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

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

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

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

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

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

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

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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