Danfoss VLT5000 SyncPos Operating Instructions Manual
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Danfoss VLT5000 SyncPos Operating Instructions Manual

Motion controller for danfoss vlt5000 series; danfoss vlt 5000flux series
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perating Instructions
rogrammable
Sync os motion controller
VLT 5000
VL T 5000 FLUX

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Summary of Contents for Danfoss VLT5000 SyncPos

  • Page 1 perating Instructions rogrammable Sync os motion controller VLT 5000 VL T 5000 FLUX...

  • Page 2: Table Of Contents

    Chapter 8 ■ ■ ■ ■ ■ Appendix ................217 Chapter 9 Glossary terms ................218 What's new in Version … ? ........... 219 Technical Reference ..............226 Index ..................... 229 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 3 IBM is a registered trademark of International Business Machines, Inc. Microsoft, MS, MS-DOS, Microsoft NT, Windows and Wingdings are either registered trademarks or trademarks of the Microsoft Corporation in the USA and/or other countries. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 4: Safety

    Programmable SyncPos motion controller ■ Safety ................... 4 Chapter 1 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 5 Using VLT 5001-5005 550-600 V units: wait at least 4 minutes Using VLT 5006-5022 550-600 V units: wait at least 15 minutes Using VLT 5027-5250 550-600 V units: wait at least 30 minutes MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 6: Introduction

    Programmable SyncPos motion controller ■ Introduction ..............6 Chapter 2 ■ About this manual: How is it arranged? ....7 ■ Conventions ..............7 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 7 CAM box. The editing of curves and the the program or copy directly into your program. programming of controls can be reconstructed in detail with the included examples. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 8 (or just [CNTL]), the [ESC] key or the [F1] key. Cross references Cross references to other parts of the text are under- lined in the manual and are also marked in color in the online help, for example EXECUTE. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 9 Programmable SyncPos motion controller MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 10: Input/Output Terminals

    VLT control card terminals ............10 Option card terminals ..............10 Supply voltages ................12 Encoder monitor ................12 Option card layout, Dip switch ..........13 Technical data .................. 14 Connection examples ..............15 MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 11: Vlt Control Card Terminals

    OPTION 0 … 32000P [93] pulse output There are 4 terminal blocks, 2 with 10 poles and 2 with 8 poles. (See figure below) Digital Inputs Master / Virtual Master Digital Outputs Feedback MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 12 Terminal Incremental input A in A in B in B in Z in Z in Absolute input Clk out Clk out Data in Data in Not used Not used Fig. 2 MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 13: Supply Voltages

    (ON ERROR) if encoder monitoring is activated via parameter MENCODER (master) and ENCODER (slave). Note: Monitoring of the master encoder is disabled when switch 1.3 is ”OFF”. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 14: Option Card Layout, Dip Switch

    When using the virtual master function termination must be switched off (sw 1.3) in all options except on the first and the last station connected in the network. See also connection example on page 16 and 17. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 15: Technical Data

    Data length ..........................................25 bit Parity ..............................................none Clock frequency ....................................105 or 260 kHz Protocol ............................................Gray Maximum positions per revolution ................................8192 Maximum number of revolutions .................................. 4096 MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 16: Connection Examples

    Minimum frequency ......................................150 Hz Maximum number of slaves ......................31 (more when using repeaters) Maximum cable length ...................................... 400 m ■ ■ ■ ■ ■ Connection examples ABSOLUTE ENCODER Master Slave Master Slave MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 17 Programmable SyncPos motion controller The terminating resistors on both end of the bus have to be switch on with dip switch SW 1.3. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 18 Programmable SyncPos motion controller left: encoder connection for positioning applications below: encoder connection for master-/slave synchronization MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 19 Programmable SyncPos motion controller Encoder connections for the synchronizing with virtual master. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 20: Fundamentals Of The Syncpos Program

    .............. 44 Example: Slave synchronization with marker ... 45 ■ ■ ■ ■ ■ CAM Box How a CAM Box with SyncPos operates ..... 48 Example of a CAM Box ............. 48 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 21 The SyncPos software contains all commands and menus necessary for the configuration, programming, optimization and, finally, for the transfer of commands to the SyncPos motion controller. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 22: How Syncpos Functions

    Thus, you can successively adjust the PID filter parameters and optimize the controller. We wish you the best in your work with SyncPos! For questions regarding programming or operating the controller, please contact your supplier. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 23: Requirements

    – click and pull the keys and whether the [NUM lock key] window in the desired direction. or the [Shift lock key] have been pressed and are active. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 24 In the case of the index cards "CURVE DATA", "CURVE INFO" and "PARAMETER", click on the scroll bars to scroll to the right and show additional index cards: MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 25: Using The Mouse

    [F9] you can very effectively control the step-by-step execution of a program: each time you press [F9], one line of the program is run. Or with [F1] you can access the on-line help. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 26: List Of Shortcuts

    [CNTL] +[ ALT] + [F8] In the "SINGLE-STEP" mode starts one program line each time it is pressed. or in CAM-Editor → → → → → "RECALCULATION" [F9] Calls up the "COMMAND LIST" [F12] MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 27: Starting The Syncpos Motion Controller Step-By-Step

    VLT must be open or re-opened. can not cause damage. Furthermore, it is absolutely essential to be familiar with and observe the safety tips in the hardware manual. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 28: Setting Of Vlt Parameters

    N B! The baud rate in the VLT (Par 501) and in the program must always agree. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 29: Setting Of Syncpos Option Parameters

    Reference; for information concerning the use of dialog fields refer to Programming with SyncPos in the section menu "CONTROLLER" → → → → → "PARAMETERS" → → → → → "AXIS". MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 30 You can find these values in the description of the second master marker. motor. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 31: Checking Encoder Connection And Direction Of Rotation

    This could be a result of incorrect cable installation. Measure the signals coming from the encoder and compare them to the values listed in the specifica- tions. Check whether the connection was made according to the application. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 32: Execute The Test Run Program

    VLT wasn't stopped via the LCP (flashing display). Then increase the Proportional Proportional Proportional Proportional Proportional factor factor factor factor factor (parameter 702). (See Optimizing the PID controller) MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 33: Optimizing The Pid-Controller

    Benefits from using feed-forwards control is a very fast and accurate response to changes in the setpoint reference. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 34 (VLT parameter #205) as well as level of vibration; the SyncPos parameters VELMAX (1) and KDER too large heavy vibrations, instability. ENCODER (2). MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 35: Optimizing Your Controller Settings Step-By-Step

    Integral factor Integral factor Integral factor Integral factor and Integral factor the corresponding control. can best be judged on the basis of the posi- tioning graph. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 36 (which is good) and increasing over- 100 and a deceleration value of 100 should be shoot and oscillations in the system (which is sufficient. Start out with a low setting of bad). FFACC approx. 10. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 37: What To Do If

    PID controller out- put is too small or the VLT/motor is not sized cor- rectly and therefore does not provide enough energy for peak consumption during acceleration. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 38 Determining the maximum velocity or maximum speed The drive does not achieve maximum speed and thus starts to brake too late, since it is trying to catch up with the position reference. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 39: Cam Control

    Windows interface. You can constantly control the curve profile graphically; in this way, you can check velocity and acceleration of the slave axis. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 40: Quick Start Tutorial For Impatient Users

    The drive pulley has 20 teeth/revolution, 2 teeth correspond to 10 mm, thus 1 revolution corresponds to = 100 mm conveyor belt feed or 1000/10 mm. Thus, the scaling factor is 1000. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 41 Move the cursor to the (now) fifth point gram gram until the hand icon appears. Click on the right mouse button and select → "INSERT FIXPOINT" in the pop-up menu. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 42 How to load the curve into the VLT You can load the cnf file with the modified para- meters and the – automatically generated – curve arrays into the VLT by means of "PARAMETERS" → "RESTORE FROM FILE". MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 43: Example: Printing Of Cardboard Boxes With Marker Correction

    Correction Start = 3000 Correction End = 1000 Enter the values in the index card → "CURVE DATA"; the depiction of the area is shaded in blue in the curve profile. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 44: If The Sensor Distance Is Larger Than One Master Cycle Length

    // Wait for input signal when conveyor belt // is being switched off SYNCCSTOP 2 0 // Disengage roller with stop point pair 1 // and stop at position 0 degrees MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 45: Problematic Situations In The Determination

    3900. Then it is possible to correct from 2500 to 1000. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 46: Example: Slave Synchronization With Marker

    Syncfactor Master [49] = 25 must define the → "TYPE" = 2 for tangent point Syncfactor Slave [50] = 9 and insert two fixpoints so that the curve can be calculated. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 47 Enter the values in the index card → "CURVE 100 degrees because it must be completed at DATA": 120 degrees. Correction Start = 2800 Correction End = 750 Points Master 1000 MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 48 // Wait until box is detected E N DWH I LE POSA (IPOS + 2900) // Move box forward by 2900 SYNCCMS 0 // Synchronize in CAM-Mode SYNCCSTART 1 // Engage with start-stop point pair MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 49: Cam Box

    // positive direction SUB MAI NPROG SUBPROG drier OUT 1 1 // Turn on drier DELAY 300 // Dry for 300 ms OUT 1 0 // Turn off drier RETURN ENDPROG MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 50: Pc Software Interface

    "PARAMETERS" → → → → → "SAVE TO FILE" ........63 "PARAMETERS" → → → → → "RESTORE FROM FILE" ....63 "MEMORY" → → → → → … ................63 "RESET" → → → → → … ................... 64 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 51 "LANGUAGE" ..................78 ■ "WINDOW" menu "CASCADE" ..................79 "TILE VERTICALLY" ................ 79 "TILE HORIZONTALLY" ..............79 ■ "HELP" menu ..............79 "INDEX" ....................79 "ABOUT PROGRAM" ..............79 MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 52: Pc Software Interface

    “Unnamed Program1“ and you can begin to or the changes in the old file, answer the write your program. question which follows with "YES", , , , , otherwise the new file will not be saved. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 53: Save" And "Save As

    Click on → → → → → "PRINTER SETTINGS", if you want to set the paper size, the output size (scaling) or other options. You can find more information on the pos- sibilities for Window’s "PRINTER SETUP" in the Windows help. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 54: Edit" Menu

    The current line number can be found in the status bar, for example 13:1. This means that the cursor is located in line 13 at position 1. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 55: Development" Menu

    PC again. Thus, in general, you should also save all programs on the hard drive of the computer. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 56: Run Programs In Several Vlts

    ON PERIOD functions should be deactivated during debugging, since the internal timer doesn’t stop with singlestep. The program tries to recover the ON PERIOD features later on and this could be problematic. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 57: Change And Read Variables Online

    By pressing [F9] the program will then stop before (decimal, hexadecimal, binary). Then click on OK. the next program line, by pressing [F5] before each breakpoint. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 58: Syntax Check

    The file name will default to the name of the program with “.bin” as a file extension. This feature is available only if the CREATEBIN parame- ter in the APOS.DAT file is set to 1. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 59: Position Drive" (Teach-In-Programming)

    Don’t forget to always save and archive the program file on the hard drive of the compu- ter since you can no longer edit the compiled source file in the VLT. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 60: Autostart

    (for files must be erased before saving the new one. example for HOME functions). All programs saved using source coding are marked with a '+' sign. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 61: Controller" → "Parameters

    With "RESET" → → → → → "PARAMETERS" in the "CONTROLLER" menu can reset all the factory settings, however in doing so all parameters, including the axis parameters, are reset to the factory settings. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 62: Axis Parameters

    In this parameter group the inputs and outputs are assigned fixed functions – depending on the appli- cation. If necessary it is also possible to define a software end switch here. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 63: How To Change Parameters Of A Configuration File

    "CONTROLLER" → → → → → "RESET" → → → → → "PARAMETERS". The global parameters will also be reset to the factory settings if you do this. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 64: Parameters" → "Name

    Click on "SAVE AS" and enter a name in the subse- quent dialog field or confirm the file name. The sug- gested filename contains the date and time to be safe from overwriting actual parameters in case of restoring from file. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 65: Memory

    VLTs connected in a file on the com- puter. • Click on "MEMORY" → "DELETE EEPROM". • Re-load the user parameters and the neces- sary programs in the VLT resp. VLTs. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 66: Testrun" Menu

    The sampling interval mentioned here is the Thus vibrations at the target position are easily internal between measurements, not the recognizable. controller sample interval. Example: 50 measurements in intervals of 30 ms = 1.5 sec recording time. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 67: Execute Testrun

    Proportional Proportional Proportional and Derivative factor Derivative factor Derivative factor (ca. 20) and set the integral factor to zero. Then, starting from these values, optimize the controller. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 68: Display Recording

    (light or red curve). "TESTRUN" velocity graph The yellow (light) curve shows the achieved velocity path, the brown (dark) curve shows the desired trapeze-shaped set curve. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 69 "TESTRUN" acceleration graph The light green curve shows the actual path of accele- ration, the dark curve the desired trapeze-shaped set curve during acceleration and deceleration. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 70: Cam-Editor Menu

    Velocity. Scroll to the left or The menu bar offers the menus for loading and to the right in order to view all index cards. saving of files, for different settings, for calculation and view options. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 71: File" Menu Cnf

    Click on → "APPEND NEW", if you do not want to edit any of these curves, but want to edit another one. If the selected cnf file does not contain a curve, an empty file will be opened. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 72: Edit" Curve Menu

    (at least three). Familiarize yourself with the meaning and graphic illustration of the parameters in the corresponding index cards. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 73: Window" Cam Menu

    How to set any points into the coordinate field action. Click on the desired position with the right mouse button and select → "INSERT FIXPOINTs" in the pop-up menu. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 74: Cam-Editor Messages

    The fixpoints should lie on interval borders. Thus, appears. Click on the right mouse button and you should always activate → "SNAP ON GRID", if select → "CHANGE TYPE". Here, both points are possible. changed immediately, too. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 75: Index Card "Start Stop Points

    B and is finished up to point A. If the program is closed without the explicit com- mand SYNCCSTOP pnum slavepos, the second point pair will always be used for disengaging. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 76: Index Cards "Curve Data", "Curve Info" And Parameter

    This position is shown as a green line also used for the end of the curve. in the curve profile and allows you to fix the correction area. Activate → "MASTER MARKER" or "SLAVE MARKER" for this purpose. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 77: Index Card "Curve Info

    You can also graphically display the velocity limit in the curve profile. Activate → "VEL. LIMIT". MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 78: Index Card Synchronization

    In addition, the maximum velocity and acceleration reached in the current application are calculated here in qc/scan time. The display in the curve profile occurs in units. Activate → "VELOCITY" or "ACCELERATION" for this purpose. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 79: Interface

    To do this, open the "COLORS EDITOR" in menu "SETTINGS." Select the type, e.g. Comment, and select the desired color. Click OK to store the new settings. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 80: Window" Menu

    Here you can find the version numbers of the The SyncPos window is divided up and the files SyncPos program, the program library and the shown on top of each other. compiler. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 81 Programmable SyncPos motion controller MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 82: Pc Software Interface In Mtc10 Mode

    "FILE" menu (CAM-Editor) in MCT10 Mode ....85 "EDIT" menu (CAM-Editor) in MCT Mode ....... 86 "VIEW" menu (CAM-Editor) in MCT Mode ...... 86 ■ "SETTINGS" menu in MCT10 mode ......86 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 83 MCT10 Mode, for example the file handling or editing a CAM curve. In addition the user interface is different depending of the mode of operation: Offline or Online Mode. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 84: Operation Mode: Offline Or Online

    MCT10. Due to the fact that file handling is strictly restricted to MCT10, there are some menu items and functions of SyncPos disabled. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 85: File" Menu In Mct10 Mode

    MCT10 mode. command. But it is not possible to execute any of the com- mands directly or to move the drive to position. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 86: Cam Editor In Mct10 Mode

    Exit Exit Exit Exit Exit button, because they have to be selected via the MCT10. If the program file isn’t opened anymore, SyncPos will be closed also. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 87: Edit" Menu (Cam-Editor) In Mct Mode

    "VIEW" menu (CAM-Editor) in MCT Mode As long as there is no curve data present in the configuration file, all items are disabled: MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 88: Programming With Syncpos

    VLT parameter and SyncPos parameter ..... 166 VLT parameters ................166 VLT parameter list ................ 170 All SyncPos parameters in Alphabetical Order ..171 All SyncPos parameters in Detail ........173 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 89 You can reconstruct as many as 50 programs with assistance of the information in the example programs in the Online-Help. And in chapter Parameter Reference all the parameters are described, first in general and then in detail. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 90: Introduction And Basics

    Inadmissible is nesting comments (/* ..../*....*/) /* If input 3 not = 1, run in speed mode */ • • • • • Use of line identification within the loop. GOTO main MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 91: Interrupt

    Do not use WAITT in connection with inter- created. That means that actually only the ON rupts since the waiting process starts again PERIOD function is executed. after the interruption. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 92 Thus, if you wish to wait for the arrival of an axis during an interrupt procedure, this must be done explicitly with WAITAX. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 93: Elements Of The Programming Language

    … can be written in small or capital letters (no difference!) Example … may not be identical to a command name DIM target1[20], target2[20], target3[20] MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 94: Arithmetic

    The maximum number of variables can be set in the menu "SETTINGS" → "COMPILER". MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 95 Comparison operations > greater than < less than >= greater than or equal to <= less than or equal to the same as not equal Logical operations AN D MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 96: User Unit

    MU. A factor (fraction) is used for the conversion into qc, as with the user unit: 1 MU = SYNCFACTM (49) / SYNCFACTS (50) MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 97: Software Reference

    MOTOR STOP motor-stop with a programmed delay (with ramp) NOWAIT ON/OFF on/off switch for waiting for the command execution R E PEAT beginning of repeat loop MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 98 Specify recording data for test run TESTSTART Start the recording of a test run T I M E reads internal controller time _G ETVE L changes sample time for AVEL and MAVE L MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 99 V E L sets velocity SYNCCMS Synchronization in CAM-Mode with slave marker correction SYNCCSTART Start slave for synchronization in CAM-Mode SYNCCSTOP Stop slave after the CAM synchronization MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 100: All Commands From Acc To #Include

    DEC, VEL, POSA, POSR Parameter: RAMPMIN (31), VELMAX (1), VELRES (22) Syntax-Example ACC 10 /* Acceleration 10 */ Example minimum acceleration time: 1000 msec maximum velocity: 1500 Rpm (25 Rev./s) velocity resolution: MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 101 /* queries actual velocity of axis and display on the PRINT APOS PC */ /* display the actual position of axis on the PC */ Program sample APOS_01.M, GO SU B_01.M, M OTOR_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 102 1 = speed mode is active Bit 1 1 = positioning procedure is active Bit 0 1 = target position reached; motor is not in motion Command group I /O Cross Index WAITAX, STAT MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 103 (16 bit) into the send buffer on the communication option, from where it is send via the network to the master. Command group Communication option MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 104 Program sample APOS, DEF ORIGIN, SET ORIGIN, POSA, POSR MSTOP_01.M Parameter: POSFACT_Z (23), POSFACT_N (26) Syntax-Example PRINT CPOS /* actual command position of axis */ Program sample CPO S_01.M G OSU B_01.M MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 105 (ACC/DEC). Program sample CMO DE_01.M Command group Cross Index ACC, DEC, CVEL, CSTOP Syntax-Example CSTART /* rpm mode start */ Program sample CMODE_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 106 Program sample CMO DE_01.M Cross Index APOS, DEF ORIGIN, SET ORIGIN, POSA, POSR, DE FMCPO S Parameter: SYNCFACTM, SYNCTACTS Syntax example PRINT CURVE POS // print actual slave position of the curve MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 107 Parameter: RAMPMIN (31), VELMAX (1), VELRES (22) Syntax-Example ACC 50 /* acceleration: 50, while braking 10 */ DEC 10 Example minimum acceleration time: 1000 msec maximum velocity: 1500 Rpm velocity resolution: MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 108 Syntax DEF ORIGIN Command group I NI Cross Index POSA Syntax-Example POSA 80000 /* Absolute positioning */ DEF ORIGIN /* define actual position as zero point */ Program sample DORIG_01.M, ORIG_01.M MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 109 = time delay in milliseconds (maximum MLONG) Command group Command group I N I Cross Index WAITT, WAITI, WAITAX Syntax-Example DELAY 1000 /* 1 second delay */ Program sample DE LAY_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 110 Summary Definition of an array Syntax DIM array [n] Parameter array = name of the array = number of array elements MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 111 ENABLE ALL. Syntax example DISABLE ALL /* Switch off all interrupts */ DISABLE STATBIT /* Switch off the interrupt for the status bit */ MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 112 /* Switch on all interrupts */ Messages and Error reference ENABLE COMBIT /* Switch on the interrupt for the communication bit */ Syntax-Example ERRCLR /* erase actual error alarm */ Program sample ERROR_01.M, IF_01.M, INDEX_01.M MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 113 G ETP_01.M a limit switch. Cross Index ON ERROR GOSUB, SET PRGPAR, "AUTOSTART" Syntax-Example EXIT /* Program termination */ Program sample EXIT_01.M, ERROR_01.M, GSVEL_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 114 SETVLT Syntax example PRINT GETVLTSUB 25 1 Syntax-Example // reads index 1 of the Quick menu parameter PRINT GETVLT 202 // (VLT5000Flux only) /* reads parameter 202 output frequency high */ MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 115 GOTO endless R ETU R N /* jump command to label endless */ ENDPRO G Program sample Program sample G OTO_01.M GOSU B_01.M EXIT_01.M, IF_01.M AXEND_01.M, I NCL_01.M, STAT_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 116 Please note, that ON PERIOD xx GOSUB xx must be disabled during homing. E.g. ON PERIOD n GOSUB x and the resetting after homing is completed. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 117 After a condition has been fulfilled, the appropriate program part will be carried out and the program following the ENDIF instruction continued. Further conditions will no longer be checked. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 118 /* If high level on terminal 2, set output 01 */ Syntax-Example OUT 1 1 an1 = INAD 53 E LS E PRINT “Analog input 53 “ ,an1 OUT 1 0 EN DI F Program sample IN_01.M MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 119 /* store the condition of the first 8 inputs */ Example IN1 = low, IN2 = high, IN3 = high, all other inputs are low res = 2^1 + 2^2 = 6 Program sample INB_01.M, I NB_02.M, OUTB_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 120 -key -key 1024 -key 2048 START 4096 FWD. R EV. 8192 J O G 16384 STOP / RESET 32768 Combinations send the corresponding values: OK and CANCEL START and -key 4608 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 121 IPOS and that not be taken an old value. See also sample. Command group Cross Index CPOS, DEF ORIGIN, SET ORIGIN, POSA, POSR, MIPOS Parameter: POSFACT_Z (23), POSFACT_N (26) MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 122 Command group Command group Cross Index Cross Index LINKGPAR, SET, GET LINKAXPAR, SET, GET User parameter, Parameter reference User parameter, Parameter Reference Syntax-Example LINKAXPAR POSERR 712 “position error” 300 50000 0 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 123 LINKSYSVAR 30 796 "Motor voltage" // Determine with user parameter 11 and 12: // line number in the first display line and // motor voltage in the second display line MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 124 = actual velocity of the master in qc/sec, the valve is signed Command group AVE L Cross Index PR INT MAVE L /* Queries actual velocity of the master and print to PC */ MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 125 CPOS, DEF ORIGIN, SET ORIGIN, POSA, POSR, SYNCMTYPM Parameter: POSFACT_N (26), POSFACT_Z (23) Syntax-Example PRINT MIPOS /* Print to the PC the last index position of the master */ MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 126 MOTOR OFF Syntax-Example /* switch off controller of the axis */ MOTOR ON /* switch on controller of the axis */ Program sample MOTOR_01.M Program sample POS_01.M MOTO R_01.M PO S_01.M MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 127 Cross Index Cross Index POSA, POSR, CSTART, CONTINUE, CSTOP SET, SYNCPOSOFFS (54) Syntax-Example Syntax example MOTOR STOP /* interrupt motion of the axis */ MOVESYNCORIGIN 1000 Program sample MSTOP_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 128 /* wait after POS-commands till target reached */ Syntax Example ON -APOS 800 GOSUB name Program samples // Call up the subroutine name when slave NOWAI_01.M, MSTOP_01.M, OUT_01.M, VEL_01.M // position 800 is passed in negative direction MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 129 ON COMBIT 5 GOSUB test Only position interrupts can be re-routed, but // set interrupt on fieldbus bit 5 no other type of interrupt . Command group I NT MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 130 NOWAIT is automatically set to ON. If the error subroutine is exited with the error still active because e.g. ERRCLR was not carried out or another error has occurred, then a new call takes place. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 131 A minimal signal length of 1 msec is necessary for the sure identification of a level change! The chapter input/output terminal contain more information con- cerning the input circuit and input technical data. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 132 Command group I NT Cross index SUBPROG…RETURN, DISABLE ENABLE, Priorities of interrupts, ON DELETE .. GOSUB Syntax Example ON +MAPOS 1200 GOSUB name // Always call up subprogram at position 1200 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 133 The subroutine to be called up must be defined within the SUBMAINPROG and ENDPROG identified program. During the execution of subprograms triggered by an interrupt, NOWAIT ON is set automatically. Command group MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 134 SUBPROG…RETURN Syntax-Sample LINKAXPAR POSERR 712 „position error“ 300 5000 ON PARAM 712 GOSUB poserr // when position error is changed SUBMAINPROG SUBPROG poserr PRINT „New position error: „, GET POSERR RETURN MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 135 The subroutine to be called up must be defined within the SUBMAINPROG and ENDPROG identified program. During the execution of a subroutine called by an interrupt NOWAIT is automatically set to ON. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 136 OUT 6 0 /* 06 off */ ON TIME 200 GOSUB off1 /* light off again after 200 ms */ Program sample SUBMAINPROG OUT_01.M SUBPROG off1 OUT 1 0 RETURN ENDPROG MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 137 MOTOR OFF outputs */ OUTAN 0X2000 /* set speed reference 50 % */ OUTB 0 128 /* switch through output 8 only, disable others */ Program sample O UTB_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 138 “Option digital”: then value = 0 or 1 0 = output low (0 V) 1 = output high (24 V) "Option 0…50 kHz": then value = 0…100000 corresponding to 0…50 kH z MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 139 Return value u(n) = result of the PID calculation Command group I /O Syntax-Example e = INAD 53 u = PID e PRINT “input = “,e, “output = “,u MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 140 Syntax-Example POSR 50000 /* move axis relative 50000 UU */ Syntax example POSA CURVEPOS Program sample // Move slave to the curve position PO S_01.M // corresponding to the master position MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 141 PRINT variable /* print contents of variables */ PRINT APOS /* print returned value function */ PRINT “Variable“, variable,“Pos.:",APOS /* print mixed information */ Program sample Uses – see all program samples in Online Help MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 142 R E PEAT /* start loop */ command line 1 command line n UNTIL (A != 1) /* Abort condition */ Program sample R E PEA_01.M DIM_01.M, ONINT_01.M, OUT_01.M, I NKEY_01.M MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 143 (130–229) individually in the EEPROM, use the com- mand SAVE GLBPARS. The EEPROM can only handle execution of this command up to 10000 times Command group I NI Cross Index DELETE ARRAYS, SAVEPROM MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 144 (if SYNCMSTART is < 2000) or after SYNCC and the first master marker (if SYNCMSTART = 2000). After the SYNCC command is stopped, we continue to update these values if SYNCMSTART < 2000. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 145 // Set temporary zero to the beginning // of the curve Cross Index DEFMORIGIN, MAPOS Program sample TORIG_01.M Syntax-Example OUT_01.M, VEL_01.M SETMORIGIN 10000 /* Set the zero point for the master at 10000 */ MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 146 –Conversion index = –3 (Multiplied with 10 during SETVLT 25 1 100 transmission) // sets index 1 of the parameter 25 SETVLT 202 60000 // “Quick menu” to 100 “configuration” // (VLT5000Flux only) MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 147 Command group Program sample I /O G OSU B_01.M AXE ND_01.M, ERROR_01.M, INCL_01.M, Cross Index STAT_01.M AXE N D Syntax-Example PRINT STAT /* print status word */ Program sample STAT_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 148 SET KPROP ... // Change axis parameters SWAPMENC OFF // Swapencoder MOTOR ON // Turn on control again POSA 0 // Move the motor again which is // connected to the slave encoder MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 149 // see number of elements in I5 = master // the title bar of CAM-Editor I6 = slave SETCURVE curve // Set curve SYNCC Command Group // Synchronization in // CAM-Mode Cross Index SYNCMPULSM MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 150 The marker can be the zero pulse from the enco- der or an external 24 volt signal: I5 = master; I6 = slave Command Group Syntax Example SETCURVE curve SYNCCMS 0 // Synchronization in CAM-Mode // with slave marker correction MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 151 If the program is closed without SYNCCSTOP command, disengaging occurs by default with the second point pair and a stop occurs at the Slave Stop Position defined in the curve data. Command Group MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 152 MOTOR STOP. Command group Cross Index TRACKERR, MAPOS, APOS, SYNCPOSOFFS (54), SYNCMFACTM (49), SYNCMFACTS (50), SYNCACCURACY (55) Syntax-Example PRINT SYNCERR /* query actual synchronization error of the slave */ MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 153 SYNCERR. When defined in SYNCMSTART (62), the system waits for the first evaluation of the marker pulses on starting SYNCM and only then the offset SYNCPOSOFFS (54) is applied. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 154 Synchronization command Command group Cross Index parameter of the AXS group Syntax-Example SYNCP /* normal synchronization of the position */ CVEL 50 /* achieve velocity before synchronization */ CSTART WAITT 500 SYNCP MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 155 /* If ACCURACY then set output */ If the fault counter is greater that the value deter- ENDIF mined by the parameter SYNCFAULT (57) then the flag SYNCFAULT is set. Otherwise it is deleted. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 156 In addition the new set position is defi- ned in such a manner that the following is true: command_pos = actual_pos + error old_error, cvel, avel are maintained. Sumerr is also accepted unchanged. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 157 (qc) (see MAPOS) 4106 Last Master index position without conver- sion (qc) (see MIPOS) 4107 Internal current velocity (ACTPOS – last ACTPOS) (qc/1 ms) 4108 Internal Master velocity (see above) MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 158 // Flag for Wraparound occurred (not used) PG_FLAG_POS_ERR Slave start offset of actual curve in qc (for closed // Flag for Position Error occurred curves always 0). PG_FLAG_BRKPT_RCHD // Flag for Breakpoint reached (not used) MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 159 STARTKORRVAL is the value with that the start correction value will be relieved (reduced) at ev- ery marker correction. 4249 PFG_G_LASTSMDIST Last measured distance between two slave marker in qc - slave. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 160 … Start positioning run … for the system array apply. Three values are always recorded. TESTSTART 100 // Start recording array name = Name of the array used for the recording MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 161 // Start positioning with new velocity APOS, CPOS, POSERR (15) NOWAIT OFF // Wait untill positioning is finished Syntax-Example PR INT TRACKE R R /* query actual position error of the axis */ MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 162 SYNCP or SYNCM follows the VEL command. Command group REL, ABS Cross Index ACC, POSA, POSR Parameter: Maximum velocity VELMAX (1) Syntax-Example VEL 100 /* Velocity 100 */ Program sample VEL_01.M MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 163 WAITI 6 OFF /* Wait till Low level reached input 6 */ WAITI 6 0 /* 3 alternative forms: */ WAIT I 6 OFF WAIT I 6 0 Program sample WAIT_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 164 /* wait 5000 seconds */ WAITP 50000 /* wait on position 50000 */ WAIT T 5000 /* Alternative form: */ OUT 1 1 /* set output 1 */ NOWAIT OFF Program sample WAIT_01.M MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 165 Syntax-Example WHILE (A != 1 AND B == 0) DO command line 1 command line n E N DWH I LE Program sample WH I LE_01.M , I NKEY_01.M MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 166 “.M”. The commands within the file to be included must have correct syntax. Command group Syntax-Example #I NCLUDE I NC_UP01.M /* Include contents from file INC_UP01.M */ Program sample INCL_01.M + INCSTA01.M + INCPOS01.M + INCIN01.M MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 167: Parameter Reference

    1 = Offline change means that a change to the time; but in can be reprogrammed approxi- mately 10000 times. parameter value is activated when the OK key is pressed. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 168 2 Additional selections in parameters 319 + 321: Option 0 … 20mA [90] Option 4 … 20mA [91] 2 Additional selections in parameters 341 + 355: Option digital [90] Option pulse output [91] Group 7: next page MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 169 AMA, in order to obtain a good control behavior. Parameter 205 Parameter 205, maximum reference must be set in accordance with maximum velocity (option para- meter #1) before the controller parameters are optimized. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 170 Content active inverter dead time compensation Compatibility Not available in VLT5000Flux Value range ★ 0 0 … 1 0 = OFF 1 = ON MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 171: Vlt Parameter List

    1) The maximum range is -2 to 2 -1 (-2147483648 to 2147483647) but the actual range is specified when defining a user para- meter in the application program using LINKGPAR or LINKAXPAR. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 172: Syncpos Parameters

    – I_PRGSTART Input for program start – I_REFSWITCH Input for reference switch – KDER Derivative value for PID control – KILIM Limit value for integral sum for PID control 705 – MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 173 Size of target window T I M E R Sampling time for PID control msec VE LMAX Maximum velocity 3000 VELMAXQC Maximum velocity (internal parameter) qc/ms * 1/65536 VELRES Velocity resolution MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 174: All Syncpos Parameters In Detail

    Therefore, it is the respon- sibility of the programmer and the user to observe the performance ranges of the drive and of the system. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 175 (220 kHz) may not be exceeded. ] ≤ 220 kHz Encoder revolution ENCODER * VELMAX MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 176 Unit Value range ★ 500000 –MLONG … MLONG When using the command DEF ORIGIN the path limitation is automatically adapted so that the original position of the positioning range is maintained. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 177 Thus the program would be 'stuck' after the cor- responding positioning command. A target window of 0 deactivates the monitoring of the actual position and only monitors the command position. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 178 KPROP greater = Drive will become ‘stiffer’ KPROP too high = Tendency to overswing Content Proportional value for PID control Parameter Group Axis parameter PID-Controller AXR CAM-Editor: index card PID Value range ★ 30 1 … 65000 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 179 (11) has twice the effect. to a 'nervous' drive. Content Integral value for PID control Parameter Group Axis parameter PID-Controller AXR CAM-Editor: index card PID Value range ★ 0 0 … 65000 MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 180 4 = Correction time is used instead of using SYNCOFFTIME 16= We don’t make the correction concerning the error of marker distances. For further descriptions of the selection see SYNCM FTIME MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 181 If SYNCMFTIME is 0, the behavior is same as up to Option Card version 5.04, that means the filter time for marker correction depends on the parameter value of SYNCVFTIME (65). Filtering is handled as follows: MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 182 Following SYNCMFPAR settings modify behavior: SYNCMFPAR & 4 ➜ correction time is used instead of using SYNCOFFTIME. SYNCMFPAR & 16 ➜ We don’t make the correction concerning the error of marker distances. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 183 Content Limit value for integral sum for PID control Parameter Group PID-Controller Value range ★ 0 0 … 65000 0 = OFF MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 184 4 is omitted) Scaling factor = Number of user units UU (qc) Numerator user factor [23] = 25 that correspond to one revolu- Denominator user factor [26] = 9 tion at the drive MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 185 See POSFACT_Z (23) case. Content Limit value for readings in target window Parameter Group Axis parameter Inputs/Outputs AXI CAM-Editor: index card Inp/Outp Unit Value range ★ 1 1 … 65535 MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 186 IPOS, MIPOS. –2 = Same as “2”, i.e. the sign of the reference value is reversed internally; in addition, the sign of the user unit is negated as in “–1”. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 187 0 – 1 0 = trapeze Parameter Group 1 = sinusoidal Axis parameter Encoder AXE CAM-Editor: index card Encoder Unit Encoder counts per revolution Value range ★ 500 1 … MLONG MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 188 FFVEL must always be the same as the KDER factor 1 … VELRES in order to achieve typical dampening. Content Velocity feed-forward Parameter Group PID-Controller Unit Value range ★ 0 0 … 65000 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 189 Size of the control window (activation) Value range ★ 0 0 … 3 Parameter Group Axis parameter PID-Controller AXR CAM-Editor: index card PID Unit Value range ★ 0 0 … MLONG MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 190 0 – 1 Parameter Group 0 = Trigger error Axis parameter Home AXH 1 = Stop motor with max. deceleration CAM-Editor: index card Home Unit Value range ★ 0 –MLONG … MLONG MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 191 = Reaction to a positive edge on input 1 … 8 ★ 0 = no function –1 … –8 = Reaction to a negative edge on input 1 … 8 MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 192 (ratio to the master) Example 1 If the master is to run twice as fast as the slave, then the ratio is 2 : 1 SYNCFACTM = 2 SYNCFACTS = 1 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 193 Value range ★ 1 after each full revolution. 1 … 2 * MLONG/max. master velocity where by max. master velocity unit is in QC/PROFTIME(29) Example See SYNCFACTM (49) MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 194 3 index impulses must elapse before a marker comes. Thus, this results in a ratio of 3 : 1; only every 3rd slave pulse is evaluated. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 195 SYNCERR with polarity sign. It is then pos- sible to tell whether the Value range synchronization is running ahead –MLONG/SYNCFACTS (50) ★ 0 or behind. … MLONG/SYNCFACTS (50) MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 196 Value range master and slave, when the slave tries to ★ 10 catch up with the master when starting. 0 … 65535 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 197 ★ 0 0 … 3 0 = index pulse (positive flank) 1 = index pulse (negative flank) 2 = external marker (positive flank) 3 = external marker (negative flank) MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 198 (SYNCPOSOFFS) is not active before the first marker correction ist done. 2000 = in CAM mode: Counting of the master pulses in MU begins with the master marker. Only the parameter 2000 is effective in curve synchronizations. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 199 (100 ms * 10). This allows a “taming” of the syn- chronization without restricting the acceleration. Content velocity filter Syntax SET SYNCVFTIME value value = filter time constants Parameter Group Axis parameter Synchronization AXS CAM-Editor: index card Synchron. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 200 = percent value Parameter Group Axis parameter Synchronization AXS CAM-Editor: index card Synchron. Unit Value range ★ 0 0 … MLONG 0 = OFF, i.e. no restriction MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 201 Marker interval SYNCMPULSM = 30000 are used: IPOS, MIPOS Tolerance window SYNCMWINM = 1000 Only one marker within an interval of 29000 to 31000 is accepted. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 202 (SYNCSTAT) is set and no marker correction carried out. This flag can be reset with an interrupt (ON STATBIT). Changes of the parameter will become active immediately – not only after the next SYNCM command. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 203 // and after execution of autoexec Global parameters GLI SET PRGPAR 1005 // program number 5 is started, Value range ★ 0 // but at power on the motor is off 0 … 8 MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 204 The setting of the O_ERROR parameter does on input 1 … 8 not influence the use of the OUT and OUTB commands. With these commands it is also possible to change the outputs which have predefined functions. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 205 Programmable SyncPos motion controller MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 206: Messages And Error Reference

    ■ ■ ■ ■ ■ Messages and Error Reference Chapter 6 VLT and SyncPos messages ..........206 SyncPos messages in detail ..........207 VLT software SyncPos messages (PC software) ..211 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 207 No more room for variables MEMORY locked The program memory is write-protected. ILLEGAL CURVE ARRAY Curve array wrong ENCODER ERROR Error from encoder monitoring INTE RNAL E RROR Internal error ## MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 208 A communication or program error. O.E RR_7 SyncPos Axis no: 1 - Home vel 0 The program must be re-compiled and re-loaded. Cause HOME was executed with HOME_VEL set to zero. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 209 When pressing local stop on the LCP error 13 may show on the display. To avoid this you can set parameter 014 to "disable" but that will disable the stop function of the local control panel. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 210 … successful please call the technical service department. …permitted are: 32 ON INT 32 ON STATBIT 32 ON COMBIT 10 ON PARAM 20 ON APOS, ON MAPOS, ON MCPOS MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 211 Equally, → "RAM SAVE" and → Cause The timeout is probably too short or the index "EEPROM DELETE" will not be executed. impulse could not found (see also O.ERR_9). MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 212 You have to → → → → → "BREAK" the new com- dealer and report the error number displayed to the technical service department. mand and restart it once the previous command has been completely executed. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 213 The VLT does not answer; check the connection. conditions must be fulfilled: • Identical software versions, that provides same number and order of the parameters • same configuration (e.g. same number of axes) MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 214: Program Samples

    Programmable SyncPos motion controller ■ ■ ■ ■ ■ Program samples Chapter 8 Introduction and warning ............214 COM_OPT ..................215 Marker count ..................215 Master simulation via software command ....216 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 215 In the online help you will find all the other pro- gram samples, which are mentioned in the chapter software reference. You can copy these programs or parts of them directly into your program. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 216 /* Copy 4 words from send array to */ /* communication option */ /* Print data of receive array */ print “RECEIVED(4 WORDS)”,” “,receive [1],” “,receive [2],” “,receive [3],” “,receive [4] GOTO main /* End of program */ MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 217 // set master position (in qc) // Subsequently, gear system will be employed simpos = simpos + 100 // ATTENTION, MAPOS continues // to supply the encoder values GOTO start TO R IG_01 MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 218: Appendix

    2.5x and in Option Card Version 5.00? ......223 What’s new in the PC Software Version 6.5x and in Option Card Version 5.04? ......223 ■ ■ ■ ■ ■ Technical Reference ............. 226 ■ Index .................. 229 MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 219: Glossary Terms

    (qc) is valid. 4 quad-counts correspond to one sensor unit (incremental encoder). In the case of absolute encoders, the absolute values are returned 1 : 1. sample time = 1 ms MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 220: What's New In Version

    SYSVAR System variable (Pseudo array) ON PARAM Interrupt when a parameter n is reads system values. changed TESTSETP Specify recording data for test TESTSTART Start the recording of a test run MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 221 LINKSYSVAR and observed on the LCP display. SYNCMSTART (62) Additional possibilities to define the start condi- tions of the marker synchronization. SYNCVFTIME (65) Master filter for SYNCP and SYNCM MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 222 Synchronization in CAM-Mode working position in MU resp. UU. SYNCCM M Synchronization in CAM-Mode with master marker correction SYNCCMS Synchronization in CAM-Mode with slave marker correction SYNCCSTART Start slave for synchronization in CAM-Mode MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 223 Software compatibility The new hardware is supported by option card software version 4.xx or newer. The old hardware is supported by option card software version 3. 1 2 or older. MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 224 CAM Editor then the CAM Editor will now use appropriate default values for the missing parameters. "SETTINGS" menu A baud rate of 19.2k for the VLT interface can be set using the → "INTERFACE" menu. MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 225 SYNCMFTIME (18) The behavior of SYNCMFTIME – filter time for marker correction – is changed a little bit. SYNCTYPE (51) Indicates whether normal synchronization (0) or with look ahead (1). MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 226 • • • • • Maximum number of cycles per minute (Ap- Interpolation point section plication information) This section contains a list of slave coordinates. They belong to master coordinates which are of equal distance, given by the interpolation resolution. MG.10.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 227: Technical Reference

    Index to StartStop Interpolation Indices IndexSTPVel (dec) IndexSTPInd +STPno*2 Index to StartStop Velocities IndexSTIP (dec) IndexSTPVel +STPno*2 Index to Startpath interpolation points IndexSTPIP (dec) IndexSTIP + MaxStartStopLen Index to Stoppath interpolation points MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 228 Fix Point no. 1 - slave coordinate FixPoint_1.type (dec) Fix Point no. 1 - type of point (1 = Curve Point, 2 = Tangent Point) 3*n-2 FixPoint_n.master MasterCycleLen Fix Point no. n - master coordinate MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 229 Velocity (UU/MU * 100000) in startpoint StartPath StartPoint_1 Interpolation Point no. 1 - for Interpolation Points start path StopPath StopPoint_1 Interpolation Point no. 1 - for Interpolation Points stop path MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...

  • Page 230: Index

    How a CAM control with SP operates ......... 38 Start programs ..................59 Internal Realization as Array ............38 Conventions .................... 5, 7 Interpolation ..................38 Conversion index .................. 170 Problematic situations … marker distance ......44 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 231 DISABLE ... interrupts ................110 Inserting fixpoints ................72 Display Recording ................... 67 Forward Feel Acceleration FFACC (37) ........188 Forward Feel Acceleration FFVEL ( 36) ......... 187 FPGA ......................218 MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 232 Operation Mode: Offline or Online ......... 83 Input values ....................90 Settings Menu ..................86 Installing SyncPos ................... 26 SyncPos Window ................83 Integral factor KINT (13) ............33, 178 Memory MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 233 NEGLIMIT (4) ................... 175 PRGPAR (102) ..................202 New commands ..................219 PRINT ......................140 New hardware ..................222 Printing or copying help texts ............79 New Parameters ..................220 Priorities MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 234 SYNCFACTS (50) ..............192, 193 Sequential command processing ..........89 SYNCFAULT (57) ..............154, 195 SET ........................ 143 SYNCM ......................152 Set axis parameters online ..............61 SYNCMARKM (52) ................193 Set Breakpoints ..................55 MG.10.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 235 Cascade / Tile vertically ..............79 TESTSETP ....................159 Printing or copying help texts ............ 79 TESTSTART ....................160 TESTTIM (24) ..................184 TESTVAL (25) ..................184 Zero impulse .................... 218 MG. 1 0.J8.02 – VLT is a registered Danfoss trade mark...
  • Page 236 .danfoss.com/drives MG10J802 175 0060 MG10J802 ev. 2004-07-14...

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