Danfoss VLT AutomationDrive FC 360 Application Manual page 19

Positioning Control
4 4
Illustration 4.1 Pallet Conveyor System (Example)
A typical work process is:
1. Moves the (empty) pallet conveyor cart to pallet
inlet no. 1 to pick up a loaded pallet.
2. Waits until the pallet is successfully transferred to
the cart.
3. Moves to pallet outlet no. 2.
4. Waits until the pallet is successfully transferred to
the outlet conveyor and so on.
4.6.2 Electrical Connection
Use encoder to MCB102 as feedback source.
Use digital inputs 18 and 19 to specify the index of the
preset position.
Mark 0 position and connect the home switch to digital
input 31.
4.6.3 Settings
Set the parameters as described in the table below.
18
®
VLT AutomationDrive FC 360
Parameter
5-10 Terminal 18 Digital Input
5-11 Terminal 19 Digital Input
5-12 Terminal 27 Digital Input
5-13 Terminal 29 Digital Input
5-16 Terminal 31 Digital Input
Parameter 5-40 Function Relay
Parameter 6-92 Terminal 42 Digital Output [170] Homing
Parameter 6-72 Terminal 45 Digital Output [171] Target Position
Parameter 33-41 Negative Software Limit
Parameter 33-42 Positive Software Limit
Parameter 33-43 Negative Software Limit
Active
Parameter 33-44 Positive Software Limit
Active
Parameter 32-80 Maximum Allowed
Velocity
Parameter 37-17 Pos. Ctrl Fault Behaviour
Parameter 37-07 Pos. Auto Brake Ctrl
Parameter 37-08 Pos. Hold Delay
Parameter 37-09 Pos. Coast Delay
Parameter 37-10 Pos. Brake Delay
Parameter 37-11 Pos. Brake Wear Limit
Table 4.4 Parameter Set-up
4.6.4 Homing
Set the parameters for homing as described in Table 4.5.
Parameter
Parameter 33-00 Ho
ming Mode
Parameter 33-01 Ho
me Offset
Parameter 33-02 Ho
me Ramp Time
Parameter 33-03 Ho
ming Velocity
Parameter 33-04 Ho
ming Behaviour
Table 4.5 Homing Set-up
Perform the homing process as follows:
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Value
[160] Go To Target
Pos
[162] Pos. Idx Bit0
[163] Pos. Idx Bit1
[150] Go To Home
[151] Home Ref.
Switch
Array element 0: Array
element 1:
Completed
Reached
*-500,000 UU
*500,000 UU
[0] *Inactive
[0] *Inactive
*1,500 RPM
[0] *Ramp Down Brake
[0] Disable
*0
*200 ms
*200 ms
*0
Value Description
[1] Forced Manual Must complete
Mode homing before
positioning.
*0
*10ms
-100 RPM Assume the
beginning position
is positive, then the
homing velocity
should be negative
[1] *Reverse no
index
MG06E102