Danfoss VLT AutomationDrive FC 300 Design Manual page 32

FC 300 Design Guide
The following must be programmed in order shown - see explanation of settings in the section "How to
programme".
Function
1) Make sure the motor runs properly. Do the following:
Set the motor parameters using name plate data 1-2*
Have the VLT make an Automatic Motor Adapta-
tion
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 en-
coder 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
capabilities and allowed application operating
specifications.
Set acceptable limits for the motor speed and
frequency.
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) 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 5-14
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
manually
8) Finished!
Save the parameter setting to the LCP for safe
keeping
Tuning PID Speed Control
The following tuning guidelines are relevant when using one of the Flux motor control principles in ap-
plications 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 =
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 Speed Filter Time is 5 ms (lower encoder resolution calls for a higher
filter value). Typically a Max Torque Ripple of 3 % 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).
32
Introduction to FC 300
Par. no.
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
6-1*
5-15
1-02
7-00
7-0*
0-50
2
x Par
. 1 − 25
Par x
. 1 − 20 9550
x x Encoder Resolution x par
0.01 4
x
2
MG.33.B8.02 - VLT ®
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
x Bandwidth rad s
/
. 7 − 06
π
is a registered Danfoss trademark
x Max torque ripple
%