Danfoss VLT AutomationDrive FC 360 Application Manual

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Danfoss VLT AutomationDrive FC 360 Application Manual Manual pdf 17 page image

input would start the homing process, andswitching off the digital input stops the homingprocess. In unforced mode, switching on thedigital input would set the current position as thehome position. See Homing Modes for detailsabout the 3 homing modes.• PROFIBUS- If 33-00 Homing Mode is set to [1] ForcedManual Modeor [2] Forced AutomatedMode:Send control word PCD 1:0x00A0 to thefrequency converter to reset homestatus.Send control word PCD 1:0x0084 to thefrequency converter to start homing.Send control word PCD 1:0x0080 to thefrequency converter to stop homing.- If 33-00 Homing Mode is set to [0] HomeNot Forced:  Send control word PCD 1:0x0084 to thefrequency converter to set current actual positionas the home position.4.4 PositioningSettings before PositioningThere are 8 preset target positions. Configure theattributes of the positions in parameters 37-02 to 37-06.Set the target window size in 33-47 Target Position Window.When this parameter is set to 0, the default target windowsize, which is 1/256 PPR (pulse per revolution), is used.Configure the PID factor in 7-33 Process PID ProportionalGain, 7-34 Process PID Integral Time, and 7-35 Process PIDDifferentiation Time based on actual requirements.Positioning Control ProcessControl via digital inputsAssume that digital input 18 is used to start and stop thepositioning process, while digital inputs 19 and 27 areused to indicate bit0 and bit1 of an indexed position. Theparameters need to be set as follows:• 5-10 Terminal 18 Digital Input=[160] Go To TargetPos.• 5-11 Terminal 19 Digital Input=[162] Pos. Idx Bit0.• 5-12 Terminal 27 Digital Input=[163] Pos. ldx Bit1.Control the positioning process as follows:• Use different combinations of index bit values toselect the desired position.- Switch both digital input 19 and 27 offto select position 0.- Switch digital input 19 on and 27 off toselect position 1.- Switch digital input 19 off and 27 on toselect position 2.- Switch both digital input 19 and 27 offto select position 3.• Switch on digital input 18 to start the positioningprocess.• Switch off digital input 18 to stop the positioningprocess.Control via PROFIBUSPositioning Setup• Set PCD 2 to high 16 bit of the target position inUU.• Set PCD 3 to low 16 bit of the target position inUU.• Set PCD 4 to expected velocity in RPM.• Set PCD 5 to expected ramp-up time in ms.• Set PCD 6 to expected ramp-down time in ms.After the set-up is completed, send PCD 2–6 to thefrequency converter.To start absolute positioning:1. Send control word PCD 1:0x0084 to thefrequency converter, and wait 100 ms.2. Send control word PCD 1:0x0481 to thefrequency converter to start the positioningprocess.To start relative positioning:1. Send control word PCD 1:0x0084 to thefrequency converter, and then wait 100 ms.2. Send control word PCD 1:0x0881 to thefrequency converter to start the positioningprocess.To stop positioning:• Send control word PCD 1:0x0084 to thefrequency converter.4.5 PROFIBUS InterfaceFC 360 frequency converters support Profibus. The Profibusmodule is integrated in the control cassette with Profibus.If Profibus is needed:• Order a new frequency converter on which thecontrol cassette with Profibus is pre-installed.• Or order a control cassette with Profibus toreplace the standard control cassette on anexisting frequency converter.In both cases, ensure that the firmware version is higherthan 1.20.Positioning Control VLT® AutomationDrive FC 36016 Danfoss A/S © 11/2014 All rights reserved. MG06E10244