Danfoss VLT AutomationDrive FC 301 Programming Manual page 686

VLT AutomationDrive FC 301/302
Programming Guide
6.3 Control
6.3.1 Control Loops
In positioning and synchronization mode, 2 extra control loops control the motor in addition to the motor controller running flux
control principle, sensorless, or with motor feedback. The position PI controller is the outer loop providing the setpoint for the
speed PID, which provides the reference for the motor controller. For a closed loop, feedback source can be selected individually for
each of 3 controllers.
For sensorless control principle, select [0] Motor feedb. P1-02 in the following parameters:
•
Speed PID: Parameter 7-00 Speed PID Feedback Source.
•
Position PI: Parameter 7-90 Position PI Feedback Source.
With this set-up, both controllers use the motor angle calculated by the motor controller. See
and parameters affecting the control behavior.
Par.7-90 Position PI
Feedback Source
Profile
7-9*
Commanded
Generator
Position
Position
PI Ctrl.
Ramp
Par. 7-98
Position
Speed
PI
Feed
Illustration 105: Positioning and Synchronization Mode
6.3.2 Control and Status Signals
IMC control and status signals are available I/O bits and fieldbus bits.
Table 1431: Control and Status Signals
Name Function
Control signals
Enable master offset Activates the master offset when parameter 17-93 Master
Offset Selection is set to options [0]–[5].
Start homing Starts selected homing function.
Start virtual master Starts the virtual master.
Activate touch Selects touch probe positioning mode.
Relative position Selects between absolute and relative positioning.
Enable reference Starts selected motion.
Sync. to position Selects positioning in synchronizing mode.
mode
686 | Danfoss A/S © 2022.12
Par. 4-1*
Par. 7-99
Accel. limit
Speed Limit
+
Max
Min
Acceleration
Par.1-69 System Inertia
Illustration 105
Par. 7-00 Speed PID
Feedback Source
7-0*
Speed PID
+
Par. 7-08
Speed PID
Accel. Feed forward
factor
Torque
Digital
input
(1)
x
x
x
x
x
x
x
AU275636650261en-000101 / 130R0334
Integrated Motion Controller
for control structure
Flux motor
control
Control Digital Status
word output word
x –
x – –
x – –
x – –
x – –
x – –
x – –