Danfoss VLT AutomationDrive FC 301 Programming Guide

MAKING MODERN LIVING POSSIBLE

Programming Guide

VLT

®

AutomationDrive FC 301/302

vlt-drives.danfoss.com

Contents

1 Introduction

3

1.1 Software Version

3

1.2 Approvals

3

1.3 Denitions

3

1.3.1 Frequency Converter 3

1.3.2 Input 3

1.3.3 Motor 3

1.3.4 References 4

1.3.5 Miscellaneous 4

1.4 Safety

6

1.5 Electrical Wiring

8

1.6 Integrated Motion Controller

11

2 How to Program

16

2.1 The Graphical and Numerical Local Control Panels

16

2.1.1 The LCD Display 17

2.1.2 Quick Transfer of Parameter Settings between Multiple Frequency Converters 19

2.1.3 Display Mode 19

2.1.4 Display Mode - Selection of Readouts 19

2.1.5 Parameter Set-up 21

2.1.6 Quick Menu Key Functions 21

2.1.7 Initial Commissioning 22

2.1.8 Main Menu Mode 23

2.1.9 Parameter Selection 23

2.1.10 Changing Data 24

2.1.11 Changing a Text Value 24

2.1.12 Changing a Data Value 24

2.1.13 Innitely Variable Change of Numeric Data Value 24

2.1.14 Value, Step-by-step 25

2.1.15 Readout and Programming of Indexed Parameters 25

2.1.17 LCP Keys 26

3 Parameter Descriptions

28

3.1 Parameter Selection

28

3.2 Parameters: 0-** Operation and Display

29

3.3 Parameters: 1-** Load and Motor

40

3.4 Parameters: 2-** Brakes

64

3.5 Parameters: 3-** Reference/Ramps

71

3.6 Parameters: 4-** Limits/Warnings

82

3.7 Parameters: 5-** Digital In/Out

90

Contents Programming Guide

3.8 Parameters: 6-** Analog In/Out

111

3.9 Parameters: 7-** Controllers

120

3.10 Parameters: 8-** Communications and Options

129

3.11 Parameters: 9-** PROFIBUS

138

3.12 Parameters: 10-** DeviceNet CAN Fieldbus

138

3.13 Parameters: 12-** Ethernet

138

3.14 Parameters: 13-** Smart Logic Control

139

3.15 Parameters: 14-** Special Functions

157

3.16 Parameters: 15-** Drive Information

168

3.17 Parameters: 16-** Data Readouts

173

3.18 Parameters: 17-** Feedback

179

3.19 Parameters: 18-** Data Readouts 2

185

3.20 Parameters: 19-** Application Parameters

186

3.21 Parameters: 30-** Special Features

186

3.22 Parameters: 32-** MCO Basic Settings

189

3.23 Parameters: 33-** MCO Advanced Settings

189

3.24 Parameters: 34-** MCO Data Readouts

189

3.25 Parameters: 35-** Sensor Input Option

189

3.26 Parameters: 36-** Programmable I/O Option

192

3.27 Parameters: 42-** Safety Functions

194

4 Parameter Lists

195

4.1 Parameter Lists and Options

195

4.1.1 Introduction 195

4.1.3 Active/Inactive Parameters in Dierent Control Modes 196

5 Troubleshooting

227

5.1 Status Messages

227

5.1.1 Warnings/Alarm Messages 227

6 Appendix

241

6.1 Symbols, Abbreviations, and Conventions

241

Index

242

Contents

VLT

®

AutomationDrive FC 301/302

1 Introduction

1.1 Software Version

Programming Guide

Software versions: 7.4X, 48.0X

This programming guide can be used for all VLT

®

AutomationDrive FC 301/FC 302 frequency converters with

software versions 7.4X and 48.0X.

The software version number can be read from

parameter 15-43 Software Version.

Table 1.1 Software Version

1.2 Approvals

1.3 Denitions

1.3.1 Frequency Converter

I

VLT,MAX

Maximum output current.

I

VLT,N

Rated output current supplied by the frequency converter.

U

VLT,MAX

Maximum output voltage.

1.3.2 Input

Control command

Start and stop the connected motor with LCP and digital

inputs.

Functions are divided into 2 groups.

Functions in group 1 have higher priority than functions in

group 2.

Group 1 Reset, coast stop, reset, and coast stop, quick stop,

DC brake, stop, the [OFF] key.

Group 2 Start, pulse start, reversing, start reversing, jog,

freeze output.

Table 1.2 Function Groups

1.3.3 Motor

Motor running

Torque generated on output shaft and speed from 0 RPM

to maximum speed on motor.

f

JOG

Motor frequency when the jog function is activated (via

digital terminals).

f

M

Motor frequency.

f

MAX

Maximum motor frequency.

f

MIN

Minimum motor frequency.

f

M,N

Rated motor frequency (nameplate data).

I

M

Motor current (actual).

I

M,N

Rated motor current (nameplate data).

n

M,N

Nominal motor speed (nameplate data).

n

s

Synchronous motor speed

n

s

=

2 × par . 1 − 23 × 60s

par . 1 − 39

n

slip

Motor slip.

P

M,N

Rated motor power (nameplate data in kW or hp).

T

M,N

Rated torque (motor).

U

M

Instant motor voltage.

U

M,N

Rated motor voltage (nameplate data).

Introduction Programming Guide

1 1

Break-away torque

175ZA078.10

Pull-out

rpm

Torque

Illustration 1.1 Break-away Torque

η

VLT

The eciency of the frequency converter is dened as the

ratio between the power output and the power input.

Start-disable command

A stop command belonging to Group 1 control commands

- see Table 1.2.

Stop command

A stop command belonging to Group 1 control commands

- see Table 1.2.

1.3.4 References

Analog reference

A signal transmitted to the analog inputs 53 or 54 (voltage

or current).

Binary reference

A signal transmitted to the serial communication port.

Preset reference

A dened preset reference to be set from -100% to +100%

of the reference range. Selection of 8 preset references via

the digital terminals.

Pulse reference

A pulse frequency signal transmitted to the digital inputs

(terminal 29 or 33).

Ref

MAX

Determines the relationship between the reference input at

100% full scale value (typically 10 V, 20 mA) and the

resulting reference. The maximum reference value is set in

parameter 3-03 Maximum Reference.

Ref

MIN

Determines the relationship between the reference input at

0% value (typically 0 V, 0 mA, 4 mA) and the resulting

reference. The minimum reference value is set in

parameter 3-02 Minimum/Oset Reference.

1.3.5 Miscellaneous

Analog inputs

The analog inputs are used for controlling various

functions of the frequency converter.

There are 2 types of analog inputs:

Current input, 0–20 mA, and 4–20 mA

Voltage input, -10 V DC to +10 V DC.

Analog outputs

The analog outputs can supply a signal of 0–20 mA, 4–20

mA.

Automatic motor adaptation, AMA

AMA algorithm determines the electrical parameters for

the connected motor at standstill.

Brake resistor

The brake resistor is a module capable of absorbing the

brake power generated in regenerative braking. This

regenerative brake power increases the DC-link voltage

and a brake chopper ensures that the power is transmitted

to the brake resistor.

CT characteristics

Constant torque characteristics used for all applications

such as conveyor belts, displacement pumps, and cranes.

Digital inputs

The digital inputs can be used for controlling various

functions of the frequency converter.

Digital outputs

The frequency converter features 2 solid-state outputs that

can supply a 24 V DC (maximum 40 mA) signal.

DSP

Digital signal processor.

ETR

Electronic thermal relay is a thermal load calculation based

on present load and time. Its purpose is to estimate the

motor temperature.

Hiperface

®

Hiperface

®

is a registered trademark by Stegmann.

Initializing

If initializing is carried out (parameter 14-22 Operation

Mode), the frequency converter returns to the default

setting.

Intermittent duty cycle

An intermittent duty rating refers to a sequence of duty

cycles. Each cycle consists of an on-load and an

o-load

period. The operation can be either periodic duty or non-

periodic duty.

LCP

The local control panel makes up a complete interface for

control and programming of the frequency converter. The

control panel is detachable and can be installed up to 3 m

from the frequency converter, that is, in a front panel with

the installation kit option.

Introduction

VLT

®

AutomationDrive FC 301/302

11

NLCP

Numerical local control panel interface for control and

programming of the frequency converter. The display is

numerical and the panel is used to show process values.

The NLCP has no storage and copy functions.

lsb

Least signicant bit.

msb

Most signicant bit.

MCM

Short for mille circular mil, an American measuring unit for

cable cross-section. 1 MCM=0.5067 mm

2

.

Online/oine parameters

Changes to online parameters are activated immediately

after the data value is changed. Press [OK] to activate

changes to o-line parameters.

Process PID

The PID control maintains the desired speed, pressure,

temperature, and so on, by adjusting the output frequency

to match the varying load.

PCD

Process control data.

Power cycle

Switch o the mains until display (LCP) is dark – then turn

power on again.

Pulse input/incremental encoder

An external, digital pulse transmitter used for feeding back

information on motor speed. The encoder is used in

applications where great accuracy in speed control is

required.

RCD

Residual current device.

Set-up

Save parameter settings in 4 set-ups. Change between the

4 parameter set-ups and edit 1 set-up, while another set-

up is active.

SFAVM

Switching pattern called stator ux-oriented asynchronous

vector modulation (parameter 14-00 Switching Pattern).

Slip compensation

The frequency converter compensates for the motor slip by

giving the frequency a supplement that follows the

measured motor load keeping the motor speed almost

constant.

SLC

The SLC (smart logic control) is a sequence of user-dened

actions executed when the associated user-dened events

are evaluated as true by the SLC. (See

chapter 3.14 Parameters: 13-** Smart Logic Control).

STW

Status word.

FC standard bus

Includes RS485 bus with FC protocol or MC protocol. See

parameter 8-30 Protocol.

THD

Total harmonic distortion states the total contribution of

harmonic.

Thermistor

A temperature-dependent resistor placed on the frequency

converter or the motor.

Trip

A state entered in fault situations, for example if the

frequency converter is subject to an overtemperature or

when the frequency converter is protecting the motor,

process, or mechanism. The frequency converter prevents a

restart until the cause of the fault has disappeared. To

cancel the trip state, restart the frequency converter. Do

not use the trip state for personal safety.

Trip lock

The frequency converter enters this state in fault situations

to protect itself. The frequency converter requires physical

intervention, for example when there is a short circuit on

the output. A trip lock can only be canceled by discon-

necting mains, removing the cause of the fault, and

reconnecting the frequency converter. Restart is prevented

until the trip state is canceled by activating reset or,

sometimes, by being programmed to reset automatically.

Do not use the trip lock state for personal safety.

VT characteristics

Variable torque characteristics used for pumps and fans.

VVC

+

If compared with standard voltage/frequency ratio control,

Voltage Vector Control (VVC

+

) improves the dynamics and

the stability, both when the speed reference is changed

and in relation to the load torque.

60° AVM

60° asynchronous vector modulation

(parameter 14-00 Switching Pattern).

Power factor

The power factor is the relation between I

1

and I

RMS

.

Power factor = 

3xUxI

1

cosϕ

3xUxI

RMS

The power factor for 3-phase control:

Power factor = 

I1xcosϕ1

I

RMS

 = 

I

1

I

RMS

sincecosϕ1 = 1

The power factor indicates to which extent the frequency

converter imposes a load on the mains supply.

The lower the power factor, the higher the I

RMS

for the

same kW performance.



I

RMS

= 

I

1

2

 + I

5

2

 + I

7

2

 + .. + I

n

2

In addition, a high-power factor indicates that the dierent

harmonic currents are low.

The DC coils in the frequency converters produce a high-

power factor, which minimizes the imposed load on the

mains supply.

Introduction Programming Guide

1 1

Target position

The nal target position specied by positioning

commands. The prole generator uses this position to

calculate the speed prole.

Commanded position

The actual position reference calculated by the prole

generator. The frequency converter uses the commanded

position as setpoint for position PI.

Actual position

The actual position from an encoder, or a value that the

motor control calculates in open loop. The frequency

converter uses the actual position as feedback for position

PI.

Position error

Position error is the dierence between the actual position

and the commanded position. The position error is the

input for the position PI controller.

Position unit

The physical unit for position values.

1.4 Safety

WARNING

HIGH VOLTAGE

Frequency converters contain high voltage when

connected to AC mains input, DC supply, or load sharing.

Failure to perform installation, start-up, and maintenance

by qualied personnel can result in death or serious

injury.

•

Only qualied personnel must perform instal-

lation, start-up, and maintenance.

Safety regulations

•

Disconnect mains supply to the frequency

converter whenever repair work is to be carried

out. Check that the mains supply has been

disconnected and that the necessary time has

elapsed before removing motor and mains supply

plugs. For information about the discharge time,

see Table 1.3.

•

[O] does not disconnect the mains supply and

must not be used as a safety switch.

•

Ground the equipment properly, protect the user

against supply voltage, and protect the motor

against overload in accordance with applicable

national and local regulations.

•

The ground leakage current exceeds 3.5 mA.

Ensure correct grounding of the equipment by a

certied electrical installer.

•

Do not remove the plugs for the motor and

mains supply while the frequency converter is

connected to mains. Check that the mains supply

has been disconnected and that the necessary

time has elapsed before removing motor and

mains plugs.

•

The frequency converter has more voltage

sources than L1, L2, and L3, when load sharing

(linking of DC intermediate circuit) or external 24

V DC is installed. Check that all voltage sources

have been disconnected and that the necessary

time has elapsed before commencing repair work.

For information about the discharge time, see

Table 1.3.

WARNING

UNINTENDED START

When the frequency converter is connected to AC mains,

DC supply, or load sharing, the motor may start at any

time. Unintended start during programming, service, or

repair work can result in death, serious injury, or

property damage. The motor can start via an external

switch, a eldbus command, an input reference signal

from the LCP, or after a cleared fault condition.

To prevent unintended motor start:

•

Disconnect the frequency converter from the

mains.

•

Press [O/Reset] on the LCP before

programming parameters.

•

Completely wire and assemble the frequency

converter, motor, and any driven equipment

before connecting the frequency converter to

AC mains, DC supply, or load sharing.

WARNING

DISCHARGE TIME

The frequency converter contains DC-link capacitors,

which can remain charged even when the frequency

converter is not powered. High voltage can be present

even when the warning indicator lights are o. Failure to

wait the specied time after power has been removed

before performing service or repair work, could result in

death or serious injury.

1. Stop the motor.

2. Disconnect AC mains, permanent magnet type

motors, and remote DC-link supplies, including

battery back-ups, UPS, and DC-link connections

to other frequency converters.

3. Wait for the capacitors to discharge fully, before

performing any service or repair work. The

duration of waiting time is specied in Table 1.3.

Introduction

VLT

®

AutomationDrive FC 301/302

11

Voltage [V] Minimum waiting time (minutes)

4 7 15

200–240 0.25–3.7 kW

(0.34–5 hp)

– 5.5–37 kW

(7.5–50 hp)

380–500 0.25–7.5 kW

(0.34–10 hp)

– 11–75 kW

(15–100 hp)

525–600 0.75–7.5 kW

(1–10 hp)

– 11–75 kW

(15–100 hp)

525–690 – 1.5–7.5 kW

(2–10 hp)

11–75 kW

(15–100 hp)

Table 1.3 Discharge Time

NOTICE

When using the Safe Torque O, always follow the

instructions in VLT

®

Frequency Converters - Safe Torque

O Operating Instructions.

NOTICE

Control signals from, or internally within, the frequency

converter may in rare cases be activated in error, be

delayed, or fail to occur entirely. When used in situations

where safety is critical, for example, when controlling the

electromagnetic brake function of a hoist application,

these control signals must not be relied on exclusively.

NOTICE

Hazardous situations must be identied by the machine

builder/integrator who is responsible for considering the

necessary preventive means. More monitoring and

protective devices may be included, always according to

valid national safety regulations, for example, law on

mechanical tools and regulations for the prevention of

accidents.

Crane, lifts, and hoists

The controlling of external brakes must always have a

redundant system. The frequency converter can in no

circumstances be the primary safety circuit. Comply with

relevant standards, for example:

Hoists and cranes: IEC 60204-32

Lifts: EN 81

Protection mode

Once a hardware limit on motor current or DC-link voltage

is exceeded, the frequency converter enters the protection

mode. Protection mode means a change of the PWM

modulation strategy and a low switching frequency to

minimize losses. This continues for 10 s after the last fault

and increases the reliability and the robustness of the

frequency converter while re-establishing full control of the

motor.

In hoist applications, protection mode is not usable

because the frequency converter is unable to leave this

mode again and therefore it extends the time before

activating the brake, which is not recommended.

Protection mode can be disabled by setting

parameter 14-26 Trip Delay at Inverter Fault to 0, which

means that the frequency converter trips immediately if 1

of the hardware limits is exceeded.

NOTICE

Disabling protection mode in hoisting applications

(parameter 14-26 Trip Delay at Inverter Fault = 0) is

recommended.

Introduction Programming Guide

1 1

1.5 Electrical Wiring

3 Phase

power

input

DC bus

Switch Mode

Power Supply

Motor

Analog Output

Interface

relay1

* relay2

ON=Terminated

OFF=Open

Brake

resistor

130BC931.10

91 (L1)

92 (L2)

93 (L3)

PE

88 (-)

89 (+)

50 (+10 V OUT)

53 (A IN)

54 (A IN)

55 (COM A IN)

0/4-20 mA

12 (+24V OUT)

13 (+24V OUT)

37 (D IN)

18 (D IN)

20 (COM D IN)

10Vdc

15mA 130/200mA

+ - + -

(U) 96

(V) 97

(W) 98

(PE) 99

(COM A OUT) 39

(A OUT) 42

(P RS-485) 68

(N RS-485) 69

(COM RS-485) 61

0V

5V

S801

0/4-20 mA

RS-485

03

+10Vdc

0/-10Vdc -

+10Vdc

0/4-20 mA

0/-10Vdc -

240Vac, 2A

24Vdc

02

01

05

04

06

240Vac, 2A

24V (NPN)

0V (PNP)

24V (NPN)

19 (D IN)

24V (NPN)

0V (PNP)

27

24V

0V

(D IN/OUT)

0V (PNP)

24V (NPN)

(D IN/OUT)

0V

24V

29

24V (NPN)

0V (PNP)

24V (NPN)

33 (D IN)

32 (D IN)

1 2

ON

S201

ON

21

S202

ON=0/4-20mA

OFF=0/-10Vdc -

+10Vdc

95

400Vac, 2A

P 5-00

21

ON

S801

(R+) 82

(R-) 81

*

: Chassis

: Earth

**

Illustration 1.2 Basic Wiring Schematic Drawing

A=Analog, D=Digital

Terminal 37 is used for Safe Torque O. For Safe Torque O installation instructions, refer to the VLT

®

Frequency Converters -

Safe Torque O Operating Instructions.

* Terminal 37 is not included in FC 301 (except enclosure type A1). Relay 2 and terminal 29 have no function in FC 301.

** Do not connect cable screen.

Very long control cables and analog signals may in rare cases, and depending on installation, result in 50/60 Hz ground

loops due to noise from mains supply cables.

If 50/60 Hz ground loops occur, consider breaking the shield or insert a 100 nF capacitor between shield and enclosure.

To avoid ground currents from both groups to

aect other groups, connect the digital and analog inputs and outputs

separately to the common inputs (terminals 20, 55, and 39) of the frequency converter. For example, switching on the digital

input may disturb the analog input signal.

Introduction

VLT

®

AutomationDrive FC 301/302

11

Input polarity of control terminals

12 13 18 19 27 29 32 33 20 37

+24 VDC

0 VDC

130BT106.10

PNP (Source)

Digital input wiring

Illustration 1.3 PNP (Source)

NPN (Sink)

Digital input wiring

12 13 18 19 27 29 32 33 20 37

+24 VDC

0 VDC

130BT107.11

Illustration 1.4 NPN (Sink)

NOTICE

Control cables must be screened/armored.

See section Grounding of Shielded Control Cables in the

design guide for the correct termination of control cables.

130BA681.10

Illustration 1.5 Grounding of Shielded/Armored Control Cables

1.5.1 Start/Stop

Terminal 18 = parameter 5-10 Terminal 18 Digital Input [8]

Start.

Terminal 27 = parameter 5-12 Terminal 27 Digital Input [0]

No operation (Default [2] Coast inverse).

Terminal 37 = Safe Torque O (where available).

12 13 18 37

130BA155.12

322719 29 33 20

P 5-12 [0]

P 5-10 [8]

Start/Stop

+24V

Speed

Safe Stop

Start/Stop

[18]

Illustration 1.6 Start/Stop

Introduction Programming Guide

1 1

1.5.2 Pulse Start/Stop

Terminal 18 = parameter 5-10 Terminal 18 Digital Input, [9]

Latched start.

Terminal 27 = parameter 5-12 Terminal 27 Digital Input, [6]

Stop inverse.

Terminal 37 = Safe Torque O (where available).

12 13 18 37

130BA156.12

322719 29 33 20

P 5 - 12 [6]

P 5 - 10[9]

+24V

Speed

Start Stop inverse Safe Stop

Start (18)

Start (27)

Illustration 1.7 Pulse Start/Stop

1.5.3 Speed Up/Down

Terminals 29/32 = Speed up/down

Terminal 18 = parameter 5-10 Terminal 18 Digital

Input [9] Start (default).

Terminal 27 = parameter 5-12 Terminal 27 Digital

Input [19] Freeze reference.

Terminal 29 = parameter 5-13 Terminal 29 Digital

Input [21] Speed up.

Terminal 32 = parameter 5-14 Terminal 32 Digital

Input [22] Speed down.

NOTICE

Terminal 29 only in FC x02 (x=series type).

12

18

27

29

32

37

+24V

Par. 5-10

Par. 5-12

Par. 5-13

Par. 5-14

130BA021.12

Illustration 1.8 Speed Up/Down

1.5.4 Potentiometer Reference

Voltage reference via a potentiometer

Reference Source 1 = [1] Analog input 53 (default).

Terminal 53, low voltage = 0 V.

Terminal 53, high voltage = 10 V.

Terminal 53, low reference/feedback = 0 RPM.

Terminal 53, high reference/feedback = 1500 RPM.

Switch S201 = OFF (U)

130BA154.11

555039 42 53 54

Speed RPM

P 6-15

1 kΩ

+10V/30mA

Ref. voltage

P 6-11 10V

Illustration 1.9 Potentiometer Reference

Introduction

VLT

®

AutomationDrive FC 301/302

11

1.6 Integrated Motion Controller

NOTICE

The integrated motion control is only available with special IMC software version 48.XX. To order the frequency

converter with the IMC software, use the type code with software release version S067. The IMC software removes the

following features from the frequency converter:

•

PM and SynRM motor support in VVC

+

.

•

Wobble function.

•

Surface winder function.

•

Extended process PID.

•

VLT

®

Motion Control Option MCO 305 support.

The integrated motion controller (IMC) enables position control. Position control is available when [0] U/f, [2] Flux sensorless,

or [3] Flux w/ motor feedb is selected in parameter 1-01 Motor Control Principle.

To activate the IMC functionality, select [9] Positioning or [10] Synchronization in parameter 1-00

Conguration Mode. IMC

enables the following functions:

•

Positioning: Absolute, relative, and touch probe.

•

Homing.

•

Position synchronization.

Position control in both positioning and synchronization modes can be either sensorless or with feedback. In the sensorless

control principle, the motor angle calculated by the motor controller is used as feedback. In the closed loop control

principle VLT

®

AutomationDrive FC 302 supports 24 V encoders as standard. With extra options, the frequency converter

supports most standard incremental encoders, absolute encoders, and resolvers.

The position controller can handle both linear and rotary systems. The controller can scale positions to any relevant physical

unit such as mm or degrees.

Introduction Programming Guide

1 1

1.6.1 Positioning

The frequency converter supports relative positioning and absolute positioning. A positioning command requires 3 inputs:

•

Target position.

•

Speed reference.

•

Ramp times.

These 3 inputs can come from various sources:

Profile generator

Par. 3-20 Preset target

positions

Fieldbus reference 1 or 2

Par. 3-16 Reference

resource 2

Par. 3-03 Default speed

Par. 3-17 Reference

resource 3

Fieldbus reference 1

Speed ref.

Target position

Ramp settings:

Parameter groups

3-4*–3-7*

Acceleration/Deceleration

+

Par. 3-15 Reference

resource 1

Commanded

position

Speed

Acceleration

130BE774.10

Illustration 1.10 Positioning References

In each control cycle (1 ms) the prole generator calculates position, speed, and acceleration required to do the specied

movement. The outputs from the prole generator are used at inputs for the position and speed controller as described in

chapter 1.6.4 Control Loops.

1.6.2 Homing

Homing is required for creating a reference to the physical machine position in closed loop control principle with

incremental encoder or in sensorless control principle. IMC supports various homing functions with or without a homing

sensor. Select the homing function in parameter 17-80 Homing Function. After selecting a homing function, complete homing

before executing absolute positioning.

Introduction

VLT

®

AutomationDrive FC 301/302

11

1.6.3 Synchronization

In synchronization mode, the frequency converter follows the position of a master signal. The master signal and the oset

between the master and the follower are handled as shown in Illustration 1.11.

Profile generator

Par. 3-26 Position offset

Par. 3-02 Offset speed

Position ref.

Ramp settings:

Parameter groups

3-4*–3-7*

Acceleration/Deceleration

Commanded

position

Speed

Acceleration

Speed ref.

Offset handling

Synchronization:

Par. 3-22 – 3-25,

7-97, 7-99.

Fieldbus reference 1

Par. 3-16 Reference

resource 2

Master position

130BE775.10

Illustration 1.11 Synchronization References

In each control cycle (1 ms) the prole generator calculates position, speed, and acceleration required to do the specied

movement. The outputs from the prole generator are used at inputs for the position and speed controller as described in

chapter 1.6.4 Control Loops.

Introduction Programming Guide

1 1

1.6.4 Control Loops

In positioning and synchronization mode, 2 extra control loops control the motor in addition to the motor controller

running ux 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. Illustration 1.12 shows the control

structure and parameters

aecting the control behavior:

7-9*

Position PI

Ctrl.

Par. 7-98

Position PI

Feed

Forward

Factor

+

7-0*

Speed PID

Par. 7-08

Speed PID

Accel. Feed

Forward

Factor

+

Commanded

position

Speed

Flux motor

control

Torque

Profile

generator

Par. 7-99

4-1*

Par. 7-90 Position PI

Feedback Source

Par. 7-00 Speed PID

Feedback Source

Par. 1-69

System Inertia

Acceleration

130BE776.10

Illustration 1.12 Positioning and Synchronization Mode

1.6.5 Control and Status Signals

IMC control and status signals are available as digital I/O bits and eldbus bits. Table 1.4 shows the available options:

Name Function Digital

input

1)

Control word Digital

output

Status word

Control signals

Start homing Start selected homing function x x – –

Activate touch Select touch probe positioning mode x x – –

Relative position Selection between absolute and relative positioning x x – –

Enable reference Start selected motion x x – –

Sync. to position

mode

Select positioning in synchronizing mode x x – –

Home sensor Select input for Home sensor x – – –

Home sensor inverse Select input for Home sensor x – – –

Touch sensor Select input for Touch Probe sensor x – – –

Touch sensor inverse Select input for Touch Probe sensor x – – –

Status signals

Homing OK

Homing is completed with the selected homing

function.

– – x x

On target

Positioning: Target position reached.

Synchronization: Follower position aligned with

master position.

– – x x

Introduction

VLT

®

AutomationDrive FC 301/302

11

Name Function Digital

input

1)

Control word Digital

output

Status word

Position error Maximum position error exceeded – – x x

Position limit

A position limit is reached (parameter 3-06 Minimum

Position or parameter 3-07 Maximum Position).

– – x –

Touch on target

Target position is reached in touch probe position

mode.

– – x x

Touch activated Touch probe positioning active. – – x x

Table 1.4 Control and Status Signals

1) For best accuracy, use fast digital inputs 18, 32, and 33 for home and touch probe sensors.

When [3] FC Motion Prole is selected in

parameter 8-10 Control Word Prole, the bits in the control

word and the status word have the following meaning:

Bit 0 1

0 Preset reference LSB –

1 Preset reference MSB –

2

1)

Preset reference EXB –

3 Coast stop No coast stop

4 Quick stop No quick stop

5

1)

No reference Enable reference

6 Ramp stop Start

7 No reset Reset

8 No jog Jog

9

1)

Absolute Relative

10 Data not valid Data valid

11

1)

No homing Start homing

12

1)

No touch Activate touch

13 Setup select LSB –

14 Setup select MSB –

15 No reversing Reversing

Table 1.5 Control Word

1) Dierent from [0] FC prole.

Options for bits 12–15 in parameter 8-14 Congurable Control Word

CTW:

•

[13] Sync. to Pos. Mode

•

[14] Ramp 2

•

[15] Relay 1

•

[16] Relay 2

Bit 0 1

0 Control not ready Control ready

1

Frequency converter not

ready

Frequency converter ready

2 Coasting Enable

3 No error Trip

4

1)

Not homed Home done

5 Reserved Reserved

6 No error Trip lock

7 No warning Warning

8

1)

Not on target position Target position reached

9 Local operation Bus control

10 Out of frequency limit Frequency limit OK

11 No operation In operation

12 Frequency converter OK Stopped, auto start

13 Voltage OK Voltage exceeded

14 Torque OK Torque exceeded

15 Timer OK Timer exceeded

Table 1.6 Status Word

1) Dierent from [0] FC prole.

Options for bits 5 and 12–15 in parameter 8-13 Congurable Status

Word STW:

•

[4] Position Error

•

[5] Position Limit

•

[6] Touch on Target

•

[7] Touch Activated

Introduction Programming Guide

1 1

2 How to Program

2.1 The Graphical and Numerical Local

Control Panels

Easy programming of the frequency converter is performed

by the graphical LCP (LCP 102). Consult the frequency

converter design guide, when using the numeric local

control panel (LCP 101).

The LCP is divided into 4 functional groups:

1. Graphical display with status lines.

2. Menu keys and indicator lights - changing

parameters and switching between display

functions.

3. Navigation keys and indicator lights.

4. Operation keys and indicator lights.

The LCP display can show up to 5 items of operating data

while showing Status.

Display lines:

a. Status line: Status messages showing icons and

graphics.

b. Line 1–2: Operator data lines showing data

dened or selected. Add up to 1 extra line by

pressing [Status].

c. Status line: Status messages showing text.

NOTICE

If start-up is delayed, the LCP shows the INITIALIZiNG

message until it is ready. Adding or removing options

may delay the start-up.

Auto

on

Reset

Hand

on

O

Status

Quick

Menu

Main

Menu

Alarm

Log

Back

Cancel

Info

OK

Status

1(0)

1234rpm 10,4A 43,5Hz

Run OK

43,5Hz

On

Alarm

Warn.

130BA018.13

1

2

3

4

b

a

c

Illustration 2.1 LCP

How to Program

VLT

®

AutomationDrive FC 301/302

22

2.1.1 The LCD Display

The display has backlight and a total of 6 alpha-numeric

lines. The display lines show the direction of rotation

(arrow), the selected set-up and the programming set-up.

The display is divided into 3 sections.

Top section

The top section shows up to 2 measurements in normal

operating status.

Middle section

The top line shows up to 5 measurements with related

unit, regardless of status (except in the case of alarm/

warning).

Bottom section

The bottom section always shows the state of the

frequency converter in Status mode.

Top section

Middle section

Bottom section

Status

43 RPM

1.4 Hz

Auto Remote Running

! Pwr.card temp (W29)

2.9%

5.44 A 25.3kW

1(1)

130BP074.10

!

Illustration 2.2 Display

The active set-up (selected as the active set-up in

parameter 0-10 Active Set-up) is shown. When programming

another set-up than the active set-up, the number of the

programmed set-up appears to the right.

Display contrast adjustment

Press [Status] and [

▲

] for darker display

Press [Status] and [

▼

] for brighter display

Most parameter set-ups can be changed immediately via

the LCP, unless a password has been created via

parameter 0-60 Main Menu Password or via

parameter 0-65 Quick Menu Password.

Indicator lights

If certain threshold values are exceeded, the alarm and/or

warning indicator lights up. A status and alarm text appear

on the LCP.

The ON indicator light is activated when the frequency

converter receives mains voltage or via a DC bus terminal

or 24 V external supply. At the same time, the back

indicator light is on.

•

Green LED/On: Control section is working.

•

Yellow LED/Warn: Indicates a warning.

•

Flashing Red LED/Alarm: Indicates an alarm.

On

Warn.

Alarm

130BP044.10

Illustration 2.3 Indicator Lights

LCP keys

The control keys are divided into functions. The keys below

the display and indicator lights are used for parameter set-

up, including option of display indication during normal

operation.

130BP045.10

Status

Quick

Menu

Main

Menu

Alarm

Log

Illustration 2.4 LCP Keys

[Status]

Indicates the status of the frequency converter and/or the

motor. Select between 3 dierent readouts by pressing

[Status]: 5 line readouts, 4 line readouts, or smart logic

control.

Press [Status] for selecting the mode of display or for

changing back to display mode from either the quick

menu mode, the main menu mode, or the alarm mode.

Also use [Status] to toggle single or double readout mode.

[Quick Menu]

Allows quick access to dierent Quick Menus such as:

•

My personal menu.

•

Quick set-up.

•

Changes made.

•

Loggings.

Press [Quick Menu] to program the parameters belonging

to the Quick Menu. It is possible to switch directly

between quick menu mode and main menu mode.

[Main Menu]

Is used for programming all parameters.

It is possible to switch directly between main menu mode

and quick menu mode.

Parameter shortcut can be carried out by pressing down

[Main Menu] for 3 s. The parameter shortcut allows direct

access to any parameter.

How to Program Programming Guide

2 2

[Alarm Log]

Shows an alarm list of the 5 latest alarms (numbered A1–

A5). To obtain extra details about an alarm, press the

navigation keys to maneuver to the alarm number and

press [OK]. Information is shown about the condition of

the frequency converter before it enters the alarm mode.

[Back]

Returns to the previous step or layer in the navigation

structure.

[Cancel]

Last change or command is canceled as long as the display

has not been changed.

[Info]

Supplies information about a command, parameter, or

function in any display window. [Info] provides detailed

information whenever help is needed.

Exit Info mode by pressing either [Info], [Back], or [Cancel].

B

a

c

k

Illustration 2.5 Back

C

a

n

c

e

l

Illustration 2.6 Cancel

I

n

f

o

Illustration 2.7 Info

Navigation keys

The 4 navigation keys are used to navigate between the

dierent options available in Quick Menu, Main Menu, and

Alarm Log. Press the keys to move the cursor.

[OK]

Use for selecting a parameter marked by the cursor and for

enabling the change of a parameter.

Local control keys

Local control keys are at the bottom of the LCP.

130BP046.10

Hand

on

O

Auto

on

Reset

Illustration 2.8 Local Control Keys

[Hand On]

Enables control of the frequency converter via the LCP.

[Hand On] also starts the motor, and it is now possible to

enter the motor speed data with the navigation keys. The

key can be selected as [1] Enable or [0] Disable via

parameter 0-40 [Hand on] Key on LCP

External stop signals activated with control signals or a

eldbus override a start command via the LCP.

The following control signals are still active when [Hand

On] is activated:

•

[Hand on] - [O] - [Auto On].

•

Reset.

•

Coast stop inverse.

•

Reversing.

•

Set-up select bit 0 - Set-up select bit 1.

•

Stop command from serial communication.

•

Quick stop.

•

DC brake.

[O]

Stops the connected motor. The key can be selected as [1]

Enable or [0] Disable via parameter 0-41 [O] Key on LCP. If

no external stop function is selected and the [O] key is

inactive, the motor can be stopped by disconnecting the

voltage.

[Auto On]

Enables the frequency converter to be controlled via the

control terminals and/or serial communication. When a

start signal is applied on the control terminals and/or the

bus, the frequency converter starts. The key can be

selected as [1] Enable or [0] Disable via

parameter 0-42 [Auto on] Key on LCP.

NOTICE

An active HAND-OFF-AUTO signal via the digital inputs

has higher priority than the control keys [Hand On] –

[Auto On].

[Reset]

Is used for resetting the frequency converter after an alarm

(trip). It can be selected as [1] Enable or [0] Disable via

parameter 0-43 [Reset] Key on LCP.

The parameter shortcut can be carried out by pressing

down the [Main Menu] key for 3 s. The parameter shortcut

provides direct access to any parameter.

How to Program

VLT

®

AutomationDrive FC 301/302

22

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