Danfoss VLT AutomationDrive FC 300 Design Manual page 33

FC 300 Design 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 di-
rection 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 de-
termined if the value in par. 16-20 is in-
creasing 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 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
Choose terminal 32/33 as motor feedback 1-02
Choose terminal 32/33 as Speed PID feed-
back
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
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:
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. 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
6-1*
5-14
5-15
7-00
7-0*
0-50
2
Total inertia k gm x Par
Par x
. 1 − 20 9550
MG.33.B9.02 - 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 in-
creasing value overflows at 65535 and starts
again at 0.
[1] Counter clockwise (if par. 16-20 is de-
creasing)
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
. 1 − 25
x Bandwidth rad
3
/ s
33