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MCO351 Positioning Controller
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5.1.3. Parameter Settings
Now determine the parameter settings fitting this application. The following list of parameters can
be determined right away:
When using an incremental encoder:
Setup Incremental Signal Type par. 32-00 to the type needed. Set up the resolution of
the encoder in par. 32-01.
When using an absolute encoder:
Setup Incremental Signal Type par. 32-00 to "0", Absolute Protocol P2302 to your type
of encoder and Absolute Resolution par. 32-03 matching the resolution of your encoder.
Set up databit and clock settings for absolute encoder in parameters 32-05 through
32-08.
Press the [STATUS] button on the LCP. Now the following values appear in the upper
line of the display: RPM and Actual Position.
Rotate the slave drive motor shaft manually in the positive directionNow the display
should show an ascending count of the actual position.
If the count is descending with an incremental encoder, exchange the feedback encoder
track A by B and A/ by B/. If there is no counting in the display then check the wiring of
the encoder. When you have tested the encoders and the wiring of motor and encoders,
continue as follows:
Select "Auto On" mode on the FC control panel.
Reset any error by toggling input 27.
Now you come to the test run:
Drive the application back and forth by closing the contacts on terminal 53 (positive
direction) or terminal 54 (negative direction). Watch the PID track error via P3456 display
during these tests.
Now you can optimise the controller:
Optimise the Feed forward velocity P3265 by following the procedure described in the
parameter list for the FFVEL auto-calculation function.
If the track error after entering "2" in parameter P3456 is within specification, when
jogging, there is no reason to optimise any further, move to step 21.
Increase the P-portion P3260. After each change you should make a test run to find the
right setting. If the drive becomes unstable or if a message is given about over-voltage
or over-current, then reduce the value in parameter P3260 to about 70-80% of the set
value.
Increase the other PID parameters P3261 (if needed) by following the same approach.
Read the description concerning these parameters in the parameter list.
MG.33.R1.02 - VLT
®
is a registered Danfoss trademark
5. Application Examples
37
5
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