Danfoss MCO 351 User manual

MAKING MODERN LIVING POSSIBLE
Operating Instructions
Positioning Controller MCO 351
VLT®AutomationDrive FC 301/302
www.danfoss.com/drives

Contents
1 Introduction 4
1.1 Purpose of the Manual 4
1.2 Additional Resources 4
1.3 Overview 4
1.3.1 Software Version 4
1.4 Approvals 5
1.5 Disposal 5
2 Safety 6
2.1 Safety Symbols 6
2.2 Safety Warnings 6
2.3 Functional Safety 7
3 Mechanical Installation 8
4 Electrical Installation 10
4.1 MCO 350/351 Control Terminals 10
4.1.1 Enclosure Types A2 and A3 10
4.1.2 Enclosure Types A5, B1, and B2 10
4.2 Frequency Converter Control Card Terminals 11
4.3 Wiring Diagram 13
4.4 MCO Option Card Terminals 14
4.4.1 X55 Feedback Encoder Input 14
4.4.2 X56 Master Encoder Input/Virtual Master Output 14
4.4.3 X57 Digital Input 14
4.4.4 X58 24 V DC Supply 15
4.4.5 X59 Digital Outputs 15
4.4.6 X62 MCO-CAN 15
4.5 Description of Terminals 16
4.5.1 Frequency Converter Control Card Terminals 16
4.5.2 MCO Digital Inputs Terminal (X57) 17
4.5.3 MCO Digital Outputs Terminal (X59) 17
4.5.4 MCO Encoder Connection 18
4.5.4.1 Encoder Connection Examples 18
4.6 Fieldbus Interface 20
4.6.1 Introduction 20
4.6.2 Data Layout 20
5 Commissioning 23
5.1 Safety Instructions 23
Contents Operating Instructions
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5.2 Basic Parameters Set-up 23
5.3 Basic Set-up 23
5.4 PID Settings 23
5.5 Description of Application Parameters 24
5.5.1 19-** Application Parameters 24
5.6 MCO Basic Settings 29
5.6.1 32-0* and 32-1*, Encoder 2 Parameters 29
5.6.2 32-3* and 32-4*, Encoder 1 Parameters 31
5.6.3 32-5* Feedback Source 33
5.6.4 32-6* and 32-7*, PID-Controller Parameters 34
5.6.5 32-8* Velocity & Acceleration 36
5.7 MCO Advanced Settings 38
5.7.1 33-0* Home Motion 38
5.7.2 33-4* Limit Handling 38
5.7.3 33-8*, Global Parameters 40
5.7.4 33-9*, MCO Port Settings 40
5.8 MCO Data Readouts 41
5.8.1 34-0*, PCD Write Parameters 41
5.8.2 34-2*, PCD Read Parameters 41
5.8.3 34-4*, Inputs and Outputs 41
5.8.4 34-5*, Process Data 41
6 Application Examples 42
6.1 Homing 42
6.2 Touch Probe Positioning 42
6.3 Brake Control 42
6.4 Hardware End Limit 43
6.5 Software Limits 43
6.6 Index Positioning 43
6.7 Quick Bus Positioning 44
7 Diagnostics 45
7.1 Troubleshooting 45
7.2 Error Messages 46
8 Appendix 48
8.1 Abbreviations and Conventions 48
8.2 Glossary of Key Terms 48
8.3 Positioning 50
8.3.1 Positioning Table 50
8.3.2 Positioning Templates 51
Contents Operating Instructions
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8.3.2.1 Example of Index Positioning via Fieldbus 51
8.3.2.2 Example of Index Positioning via Quick Bus 51
Index 52
Contents Operating Instructions
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1 Introduction
1.1 Purpose of the Manual
These Operating Instructions provide information for safe
installation and commissioning of the VLT®Positioning
Controller MCO 351. The Operating Instructions are
intended for use by qualified personnel. Read and follow
the Operating Instructions to use the product safely and
professionally, and pay particular attention to the safety
instructions and general warnings. Keep these Operating
Instructions available with the MCO 351 at all times.
Compliance with the information in these Operating
Instructions is a prerequisite for:
•Trouble-free operation
•Recognition of product liability claims
Therefore, read the Operating Instructions before working
with the MCO 351.
VLT®is a registered trademark.
1.2 Additional Resources
Resources available to understand advanced frequency
converter and MCO functions and programming:
•VLT®AutomationDrive FC 301/FC 302 Operating
Instructions
•VLT®AutomationDrive FC 301/FC 302 Design
Guide
•VLT®AutomationDrive FC 301/FC 302
Programming Guide
•Motion Control Option MCO 305 Operating
Instructions
•Motion Control Option MCO 305 Design Guide
Supplementary publications and manuals are available
from Danfoss. See www.danfoss.com/BusinessAreas/DrivesSo-
lutions/Documentations/VLT+Technical+Documentation.htm
for listings.
1.3 Overview
The VLT®Positioning Controller MCO 351 is for use with
the FC 300 series frequency converters. The control card
option expands the functional properties of the frequency
converter in positioning applications. It is user-friendly,
enabling the set-up of all parameters via the VLT®
AutomationDrive Local Control Panel (LCP) or via the VLT®
MCT 10 Set-up Software.
The module is available as an option card for field instal-
lation or as a built-in option in all VLT®AutomationDrives.
It is available with and without conformal coating.
As the MCO 351 is a standard product with fixed
functional properties, no additional application
programming is required.
The positioning controller can handle most positioning
applications with vertical as well as horizontal movements.
The option is suited for applications with an overall control
system, for example a PLC.
The main features are:
•Direct positioning via fieldbus
•Relative, absolute, and touch probe positioning
•32 fixed positions (64 via fieldbus)
•End limit handling (software and hardware)
•Mechanical brake handling
•Error handling
•Jog speed/manual operation
•Home function
•Auto PID calculation
1.3.1 Software Version
Refer to parameter 19-90 Type/Version for the software
version number.
Introduction Operating Instructions
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1.4 Approvals
NOTICE
The T7 (525-690 V) frequency converters are not certified
for UL.
1.5 Disposal
Equipment containing electrical
components can 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.
Introduction Operating Instructions
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2 Safety
2.1 Safety Symbols
The following symbols are used in this document:
WARNING
Indicates a potentially hazardous situation which could
result in death or serious injury.
CAUTION
Indicates a potentially hazardous situation which could
result in minor or moderate injury. It may also be used
to alert against unsafe practices.
NOTICE
Indicates important information, including situations that
may result in damage to equipment or property.
2.2 Safety Warnings
WARNING
HIGH VOLTAGE
Frequency converters contain high voltage when
connected to AC mains input power. Failure to perform
installation, start up, and maintenance by qualified
personnel could result in death or serious injury.
•Installation, start up, and maintenance must be
performed by qualified personnel only.
WARNING
UNINTENDED START
When the frequency converter is connected to AC mains,
DC power 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 by means of an
external switch, a serial bus command, an input
reference signal from the LCP or LOP, via remote
operation using MCT 10 software, or after a cleared fault
condition.
To prevent unintended motor start:
•Disconnect the frequency converter from the
mains.
•Press [Off/Reset] on the LCP before
programming parameters.
•Ensure that the frequency converter, motor, and
any driven equipment is fully wired and
assembled when the frequency converter is
connected to AC mains, DC power supply, or
load sharing.
WARNING
DISCHARGE TIME
Frequency converters contain DC link capacitors that can
remain charged even when AC mains is disconnected. To
avoid electrical hazards, remove AC mains from the
frequency converter before doing any service or repair
and wait the amount of time specified in Table 2.1.
Failure to wait the specified time after power has been
removed before doing service or repair on the unit could
result in death or serious injury.
Voltage [V] Minimum waiting time (minutes)
4 15
200–240 0.25–3.7 kW 5.5–37 kW
380–480 0.25–7.5 kW 11–75 kW
525–600 0.75–7.5 kW 11–75 kW
525–690 N/A 11–75 kW
High voltage may be present even when the warning indicator
lights are off.
Table 2.1 Discharge Time
Safety Operating Instructions
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NOTICE
Installation at high altitudes:
•380–500 V: Enclosure A, B, and C: At altitudes
above 2 km, contact Danfoss regarding PELV.
•380–500 V: Enclosure D, E, and F: At altitudes
above 3 km, contact Danfoss regarding PELV.
•525–690 V: At altitudes above 2 km, contact
Danfoss regarding PELV.
2.3 Functional Safety
Safe Torque Off is an option. To run Safe Torque Off,
additional wiring for the frequency converter is required.
Refer to VLT
®
Frequency Converters Safe Torque Off
Operating Instructions for further information.
Safety Operating Instructions
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3 Mechanical Installation
This chapter is only relevant if the MCO 350/351 is
delivered as an option for upgrading an existing VLT®
AutomationDrive. When ordered with the frequency
converter, MCO 350/351 is pre-installed. For retrofit,
purchase a mounting kit.
There is a different mounting kit for different enclosures.
Use MCO 350/351 in slot C0 or combine it with another
option in slot C1.
Mounting kit depending on enclosure Order no.
Bookstyle Enclosure
A2 and A3 (40 mm for 1 C option) 130B7530
A2 and A3 (60 mm for C0 + C1 option) 130B7531
B3 (40 mm for 1 C option) 130B1413
B3 (60 mm for C0 + C1 option) 130B1414
Compact Enclosure
A5 130B7532
B, C, D, E, and F (except B3) 130B7533
Table 3.1 Mounting Kits
Do not mount the small fan for B4, C3, C4, D, E, and F.
Illustration 3.1 Bookstyle Enclosure – A2, A3, B3
Mechanical Installation Operating Instructions
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