Danfoss ISD 510 Programming guide
ENGINEERING TOMORROW
Programming Guide
VLT® Integrated Servo Drive ISD® 510 System
vlt-drives.danfoss.com
Contents Programming Guide
Contents
1 Introduction
1.1 Purpose of the Programming Guide
1.2 Additional Resources
1.3 Copyright
1.4 Software
1.4.1 Software Version 15
1.4.2 Firmware Updates 15
1.5 Approvals and Certications
1.6 Terminology
1.7 Safety
2 Servo Drive Operation
2.1 Overview
2.2 Firmware Update
2.3 Basic Operation
2.3.1 State Machine 19
2.3.2 Factor Group 21
2.3.3 Positions and Osets 22
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2.3.4 Position Limits 22
2.3.4.1 Hardware Limit Switch 22
2.3.4.2 Software Position Limit 22
2.3.5 Brake Handling 24
2.3.6 Control Loops 24
2.3.6.1 Position Controller 25
2.3.6.2 Speed Controller 26
2.3.6.3 Current Controller 26
2.4 Operating Modes
2.4.1 Prole Position Mode 26
2.4.2 Prole Velocity Mode 30
2.4.3 Prole Torque Mode 32
2.4.4 Homing Mode 33
2.4.4.1 Homing on Actual Position 35
2.4.4.2 Homing on Positive/Negative Block 36
2.4.4.3 Homing on Positive/Negative Limit Switch 36
2.4.4.4 Homing on Positive/Negative Home Switch 37
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2.4.4.5 Homing on Current Position 37
2.4.4.6 Error Behavior in Homing Mode 38
2.4.5 CAM Mode 38
2.4.5.1 Activating a CAM prole 40
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2.4.5.2 CAM Conguration: Master Absolute/Relative 41
2.4.5.3 CAM Header Information 41
2.4.5.4 Basic CAM 43
2.4.5.5 Advanced CAM 52
2.4.5.6 Commands During Operation 75
2.4.5.7 Notications from the Servo Drive 76
2.4.6 Gear Mode 77
2.4.7 ISD Inertia Measurement Mode 77
2.4.8 Cyclic Synchronous Position Mode 78
2.4.9 Cyclic Synchronous Velocity Mode 78
2.5 Motion Functions
2.5.1 Digital CAM Switch 79
2.5.2 ISD Touch Probe 82
2.5.2.1 Touch Probe Window 83
2.5.2.2 Touch Probe Edge Counter for Continuous Mode 83
2.5.2.3 Timing Example 84
2.5.3 Guide Value 85
2.5.3.1 Guide Value Reference 85
2.5.3.2 Guide Value Reference Simulation 85
2.6 Peripherals
2.6.1 Inputs 86
2.6.2 Output 86
2.6.3 External Encoder 86
2.7 Monitoring
2.7.1 Errors and Warnings 86
2.7.2 Trace 86
2.7.3 Following Error Detection 87
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2.7.4 Standstill Detection 87
2.7.5 Constant Velocity Detection 88
2.7.6 STO and Brake Status 88
3 Servo Access Box (SAB) Operation
3.1 Overview
3.2 Control
3.2.1 Relay Outputs 91
3.3 Monitoring
3.3.1 AUX Output 92
3.3.2 DC Output 92
3.3.3 Brake Control and Monitoring 92
3.3.4 Input Voltages 93
3.3.5 Temperatures 93
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3.3.6 Cooling Fans 93
3.4 External Encoder and Guide Value
3.5 Signal Tracing
3.6 Multiple Device ID Assignment
3.7 Software Version
3.8 Firmware Update
4 Local Control Panel (LCP) Operation
4.1 Overview
4.2 Local Control Panel (LCP) Layout
4.3 Graphical User Interface
4.3.1 Supported Languages 96
4.3.2 LCP Display 96
4.3.3 Status Menu (Auto On Mode) 96
4.3.3.1 Default Readouts for ISD 510 Servo Drive 97
4.3.3.2 Default Readouts for SAB 97
4.3.3.3 Alarms and Warnings 98
4.3.4 Main Menu 98
4.3.4.1 Displaying and Editing Values 99
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4.3.4.2 ISD 510 Drive Menu 100
4.3.4.3 SAB Menu 100
4.3.5 Hand On Mode 101
4.3.5.1 Servo Drive 101
4.3.5.2 SAB 104
4.3.6 Alarm Log 104
4.4 Keys
4.4.1 Status Key 104
4.4.2 Quick Menu Key 104
4.4.3 Main Menu Key 104
4.4.4 Alarm Log Key 105
4.4.5 Back Key 105
4.4.6 Cancel Key 105
4.4.7 Info Key 105
4.4.8 OK Key 106
4.4.9 Hand On Key 106
4.4.10 O Key 106
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4.4.11 Auto On Key 106
4.4.12 Reset Key 106
4.4.13 Up [▲] and Down [▼] Keys
4.4.14 Left [◀] and Right [▶] Keys
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4.5 LCP-specic Parameters
4.5.1 ISD 510 Servo Drive-specic LCP Parameters 107
4.5.2 SAB-specic LCP Parameters 108
5 Operation with ISD Toolbox
5.1 Overview
5.2 ISD Toolbox Installation
5.2.1 System Requirements 109
5.2.2 Installation 109
5.3 ISD Toolbox Communication
5.3.1 Network Settings for Indirect Communication 110
5.3.2 Network Settings for Direct Communication with Ethernet POWERLINK
5.3.3 Network Settings for Direct Communication with EtherCAT
5.4 ISD Toolbox Commissioning
5.5 Look and Feel
5.5.1 Main Window 114
5.5.2 Device Environment Window 116
5.5.2.1 Device Information Window 116
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5.5.3 Watchlist Window 118
5.5.4 Output Window 118
5.5.5 Project File 119
5.5.6 Importing and Exporting Devices 119
5.5.7 Online Help 119
5.5.8 Options Window 119
5.6 Connection and Devices
5.6.1 Connect to Bus 121
5.6.2 Disconnect from Bus 121
5.6.3 Online/Oine Devices 121
5.6.4 Adding/Removing Devices 121
5.6.5 Scan for Devices 122
5.7 Sub-Tools
5.7.1 Parameter List (Servo Drive and SAB) 122
5.7.2 Firmware Update (Single and Multi-device for Servo Drive and SAB) 124
5.7.2.1 Single Device Firmware Update 124
5.7.2.2 Multi-Device Firmware Update 124
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5.7.3 Scope (Single and Multi-device for Servo Drive and SAB) 125
5.7.3.1 Sampling 125
5.7.3.2 Triggering 126
5.7.3.3 Trace Signals 127
5.7.3.4 Status 128
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5.7.3.5 Running a Trace 128
5.7.3.6 Polling 129
5.7.3.7 Canceling a Trace 129
5.7.3.8 Trace Visualization 129
5.7.3.9 Saving and Loading Data 130
5.7.3.10 Online and Oine Mode 131
5.7.3.11 Reports, Document Exporting, and Printing 131
5.7.3.12 Multi-device Scope 131
5.7.4 Drive Control (Servo Drive only) 132
5.7.5 Get Error History (Servo Drive and SAB) 136
5.7.6 Digital CAM Switch (Servo Drive only) 137
5.7.7 CAM Editor (Servo Drive only) 138
5.7.7.1 Menu Bar 138
5.7.7.2 Property Window 141
5.7.7.3 Toolbar 141
5.7.7.4 Wizards 141
5.7.7.5 CAM Prole Window Overview 143
5.7.7.6 Editing Basic CAM Proles 144
5.7.7.7 Editing Advanced CAM Proles 146
5.7.7.8 Standalone Emulation of the CAM Editor 157
5.7.8 CAM Prole Management 157
5.7.9 Touch Probe (Servo Drive only) 158
5.7.10 SAB Control (SAB only) 158
5.7.11 SAB ID Assignment via Ethernet POWERLINK® (SAB only) 159
6 Programming
6.1 ID Assignment
6.1.1 EtherCAT
6.1.2 Ethernet POWERLINK
6.1.2.1 Single Device ID Assignment 161
6.1.2.2 Multiple Device ID Assignment 161
6.2 Basic Programming
6.3 TwinCAT
6.3.1 Programming with TwinCAT
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6.3.1.1 ISD Deliverables 162
6.3.1.2 Creating a TwinCAT® Project 162
6.3.1.3 Conguration as a TwinCAT® NC Axis 167
6.3.1.4 Connecting to the PLC 167
6.4 Automation Studio™
6.4.1 Programming with Automation Studio™
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6.4.1.1 Requirements 168
6.4.1.2 Creating an Automation Studio™ Project
6.4.1.3 Connecting to the PLC 172
6.5 Function Block Descriptions
6.5.1 Overview PLCopen
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6.5.1.1 Naming Conventions 172
6.5.1.2 Structure of Library/Package 172
6.5.1.3 PLCopen® State Machine 172
6.5.2 General Input/Output Behavior 174
6.5.2.1 Function Blocks with Execute Input 174
6.5.2.2 Function Blocks with Enable Input 175
6.5.2.3 Error Indication 175
6.5.2.4 Technical Units in the PLC library 176
6.5.3 Programming Guidelines 176
6.5.4 Drive – Administrative 177
6.5.4.1 AXIS_REF_ISD51x 177
6.5.4.2 MC_Power_ISD51x 177
6.5.4.3 MC_Reset_ISD51x 178
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6.5.4.4 MC_ReadStatus_ISD51x 179
6.5.4.5 MC_ReadAxisError_ISD51x 179
6.5.4.6 DD_ReadAxisWarning_ISD51x 180
6.5.4.7 DD_ReadVersion_ISD51x 180
6.5.4.8 DD_UpdateFirmware_ISD51x 181
6.5.4.9 MC_ReadAxisInfo_ISD51x 182
6.5.4.10 MC_ReadMotionState_ISD51x 182
6.5.4.11 MC_ReadActualPosition_ISD51x 183
6.5.4.12 MC_ReadActualVelocity_ISD51x 183
6.5.4.13 MC_ReadActualTorque_ISD51x 184
6.5.4.14 MC_ReadDigitalInput_ISD51x 185
6.5.4.15 DD_ReadAnalogInput_ISD51x 185
6.5.4.16 MC_ReadDigitalOutput_ISD51x 186
6.5.4.17 DD_WriteDigitalOutput_ISD51x 186
6.5.4.18 MC_ReadParameter_ISD51x and MC_ReadBoolParameter_ISD51x 187
6.5.4.19 DD_ReadParameter4_ISD51x 188
6.5.4.20 DD_ReadParameter_ISD51x 189
6.5.4.21 MC_WriteParameter_ISD51x 189
6.5.4.22 DD_WriteParameter_ISD51x 190
6.5.4.23 DD_WriteParameter4_ISD51x 190
6.5.4.24 DD_Trace_ISD51x 191
6.5.4.25 DD_BrakeHandling_ISD51x 193
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6.5.4.26 DD_SelectControlParamSet_ISD51x 193
6.5.4.27 MC_TouchProbe_ISD51x 194
6.5.4.28 MC_AbortTrigger_ISD51x 195
6.5.4.29 DD_PrepareDigCamSwitch_ISD51x 195
6.5.4.30 DD_DigitalCamSwitch_ISD51x 196
6.5.4.31 DD_ProduceGuideValue_ISD51x 197
6.5.5 Drive – Motion 197
6.5.5.1 MC_Home_ISD51x 197
6.5.5.2 MC_Stop_ISD51x 200
6.5.5.3 MC_Halt_ISD51x 201
6.5.5.4 MC_MoveAbsolute_ISD51x 202
6.5.5.5 MC_MoveRelative_ISD51x 205
6.5.5.6 MC_MoveAdditive_ISD51x 207
6.5.5.7 MC_MoveVelocity_ISD51x 209
6.5.5.8 MC_TorqueControl_ISD51x 209
6.5.5.9 MC_GearIn_ISD51x 210
6.5.5.10 MC_GearInPos_ISD51x 210
6.5.5.11 DD_GetInertia_ISD51x 212
6.5.6 Drive – CAM Operation 212
6.5.6.1 MC_CamTableSelect_ISD51x 212
6.5.6.2 MC_CamIn_ISD51x 213
6.5.6.3 DD_CamScaling_ISD51x 214
6.5.6.4 DD_SetFollowSegment_ISD51x 215
6.5.6.5 DD_SetSegmentParameter_ISD51x 216
6.5.6.6 DD_RotationStop_ISD51x 216
6.5.6.7 DD_NodeNotication_ISD51x 217
6.5.6.8 DD_GoToSetpoint_ISD51x 217
6.5.6.9 DD_ReadCamInfo_ISD51x 218
6.5.7 Drive – CAM Creation 218
6.5.7.1 Basic CAM 218
6.5.8 SAB 221
6.5.8.1 SAB_REF 221
6.5.8.2 DD_Power_SAB 221
6.5.8.3 DD_Reset_SAB 222
6.5.8.4 DD_ReadSabInfo_SAB 222
6.5.8.5 DD_ReadSabError_SAB 223
6.5.8.6 DD_ReadSabWarning_SAB 223
6.5.8.7 DD_ReadVersion_SAB 224
6.5.8.8 DD_UpdateFirmware_SAB 224
6.5.8.9 DD_ReadDcLinkPower_SAB 225
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6.5.8.10 DD_ReadDcLinkVoltage_SAB 225
6.5.8.11 DD_ReadParameter4_SAB 226
6.5.8.12 DD_ReadParameter_SAB 226
6.5.8.13 DD_WriteParameter4_SAB 227
6.5.8.14 DD_WriteParameter_SAB 228
6.5.8.15 DD_Trace_SAB 228
6.5.8.16 DD_SimulateGuideValue_SAB 229
6.5.8.17 DD_ReadPosGuideValueRef_SAB 230
6.5.8.18 DD_ReadVelGuideValueRef_SAB 231
6.6 Simple Programming Template
7 Servo Drive Parameter Description
7.1 Overview
7.2 Controlword Object
7.2.1 Parameter 16-00 Controlword (0x6040) 232
7.2.1.1 Controlword in Prole Position Mode 233
7.2.1.2 Controlword in Prole Velocity Mode 234
7.2.1.3 Controlword in Prole Torque Mode 234
7.2.1.4 Controlword in Homing Mode 235
7.2.1.5 Controlword in CAM Mode 235
7.2.1.6 Controlword in Gear Mode 236
7.2.1.7 Controlword in ISD Inertia Measurement Mode 236
7.2.1.8 Controlword in Cyclic Synchronous Position Mode 236
7.2.1.9 Controlword in Cyclic Synchronous Velocity Mode 237
7.3 Statusword Object
7.3.1 Parameter 16-03 Statusword (0x6041) 237
7.3.1.1 Statusword in Prole Position Mode 239
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7.3.1.2 Statusword in Prole Velocity Mode 239
7.3.1.3 Statusword in Prole Torque Mode 240
7.3.1.4 Statusword in Homing Mode 240
7.3.1.5 Statusword in CAM Mode 241
7.3.1.6 Statusword in Gear Mode 241
7.3.1.7 Statusword in ISD Inertia Measurement Mode 242
7.3.1.8 Statusword in Cyclic Synchronous Position Mode 242
7.3.1.9 Statusword in Cyclic Synchronous Velocity Mode 243
7.4 Factor Group Objects
7.4.1 Parameters 55-00 and 55-01: Position Encoder Resolution (0x608F) 243
7.4.2 Parameters 55-10 and 55-11: Gear Ratio (0x6091) 244
7.4.3 Parameters 55-20 and 55-21: Feed Constant (0x6092) 245
7.4.4 Parameters 55-30 and 55-31: Velocity Factor (0x6096) 246
7.4.5 Parameters 55-40 and 55-41: Acceleration Factor (0x6097) 246
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7.5 Commonly Used Objects
7.5.1 Parameter 52-00: Modes of Operation (0x6060) 247
7.5.2 Parameter 52-01: Modes of Operation Display (0x6061) 248
7.5.3 Parameter: Supported Drive Modes (0x6502) 248
7.5.4 Parameter 50-16: Maximum Prole Velocity (0x607F) 249
7.5.5 Parameter 52-37: Maximum Motor Speed (0x6080) 249
7.5.6 Parameter 52-12: Prole Velocity (0x6081) 250
7.5.7 Parameter 50-11: Prole Acceleration (0x6083) 250
7.5.8 Parameter 50-12: Prole Deceleration (0x6084) 251
7.5.9 Parameter 50-13: Quick Stop Deceleration (0x6085) 251
7.5.10 Parameter 50-14: Maximum Acceleration (0x60C5) 252
7.5.11 Parameter 50-15: Maximum Deceleration (0x60C6) 252
7.5.12 Parameter: Maximum Torque (0x6072) 253
7.5.13 Parameters 52-15, 52-23, and 52-36: Application Torque Limit (0x2053) 253
7.6 Control Parameters
7.6.1 Parameter 51-07 to 51-09: Used Task Cycle Times (0x201D) 254
7.6.2 Parameter 51-01: Control Parameter Blending Time (0x201B) 255
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7.6.3 Parameter 51-00: Control Parameter Usage (0x201C) 255
7.6.4 Position Controller 255
7.6.4.1 Parameters 51-16 and 51-17: Position Controller Parameters (0x2013) 255
7.6.4.2 Parameters 51-26 and 51-27: Position Controller Parameters 2 (0x2015) 256
7.6.5 Speed Controller 257
7.6.5.1 Parameters 51-10 to 51-15: Speed Controller Parameters (0x2012) 257
7.6.5.2 Parameters 51-20 to 51-25: Speed Controller Parameters 2 (0x2014) 258
7.7 Positions and Oset Objects
7.7.1 Parameter: Position Demand Value (0x6062) 260
7.7.2 Parameter: Position Demand Internal Value (0x60FC) 260
7.7.3 Parameter: Drive Position (0x2022) 261
7.7.4 Parameter: Position Actual Internal Value (0x6063) 261
7.7.5 Parameter 50-03: Position Actual Value (0x6064) 262
7.7.6 Parameters 50-30 and 50-31: Position Range Limit (0x607B) 262
7.7.7 Parameters 50-32 and 50-33: Software Position Limit (0x607D) 263
7.7.8 Parameters 51-02, 52-04, and 52-49: Application Settings (0x2016) 264
7.8 Guide Value Objects
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7.8.1 Parameter: Position Guide Value (0x2060) 265
7.8.2 Parameter: Velocity Guide Value (0x2064) 266
7.8.3 Parameter: Guide Value Option Code (0x2061) 266
7.8.4 Parameter: Guide Value Scaling Factor (0x3808) 267
7.8.5 Parameter: Guide Value Oset (0x3806) 268
7.9 Guide Value Reference Objects
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7.9.1 Parameter: Position Guide Value Reference (0x2062) 269
7.9.2 Parameter: Velocity Guide Value Reference (0x2065) 269
7.9.3 Parameter: Guide Value Reference Option Code (0x2063) 269
7.9.4 Parameter: Position Guide Value Reference Set (0x2068) 270
7.9.5 Parameter: Guide Value Plausibility Distance (0x2067) 271
7.9.6 Guide Value Reference Simulation 271
7.9.6.1 Parameter: Guide Value Reference Simulation Control (0x2070) 271
7.9.6.2 Parameter: Guide Value Reference Speed Limit (0x2071) 272
7.9.6.3 Parameter: Guide Value Reference Target Velocity (0x2072) 272
7.9.6.4 Parameter: Guide Value Reference Acceleration (0x2073) 272
7.9.6.5 Parameter: Guide Value Reference Deceleration (0x2074) 273
7.10 Prole Position Mode Objects
7.10.1 Parameter 52-10: Target Position (0x607A) 273
7.10.2 Parameter 52-16: End Velocity (0x6082) 274
7.10.3 Parameter: Positioning Option Code (0x60F2) 274
7.10.4 Parameter: Position Window (0x6067) 277
7.10.5 Parameter: Position Window Time (0x6068) 277
7.11 Prole Velocity Mode Objects
7.11.1 Parameter 52-20: Target Velocity (0x60FF) 277
7.11.2 Parameter: Velocity Demand Value (0x606B) 278
7.11.3 Parameter 50-04: Velocity Actual Value (0x606C) 278
7.11.4 Parameter: Velocity Window (0x606D) 279
7.11.5 Parameter: Velocity Window Time (0x606E) 279
7.12 Prole Torque Mode Objects
7.12.1 Parameter 52-30: Target Torque (0x6071) 279
7.12.2 Parameter: Torque Demand (0x6074) 280
7.12.3 Parameter 50-20: Motor Rated Current (0x6075) 280
7.12.4 Parameter 50-21: Motor Rated Torque (0x6076) 280
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7.12.5 Parameter 52-31: Torque Actual Value (0x6077) 281
7.12.6 Parameter 16-14: Current Actual Value (0x6078) 281
7.12.7 Parameter 52-32: Torque Slope (0x6087) 282
7.12.8 Parameter: Torque Window (0x2050) 282
7.12.9 Parameter: Torque Window Time (0x2051) 282
7.13 Homing Mode Objects
283
7.13.1 Parameter 52-40: Home Oset (0x607C) 283
7.13.2 Parameter 52-41: Homing Method (0x6098) 283
7.13.3 Parameters 52-42 and 52-43: Homing Speeds (0x6099) 284
7.13.4 Parameter 52-44: Homing Acceleration (0x609A) 284
7.13.5 Parameter 52-50 to 52-57: Supported Homing Methods (0x60E3) 285
7.13.6 Parameter 52-45 to 52-48: Additional Homing objects (0x2040) 287
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7.14 CAM Mode Objects
7.14.1 Parameter: CAM Prole Memory Layout (0x380F) 288
7.14.2 Parameter: CAM Status (0x3801) 289
7.14.3 Parameter: CAM Control (0x3800) 290
7.14.4 Parameters: CAM Prole 1–8 (0x3810–0x3817) 291
7.14.5 Parameters: CAM Data 1–8 (0x3820–3827) 301
7.14.6 Parameters: CAM Pattern 1–8 (0x3830–3837) 301
7.14.7 Parameter: CAM Prole Selector (0x3804) 302
7.14.8 Parameter: CAM Prole Status (0x3805) 303
7.14.9 Parameter: CAM Slave Oset (0x3807) 304
7.14.10 Parameter: CAM Slave Scaling (0x3809) 305
7.14.11 Parameter: Minimum Blending Distance (0x380A) 306
7.14.12 Parameter: Logical CAM Position (0x2020) 307
7.14.13 Parameter: Logical CAM Set Point (0x2021) 307
7.14.14 Parameter: Active Segment ID (0x2019) 307
7.14.15 Parameter: Last Node ID (0x201A) 308
7.14.16 Parameter: Logged Values (0x3870) 308
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7.14.17 Parameter: Digital Input Counters (0x3860) 309
7.15 Gear Mode Objects
7.15.1 Parameter: Gear Ratio (0x3900) 309
7.15.2 Parameter: Gear Synchronization Option Code (0x3901) 310
7.15.3 Parameter: Gear Master Start Distance (0x3902) 311
7.15.4 Parameter: Gear Master Sync Position (0x3903) 312
7.15.5 Parameter: Gear Slave Sync Position (0x3904) 312
7.16 ISD Inertia Measurement Objects
7.16.1 Parameter 52-60: Measured Inertia (0x2009) 313
7.16.2 Parameters 52-61 and 52-62: Inertia Measurement Parameters (0x200A) 314
7.17 Digital CAM Switch Objects
7.17.1 Parameter: On Compensation (0x3840) 314
7.17.2 Parameter: O Compensation (0x3841) 315
7.17.3 Parameter: Hysteresis (0x3842) 315
7.17.4 Parameters: Digital CAM Switch Parsing Control (0x3843) 316
7.17.5 Parameter: Digital CAM Switches Data (0x3844) 318
7.18 Touch Probe Objects
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7.18.1 Parameter: Touch Probe Function (0x60B8) 318
7.18.2 Parameter: Touch Probe Status (0x60B9) 319
7.18.3 Parameter 51-51: Touch Probe 1 Positive Edge (0x60BA) 320
7.18.4 Parameter 51-54: Touch Probe 1 Negative Edge (0x60BB) 321
7.18.5 Parameter 51-61: Touch Probe 2 Positive Edge (0x60BC) 321
7.18.6 Parameter 51-64: Touch Probe 2 Negative Edge (0x60BD) 321
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7.18.7 Parameters 51-50 and 51-60: Touch Probe Source (0x60D0) 322
7.18.8 Parameter: First Position (0x3853) 322
7.18.9 Parameter: Last Position (0x3854) 323
7.18.10 Parameter 51-53: Touch Probe Time Stamp 1 Positive Value (0x60D1) 324
7.18.11 Parameter 51-56: Touch Probe Time Stamp 1 Negative Value (0x60D2) 324
7.18.12 Parameter 51-63: Touch Probe Time Stamp 2 Positive Value (0x60D3) 324
7.18.13 Parameter 51-66: Touch Probe Time Stamp 2 Negative Value (0x60D4) 325
7.18.14 Parameter 51-52: Touch Probe 1 Positive Edge Counter (0x60D5) 325
7.18.15 Parameter 51-55: Touch Probe 1 Negative Edge Counter (0x60D6) 326
7.18.16 Parameter 51-62: Touch Probe 2 Positive Edge Counter (0x60D7) 326
7.18.17 Parameter 51-65: Touch Probe 2 Negative Edge Counter (0x60D8) 327
7.19 Tracing Objects
7.19.1 Parameter: Signal Tracer Control (0x5000) 327
7.19.2 Parameter: Signal Trace Channel IDs (0x5001) 329
7.19.3 Parameter: Trace Data (0x5002) 330
7.19.4 Parameter: Trace Signal Info (0x5004) 330
7.20 Option Code Objects
7.20.1 Parameter 50-41: Fault Reaction Option Code (0x605E) 331
7.20.2 Parameter 50-42: Target Reached Option Code (0x2054) 331
7.20.3 Parameter 50-43: Following Error Option Code (0x2055) 332
7.20.4 Parameter 50-44: Enable in Positioning Option Code (0x2052) 333
7.20.5 Parameter 50-45: Abort Connection Option Code (0x6007) 333
7.20.6 Parameter 50-46: Quick Stop Option Code (0x605A) 334
7.20.7 Parameter 50-47: Halt Option Code (0x605D) 334
7.20.8 Parameter 50-48: Shutdown Option Code (0x605B) 335
7.20.9 Parameter 50-49: Disable Operation Option Code (0x605C) 335
7.21 Peripherals
7.21.1 Parameter 16-60: Digital Inputs (0x60FD) 336
327
331
336
7.21.2 Parameters 16-62 and 16-64: Analog Inputs (0x200D) 337
7.21.3 Parameter: Dual Analog User Inputs Conguration (0x200F) 337
7.21.4 Parameter 16-66: Digital Outputs (0x60FE) 338
7.21.5 Parameter 52-05: Digital Output Conguration (0x2FFF) 339
7.21.6 External Encoder Objects 340
7.21.6.1 Parameters 51-30 and 51-34 to 51-40: External Encoder Conguration
(0x3000) 340
7.21.6.2 Parameter 51-32 and 51-33: External Encoder (0x2011) 342
7.21.6.3 Parameter 51-31: External Encoder Enable (0x3001) 343
7.22 Monitoring Objects
343
7.22.1 Following Error Detection Objects 343
7.22.1.1 Parameter: Following Error Window (0x6065) 343
12 Danfoss A/S © 01/2017 All rights reserved. MG36D102
Contents Programming Guide
7.22.1.2 Parameter: Following Error Time Out (0x6066) 344
7.22.1.3 Parameter: Following Error Actual Value (0x60F4) 344
7.22.2 Standstill Detection Objects 345
7.22.2.1 Parameter: Velocity Threshold (0x606F) 345
7.22.2.2 Parameter: Velocity Threshold Time (0x6070) 345
7.22.3 Constant Velocity Detection Objects 346
7.22.3.1 Parameter 51-70: Constant Velocity Window (0x2030) 346
7.22.3.2 Parameter 51-71: Constant Velocity Window Time (0x2031) 346
7.22.4 Parameters 15-40, 15-41, and 15-43: Version log (0x4000) 346
7.22.5 Parameter 15-51: Serial String (0x4004) 348
7.22.6 Parameters 12-00 to 12-05: Communication Settings (0x400A) 349
7.22.7 Parameters 15-01 and 15-02: Total Running Time (0x5807) 350
7.22.8 Parameter 50-09: STO Voltage and Brake Status (0x2007) 351
7.22.9 Parameter 15-30: Error Code (0x603F) 352
7.22.10 Parameter 16-92: Warning Code (0x5FFE) 352
7.22.11 Parameter: Control Source (0x5020) 352
7.22.12 Parameter 50-08: Motion and Input Status (0x2006) 353
7.22.13 Parameter 50-07: Overlaying Motion Status (0x2005) 354
7.22.14 Parameter: Physical Limits (0x5100) 354
7.22.15 Voltage Objects 356
7.22.15.1 Parameter 16-30: DC Link Voltage (0x2003) 356
7.22.15.2 Parameter 50-06: Auxiliary Voltage (0x200E) 356
7.22.16 Parameter 16-19, 16-31, 16-34, 16-39: Temperature (0x2000) 356
8 SAB Parameter Description
8.1 Object 0x4040: Controlword
8.2 Object 0x4041: Statusword
8.3 Object 0x2000: SAB Temperatures
8.4 Object 0x2001: DC-link Related Values
8.5 Object 0x2003: U
8.6 Object 0x2008: ISD Power Consumption
8.7 Object 0x2009: Fan Speed Power Card
8.8 Object 0x200D: Relay 1 Control
Related Values
AUX
358
358
358
359
359
360
360
361
361
8.9 Object 0x200E: Relay 2 Control
8.10 Object 0x2030: Brake Control
8.10.1 Object 0x2030: Brake Control 362
8.11 Object 0x2031: Brake Resistor
8.12 Object 0x2032: Brake Resistor Power Limit
8.13 Object 0x2033: Brake Resistor Power Monitoring
8.14 Object 0x2034: Brake Check
8.15 Object 0x2035: Brake Duty Cycle Monitoring
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 13
361
362
362
362
362
363
363
Contents
VLT® Integrated Servo Drive ISD® 510 System
8.16 Object 0x2036: Brake Resistor Power 120 s
8.17 Object 0x2062: Position Guide Value Reference
8.18 Object 0x2063: Guide Value Reference Option Code
8.19 Object 0x2065: Velocity Guide Value Reference
8.20 Object 0x2068: Position Guide Value Reference Set
8.21 Object 0x2070: Guide Value Reference Simulation Control
8.22 Object 0x2071: Guide Value Reference Speed Limit
8.23 Object 0x2072: Guide Value Reference Target Velocity
8.24 Object 0x2073: Guide Value Reference Acceleration
8.25 Object 0x2074: Guide Value Reference Deceleration
8.26 Object 0x3000: External Encoder Conguration
8.27 Object 0x3001: External Encoder Enable
8.28 Object 0x4004: Serial String
8.29 Object 0x400A: Communication Settings
8.30 Object 0x5020: Control Source
8.31 Object 0x5807: Total Running Time
8.32 Object 0x503F: Error Code
363
363
363
363
363
363
364
364
364
364
364
364
364
364
365
365
366
8.33 Object 0x5FFE: Warning Code
9 Diagnostics
9.1 System Monitoring
9.2 Drive
9.2.1 Troubleshooting 367
9.2.2 Error Codes 368
9.2.3 Trace Signals 370
9.3 SAB
9.3.1 Troubleshooting 372
9.3.2 Warnings and Alarms 374
9.3.3 Trace Signals 377
9.4 Operating Status Indicators
9.4.1 Operating LEDs on the Servo Drive 378
9.4.2 Operating LEDs on the Servo Access Box 378
10 Appendix
10.1 Glossary
366
367
367
367
372
378
380
380
10.2 General XML Conventions
Index
14 Danfoss A/S © 01/2017 All rights reserved. MG36D102
381
383
Introduction Programming Guide
1 Introduction
1.1 Purpose of the Programming Guide
The purpose of this programming guide is to describe the
programming of the VLT® Integrated Servo Drive ISD® 510
System.
This programming guide contains information about:
Software installation
•
Programming
•
Operation
•
Applications
•
Troubleshooting
•
This programming guide is intended for use by qualied
personnel. Read the document in full in order to use the
servo system safely and professionally, and pay particular
attention to the safety instructions and general warnings.
This programming guide is an integral part of the ISD 510
servo system so keep it available with the servo system at
all times.
Compliance with the information in this document is a
prerequisite for:
Trouble-free operation
•
Recognition of product liability claims
•
Therefore, read this document before working with the
servo system.
Additional Resources
1.2
Available manuals for the VLT® Integrated Servo Drive ISD
510 System:
Software
1.4
The software for the ISD 510 servo system comprises:
The rmware of the VLT® Integrated Servo Drive
•
ISD® 510 that is already installed on the device.
rmware of the VLT® Servo Access Box that is
The
•
already installed on the device.
A package of PLC libraries for Automation
•
Studio™ for operating the ISD 510 devices (see
chapter 6.4.1 Programming with Automation
Studio™ for further information).
A PLC library for TwinCAT® 2 for operating the
•
ISD 510 devices (see chapter 6.3.1 Programming
®
with TwinCAT
ISD Toolbox: A Danfoss PC-based software tool for
•
commissioning and debugging the devices.
for further information).
1.4.1 Software Version
This programming guide can be used for the following
software versions onwards:
ISD 510 Servo Drive: Version 1.4.0
•
Servo Access Box (SAB): Version 1.2.0
•
ISD Toolbox: Version 2.0
•
PLC libraries (Powerlink / EtherCAT): Version 1.0
•
The software version number can be read from object
0x4000 (see chapter 7.22.4 Parameters 15-40, 15-41, and
15-43: Version log (0x4000)).
®
1.4.2 Firmware Updates
1 1
Document Contents
VLT® Integrated Servo Drive
ISD® 510 System Operating
Instructions
VLT® Integrated Servo Drive
ISD® 510 System Design
Guide
VLT® Integrated Servo Drive
ISD® 510 System
Programming Guide
Table 1.1 Available Manuals for the ISD 510 Servo System
Technical literature for Danfoss drives is also available
online at drives.danfoss.com/knowledge-center/technical-
documentation/.
Copyright
1.3
VLT®, ISD®, and SAB® are Danfoss registered trademarks.
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 15
Information about the installation,
commissioning, and operation of
the ISD 510 servo system.
Information about the set-up of
the ISD 510 servo system and
detailed technical data.
Information about the
programming of the ISD 510 servo
system.
Firmware updates may be available. When rmware
updates are available, they can be downloaded from the
danfoss.com website. Use the ISD Toolbox software to
install the rmware in the servo drives.
Approvals and Certications
1.5
The ISD 510 servo system fullls the standards listed in
Table 1.2.
IEC/EN 61800-3 Adjustable speed electrical power drive
systems.
Part 3: EMC requirements and specic test
methods.
IEC/EN 61800-5-1 Adjustable speed electrical power drive
systems.
Part 5-1: Safety requirements – Electrical,
thermal and energy.
Introduction
VLT® Integrated Servo Drive ISD® 510 System
11
IEC/EN 61800-5-2 Adjustable speed electrical power drive
systems.
Part 5-2: Safety requirements – Functional.
IEC/EN 61508 Functional safety of electrical/electronical/
programmable electronic safety-related
systems.
EN ISO 13849-1 Safety of machinery – Safety-related parts of
control systems.
Part 1: General principles for design.
EN ISO 13849-2 Safety of machinery – Safety-related parts of
control systems.
Part 2: Validation.
IEC/EN 60204-1 Safety of machinery – Electrical equipment of
machines.
Part 1: General requirements.
IEC/EN 62061 Safety of machinery – Functional safety of
safety-related electrical, electronic, and
programmable electronic control systems.
IEC/EN 61326-3-1 Electrical equipment for measurement,
control, and laboratory use – EMC
requirements.
Part 3-1: Immunity requirements for safetyrelated systems and for equipment intended
to perform safety-related functions (functional
safety) – General industrial applications.
UL508C UL Standard for Safety for Power Conversion
Equipment.
Terminology
1.6
ISD Integrated servo drive
ISD 510 Servo
Drive
VLT® Servo Access
Box (SAB)
PLC External device for controlling the ISD 510
Loop cable Hybrid cable for connecting drives in daisy-
Feed-in cable Hybrid cable for connection from the SAB to
Table 1.3 Terminology
Decentral servo drive
Unit that generates the DC-link voltage and
passes the U
signals to the ISD 510 servo drives via a
hybrid cable.
servo system.
chain format.
the 1st servo drive.
, Real-Time Ethernet, and STO
AUX
An explanation of all terminology and abbreviations can be
found in chapter 10.1 Glossary.
1.7 Safety
The following symbols are used in this guide:
WARNING
Indicates a potentially hazardous situation that could
result in death or serious injury.
2006/42/EC Machinery Directive
CE
2014/30/EU EMC Directive
2014/35/EU Low Voltage Directive
RoHS
(2002/95/EC)
EtherCAT
Ethernet
POWERLINK
PLCopen
®
®
Table 1.2 Approvals and Certications
Restriction of hazardous substances.
Ethernet for Control Automation Technology.
Ethernet-based eldbus system.
Ethernet-based eldbus system:
®
Technical specication.
Function blocks for motion control (formerly
Part 1 and Part 2) Version 2.0 March 17, 2011.
CAUTION
Indicates a potentially hazardous situation that could
result in minor or moderate injury. It can also be used to
alert against unsafe practices.
NOTICE
Indicates important information, including situations that
can result in damage to equipment or property.
The following safety instructions and precautions relate to
the ISD 510 servo system.
Read the safety instructions carefully before starting to
work in any way with the ISD 510 servo system or its
components.
Pay particular attention to the safety instructions in the
relevant sections of this manual.
WARNING
HAZARDOUS SITUATION
If the servo drive, SAB, or the bus lines are incorrectly
connected, there is a risk of death, serious injury, or
damage to the unit.
Always comply with the instructions in this manual and
national and local safety regulations.
16 Danfoss A/S © 01/2017 All rights reserved. MG36D102
Introduction Programming Guide
WARNING
GROUNDING HAZARD
The ground leakage current is >3.5 mA. Improper
grounding of the ISD 510 servo system components may
result in death or serious injury.
For reasons of operator safety, ground the
•
components of the ISD 510 servo system
correctly in accordance with national or local
electrical regulations and the information in this
manual.
WARNING
HIGH VOLTAGE
The ISD 510 servo system contains components that
operate at high voltage when connected to the electrical
supply network.
A hazardous voltage is present on the servo drives and
the SAB whenever they are connected to the mains
network.
There are no indicators on the servo drive or SAB that
indicate the presence of mains supply.
Incorrect installation, commissioning, or maintenance can
lead to death or serious injury.
Installation, commissioning, and maintenance
•
may only be performed by qualied personnel.
WARNING
UNINTENDED START
The ISD 510 servo system contains servo drives and the
SAB that are connected to the electrical supply network
and can start running at any time. This may be caused
by a eldbus command, a reference signal, or clearing a
fault condition. Servo drives and all connected devices
must be in good operating condition. A decient
operating condition may lead to death, serious injury,
damage to equipment, or other material damage when
the unit is connected to the electrical supply network.
Take suitable measures to prevent unintended
•
starts.
WARNING
DISCHARGE TIME
The servo drives and the SAB contain DC-link capacitors
that remain charged for some time after the mains
supply is switched o at the SAB. Failure to wait the
specied time after power has been removed before
performing service or repair work could result in death
or serious injury.
To avoid electrical shock, fully disconnect the
•
SAB from the mains and wait for at least the
time listed in Table 1.4 for the capacitors to fully
discharge before carrying out any maintenance
or repair work on the ISD 510 servo system or
its components.
Number Minimum waiting time (minutes)
0–64 servo drives 10
Table 1.4 Discharge Time
NOTICE
Never connect or disconnect the hybrid cable to or from
the servo drive when the ISD 510 servo system is
connected to mains or auxiliary supply, or when voltage
is still present. Doing so damages the electronic circuitry.
Ensure that the mains supply is disconnected and the
required discharge time for the DC-link capacitors has
elapsed before disconnecting or connecting the hybrid
cables or disconnecting cables from the SAB.
NOTICE
Full safety warnings and instructions are detailed in the
VLT® Integrated Servo Drive ISD 510 System Operating
Instructions.
1 1
WARNING
UNINTENDED MOVEMENT
Unintended movement may occur when parameter
changes are carried out immediately, which may result in
death, serious injury, or damage to equipment.
When changing parameters, take suitable
•
measures to ensure that unintended movement
cannot pose any danger.
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 17
Servo Drive Operation
VLT® Integrated Servo Drive ISD® 510 System
2 Servo Drive Operation
22
2.1 Overview
The CiA CANopen standard DS402 Drives and Motion
Control Device Prole is supported by both Ethernet
POWERLINK® and EtherCAT®.
2.2 Firmware Update
The products are delivered with the most recent
version. See chapter 1.4.2 Firmware Updates for information
on upgrading.
The servo drive rmware can be updated via the eldbus.
The download of new rmware is only allowed in the
unpowered drive state Switch on disabled. If the servo drive
is in another state, the transfer is refused. While the update
is in progress, the servo drive signals the warning Firmware
update in progress. After nishing, the servo drive signals
the warning Firmware update occurred. Power cycle the
servo drive to resume normal operation.
If the servo drive state machine is switched to another
state than Switch on disabled after the rmware update has
begun (that is, during le transfer or after ashing without
a power-cycle), the servo drive switches to state Fault. This
error indicates that a power-cycle is needed before the
servo drive can resume operation. If, for example, a power
failure occurs during upgrading, the servo drive remains in
a state that allows the update process to resume. The
currently installed version can be read from object 0x4000
(see chapter 7.22.4 Parameters 15-40, 15-41, and 15-43:
Version log (0x4000)).
rmware
NOTICE
To change the supported eldbus, update to the
corresponding rmware. After changing the eldbus, the
original product code is no longer valid.
18 Danfoss A/S © 01/2017 All rights reserved. MG36D102
Start
Not ready to
switch on
Switch on
disabled
Fault
Fault reaction
active
Ready to
switch on
Switched on
Operation
enabled
Quick stop
active
0
1
2 7
8 9
63
4 5
16
11
10
12
13
15
14
130BF157.10
Servo Drive Operation Programming Guide
2.3 Basic Operation
2.3.1 State Machine
The servo drive uses the state machine described in the CiA DS402 standard. The state machine is operated either locally via
the LCP or remotely via the network.
The state machine is operated by local signals and by the Controlword sent over the eldbus. The state of the state machine
is reported by the Statusword produced by the servo drive.
A single state represents a special internal or external behavior. The state of the state machine also determines which
commands are accepted.
Illustration 2.1 shows the state machine of the servo drive with regard to control of the power electronics as a result of
commands and internal servo drive faults.
2 2
Illustration 2.1 DS402 State Machine
The states support the functions shown in Table 2.1. The Start state is a pseudo state indicating the start when the state
machine is activated during the start-up sequence of the device drives application software.
Function
Brake applied, if present Yes Yes Yes Yes No No No Yes
Low-level power applied Yes Yes Yes Yes Yes Yes Yes Yes
High-level power applied Yes/no Yes/no Yes/no Yes Yes Yes Yes Yes/no
Drive function enabled No No No No Yes Yes Yes No
Conguration allowed Yes Yes Yes Yes Yes Yes Yes Yes
Table 2.1 DS402 States and Supported Functions
Quick stop active state is implemented, which is optional according to the standard. When entering this state, the behavior
of the servo drive is according to the option code
Option Code (0x605A)).
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 19
Not ready to
switch on
Switch on
disabled
Ready to
switch on
Switched on
Operation
enabled
Quick stop
active
dened in object 0x605A (see chapter 7.20.6 Parameter 50-46: Quick Stop
Fault
reaction
active
Fault
Servo Drive Operation
VLT® Integrated Servo Drive ISD® 510 System
The transition from state Quick stop active to state Operation enabled (Transition 16 in Illustration 2.1) is not available, as
recommended by the standard.
22
The servo drive supports the transitions and actions as given in Table 2.2. The events initiate the transition. The transition is
terminated after the action has been performed.
High-level power applied means that UDC is applied at the input of the servo drive. Yes/No means that it is allowed but not
necessary.
Conguration allowed means that the following conguration is allowed:
Changes to the option code objects (see chapter 7.20 Option Code Objects).
•
Changes to the mode of operation object (see chapter 7.5.1 Parameter 52-00: Modes of Operation (0x6060)).
•
Transition Event Action
0 Automatic transition after power-on or reset
application.
1 Automatic transition. Communication is activated.
2 Shutdown command received from control device. –
3 Switch on command received from control device. High-level power is switched on, if possible.
4 Enable operation command received from control
device.
5 Disable operation command received from control
device.
6 Shutdown command received from control device. The congured shutdown reaction function is executed (see
7 Quick stop or disable voltage command received
from control device.
8 Shutdown command received from control device. The servo drive function is disabled and high-level power is switched
9 Disable voltage command received from control
device.
10 Disable voltage or quick stop command received
from control device.
11 Quick stop command received from control device. The quick stop function is started.
12 Automatic transition when:
Quick stop function is completed (see
•
chapter 7.20.6 Parameter 50-46: Quick Stop Option
Code (0x605A)).
Disable voltage command received from control
•
device.
13 Fault signal. The congured fault reaction function is executed (see
14 Automatic transition. The servo drive function is disabled and high-level power is switched
15 Fault reset command received from control device. If no fault exists on the servo drive, the fault condition is reset. After
16 Not supported. –
Servo drive self-test and self-initialization are performed.
The servo drive function is enabled and all internal setpoints are
cleared.
If the servo drive is rotating when the command to carry out transition
4 is received, the behavior is dened by option code
chapter 7.20.4 Parameter 50-44: Enable in Positioning Option Code
(0x2052).
The congured disable operation reaction function is executed (see
chapter 7.20.9 Parameter 50-49: Disable Operation Option Code (0x605C)).
chapter 7.20.8 Parameter 50-48: Shutdown Option Code (0x605B)).
–
o, if possible.
The servo drive function is disabled and high-level power is switched
o, if possible.
High-level power is switched o, if possible.
The congured quick stop reaction function is executed (see
chapter 7.20.6 Parameter 50-46: Quick Stop Option Code (0x605A)).
chapter 7.20.1 Parameter 50-41: Fault Reaction Option Code (0x605E)).
o, if possible.
leaving state Fault, clear the fault reset bit in the Controlword via
eldbus or the LCP.
Table 2.2 Transition Events and Actions
20 Danfoss A/S © 01/2017 All rights reserved. MG36D102
Position value =
position internal value x feed constant
position encoder resolution x gear ratio
Velocity value = x velocity factor
velocity internal value x feed constant
velocity encoder resolution x gear ratio
Velocity value = x velocity factor
position value
s
Servo Drive Operation Programming Guide
If a state transition is requested, the related actions are processed completely before transitioning to the new state. For
example, in state Operation enabled, when the disable operation command is received, the servo drive remains in state
Operation enabled until the disable operation function (see chapter 7.20.9 Parameter 50-49: Disable Operation Option Code
(0x605C)) is completed.
Drive function is disabled means that no energy is supplied to the motor. Target or setpoint values (for example, torque,
velocity, position) are not processed. Drive function is enabled means that energy is supplied to the motor. Target or setpoint
values are processed.
If a fault is detected in the servo drive, a transition to state Fault reaction active takes place. In this state, the state machine
executes a special fault reaction (see chapter 7.20.1 Parameter 50-41: Fault Reaction Option Code (0x605E)). After the execution
of this fault reaction, the servo drive automatically switches to state Fault. This state can only be left by using the fault reset
command, but only if the fault is no longer active.
2 2
If a fatal error occurs, the servo drive is no longer able to control the motor, so the servo drive must be switched
immediately. If a fatal error has occurred, the servo is trip-locked and cannot be reset via eldbus.
The behavior of drive disabling, quick stop, halt, and fault reaction functions are congurable via the objects dened in
chapter 7.20 Option Code Objects.
If a brake is present, the high-level power is switched o after a delay time in order to apply the brake.
2.3.2 Factor Group
Use the factor group to set the user-dened units required
in the application.
The user-dened units are:
Position units
•
Velocity units
•
Acceleration units
•
These units are used for all objects that support userdened units (for example, position actual value, prole
velocity, and prole acceleration).
Changing the objects in the factor group has an
immediate eect on all objects that support user-dened
units. Their numerical values stay the same, but they are
interpreted dierently (according to the new scaling factors
of the factor group). All numerical values are interpreted
using the current settings of the factor group.
Position units:
The position value is calculated as:
Position value means all objects containing values in user-
dened position units.
Position internal value is given in encoder increments.
Velocity units:
The velocity value is calculated as:
Velocity internal value is the position internal value(s),
resulting in the following formula:
o
NOTICE
If the factor group is changed, then the default values
are interpreted dierently.
The formulae in this chapter show the calculation of the
units. Objects, whose values are not dependent on the
factor group, have xed units specied with the objects.
The objects of the factor group can be found in
chapter 7.4 Factor Group Objects.
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 21
Velocity value means all objects containing values in user-
dened velocity units.
Acceleration value = x acceleration factor
velocity value
s
Internal Encoder Position
(-)
TRC_ROTOR_POS_RAW
[increments]
Physical (Absolute) Position
(-)
TRC_ROTOR_POS
[increments]
Drive Position
(0x2022)
[user-dened position unit]
TRC_POS_ACT_REAL
[revolutions]
Position Actual Value
(0x6064)
TRC_POS_ACT_ABS
[user-dened position unit]
Logical CAM Position
(0x2020)
TRC_CAM_POS
[revolutions]
Only up to date if CAM
mode is active;
otherwise, the last value
remains
Position Actual Internal
Value
(0x6063)
[increments]
Encoder oset
(set during callibration)
Position oset
(set during homing)
Factor
group
Factor group +
Position range limit
(0x6078)
CAM osets
130BF158.10
Position
Hardware
limit switch
Velocity
Quick-stop
deceleration
130BF159.10
Servo Drive Operation
VLT® Integrated Servo Drive ISD® 510 System
Acceleration units:
The acceleration value is calculated as:
2.3.4 Position Limits
2.3.4.1 Hardware Limit Switch
22
One method to limit the positions of the servo drive is to
use limit switches (left/negative or right/positive), which
are also referred to as hardware limit switches. The limit
Acceleration value means all objects containing values in
user-dened acceleration units. The acceleration unit is also
used for deceleration.
2.3.3 Positions and Osets
Inside the servo drive, there are several logical positions.
Illustration 2.2 shows the relationships between them.
switches must be congured using object 0x200F (see
chapter 7.21.3 Parameter: Dual Analog User Inputs Conguration (0x200F)). When the servo drive reaches the Left
(Right) Limit switch, it ramps down to standstill using the
value set in object 0x6085 (see chapter 7.5.9 Parameter
50-13: Quick Stop Deceleration (0x6085)). It is possible to
command the servo drive out of the limit switch in the
opposite direction. The states of the limit switches are
indicated in object 0x2006 (see chapter 7.22.12 Parameter
50-08: Motion and Input Status (0x2006)).
The servo drive remains in state Operation enabled. If a
motion command is issued that would direct the servo
drive further in the wrong direction, the command is
rejected by setting the command error bit in the
Statusword. The monitoring of the limit switch is edgetriggered because the signal does not need to remain high
for the duration of the servo drive ramp-down time.
The hardware limit switch is monitored in all modes of
operation.
Illustration 2.2 Servo Drive Logical Positions
The object index is given in round brackets. The positions
oset is the oset that is calculated during a
without index numbers are not available in the object
dictionary but are used internally in the rmware of the
servo drive. The units are given in square brackets.
The Position
homing procedure (see chapter 2.4.4 Homing Mode). For
applications where the zero position only needs to be set
once during the lifetime of the servo drive, this oset can
be saved to non-volatile memory (see
chapter 7.7.8 Parameters 51-02, 52-04, and 52-49: Application
Settings (0x2016)).
22 Danfoss A/S © 01/2017 All rights reserved. MG36D102
Illustration 2.3 Hardware Limit Switch
2.3.4.2 Software Position Limit
The valid positions of the servo drive can also be limited
using software position limits (object 0x607D: Software
position limit). This object indicates the congured
maximum and minimum software position limits and is
used to monitor the position limits in all available modes
of operation.
Supervision of software position limits requires a dened
home position (the Is homed bit in the Statusword must be
set).
The behavior of the servo drive in a position-controlled
mode of operation diers to other modes. In a positioncontrolled mode of operation, the drive does not pass over
the software position limit. The target position is limited to
Position
Software
position limit
Velocity
Quick-stop
deceleration
Prole
deceleration
130BF160.10
Position
controlled
Velocity
controlled
Target
reached
Position
Command
Error
Positive software
limit active
Done
PLC
Fieldbus
Busy
Error
Positioning
command
Time
Software
position limit
Target
position
130BF161.10
Target
reached
Position
Command
Error
Positive software
limit active
Done
PLC
Fieldbus
Busy
Error
Positioning
command
Positioning only to
Software position limit
Time
Target
position
Software
position limit
130BF162.10
Target
reached
Position
Command
Error
Positive software
limit active
Done
PLC
Fieldbus
Busy
Error
Positioning
command
Software
position limit
Target
position
Time
130BF163.10
Servo Drive Operation Programming Guide
the software position limit. In all other modes of operation,
the servo drive immediately ramps down using the Quick
stop deceleration value (see chapter 7.5.9 Parameter 50-13:
Quick Stop Deceleration (0x6085)) when the software
position limit is passed. This means that the servo drive
always stops after the Software position limit.
Illustration 2.4 Software Position Limit
Illustration 2.5 to Illustration 2.9 show the behavior of the
servo drive around the position limits.
2 2
Illustration 2.6 Position Command: Target Position is Behind
the Software Position Limit
Illustration 2.5 Normal Positioning: Target Position is in the
Valid Position Range
Illustration 2.7 Servo Drive is Outside the Valid Position Limit
and the Target Position is in a Valid Area
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 23
Target
reached
Position
Command
Error
Positive software
limit active
Done
PLC
Fieldbus
Busy
Error
Positioning
command
Target
position
Software
position limit
Time
130BF164.10
Target
reached
Position
Command
Error
Positive software
limit active
Done
PLC
Fieldbus
Busy
Error
Time
Target
position
Software
position limit
Positioning
command
130BF165.10
Motor in
unpowered
state
Brake is open
Motor in
unpowered
state
Brake is closed
Motor is
energized
Brake is open
User command:
Close brake
Energize
motor
Unpower
motor
User command:
Open brake
Energize motor
130BF166.10
Servo Drive Operation
VLT® Integrated Servo Drive ISD® 510 System
2.3.5 Brake Handling
22
automatically lifts the brake. The servo drive reports the
new state after the brake is lifted.
When the servo drive leaves state Operation enabled, it
automatically releases the brake so that the axis cannot
sag down. The servo drive reports the new state after the
brake is unreleased.
The brake state can be overwritten using the digital output
object (see chapter 7.21.4 Parameter 16-66: Digital Outputs
(0x60FE)). This is only allowed in unpowered state. The
valid commands and the reactions are shown in
Illustration 2.10.
WARNING
UNINTENDED MOTION
Releasing the brake in an unpowered state may result in
unintended motion leading to death, serious injury,
damage to equipment, or other material damage.
Do not release the brake in an unpowered state.
When the servo drive enters state Operation enabled, it
Illustration 2.8 Servo Drive is Outside the Valid Position Limit
and the Target Position is in the Wrong Direction
•
Illustration 2.10 Valid Brake Commands and Reactions
It is not possible to have an energized motor with a closed
brake. For further information about the current state, see
chapter 7.22.8 Parameter 50-09: STO Voltage and Brake Status
(0x2007).
2.3.6 Control Loops
Servo motor control takes place using 3 cascaded control
loops (position controller, speed controller, and current
controller) with trajectory generators for position and
velocity. The control loops run synchronously with the
eldbus cycles. The cycle times shown in Table 2.3 are
possible with Ethernet POWERLINK® and EtherCAT®:
Fieldbus cycle
[µs]
Illustration 2.9 Servo Drive is Outside the Valid Position Limit.
The Target Position is Still Not in a Valid Area, but is Nearer to
it than the Previous Position
24 Danfoss A/S © 01/2017 All rights reserved. MG36D102
400 200 200 100
500 250 250 125
800 200 200 100
Position control
cycle
[µs]
Speed control
cycle
[µs]
Current control
cycle
[µs]
Limit
function
Limit
function
Torque
control
Velocity
control
Position
control
Selector
Application torque limit (0x2053)
Max torque (0x6072)
Max motor speed (0x6080)
Feed forward torque
Feed forward velocity
Position demand
Internal value (0x60FC)
Controlword (0x6040)
Position controller parameters (0x2013)
Speed controller parameters (0x2012)
Position controller parameters 2 (0x2015)
Speed controller parameters 2 (0x2014)
+
+
+
+
– – –
+
P D
P D
Notch
Inertia
M
S
130BF167.10
I
Servo Drive Operation Programming Guide
Fieldbus cycle
[µs]
1000 250 250 125
Table 2.3 Ethernet POWERLINK® and EtherCAT® Cycle Times
Position control
cycle
[µs]
Speed control
cycle
[µs]
Current control
cycle
[µs]
Linear blending occurs from the parameter of the currently
active set to the new one. The blending time is dened in
object 0x201B (see chapter 7.6.2 Parameter 51-01: Control
Parameter Blending Time (0x201B)).
No blending takes place when writing to a value of the
currently active control parameter set. The new value is
The used cycle times can be read using object 0x201D (see
used immediately, which could cause a jerk on the shaft.
chapter 7.6.1 Parameter 51-07 to 51-09: Used Task Cycle
Times (0x201D)). The values are given in microseconds.
Blending is used when updating a whole set of parameters
at the same time (for example, when activating CAM mode,
There are 2 control parameter sets in the servo drive,
which uses its own sets of control parameters).
however only 1 of them can be active at any time. Use bit
15 (cs) in the Controlword to switch from 1 set to the other.
2.3.6.1 Position Controller
The controller uses PD control. The D constant is the derivative time constant. The controller provides 2 sets of control
parameters that can be switched during operation (see chapter 7.7.8 Parameters 51-02, 52-04, and 52-49: Application Settings
(0x2016) and chapter 7.6.4.2 Parameters 51-26 and 51-27: Position Controller Parameters 2 (0x2015)).
Both sets are available as read-write objects in the object dictionary. Use a manufacturer-specic bit in the Controlword to
switch between the 2 sets of parameters.
2 2
Illustration 2.11 Position Control Loop
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 25
Limit
function
Limit
function
Torque
control
Velocity
control
Selector
Application torque limit (0x2053)
Max torque (0x6072)
Max motor speed (0x6080)
Feed forward torque
Feed forward velocity
Controlword (0x6040)
Position controller parameters (0x2013)
Speed controller parameters (0x2012)
Position controller parameters 2 (0x2015)
Speed controller parameters 2 (0x2014)
+ +
+
– –
P D
Notch
Inertia
M
S
130BF168.10
I
Servo Drive Operation
2.3.6.2 Speed Controller
VLT® Integrated Servo Drive ISD® 510 System
22
that can be parameterized (center frequency/bandwidth) to suppress resonance. The controller provides 2 sets of control
parameters (see chapter 7.6.5.1 Parameters 51-10 to 51-15: Speed Controller Parameters (0x2012) and chapter 7.6.5.2 Parameters
51-20 to 51-25: Speed Controller Parameters 2 (0x2014)) that can be switched spontaneously.
Both sets are available as read-write objects in the object dictionary. Use a manufacturer-specic bit in the Controlword to
switch between the 2 sets of parameters.
The controller uses PID control. The D constant is the derivative time constant. The speed controller has a Notch-Filter (IIR)
Illustration 2.12 Speed Control Loop
2.3.6.3 Current Controller
The current controller runs synchronous to the eldbus cycle time. It cannot be parameterized.
Operating Modes
2.4
The servo drive implements several modes of operation. The behavior of the servo drive depends on the activated mode of
operation. It is possible to switch between the modes while the servo drive is enabled. The supported modes of operation
are according to CANopen® CiA DS402 and there are also ISD-specic modes of operation. All supported modes of
operation are available for EtherCAT® and Ethernet POWERLINK®.
2.4.1 Prole Position Mode
In Prole position mode, the servo drive is operated under position control and executes absolute and relative movements.
Parameters such as velocity, acceleration, and deceleration can be parameterized. The servo drive provides a buer to queue
a following move while another move is already executing.
This functionality can be commanded using the function blocks MC_MoveAbsolute_ISD51x (see chapter 6.5.5.4 MC_MoveAb-
solute_ISD51x) and MC_MoveRelative_ISD51x (see chapter 6.5.5.5 MC_MoveRelative_ISD51x). This functionality can also be
used via the LCP (see section Position mode in chapter 4.3.5.1 Servo Drive).
When switching to Prole position mode from Prole velocity mode, CAM mode, Gear mode, or Prole torque mode, the servo
drive continues rotating with the current velocity. As soon as there is a new setpoint (handed over using the handshaking
between Controlword and Statusword), the new setpoint is processed with the corresponding parameters.
26 Danfoss A/S © 01/2017 All rights reserved. MG36D102
Tragectory
generator
Minimum
comparator
Minimum
comparator
Limit
function
Limit
function
Limit
function
Multiplier
Multiplier
Target position (0x607A)
Position range limit (0x607B)
Software position limit (0x607D)
Drive mirror mode (0x2016, 02)
Drive mirror mode (0x2016, 02)
End velocity (0x6082)
Max motor speed (0x6080)
Quick-stop deceleration (0x6085)
Max acceleration (0x60C5)
Quick-stop option code (0x605A)
Positioning option code (0x60F2)
Max torque (0x6072)
Application torque limit (0x2053)
Torque limit
Position demand
internal value
(0x60FC)
Feed forward
velocity
Feed forward
torque
Max deceleration (0x60C6)
quick-stop deceleration
Target position
Velocity limit
or End velocity
130BF169.10
Servo Drive Operation Programming Guide
When switching from a torque or velocity controlled mode to Prole position mode, the last target position is set to the
position actual value. This is relevant when starting a relative movement from the last target position after switching to this
mode, because no last target position from the previous mode is available. If the previous mode ended with a velocity
unequal to 0, the last target position is the position actual value at the time of the mode switch.
If the trajectory is completed (target position is reached) and the end velocity (see chapter 7.10.2 Parameter 52-16: End
Velocity (0x6082)) is unequal to 0, the servo drive continues rotating at the specied end velocity until a further trajectory is
set.
2 2
Illustration 2.13 Prole Position Mode Control Function
Target position activation
The activation of a setpoint is controlled by the timing of:
The new setpoint bit and the change set immediately bit in the Controlword.
•
The setpoint acknowledge bit in the Statusword.
•
If the Change set immediately bit of the Controlword is set to 1, a potentially ongoing motion is interrupted and the new
setpoint is used immediately. If the Change set immediately bit of the Controlword is set to 0, the ongoing positioning
command is nished rst and the new setpoint is executed afterwards.
After a setpoint is applied to the servo drive, the control device signals that the setpoint is valid by a rising edge of the new
setpoint bit in the Controlword. The servo drive sets the setpoint acknowledge bit in the Statusword to 1. Afterwards, the
servo drive with the setpoint acknowledge bit set to 0 signals its ability to accept new setpoints. An example is shown in
Illustration 2.14.
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 27
Actual
speed
New
setpoint
(bit 4)
Target
position
(setpoint)
Setpoint
acknowledge
(bit 12)
Target
reached
(bit 10)
t
t
t
t
t
130BF170.10
A A B B B E
B
B C
C
C D
New
setpoint
(bit 4)
Change set
immediately
(bit 5)
Setpoint
ac
knowledge
(bit 12)
Target
reached
(bit 10)
Setpoint
setpoint
Processed
setpoint
1 2 3 4 5
t
t
t
t
130BF171.10
A
E
Servo Drive Operation
VLT® Integrated Servo Drive ISD® 510 System
22
Illustration 2.14 Handshaking Procedure for Setpoint
Activation
The servo drive supports 2 setpoints: a setpoint that is currently being processed, and a buered setpoint. If a setpoint is
still in progress (has not been reached) and a new setpoint is activated by the new setpoint bit in the Controlword, 2
methods of handling are supported. The new setpoint is activated immediately if the Change set immediately bit of the
Controlword is set to 1. If the Change set immediately bit of Controlword is set to 0, the currently active setpoint is nished
rst and the new setpoint is started afterwards.
Illustration 2.15 Setpoint Handling for 2 Setpoints
New setpoints are buered as long as a free setpoint buer is available in the axis. If no setpoint is in progress, the new
setpoint becomes active immediately (case 1 in Illustration 2.15). If a setpoint is in progress, the new setpoint is stored in the
setpoint buer (cases 2 and 3 in Illustration 2.15).
If all setpoint buers are busy (Setpoint acknowledge bit is set to 1), the reaction depends on the Change set immediately bit.
If the Change set immediately bit is set to 0, the new setpoint is rejected (case 4 in Illustration 2.15). If the Change set
immediately bit is set to 1, the new setpoint is processed immediately. The currently running setpoint prole is discarded
(case 5 in Illustration 2.15).
28 Danfoss A/S © 01/2017 All rights reserved. MG36D102
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