terminal number 5,6,7,8,9,10,11,12 Signal type RS 422Ω Maximum frequency 410 kHz Maximum number of slaves 31 (more with repeater) MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
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Page 13: Description Of The Electrical And Fieldbus Interface
301. Reference index Bit 3 Reference position index number bit 3. Not used in fieldbus mode. Reference index Bit 2 Reference position index number bit 2. Not used in fieldbus mode. MG.33.R1.02 - VLT ® is a registered Danfoss trademark... - Page 14 (P1916) and ramp (P1917) in the nega- tive direction. When low (below 5V), the drive will ramp down and stop if no other motion procedure is activated. Not used in fieldbus mode. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
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Page 15: Option Card X57
18, 19, 29, 32, 33 into memory. Digital output 4 – 8 is changed to mirror the new reference index specified when using digital input control. Not used in fieldbus mode. MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 16: Option Card X59
Active high. Mirror of the currently locked-in refer- ence index bit 3. Not used in fieldbus mode. Reference index bit 4 Active high. Mirror of the currently locked-in refer- ence index bit 4. Not used in fieldbus mode. MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 17: Fieldbus Interface
The below example is based on the layout of a PROFIBUS telegram, the so-called PPO: Example using PROFIBUS PPO type 5: MG.33.R1.02 - VLT ® is a registered Danfoss trademark... - Page 18 Current index bit 3 (↑) Current index bit 4 (↑) Current index bit 5 (Fieldbus MSB) (↑) N\A Actual Position (MSB) 3450 (MSB) Actual Position (LSB) 3450 (LSB) Error Status Par. 19-93 MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
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Page 19: Programming
“1” for field¬bus control. 19-05 User APOS setting Range: Function: [-1,073,741,824 … At power-up if FORCE HOME (par. 33-00) is “0” the actual po- 1,073,741,824] sition is equal the value set here. MG.33.R1.02 - VLT ® is a registered Danfoss trademark... - Page 20 As soon as the application is moved outside the HW or SW limit area the error is automatically cleared and the “error occurred” signal goes low to indicate that normal operation is now restored. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 21 (“Brake wear limit exceeded” – ERROR STATUS = 7) if the drive moves more than the number of UU specified in this parameter while the electronic brake is activated. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 22 If 1, the scale velocity will be scaled by MOT ENC GEAR NUM/ 19-19 FFVEL auto-calculation Option: Function: Disabled FFVEL enabled Setting this parameter to “1” will prompt the program to calcu- late the optimal setting of parameter velocity feed forward. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 23 The meaning of this parameter depends on the position type 1,073,741,824 UU] specified in TRAJECTORY TYPE. If TRAJECTORY TYPE = 0, the value of this parameter refers to an absolute position (relative to the fixed HOME position). MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 24 The index ramp down time is defined as the time in milliseconds it would take to ramp from the maximum allowed velocity (P3280) to standstill. This parameter is automatically updated depending on INDEX NUMBER. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 25 This parameter automatically resets to “0” when the data is successfully stored. SAVE EEPROM To permanently store changes made to the main screen setup this parameter must be set to “1”. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 26 32-01 Encoder resolution Range: Function: 1024 [1...1,000,000 pul- If an incremental encoder is used its resolution must be entered ses] here in pulses per revolution (not quad-counts per revolution). MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 27 [1 … 1,073,741,823] Par. 32-12 and par. 32-11 together define the ratio between User Units (UU) and quad-counts (QC). The setting of this pa- rameter is illustrated in the description of par. 32-11. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 28 (4096 pulses/rev) is used. Too high a setting of this parameter will cause the controller to become unstable. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 29 32-66 Feed-forward acceleration gain Range: Function: [0...100,000] The acceleration feed-forward gain is the factor that is multi- plied with the set-point acceleration to produce the feed-for- ward part of the output frequency. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 30 32-82 Ramp type Option: Function: Linear This parameter MUST be set to 0 for the Positioning Controller. S-Ramp MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 31 HOME position is defined as the position at which the ref- erence switch goes low. After defining the HOME position the drive is then ramped down with the home ramp (P3302) and stopped. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 32 “0” i.e. “200” then the “Referenced position reached” output goes high when the actual position (par. 34-50) is within ±200 UU of the requested target position. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 33 During a positioning sequence the “Referenced position 2,000,000,000 UU] reached” output (X59 2) is set according to this parameter. READ-ONLY PARAMETER: The current PID tracking error is displayed in this parameter in user units. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 34 5. Application Examples MCO351 Positioning Controller MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
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Page 35: Application Examples
Moving the (empty) pallet conveyor cart to pallet inlet no. 1 to pick up a loaded pallet. Waiting until the pallet is successfully transferred to the cart. Moving to pallet outlet no. 2. Waiting until the pallet is successfully transferred to the outlet conveyor and so on… MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 36: Wiring Diagram
Goto “Hand on” mode and set the frequency for a low positive value, for example +3 Hz in the reference value, please note that motor should now rotate. If the motor rotates in the wrong (negative) direction then exchange the motor phases. MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 37: Parameter Settings
Read the description concerning these parameters in the parameter list. 5.1.3. Parameter Settings Now determine the parameter settings fitting this application. The following list of parameters can be determined right away: MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 38: Timing Of The Electromechanical Brake (Par. 19-10 To 19-12)
The default setting of par. 33-03 at 100 encoder revolutions per minute (approx. 1/15th of the max. velocity) MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 39: Programming Positions (Par. 19-23 To 19-28)
“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 par. 19-06 to “0” and tuning par. 32-81 to the lowest allowable setting. MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 40: Other Settings
This is achieved by setting par. 19-08 Power-recovery to “1”. The allowed position tolerance is defined to be +/- 10 mm in this application so P3347 Target position window is set to “10”. MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 41: Troubleshooting
(par. 719 for “quick stop”, par. 724 for jogging and par 738/par. 741 for positioning) with a higher ramp time setting. b) The PID controller settings may be unstable – re-optimise the PID controller parameters (par. 702-709). MG.33.R1.02 - VLT ® is a registered Danfoss trademark... -
Page 42: Error Messages
The negative hardware switch input is activated. Causes The application has hit the negative limit marker switch. Alternatively, the connection to the limit switch has been lost or the limit switch is defective MG.33.R1.02 - VLT ® is a registered Danfoss trademark... - Page 43 The encoder is counting positive in the wrong direction. Switch A and B channels if nec- essary. The PID controller settings are not properly optimised. Follow the instructions for opti- mising. The limit specified in P726 may be too low. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
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Page 44: Glossary Of Key Terms
Illustration 6.1: Incremental Encoder Signals Illustration 6.1: Incremental Encoder Signals Quad counts Through edge detection, a quadrupling of the increments is produced by both tracks (A/B) of the incremental encoder. This improves the resolution. MG.33.R1.02 - VLT ® is a registered Danfoss trademark... - Page 45 The PID track error is defined as the difference between the internal controller set-point and the actual position. The track error is specified in UU and is displayed in P3456.NOTE! The maximum tolerated PID error is entered in P3267 in QC. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 46 1924. To compensate for this please specify a delay value in parameter 1903. Only a constant delay can be compensated for, and not a variable delay. MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
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Page 47: Index
Fieldbus Control Signals Fieldbus Interface Fieldbus Status Signals Force Home General Warning Hardware Hold Delay Home Offset Home Ramp Time Home Type Home Velocity Incremental Signal Type Index Maximum Velocity Index Number Introduction MG.33.R1.02 - VLT ® is a registered Danfoss trademark... - Page 48 Ramp Up Time Repair Work Residual Current Device Safe Stop Safety Instructions Safety Regulations Sample Interval Software Version Store Data Supply Voltages Symbols Technical Data Terminals Touch Probe Delay Trajectory Type MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
- Page 49 MCO351 Positioning Controller Index Troubleshooting Unintended Start User Apos Setting User Unit Denominator User Unit Numerator Vlt Control Card Terminals Voltage Level 11, 12 Wiring Diagram MG.33.R1.02 - VLT ® is a registered Danfoss trademark...
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