Danfoss VLT5000 SyncPos User Manual

179
MG.10.J8.02 – VLT is a registered Danfoss trade mark
Programmable SyncPos motion controller
15 P O S E R R
The maximum
TT
TT
T
olerated position errorolerated position error
olerated position errorolerated position error
olerated position error POSERR
defines the tolerance allowed between the current
actual position and the calculated command posi-
tion. If the value defined with POSERR is exceeded
then the position control is turned off and a position
error is triggered.
Content
Maximum
TT
TT
T
olerated position errorolerated position error
olerated position errorolerated position error
olerated position error
Parameter Group
Axis parameter PID-Controller AXR
CAM-Editor: index card PID
Unit
qc
Value range
1 … MLONG ★ 20000
The maximum
TT
TT
T
olerated position error olerated position error
olerated position error olerated position error
olerated position error does not
affect the positioning accuracy, but merely deter-
mines how precisely the theoretically calculated
path of motion must be followed, without an error
being triggered.
NB!
For safety reasons the maximum
TT
TT
T
oleratedolerated
oleratedolerated
olerated
position errorposition error
position errorposition error
position error selected should not be too
large since this could be dangerous for both the
machine and its operator.
On the other hand, if the values for the
TT
TT
T
oleratedolerated
oleratedolerated
olerated
position errorposition error
position errorposition error
position error are too small this could result in
frequent errors. As a guideline, it is wise to set the
quadruple of Encoder counts per revolution. This
corresponds to one encoder rotation.
16 SYNCOFFTIME
The offset filter SYNCOFFTIME also influences the
way, how a new SYNCPOSOFFS value is handled.
The offset which has to be realized will be done step
by step. The step which is realized every sample
time (ms) is calculated as follows:
step size =
SYNCMPULSM / SYNCOFFTIME (integer part)
So it will take around SYNCOFFTIME to realize the
offset. SYNCOFFTIME also has influence on the
marker start correction and on the correction of
marker error (see SYNCMFTIME).
Content
Compensation velocity of an offset (1. synchronize;
2. new offset)
Parameter Group
AXS Synchronization
(It is not yet in the parameter dialog window.)
Unit
1 msec
Value range
0 … MLONG ★ 0
17 SYNCMFPAR
This parameter SYNCMFPAR is used to influence
the behavior of marker filtering, see SYNCMFTIME.
Content
Marker filter configuration
Parameter Group
AXS Synchronization
(It is not yet in the parameter dialog window.)
Value range
0 or 1 or 2 or 4 or 16 ★ 0
0 = Every time we find a real master marker, we
calculate the Marker Filter constant as the
Filtered Old master velocity * SYNCMFTIME /
(SYNCMPULSM * 3 )
1 = Calculate the Marker Filter constant as
SYNCMFTIME/300
2 = Gear correction is made
4 = Correction time is used instead of using
SYNCOFFTIME
16= We don’t make the correction concerning the
error of marker distances.
For further descriptions of the selection see
SYNCMFTIME
Parameter Reference

Danfoss VLT5000 SyncPos Specifications

General

Category	Controller
Frequency	50/60 Hz
Series	VLT5000
Control Method	Vector control
Communication	CANopen
Enclosure Rating	IP20
Storage Temperature	-25°C to 70°C
Altitude	Up to 1000m above sea level
Humidity	5% to 95% (non-condensing)