Application Example - Danfoss VLT AutomationDrive FC 360 Application Manual

Positioning Control
The PROFIBUS interface in FC 360 uses type 5 of parameter
process data objects (PPO). Set the PPO type in parameter
9-22 Telegram Selection.
PCD definitions
Control and status words are transferred via the process
data channel (PCD) of the PROFIBUS interface. FC 360 uses
PPO Type 5 for PROFIBUS communication.
PCD Description
(word.bit)
1.1
Quick Bus Go To Target (↑
1.2 Reset Error (↑)
1.3 Start Homing/ Stop
Positioning(↑)/ Start
2)
Positioning(↓ )
1.5
Automatic (↑) / Manual(↓)
mode
1.6 Reset Home Status (↑)
1.8 Quick Stop (↓)
1.11 Quick Bus Type Absolute (↑)
1.12
Quick Bus Type Relative (↑)
1.16 Change Sign On Quick Bus
Target Position(↑)
2 Quick Bus Target
Position(msb)
3 Quick Bus Target
Position(lsb)
4 Quick Bus Velocity(rpm)
5 Quick Bus Ramp Up Time
(ms)
6 Quick Bus Ramp Dwon Time
(ms)
Table 4.1 PROFIBUS Control Signals
↑ indicates active at rising edge.
1)
↓ indicates active at falling edge.
2)
PCD (word.bit) Description
1.1
Homing Done (↑)
1.2
Target Position Reached (↑)
1.3
Error Occurred (↑)
1.4 Mechanical Brake Output (↑)
1.7 Positive Hardware Limit (↑)
1.8 Negative Hardware Limit (↑)
3 Actual Position (MSB)
4 Actual Position (LSB)
5 Position Error Status
Table 4.2 PROFIBUS Status Words
MG06E102
Application Guide
Usage
1)
)
In forced manual
mode or forced
automated mode,
this word-bit is used
to start or stop
homing. In unforced
mode, it is used to
start or stop
QuickBus positioning.
Set to manual mode
for homing and
QuickBus positioning.
Danfoss A/S © 11/2014 All rights reserved.
Typical hexadecimal control words in PCD1 are listed in
Table 4.3.
Hexadecimal value Function
of control word in
PCD1
0x0080-->0x0000 Quick stop.
0x0080-->0x0082 Reset positioning alarm.
0x00A0 Reset home status.
0x0084 Start homing if parameter 33-00 Homing
Mode is set to [1] Forced Manual Mode or
[2] Forced Automated Mode, and reset the
home position if parameter 33-00 Homing
Mode is set to [0] Not Forced Mode.
0x0080 Stop homing.
0x0084-->0x0481 Start absolute positioning.
0x0481-->0x0480 Stop absolute positioning.
0x0084-->0x0881 Start relative positioning.
0x0084-->0x0880 Stop relative positioning.
0x0084 Stop positioning.
Table 4.3 Typical Control Words in PCD1

4.6 Application Example

4.6.1 Introduction
The drawing below shows a layout of a pallet conveyor
system. Loaded pallets are coming from four different
product lines via the pallet inlet conveyors. Each pallet
must be transported from one of the four inlet conveyors
to the one of the two outlet conveyors. To do this a
movable pallet conveyor cart is used.
4 4
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