Danfoss MCO 351 Instruction manual

Contents
1. Safety Regulation
3
Approvals 3
Symbols 3
High Voltage 4
Safety Instructions 4
Avoid Unintended Start 5
Safe Stop of FC 300 5
Safe Stop Installation (FC 302 and FC 301 - A1 enclosure only) 7
IT Mains 7
2. Introduction 9
Hardware 9
VLT Control Card Terminals 9
Technical Data 9
Introduction 9
Option Card Terminals 9
Encoder Monitor 10
Option Card Layout 11
General Technical Data 11
Description of the Electrical and Fieldbus Interface 13
Option Card X57 15
Option Card X59 16
3. Fieldbus Interface 17
Fieldbus Interface 17
Introduction 17
Data Layout 17
4. Programming 19
Description of Parameters 19
5. Application Examples 35
Application examples 35
Wiring diagram 36
Basic Setup 36
Parameter Settings 37
Timing of the Electromechanical brake (par. 19-10 to 19-12) 38
Setting of par. 32-11 and 32-12 38
Setting for the Homing Procedure (par. 33-00 to 33-04) 38
Programming positions (par. 19-23 to 19-28) 39
MCO351 Positioning Controller Contents
MG.33.R1.02 - VLT®is a registered Danfoss trademark 1

Software Limits (par. 33-41 to 33-44) 39
Setting par. 32-81 and 19-06 39
Other Settings 40
6. Troubleshooting 41
Frequently Asked questions 41
Error Messages 42
Glossary of Key Terms 44
Index
47
Contents MCO351 Positioning Controller
2 MG.33.R1.02 - VLT®is a registered Danfoss trademark

1. Safety Regulation
1.1.1. Approvals
1.1.2. Symbols
Symbols used in these Operating Instructions.
NB!
Indicates something to be noted by the reader.
Indicates a general warning.
Indicates a high-voltage warning.
∗Indicates default setting
1.1.3. Disposal Instruction
Equipment containing electrical components may not be disposed of
together with domestic waste.
It must be separately collected with electrical and electronic waste
according to local and currently valid legislation.
The FC 300 AutomationDrive DC link capacitors remain charged after power has
been disconnected. To avoid electrical shock hazard, disconnect the FC 300 from
the mains before carrying out maintenance. When using a PM-motor, make sure it
is disconnected. Before doing service on the frequency converter wait at least the
amount of time indicated below:
MCO351 Positioning Controller 1. Safety Regulation
MG.33.R1.02 - VLT®is a registered Danfoss trademark 3
1

FC 300 380 - 500 V 0.25 - 7.5 kW 4 minutes
11 - 75 kW 15 minutes
90 - 200 kW 20 minutes
250 - 400 kW 40 minutes
525 - 690 V 37 - 250 kW 20 minutes
315 - 560 kW 30 minutes
MCO 351 Positioning Controller for
VLT AutomationDrive FC 30x
Operating Instructions
Software version: 1.1x
These Operating Instructions can be used for all MCO 351 Positioning Controller for VLT Au-
tomationDrive FC 30x frequency converters with software version 1.1x.
The software version number can be seen from parameter 19-92.
1.1.4. High Voltage
The voltage of the frequency converter is dangerous whenever the frequency con-
verter is connected to mains. Incorrect installation or operation of the motor or
frequency converter may cause damage to the equipment, serious personal injury
or death. The instructions in this manual must consequently be observed, as well as
applicable local and national rules and safety regulations.
Installation in high altitudes
380 - 500 V: At altitudes above 3 km, please contact Danfoss Drives regarding PELV.
525 - 690 V: At altitudes above 2 km, please contact Danfoss Drives regarding PELV.
1.1.5. Safety Instructions
• Make sure the FC 300 is properly connected to earth.
• Do not remove mains plugs or motor plugs while the FC 300 is connected to mains.
• Protect users against supply voltage.
• Protect the motor against overloading according to national and local regulations.
• Motor overload protection is not included in the default settings. To add this function,
set parameter 1-90
Motor thermal protection to value ETR trip or ETR warning . For the
North American market: ETR functions provide class 20 motor overload protection, in
accordance with NEC.
• The earth leakage current exceeds 3.5 mA.
• The [OFF] key is not a safety switch. It does not disconnect the FC 300 from mains.
1. Safety Regulation MCO351 Positioning Controller
4 MG.33.R1.02 - VLT®is a registered Danfoss trademark
1

1.1.6. General Warning
Warning:
Touching the electrical parts may be fatal - even after the equipment has been dis-
connected from mains.
Also make sure that other voltage inputs have been disconnected, such as load-
sharing (linkage of DC intermediate circuit), as well as the motor connection for
kinetic back-up.
Using VLT
®
AutomationDrive FC 300: wait at least 15 minutes.
Shorter time is allowed only if indicated on the nameplate for the specific unit.
Leakage Current
The earth leakage current from the FC 300 exceeds 3.5 mA. To ensure that the earth
cable has a good mechanical connection to the earth connection (terminal 95), the
cable cross section must be at least 10 mm
2
or 2 times rated earth wires terminated
separately.
Residual Current Device
This product can cause a D.C. current in the protective conductor. Where a residual
current device (RCD) is used for extra protection, only an RCD of Type B (time de-
layed) shall be used on the supply side of this product. See also RCD Application
Note MN.90.GX.02.
Protective earthing of the FC 300 and the use of RCD's must always follow national
and local regulations.
1.1.7. Before Commencing Repair Work
1. Disconnect the frequency converter from mains
2. Disconnect DC bus terminals 88 and 89 from load share applications
3. Wait for discharge of the DC-link. See period of time on the warning label
4. Remove motor cable
1.1.8. Avoid Unintended Start
While FC 300 is connected to mains, the motor can be started/stopped using digital commands,
bus commands, references or via the Local Control Panel (LCP).
• Disconnect the FC 300 from mains whenever personal safety considerations make it
necessary to avoid unintended start.
• To avoid unintended start, always activate the [OFF] key before changing parameters.
• An electronic fault, temporary overload, a fault in the mains supply, or lost motor con-
nection may cause a stopped motor to start. FC 300 with Safe Stop (i.e. FC 301 in A1
enclosure and FC 302) provides protection against unintended start, if the Safe Stop
Terminal 37 is on low voltage level or disconnected.
1.1.9. Safe Stop of FC 300
The FC 302, and also the FC301 in A1 enclosure, can perform the safety function Safe Torque
Off
(As defined by IEC 61800-5-2) or Stop Category 0 (as defined in EN 60204-1).
FC 301 A1 enclosure: When Safe Stop is included in the drive, position 18 of Type Code must be
either T or U. If position 18 is B or X, Safe Stop Terminal 37 is not included!
Example:
Type Code for FC 301 A1 with Safe Stop: FC-301PK75T4Z20H4TGCXXXSXXXXA0BXCXXXXD0
MCO351 Positioning Controller 1. Safety Regulation
MG.33.R1.02 - VLT®is a registered Danfoss trademark 5
1

It is designed and approved suitable for the requirements of Safety Category 3 in EN 954-1. This
functionality is called Safe Stop. Prior to integration and use of Safe Stop in an installation, a
thorough risk analysis on the installation must be carried out in order to determine whether the
Safe Stop functionality and safety category are appropriate and sufficient. In order to install and
use the Safe Stop function in accordance with the requirements of Safety Category 3 in EN 954-1,
the related information and instructions of the FC 300 Design Guide MG.33.BX.YY must be fol-
lowed! The information and instructions of the Operating Instructions are not sufficient for a
correct and safe use of the Safe Stop functionality!
1. Safety Regulation MCO351 Positioning Controller
6 MG.33.R1.02 - VLT®is a registered Danfoss trademark
1

1.1.10. Safe Stop Installation (FC 302 and FC 301 - A1 enclosure only)
To carry out an installation of a Catego-
ry 0 Stop (EN60204) in conformance
with Safety Category 3 (EN954-1), fol-
low these instructions:
1. The bridge (jumper) between Termi-
nal 37 and 24 V DC must be re-
moved. Cutting or breaking the
jumper is not sufficient. Remove it
entirely to avoid short-circuiting. See
jumper on illustration.
2. Connect terminal 37 to 24 V DC by a
short-circuit protected cable. The 24
V DC voltage supply must be inter-
ruptible by an EN954-1 Category 3
circuit interrupt device. If the inter-
rupt device and the frequency con-
verter are placed in the same instal-
lation panel, you can use a regular
cable instead of a protected one.
3. Unless the FC302 itself has protec-
tion class IP54 and higher, it must be
placed in an IP 54 enclosure. Conse-
quently, FC301 A1 must always be
placed in an IP 54 enclosure.
Illustration 1.1: Bridge jumper between terminal
37 and 24 VDC
The illustration below shows a Stopping Category 0 (EN 60204-1) with safety Category 3 (EN
954-1). The circuit interrupt is caused by an opening door contact. The illustration also shows how
to connect a non-safety related hardware coast.
Illustration 1.2: Illustration of the essential aspects of an installation to achieve a Stopping Category 0 (EN
60204-1) with safety Category 3 (EN 954-1).
1.1.11. IT Mains
Par. 14-50 RFI 1 can be used to disconnect the internal RFI capacitors from the RFI filter to ground
in the 380 - 500 V frequency converters. If this is done it will reduce the RFI performance to A2
level. For the 525 - 690 V frequency converters, par 14-50 has no function. The RFI switch cannot
be opened.
MCO351 Positioning Controller 1. Safety Regulation
MG.33.R1.02 - VLT®is a registered Danfoss trademark 7
1

2. Introduction MCO351 Positioning Controller
8 MG.33.R1.02 - VLT®is a registered Danfoss trademark
2

2. Introduction
2.1. Hardware
2.1.1. VLT Control Card Terminals
The terminals on the control card are allocated for positioning controller functions the following
parameter settings should therefore not be changed in synchronising mode (set-up 1):
Digital inputs 18, 19, 27, 32 and 33
Parameters 510–515 are set to
No operation (default setting), then the inputs are ignored by the
control card but they are used as inputs for the positioning controller.
Analogue inputs 53, 54
Parameters 315, 316 and 317 are set to
No function , then the inputs are ignored by the control
card but they are used as inputs to the positioning controller.
Digital/analogue outputs 42
Parameters 650 are set to:
MCO 0 … 20 mA [52] analogue output
2.2. Technical Data
2.2.1. Introduction
Technical data on the control card terminals can be found in the VLT Automation Drive FC 300
Design Guide.
2.2.2. Option Card Terminals
There are two encoder interfaces, which cover the following functions:
• Feedback encoder input
• Secondary encoder input
Terminal X55
Terminal Number Descriptive Name
Encoder 2 (Feed-
back)
1 + 24 V Supply
2+ 8 V Supply
3+5VSupply
4GND
5A
6A not
7B
8B not
9Z/Clock
10 Z / Clock not
11 Data
12 Data not
Terminal X56
Terminal Number Descriptive Name
Encoder (Secon-
dary)
1 + 24 V Supply
2NC
3+5VSupply
4GND
5A
6A not
7B
8B not
9Z/Clock
10 Z / Clock not
11 Data
12 Data not
MCO351 Positioning Controller 2. Introduction
MG.33.R1.02 - VLT®is a registered Danfoss trademark 9
2

There are 2 digital input/output terminal blocks, 10 inputs and 8 outputs. (See figure below)
Terminal X57
Terminal Number Descriptive Name
Digital Inputs
1 Digital Input
2Digital Input
3 Digital Input
4Digital Input
5 Digital Input
6Digital Input
7 Digital Input
8Digital Input
9 Digital Input
10 Digital Input
Terminal X59
Terminal Number Descriptive Name
Digital Output
1 Digital Output
2Digital Output
3 Digital Output
4Digital Output
5 Digital Output
6Digital Output
7 Digital Output
8Digital Output
Terminal X59
Terminal Number Descriptive Name
24 V Supply
1 + 24 V Supply
2GND
2.2.3. Encoder Monitor
Both encoder interfaces are equipped with a monitoring circuit that can detect open circuit as well
as short circuit of each encoder channel. Each encoder channel has a LED showing the status:
Green light means OK, no light means fault. An encoder fault will result in an ”Option error” 192
if encoder monitoring is activated via parameter 3239 (master) and 3209 (slave).
2. Introduction MCO351 Positioning Controller
10 MG.33.R1.02 - VLT®is a registered Danfoss trademark
2

2.2.4. Option Card Layout
MCO 351 control terminals are plug connectors with screw terminals; the terminal blocks are
duplicated to enable use of the same MCO 351 in all frame sizes. See illustration to locate the
terminal blocks:
(1) is used with frame sizes A2 and A
(2) is used with frame sizes A5, B1 and B2
X55 = Encoder 2
X56 = Encoder 1
X57 = Digital inputs
X58 = 24VDC supply
X59 = Digital outputs
2.2.5. General Technical Data
−All inputs, outputs and supply voltages are protected against short circuit.
−All inputs, outputs and supply voltages are galvanic isolated from high voltages such as mains
supply and motor voltage (PELV).
−Encoder signals are monitored during operation and standstill.
−All MCO 351 parameters including user defined application parameters are accessible via the
FC 300 Local Control Panel.
−MCO 351 can be combined with other FC 300 options, namely PROFIBUS and DeviceNet inter-
face.
−All digital inputs and outputs are galvanic isolated from the internal electronics and can be
sourced from an external 24V power supply.
Connection Terminals:
Maximum cross section, rigid wire 1.5 mm
2
/AWG 16
Maximum cross section, flexible wire 1.5 mm
2
/AWG 16
Maximum cross section, wire with enclosed core 1.5 mm
2
/AWG 16
Minimum cross section 0.08
2
/AWG 28
Digital inputs:
Number of programmable digital inputs 10
Terminal block X57
Terminal number 1
1)
,2
1)
,3,4,5,6,7,8,9,10
Logic PNP or NPN
1)
Voltage level 0 - 24 V DC
Voltage level 0 - 24 V DC
Voltage level, logic '0' PNP < 5 DC
Voltage level, logic'1' PNP > 10 V DC
Voltage level, logic '0' NPN
2)
> 19 V DC
Voltage level, logic '1' NPN
2)
< 14 V DC
Maximum voltage on input 28 V DC
1) ) Selected in parameter 5-00 Digital I/O mode.
The digital inputs are galvanic isolated from the internal electronics and can be sourced by an
external 24V power supply.
Digital outputs:
Number of programmable digital outputs 8 (6)
1
Terminal block X59
Terminal number 1
1)
, 2
1)
,3,4,5,6,7,8
Driver type push/pull
MCO351 Positioning Controller 2. Introduction
MG.33.R1.02 - VLT®is a registered Danfoss trademark 11
2

Logic PNP or NPN
2)
Voltage level 0 - 24 V DC
Max. output current (sink or source) with internal power supply (total Σ)40 mA
Max. output current (sink or source) with external power supply (per output) 100 mA
Terminals X59-1 and X59-2 can be programmed as input, parameter 33-60.
Combined Digital Inputs/Outputs:
Number of digital outputs which can be used as digital inputs 2
1)
Terminal block X59
Terminal number 1,2
Logic PNP or NPN
2)
Voltage level 0 - 24 V DC
Voltage level 0 - 24 V DC
Voltage level, logic '0' PNP < 10 V DC
Voltage level, logic'1' PNP > 17 V DC
Voltage level, logic '0' NPN > 13 V DC
Voltage level, logic '1' NPN < 6 V DC
Maximum voltage on input 28 V DC
1) Terminals X59-1 and X59-2 can be programmed as input, parameter 33-60.
2) Selected in parameter 5-00 Digital I/O mode.
24 V DC Supply Output
Terminal block X58
Terminal number 1,2
Maximum load 65 mA
The internal 24V power supply can be disconnected via parameter 33-85, an external 24V power
supply must then be connected to X58-1 and X58-2.
Encoder Inputs
Number of encoder inputs 2
Terminal block X55 and X56
Terminal number 5,6,7,8,9,10,11,12
Input impedance 120Ω
Maximum voltage on inputs 5 V DC
Cable type Screened cable with a twisted pair of wires for each encoder channel
1)
Incremental encoder type RS422/TTL
Maximum frequency 410 kHz
Phase displacement between A and B 90°±30°
Maximum cable length 300 m
1)
Absolute encoder type SSI
Data coding Gray
Data length 12 - 37 bit
Clock frequency 78 kHz - 2 MHz
1)
Absolute encoder type SSI
Maximum cable length 150 m
1)
1) Always observe specifications/limitations prescribed by the encoder supplier.
2) 150 m cable is possible up to 500 kHz clock frequency, above 500 kHz cable length must be
limited further.
Encoder Output
Number of encoder outputs 1
Terminal block X56
Terminal number 5,6,7,8,9,10,11,12
Signal type RS 422Ω
Maximum frequency 410 kHz
Maximum number of slaves 31 (more with repeater)
2. Introduction MCO351 Positioning Controller
12 MG.33.R1.02 - VLT®is a registered Danfoss trademark
2

Maximum cable length 400 m
Encoder Output
Number of supply voltages 3
Terminal block X55 and X56
Terminal number 1,2,3,4
24 V, max load 250 mA
1)
8 V, max load 250 mA
1) 2)
5 V, max load 400 mA
1)
Absolute encoder type SSI
Maximum cable length 150 m
1)
1) This is maximum load when only one supply voltage is used; when 2 or 3 supply voltages are
used simultaneously the load must be reduced accordingly. The following must be observed:
load24V + load8V + load5V ≤6W and load8V + load5V ≤2W.
2) 8 V is only available at terminal block X55.
2.3. Description of the Electrical and Fieldbus Interface
Terminal Designation Description
12 24 V DC 24V power supply for switches etc. maximum load
200 mA
13 24 V DC 24V power supply for switches etc. maximum load
200 mA
18 Reference index Bit 0
(LSB)
Reference position index number bit 0 (least signifi-
cant bit). Not used in fieldbus mode.
19 Reference index Bit 1 Reference position index number bit 1. Not used in
fieldbus mode.
20 GND Ground for 24V is normally bridged with Terminal 39,
but can be set to “OFF” by means of Switch SW 4 on
the control card.
27 Reset / ENABLE (error
clear)
Errors are cleared on the rising edge (must be “0”
min. 1 ms. to guarantee edge detection). Not used in
fieldbus mode. To enable operation, this input must
be maintained at “1” in either digital control mode or
fieldbus control mode.
29 Reference index Bit 4
(MSB)
Reference position index number bit 4 (most signifi-
cant bit). Not used in fieldbus mode. Not used in FC
301.
32 Reference index Bit 3 Reference position index number bit 3. Not used in
fieldbus mode.
33 Reference index Bit 2 Reference position index number bit 2. Not used in
fieldbus mode.
MCO351 Positioning Controller 2. Introduction
MG.33.R1.02 - VLT®is a registered Danfoss trademark 13
2

Terminal Designation Description
01 COM; 240V AC/2A Common terminal for Relay 01.
02 Connect to electro-me-
chanical brake NO
Normal Open Relay 01 is open (brake activated) dur-
ing power off, and start-up of the FC30x. It is always
open after a “Quick Stop” procedure or in connection
with an error situation. Relay 01 only closes in con-
nection with motion procedures or if specified in
P715.
03 NC Normal Closed
04 COM; 240V AC/2A; 400V
DC/2A
Common terminal for Relay 02.
05 Brake activated NC Normal Closed Relay 02 is closed to indicate an acti-
vated electromechanical brake. It is open to indicate
a deactivated electromechanical brake. Not used in
fieldbus control mode.
06 NO Normal Open
39 GND Ground for analogue inputs/outputs is normally
bridged with Terminal 20, but can be set to “OFF” by
means of Switch SW 4 on the control card.
50 10V DC 17mA Power supply for manual JOG inputs (terminal 53 and
54)
53 ± 10V-In Manual jog pos-
itive
When high (above 5V), the drive will travel with jog-
ging speed (P1916) and ramp (P1917) in the positive
direction. When low (below 5V), the drive will ramp
down and stop if no other motion procedure is acti-
vated. Jog positive has higher priority than Jog neg-
ative Not used in fieldbus mode.
54 ± 10V-In Manual jog neg-
ative
When high (above 5V), the drive will travel with jog-
ging speed (P1916) and ramp (P1917) in the nega-
tive direction. When low (below 5V), the drive will
ramp down and stop if no other motion procedure is
activated. Not used in fieldbus mode.
2. Introduction MCO351 Positioning Controller
14 MG.33.R1.02 - VLT®is a registered Danfoss trademark
2

2.3.1. Option Card X57
Terminal Designation Description
1Touch probe switch
input
Interrupt triggered on the rising edge. If this signal
goes high when no touch probe target position is
currently locked a new touch probe target position
is calculated and locked in memory.
2 Positive HW limit
switch input
Interrupt triggered on the falling edge. Triggers a
HW limit error and the drive is stopped according to
P1906.
3Negative HW limit
switch input
Interrupt triggered on the falling edge. Triggers a
HW limit error and the drive is stopped according to
P1906.
4 HOME reference
switch input
Active high. Marks the HOME position in the appli-
cation.
5Go to the refer-
enced target posi-
tion
Active high. Upon activation the drive goes to the
specified target position. A low signal interrupts any
positioning sequence. Not used in fieldbus mode.
6 Reset home flag Active high. This input clears the home flag. This al-
lows the user to perform a second homing se-
quence. Not used in fieldbus mode.
7Reset touch probe
position
Active high. This input clears the touch probe posi-
tion flag. The reset is necessary to carry out a touch
probe positioning command to a new target posi-
tion. Not used in fieldbus mode.
8 Quick stop Active low. This input activates the Quick Stop func-
tion. The drive is stopped according to the setting of
P1906. After that the electromechanical brake is al-
ways activated when the “Quick stop” input is acti-
vated regardless of the P1906 setting.
9Go to HOME posi-
tion
While this input is high the drive executes the hom-
ing sequence. While this input is high no position or
jog operations are carried out. Any homing se-
quence is interrupted by a low state on this input.
Not used in fieldbus mode.
10 LATCH new refer-
ence position index
number
Active on the rising edge (must be “0” min. 1 ms. to
guarantee edge detection): Latches reference posi-
tion index number specified on terminal 18, 19, 29,
32, 33 into memory. Digital output 4 – 8 is changed
to mirror the new reference index specified when
using digital input control. Not used in fieldbus
mode.
MCO351 Positioning Controller 2. Introduction
MG.33.R1.02 - VLT®is a registered Danfoss trademark 15
2

2.3.2. Option Card X59
Terminal Designation Description
1Homing completed Active high. This output is always high if an absolute
encoder is used.
2 Referenced position reached Active high. This output is set when the target posi-
tion is reached according to the setting of P3347.
3Error occurred Active high. This output is set every time an error
occurs. It is cleared every time a successful error
clear is carried out. This output will remain high as
long as the Power recovery function is selected
(P1908) and active.
4 Reference index bit 0 Active high. Mirror of the currently locked-in refer-
ence index bit 0. Not used in fieldbus mode.
5Reference index bit 1 Active high. Mirror of the currently locked-in refer-
ence index bit 1. Not used in fieldbus mode.
6 Reference index bit 2 Active high. Mirror of the currently locked-in refer-
ence index bit 2. Not used in fieldbus mode.
7Reference index bit 3 Active high. Mirror of the currently locked-in refer-
ence index bit 3. Not used in fieldbus mode.
8 Reference index bit 4 Active high. Mirror of the currently locked-in refer-
ence index bit 4. Not used in fieldbus mode.
2. Introduction MCO351 Positioning Controller
16 MG.33.R1.02 - VLT®is a registered Danfoss trademark
2

3. Fieldbus Interface
3.1. Fieldbus Interface
3.1.1. Introduction
This section is only relevant if the frequency converter is equipped with a Fieldbus
interface (option) as well as the Positioning controller.
The Positioning controller can be controlled via the digital/analogue inputs or via fieldbus. The
control source can be selected in parameter 19-04. There can only be one control source at a time
meaning that the digital/analogue inputs are inactive when fieldbus is selected as control source
and visa versa. The only exceptions are listed in the digital interface section. In fieldbus mode it
is possible to specify only the target position and velocity. If the acceleration and deceleration
PCDs are left blank then the last used acceleration and deceleration chosen via a quickbus is used.
This enables the use of PPO type 4.
3.1.2. Data Layout
Control and status signals are transferred via the so-called process data channel (PCD) of the
various fieldbus interfaces. The telegram structure and the available number of data words de-
pends on the fieldbus used, please refer to the manual of the fieldbus option in use for further
details. The below example is based on the layout of a PROFIBUS telegram, the so-called PPO:
Example using PROFIBUS PPO type 5:
MCO351 Positioning Controller 3. Fieldbus Interface
MG.33.R1.02 - VLT®is a registered Danfoss trademark 17
3

Fieldbus Control Signals
Fieldbus
[word.bit] Fieldbus Mode Corresponding Input
1.1 Quick bus go to target (↑)N\A
1.2 Reset error (↑)27
1.3 Go to home / Stop positioning (↑) / Go to position
(↓)
9
1.4 Read new trajectory index (↑)10
1.5 Automatic (↑) / manual(↓)mode 5
1.6 Reset home status (↑) 6
1.7 Reset touch probe position (↑) 7
1.8 Quick stop (↓) 8
1.9 Positive jog (↑)53
1.10 Negative jog (↑)54
1.11 Quick Bus Type Absolute (↑)N\A
1.12 Quick Bus Type Relative (↑)N\A
1.13 Quick Bus Type Touch Probe positive (↑)N\A
1.14 Quick Bus Type Touch Probe negative (↑)N\A
1.15 Teach in (via LCP or fieldbus) (↑)KEYPAD “Back” & “Cancel”
1.16 Change sign on Quick Bus Target Position (↑)N\A
2Quick Bus Target Position(MSB) N\A
3Quick Bus Target Position (LSB) N\A
4Quick Bus Target Velocity N\A
5Quick Bus Target Acceleration N\A
6Quick Bus Target Deceleration N\A
7.1 Reference index bit 0 (LSB) (↑)18
7.2 Reference index bit 1 (↑)19
7.3 Reference index bit 2 (↑)29
7.4 Reference index bit 3 (↑)32
7.5 Reference index bit 4 (↑)33
7.6 Reference index bit 5 (Fieldbus MSB) (↑)N\A
Fieldbus Status Signals
Fieldbus
[word.bit] Fieldbus Mode Corresponding Output/Parameter
1.1 Homing done (↑) 1
1.2 Referenced position reached (↑) 2
1.3 Error occurred (↑) 3
1.4 Electro-mechanical brake output (↑)04
1.5 Touch probe position locked (↑)N/A
1.6 Watchdog output (toggling) N/A
1.7 Positive hardware limit (↑)N\A
1.8 Negative hardware limit (↑)N\A
2.1 Current index bit 0 (LSB) (↑) 4
2.2 Current index bit 1 (↑) 5
2.3 Current index bit 2 (↑) 6
2.4 Current index bit 3 (↑) 7
2.5 Current index bit 4 (↑) 8
2.6 Current index bit 5 (Fieldbus MSB) (↑)N\A
3Actual Position (MSB) 3450 (MSB)
4Actual Position (LSB) 3450 (LSB)
5Error Status Par. 19-93
3. Fieldbus Interface MCO351 Positioning Controller
18 MG.33.R1.02 - VLT®is a registered Danfoss trademark
3

4. Programming
4.1. Description of Parameters
19-00 VLT local mode
Option: Function:
[0]
*
Pos control
[1] VLT control By setting this parameter to 1 the VLT changes to setup “2”
Manual running of the VLT is now possible.
19-01 Endless positioning
Range: Function:
0 [0...1] Set this parameter to “1” if drive must perform positioning con-
tinuously in one direction. Remember to also set parameter
POWER RECOVERY, par. 33-43 and par. 33-44 to “0”.
19-02 Block reversal
Option: Function:
[0]
*
No blocking Selecting “0” disables the function.
[1] Block reverse By selecting “1” it is defined as an error situation (“Reverse op-
eration prohibited” – ERROR STATUS = 12) if the drive is moving
in reverse direction.
[2] Block forward By selecting “2” it is defined as an error situation (“Forward op-
eration prohibited” – ERROR STATUS = 13) if the drive is moving
in forward direction.
19-03 Touch probe delay
Range: Function:
0 [1...1000,000 ms] This parameter enables for compensation in any fixed delay
there may be in the touch probe.
19-04 Control source
Range: Function:
0 [0...1] Choose control source for pos. controller. Enter “0” for digital
inputs or “1” for field¬bus control.
19-05 User APOS setting
Range: Function:
0 [-1,073,741,824 …
1,073,741,824]
At power-up if FORCE HOME (par. 33-00) is “0” the actual po-
sition is equal the value set here.
MCO351 Positioning Controller 4. Programming
MG.33.R1.02 - VLT®is a registered Danfoss trademark 19
4

19-06 Error behaviour
Option: Function:
[0]
*
Electronic brake This parameter determines the behaviour of the drive after an
error is detected.
If “0” is selected the drive will ramp down to standstill with the
shortest possible ramp (P3281). After achieving standstill it will
activate the electronic brake according to the setting of COAST
DELAY. If the drive is coasted at any point during ramp down
(e.g. due to an OVER CURRENT trip) the drive will immediately
activate the brake and coast the drive.
[1] Mechanical brake If “1” is selected the drive will immediately activate the brake
and coast the drive.
The brake is always activated after an error situation (or quick stop) regardless of
the AUTO BRAKE CTRL setting.
19-07 Error reset
Option: Function:
[0]
*
No reset The parameter automatically resets to “0” when the error is
successfully cleared.
[1] Reset error By setting this parameter to “1” it is possible to clear the error
flag (provided that the reason for the error is not still present).
19-08 Power-recovery
Option: Function:
[0] disabled When the power recovery function is disabled (0), it is not pos-
sible to drive the application by any means (neither jogging nor
positioning) as long as the application is outside the HW or SW
limits. The only way to recover from this situation is to move the
application by hand.
[1]
*
enabled When the power recovery function is activated (1) however it is
possible to make a “partial reset“ of the limit error (ERROR STA-
TUS = 2/3/4/5) whereby it will be possible to use the jogging
function to drive the application out of the HW or SW limit area.
It is not possible to drive the application otherwise by means of
homing, positioning or jogging (in the wrong direction), as long
as the application is still within the HW or SW limit area. The
“error occurred” output will remain high to indicate that these
restrictions are in effect. As soon as the application is moved
outside the HW or SW limit area the error is automatically
cleared and the “error occurred” signal goes low to indicate that
normal operation is now restored.
4. Programming MCO351 Positioning Controller
20 MG.33.R1.02 - VLT®is a registered Danfoss trademark
4