Danfoss VLT AutomationDrive FC 300 Design Manual page 31

FC 300 Design Guide
In the parameter list below it is assumed that all other parameters and switches remain at their default setting.
The following must be programmed in order shown - see ex-
planation of settings in the Programming Guide.
Function
1) Make sure the motor runs properly. Do the following:
Set the motor parameters using name plate data
Have the VLT make an Automatic Motor Adaptation
2) Check the motor is running and the encoder is attached properly. Do the following:
Press the "Hand On" LCP key. Check that the motor is
running and note in which direction it is turning
(henceforth referred to as the "positive direction").
Go to par. 16-20. Turn the motor slowly in the positive
direction. It must be turned so slowly (only a few
RPM) that it can be determined if the value in par.
16-20 is increasing or decreasing.
If par. 16-20 is decreasing then change the encoder
direction in par. 5-71.
3) Make sure the drive limits are set to safe values
Set acceptable limits for the references.
Check that the ramp settings are within drive capa-
bilities and allowed application operating specifica-
tions.
Set acceptable limits for the motor speed and fre-
quency.
4) Configure the Speed Control and select the Motor Control principle
Activation of Speed Control
Selection of Motor Control Principle
5) Configure and scale the reference to the Speed Control
Set up Analog Input 53 as a reference Source
Scale Analog Input 53 0 RPM (0 V) to 1500 RPM (10V) 6-1*
6) Configure the 24V HTL encoder signal as feedback for the Motor Control and the Speed Control
Set up digital input 32 and 33 as encoder inputs
Choose terminal 32/33 as motor feedback
Choose terminal 32/33 as Speed PID feedback
7) Tune the Speed Control PID parameters
Use the tuning guidelines when relevant or tune man-
ually
8) Finished!
Save the parameter setting to the LCP for safe keep-
ing
3.3.2. Tuning PID Speed Control
The following tuning guidelines are relevant when using one of the Flux motor control principles in applications where the load is mainly inertial (with a
low amount of friction).
The value of par. 7-02 Proportional Gain is dependent on the combined inertia of the motor and load, and the selected bandwidth can be calculated using
the following formula:
Total inertia k gm
Par
. 7 − 02 =
Par
Note: Par. 1-20 is the motor power in [kW] (i.e. enter '4' kW instead of '4000' W in the formula). A practical value for the Bandwith is 20 rad/s. Check
the result of the par. 7-02 calculation against the following formula (not required if you are using a high resolution feedback such as a SinCos feedback):
Par
. 7 − 02 =
MAXIMUM
A good start value for par. 7-06
is acceptable. For incremental encoders the Encoder Resolution is found in either par. 5-70 (24V HTL on standard drive) or par. 17-11 (5V TTL on MCB102
Option).
Par. no.
1-2*
1-29
16-20
5-71
3-02
3-03
3-41
3-42
4-11
4-13
4-19
1-00
1-01
3-15
5-14
5-15
1-02
7-00
7-0*
0-50
2
x Par
. 1 − 25
x Bandwidth rad
x
. 1 − 20 9550
0.01 x 4 x Encoder Resolution x par
x
2 π
Speed Filter Time
is 5 ms (lower encoder resolution calls for a higher filter value). Typically a Max Torque Ripple of 3 %
MG.33.BA.02 - VLT ® is a registered Danfoss trademark
3. Introduction to FC 300
Setting
As specified by motor name plate
[1] Enable complete AMA
Set a positive reference.
N.A. (read-only parameter) Note: An increasing value
overflows at 65535 and starts again at 0.
[1] Counter clockwise (if par. 16-20 is decreasing)
0 RPM (default)
1500 RPM (default)
default setting
default setting
0 RPM (default)
1500 RPM (default)
60 Hz (default 132 Hz)
[1] Speed closed loop
[3] Flux w motor feedb
Not necessary (default)
Not necessary (default)
[0] No operation (default)
Not necessary (default)
Not necessary (default)
See the guidelines below
[1] All to LCP
/ s
. 7 − 06
x Max torque ripple
%
31
3