Danfoss VLT AutomationDrive FC 360 Application Manual

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Danfoss VLT AutomationDrive FC 360 Application Manual Manual pdf 15 page image

4 Positioning Control4.1 IntroductionFC 360 supports positioning control. To use the function,set parameter 37-00 Application Mode to [2] Position control.When positioning control is enabled, the frequencyconverter runs in VVC+ control mode. It is important toperform an AMA with correct motor data prior topositioning control.Position feedback signals are sent to FC 360 via MCB102 orMCB103. 24 V encoder to terminals 32/33 is not supportedin position control mode.Positioning control in FC 360 provides the followingfeatures:• Supports both relative and absolute positioning.• Can be controlled via digital outs or PROFIBUS.• Supports direct positioning (via PROFIBUS) andindexed positioning (via digital inputs).• Up to 8 fixed positions.• Supports homing function (without z index).• Uses MCB102 or MCB103 as signal feedbacksource.• Supports both software and hardware limitsettings.4.2 Programming4.2.1 PreparationComplete the following tasks before starting thepositioning control.• Check the motor phaseIn Hand on mode, set the frequency to a lowpositive value. For example, +3 Hz. Make sure themotor rotates in the positive direction. If itrotates in the negative direction, exchange themotor phases.• Remove all signals to inputs.• Select Off mode via the local control panel (LCPor GLCP).• Initialise the frequency converter in 14-22Operation Mode.• Perform an AMA.• Set 37-00 Application Mode to [2] Position Control.• Select the feedback source in 37-01 Pos. FeedbackSource and 7-00 Speed PID Feedback Source.• MCB102Set 17-10 Signal Type and 17-11Resolution (PPR) according to the specifi-cation of the actual encoder used.• MCB103Set 17-50 Poles, 17-51 Input Voltage,17-52 Input Frequency, and 17-53Transformation Ratio according to thespecification of the resolver.Set 17-59 Resolver Interface to [1] Enabledto enable MCB103 for capture resolver.Monitor the value of 34-50 Actual Position, rotatethe motor shaft manually in the positivedirection, then 34-50 Actual Position should showan increasing value. If the value is descendingwith an incremental encoder, exchange thefeedback encoder track A+ with B+, and A- withB-. If no value is displayed, check the wiring ofthe encoder.• Set ramp timeSet the activated ramp-up time in 3-41 Ramp 1Ramp Up Time, 3-51 Ramp 2 Ramp Up Time, 3-61Ramp 3 Ramp up Time, and 3-71 Ramp 4 Ramp upTime to be 75% of the minimum value in 37-05Pos. Ramp Up Time.Set the activated ramp-down time in 3-42 Ramp 1Ramp Down Time, 3-52 Ramp 2 Ramp Down Time,3-62 Ramp 3 Ramp down Time and 3-72 Ramp 4Ramp Down Time to be 75% of the minimumvalue in 37-06 Pos. Ramp Down Time.• Select Auto On mode via LCP or GLCP.• Ensure that there are no alarms.4.2.2 Basic SettingsSelecting the positioning control sourceSelect [0] DI or [1] Fieldbus in 37-14 Pos. Ctrl. Source.Limit settingsBlock 1 direction, or set position or velocity limits toachieve better safety.• Direction blockIf necessary, block forward or reverse direction in37-15 Pos. Direction Block.• Position limitThere are 2 types of position limits: hardwarelimits and software limits. Hardware limits are setby digital inputs. Software limits are set viaparameter settings.Positioning Control VLT® AutomationDrive FC 36014 Danfoss A/S © 11/2014 All rights reserved. MG06E10244