Danfoss VLT 5000 Series Manual de usuario

MG.10.J4.02 – VLT is a registered Danfoss trade mark

VLT®5000 SyncPos option

Contents

Chapter 1 ■■

■■

■Safety ..................................................................... 3

Chapter 2 ■■

■■

■Introduction .......................................................... 5

Chapter 3 ■■

■■

■Input/Output terminals........................................ 9

Chapter 4 ■■

■■

■Fundamentals of the SyncPos program .......... 19

Starting the SyncPos option step-by-step ............ 25

Optimizing the PID-Controller ............................... 31

Chapter 5 ■■

■■

■PC Software interface ......................................... 3 2

Chapter 6 ■■

■■

■Programming with SyncPos .............................. 5 9

Introduction and basics ......................................... 61

■■

■Software Reference ............................................ 6 8

List of Commands ................................................. 68

All commands from ACC to #INCLUDE ............... 70

■■

■Parameter Reference ........................................ 125

VLT and SyncPos parameter ............................... 125

VLT parameters .................................................... 126

SyncPos parameters ............................................ 129

Chapter 7 ■■

■■

■Messages and Error Reference ....................... 155

Chapter 8 ■■

■■

■Program Samples ............................................. 163

Chapter 9 ■■

■■

■Appendix ............................................................ 167

Glossary terms ..................................................... 168

What's new in PC Software 2.0x /

Option Card Software 3.00? ................................ 168

What's new in PC Software 2.1x /

Option Card Software 3.1x? ................................. 169

Index .................................................................... 179

VLT®5000 SyncPos option

MG.10.J4.02 – VLT is a registered Danfoss trade mark

This manual can be used for all VLT 5000 frequency

converters with SyncPos option software version 3.xx/3.1x and

VLT software SyncPos version: 2.1x

VLT5000 Series

SyncSync

Synchrhr

hrhr

hronizing and positioning optiononizing and positioning option

onizing and positioning optiononizing and positioning option

onizing and positioning option

Manual

Optioncardsoftware version:3.xx/3.1x

VLTsoftwareSyncPosversion:2.1x

Software version

VLT is a registered Danfoss trademark.

IBM is a registered trademark of International Business Machines, Inc.

Microsoft, MS, MS-DOS, Microsoft NT, Windows and Wingdings are either registered trademarks or

trademarks of the Microsoft Corporation in the USA and/or other countries.

MG.10.J4.02 – VLT is a registered Danfoss trade mark

VLT®5000 SyncPos option

Chapter 1 ■Safety .................................................................... 4

Safety

VLT®5000 SyncPos option

MG.10.J4.02 – VLT is a registered Danfoss trade mark

Safety

The voltage of the frequency converter

is dangerous whenever the equipment

is connected to mains. Incorrect

installation of the motor or the frequency converter

may cause damage to the equipment, serious

personal injury or death.

Consequently, the instructions in this manual,

as well as national and local rules and safety

regulations, must be complied with.

■■

■Safety regulations

1. The VLT frequency converter must be discon-

nected from mains if repair work is to be carried

out.

Check that the mains supply has been discon-

nected and that the necessary time has passed

before removing motor and mains plugs.

2. The [STOP/RESET] key on the control panel of

the VLT frequency converter does not discon-

nect the equipment from mains and is thus not

to be used as a safety switch.

3. Correct protective earthing of the equipment

must be established, the user must be protec-

ted against supply voltage, and the motor must

be protected against overload in accordance

with applicable national and local regulations.

4. The earth leakage currents are higher than

3.5 mA.

5. Protection against motor overload is not inclu-

ded in the factory setting. If this function is

desired, set parameter 128 to data value ETR

trip or data value ETR warning.

Note: The function is initialised at 1.16 x rated

motor current and rated motor frequency (see

page 92).

■For the North American market: The ETR func-

tions provide class 20 motor overload protection

in accordance with NEC.

6. Do not remove the plugs for the motor and

mains supply while the VLT frequency converter

is connected to mains. Check that the mains

supply has been disconnected and that the

necessary time has passed before removing

motor and mains plugs.

7. Please note that the VLT frequency converter

has more voltage inputs than L1, L2 and L3,

when loadsharing (linking of DC intermediate

circuit) and external 24 V DC have been

installed.

Check that all voltage inputs have been discon-

nected and that the necessary time has passed

before repair work is commenced.

■ ■

■ Warning against unintended start

1. The motor can be brought to a stop by means

of digital commands, bus commands, referen-

ces or a local stop, while the frequency conver-

ter is connected to mains.

If personal safety considerations make it

necessary to ensure that no unintended start

occurs, these stop functions are not sufficient.

2. While parameters are being changed, the motor

may start. Consequently, the stop key [STOP/

RESET] must always be activated, following

which data can be modified.

3. A motor that has been stopped may start if

faults occur in the electronics of the VLT

frequency converter, or if a temporary overload

or a fault in the supply mains or the motor

connection ceases.

Warning:

Touching the electrical parts may be fatal - even after the

equipment has been disconnected from mains.

Also make sure that other voltage inputs have been

disconnected, such as external 24 V DC, load-sharing

(linkage of DC intermediate circuit), as well as the motor

connection for kinetic back-up.

Using VLT 5001-5006: wait at least 4 minutes

Using VLT 5008-5500: wait at least 15 minutes

MG.10.J4.02 – VLT is a registered Danfoss trade mark

VLT®5000 SyncPos option

Introduction

Chapter 2 ■Introduction ......................................................... 6

■Why choose Danfoss? ............................................ 7

■Available literature .................................................. 8

VLT®5000 SyncPos option

MG.10.J4.02 – VLT is a registered Danfoss trade mark

■■

■About this manual: How is it arranged?

Please read these operating instructions in full and,

in order to be able to work with the system safely

and professionally, particularly observe the hints

and cautionary remarks.

Indicates a general warning

Indicates something to be noted by the

reader

Indicates a high-voltage warning

■■

■Chapter Input/output terminals

Information on the technical data of the option

card, the allocation of the connecting terminals

and the general connection requirements can be

found in this chapter.

■■

■Fundamentals of the SyncPos program

First, let us explain the principle of SyncPos, the

macro programming language, to you in brief. Then

you will learn about the fundamentals of the

SyncPos program – this is particularly important if

you are not familiar with SyncPos or Windows.

Starting the SyncPos-Option step-by-step

Then you will start up the VLT with the 'SyncPos

option step-by-step'. This section offers you a

quick general introduction which includes turning

on the SyncPos option and familiarizing yourself

with it, as well as starting operation of the control

unit with the test programs provided and the most

important basic settings.

Optimizing the PID-Controller

In this chapter you learn all about the PID control

parameters and how to optimize the controller

during one or more test runs, for example, in order

to achieve better positioning results or shorter

cycle times. Detailed instructions on how to pro-

ceed can be found in the section ‘Ten steps for

optimum control’.

Introduction

■■

■Chapter PC-Software Interface

All menus and functions are described in detail.

For example, the development menu to test the

new programs or the Controller menu used to

manage the programs and set the parameters.

■■

■Chapter Programming with SyncPos, Software

and Parameter Reference

You can learn everything about programming and

about the commands in these chapters, ranging

from the basic construction of the commands to a

detailed description of all commands from ACC to

#INCLUDE and also of the parameters.

First look in the general summary - here the com-

mands are sorted according to groups, for

example, control commands, commands for velo-

city control or for synchronization - and then look

in the alphabetically ordered list where the com-

mands are described more precisely.

The next section describes all parameters – first in

alphabetical order in the summary – and then

individually with the factory settings and ranges.

■■

■Chapter Messages and Error Reference

In the chapter for Messages and Error Reference

an extra section is dedicated to messages from

the VLT. The table is arranged according to error

number in increasing order. It contains detailed

information on possible errors and troubleshooting.

The next section explains the most important

messages from the SyncPos user interface.

■■

■Chapter Program samples

The manual presents some program samples (you

will find much more in the online help) which you

can use to familiarize yourself with the program or

copy directly into your program.

■■

■Appendix

The manual concludes with a short glossary and a

detailed index for a direct navigation.

Get a quick overview on “What's new in PC-

Software 2.1x / Option card Software 3.1x” in the

appendix. Plus, the handbook ends with a short

glossary.

MG.10.J4.02 – VLT is a registered Danfoss trade mark

VLT®5000 SyncPos option

■■

■Conventions

The information in this manual follows the system

and uses the typographical features described

below to the greatest extent possible:

Menus and functions

Menus and functions are printed in normal text

with capitals, for example: "CONTROLLER"

→→

→

"PARAMETERS"..

Commands and parameters

Commands and parameter names are written in

capitals, for example: AXEND and KPROP;

Parameters are printed in bold faced italics, for

example: Proportional factorProportional factor

Proportional factorProportional factor

Proportional factor.

Variables

Variables are written in small letters, when they are

being quoted they are emphasized with italics, for

example: timeout or timeout.

Keys

The names of keys and function keys are emphasi-

zed in brackets, for example the control key

[CNTL] key (or just [CNTL]), the [ESC] key or the [F1]

key.

Cross references

Cross references to other parts of the text are un-

derlined in the manual and are also marked in

color in the online help, for example EXECUTE.

■■

■Why choose Danfoss?

Danfoss manufactured the world's first mass-pro-

duced frequency converter back in 1968. We have

set the standard for quality drives ever since. That

is why our VLT frequency converters are today sold

and serviced in more than 100 countries covering

six continents.

With the new VLT 5000 Series, we are introducing

V V CPLUS. This is our new Sensorless Vector Drive

System for torque and speed control of induction

motors.

If compared with a standard voltage/frequency

ratio control, V V CPLUS offers improved dynamics

and stability, both when the speed reference and

the load torque are changed. In addition, we have

implemented a fully digitalised protection concept,

which ensures reliable operation, even under the

worst possible operating conditions. Naturally, the

VLT 5000 Series also offers full protection against

short-circuiting, earthing fault and overload.

Danfoss drives with the V V CPLUS control system

tolerate shock loads throughout their speed range

and react swiftly to changes in reference.

However, it must also be easy to reach this perfor-

mance. Danfoss is convinced that high-technology

drives can be made user-friendly. The VLT 5000

Series proves us right. In order to make program-

ming simple and easy-to-grasp, we have divided

the parameters into different groups. The Quick

menu guides users quickly through the program-

ming of the few parameters that must be set to get

started. The control panel is detachable. It features

a four-line alpha numeric display, enabling four

measurements to be displayed at the same time.

Via the detachable control panel, the programmed

settings can be copied from one VLT to the next.

This means that there is no time to be spent on

programming when changing drives or integrating

an extra drive in the installation.

The entire programming process is easier than ever

before. The VLT 5000 Series makes most adjust-

ments automatically.

If you have any questions concerning VLT fre-

quency converters, please call us. We have drive

specialists all over the world ready to advise you

on applications, programming, training and service.

Why choose Danfoss?

VLT®5000 SyncPos option

MG.10.J4.02 – VLT is a registered Danfoss trade mark

Available literature

■Available literature

The chart below gives an overview of the literature

available for the VLT 5000 Series.

Please note that variations may occur from one

country to the next.

Design

Guide

MG.50.CX.YY

OperatingOperating

Operating

InstructionsInstructions

Instructions

MG.50.AX.YY

InstructionsInstructions

Instructions

for VLTfor VLT

for VLT

5000 Series5000 Series

5000 Series

VLT Software

Dialog

MG.50.EX.YY

PROFIBUS

Manual

MG.10.EX.YY

Quick

Setup

MG.50.FX.YY

LCP remove-

mounting kit

MI.50.CX.52

Brake

instructions

MI.50.DX.YY

LC-filter

MI.50.EX.51

IP 20 terminal

cover

MI.50.H1.51

SyncPosSyncPos

SyncPos

ManualManual

Manual

MG.10.JX.02

MG.10.JX.03

Gateway

InterBus-S

MG.10.G1.51

Quick

Setup

MG.50.DX.YY

Quick

Setup

MG.50.GX.YY

Bookstyle IP 20 Compact IP 20 Compact IP 54

VLT 5000

Data sheet

MD.50.AX.YY

Loadsharing

instructions

MI.50.NX.YY

Var. literatureVar. literature

Var. literature

for VLT 5000for VLT 5000

for VLT 5000

SeriesSeries

Series

InstructionsInstructions

Instructions

for VLT 5000for VLT 5000

for VLT 5000

SeriesSeries

Series

CommunicationCommunication

Communication

for VLT 5000for VLT 5000

for VLT 5000

SeriesSeries

Series

LonWorks

Manual

Device Net

Manual

RCD

Instructions

MI.66.AX.YY

MG.10.J4.02 – VLT is a registered Danfoss trade mark

VLT®5000 SyncPos option

Input/Output terminals

Chapter 3 ■■

■■

■Input/Output terminals

VLT control card terminals ..................................... 10

Option card terminals ............................................ 10

Supply voltages ..................................................... 12

Option card layout ................................................. 13

Dip switch .............................................................. 13

Technical data ....................................................... 14

Connection examples ............................................ 15

VLT®5000 SyncPos option

MG.10.J4.02 – VLT is a registered Danfoss trade mark

There are two interfaces to the SyncPos option:

••

• 36 terminals on the option card

••

• 24 terminals on the VLT control card

■■

■VLT control card terminals

The terminals on the control card can be allocated

for synchronizing and positioning functions if the

following parameter settings are made:

Digital inputs 16, 17, 18, 19, 27, 29, 32 and 33:

It is always possible to read the status of the digi-

tal inputs from the SyncPos application program

with the IN command.

If Parameter 300–303 and 305–307 are set to ”No

operation” (default setting) then the inputs are

ignored by the control card but they can still be

used as inputs to the application program.

Parameter 304 can not be set to ”No operation”

which means that input 27 always has a stop func-

tion. There is one way to avoid this: Leave parame-

ter 304 at ”Coast inverse” and select ”Serial port”

in parameter 502.

Analogue inputs 53, 54 and 60:

It is always possible to read the value on the ana-

logue inputs from the SyncPos application program

with the INAD command.

If parameters 308, 311 and 314 are set to ”No ope-

ration” then the inputs are ignored by the control

card but they can still be used as inputs to the

option card.

Digital/analogue outputs 42 and 45:

Outputs 42 and 45 can be controlled from the

SyncPos application program with the OUTDA

command, when parameters 319 and 321 are set

to one of the following four settings:

OPTION DIGITAL digital output

OPTION 0 – 20 mA analogue output (default

setting)

OPTION 4 – 20 mA analogue output

OPTION 0 – 32000P pulse output

Relay outputs 01 and 04:

The relay outputs can be controlled from the

SyncPos application program with the OUT com-

mand when parameters 323 and 326 are set to the

default setting

CTRL WORD BIT 11/12

Technical data

Technical data on the control card terminals can

be found in the VLT 5000 design guide.

■■

■Option card terminals

There are two encoder interfaces which are cove-

ring the following functions:

••

• Feedback encoder input

••

• Master encoder input / virtual master output

There are 8 digital inputs, 8 digital output and ter-

minals for 5 V and 24 V supply. The functions and

technical data of the terminals are described in

the following.

Terminal description

There are 4 terminal blocks, 2 with 10 poles and 2

with 8 poles.

(See figure below)

Input/Output terminals

Digital Inputs Master / Virtual Master

Digital Outputs Feedback

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