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MSD 510
Operating guide [de]
212 pgs13.42 Mb0
Fact sheet
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Operating guide [zh]
200 pgs13.45 Mb0
Operating guide
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Operating guide [it]
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Danfoss MSD 510 Operating guide

Operating Guide
VLT® Multiaxis Servo Drive MSD 510 System
ContentsOperating Guide | VLT® Multiaxis Servo Drive MSD 510 System

Contents

1 Introduction 14
1.1 Purpose of the Operating Guide 14
1.2 Additional Resources 14
1.3 Copyright 14
1.4 Approvals and Certifications 15
1.5 Areas of Application 16
1.6 Software 16
1.7 Terminology 17
2 Safety 18
2.1 Safety Symbols 18
2.2 Safety Instructions and Precautions 18
2.3 Important Safety Warnings 19
2.4 Qualified Personnel 21
2.5 Due Diligence 21
2.6 Intended Use 21
2.7 Forseeable Misuse 22
2.8 Service and Support 22
3 System Description 23
3.1 Overview of the VLT® Multiaxis Servo Drive System MSD 510 23
3.1.1 Application Examples 24
3.1.2 Maximum Number of Modules 25
3.2 Power Supply Module PSM 510 25
3.2.1 Overview 25
3.2.3 Connectors on the Bottom of PSM 510 27
3.3 Servo Drive Module SDM 511/SDM 512 27
3.3.3.1 Cooling 29
3.3.4.1 Connectors on the Top of SDM 511 30
3.3.4.2 Connectors on the Bottom of SDM 511 30
3.3.5.1 Connectors on the Top of SDM 512 31
3.3.5.2 Connectors on the Bottom of SDM 512 32
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ContentsOperating Guide | VLT® Multiaxis Servo Drive MSD 510 System
3.4 Decentral Access Module DAM 510 32
3.5 Auxiliary Capacitors Module ACM 510 34
3.5.1 Overview 34
3.6 Expansion Module EXM 510 36
3.7 Local Control Panel (LCP) 37
3.7.2 Layout of the Local Control Panel 37
3.7.2.1 A: Display Area 37
3.7.2.2 B: Display menu keys 40
3.7.2.3 C: Navigation keys and indicator lights (LEDs) 41
3.7.2.4 D: Operation keys and reset 41
3.8 Cables 42
3.9 Cable Layout and Routing 43
3.9.3 Standard Cabling Concept for 2 Decentral Access Modules (DAM 510) 44
3.10 Software 44
3.11 Fieldbus 45
3.11.1 EtherCAT® 45
3.11.2 Ethernet POWERLINK® 47
4 Mechanical Installation 48
4.1 Items Supplied 48
4.2 Transport 48
4.3 Inspection on Receipt 48
4.4 Safety Measures during Installation 48
4.5 Installation Environment 49
4.6 Preparation for Installation 49
4.6.2 Drilling Templates 50
4.7 Installation Procedure 50
4.7.1 Space Requirements for System Modules 50
4.7.2 Installation Aids and Tools Required 52
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4.7.3 Fitting Instructions for System Modules 52
5 Electrical Installation 57
5.1 Warnings for Electrical Installation 57
5.2 Electrical Environmental Conditions 57
5.3 Grounding 58
5.3.1 Grounding for Electrical Safety 58
5.3.2 Grounding for EMC-Compliant Installation 60
5.4 Mains Supply Requirements 61
5.4.1 Fuses 61
5.4.2 Circuit Breakers 62
5.5 Auxiliary Supply Requirements 62
5.6 Safety Supply Requirements 62
5.7 UL Requirements 63
5.8 Connecting the Servo Drive Module SDM 511/SDM 512 64
5.8.2 Connecting the Brake/Thermistor Cable 66
5.8.3 Connecting the Cables on the Top of the Servo Drive Modules SDM 511/SDM 512 67
5.9 Connecting the Power Supply Module PSM 510 68
5.9.1.1 Connecting 1 PSM 510 to the AC Choke 68
5.9.1.2 Connecting 2 PSM 510 Modules to the AC Choke 69
5.9.1.3 Connecting 2 PSM 510 Modules to the AC Choke with System Splitting 70
5.9.2.1 Connecting the Cables on the Top of the Power Supply Module PSM 510 71
5.9.2.2 Connecting the Cables on the Bottom of the Power Supply Module PSM 510 72
5.10 Connecting the Decentral Access Module (DAM 510) 73
5.11 Connecting the Auxiliary Capacitors Module ACM 510 75
5.12 Connecting the Expansion Module EXM 510 76
5.13 Connecting the Brake Resistor on the PSM 510 77
6 Commissioning 80
6.1 Warnings for Commissioning 80
6.2 Pre-Commissioning Checklist 80
6.3 SDM 511/SDM 512 Configuration Parameter and Drive Commissioning 80
6.3.2 Drive Commissioning Subtool 81
6.4 EtherCAT® ID Assignment 82
6.5 Ethernet POWERLINK® ID Assignment 82
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6.5.2.1 Setting the Node ID Directly on a Servo Drive or on the System Modules 82
6.5.2.2 Setting the Node ID for a Single Servo Drive via the Power Supply Module (PSM 510) or Decentral Access Module (DAM 510) via the LCP 82
6.5.3.1 Setting the Node IDs of all Servo Drives and System Modules on a Decentral Access Module (DAM 510)/ Power Supply Module (PSM 510) Line 84
6.6 PROFINET® ID Assignment 84
6.7 Power-Up Time 85
6.8 System Module Charging Time 85
6.9 Switching on the MSD 510 System 86
6.10 Libraries 86
6.11 Programming with Automation Studio™ 87
6.11.3 Including the Servo Motion Libraries into an Automation Studio™ Project 88
6.11.5 Instantiating AXIS_REF_DDS in Automation Studio™ 90
6.11.7 Instantiating DAM_REF in Automation Studio™ 91
6.11.8 Instantiating ACM_REF in Automation Studio™ 91
6.11.9.1 Version V3.0.90 92
6.11.9.2 Version V4.x 93
6.11.10.1 Version V3.0.90 94
6.11.10.2 Version V4.x 95
6.11.11 I/O Configuration and I/O Mapping 96
6.11.12 Setting the PLC Cycle Time 98
6.11.13 Connecting to the PLC 99
6.12 Programming with TwinCAT® 99
6.12.1 Requirements for Programming with TwinCAT® 99
6.12.3 Including the TwinCAT® Library into a TwinCAT® Project 100
6.12.4 Constants within the DDS_Drive Library 101
6.12.5 Instantiating AXIS_REF_DDS in TwinCAT® 103
6.12.6 Instantiating PSM_REF in TwinCAT® 103
6.12.7 Instantiating DAM_REF in TwinCAT® 103
6.12.8 Instantiating ACM_REF in TwinCAT® 104
6.12.9 Adding a PLC Project to TwinCAT® System Manager 104
6.12.10 Importing Devices to TwinCAT® 104
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6.12.11 I/O Configuration and I/O Mapping 108
6.12.12 Attaching the Input and Output Variables to the Physical Data Points 108
6.12.13 Transferring the Mappings back to the PLC Program 110
6.12.14 Setting the PLC Cycle Time in TwinCAT® PLC Control 110
6.12.15 Configuration as a TwinCAT® NC Axis 111
6.12.15.1 I/O Configuration for Servo Drives used as NC Axes 111
6.12.16 Connecting to the PLC 112
6.13 Programming Guidelines for Automation Studio™ and TwinCAT® 112
6.14 Programming with SIMOTION SCOUT® 113
6.14.1 Requirements for Programming with SIMOTION SCOUT® 113
6.14.2 Connecting to the PLC 113
6.14.4 Including the Servo Motion Libraries into a SIMOTION SCOUT® Project 114
6.14.6 Assigning IP Configuration and Device Name 118
6.14.7 Creating a Sync Domain 121
6.14.8 Configuring a Topology 124
6.14.9 Defining Send Clock and Update Time 126
6.14.9.1 Configuring the Send Clock Time 126
6.14.9.2 Configuring the Update Time 127
6.14.10 Accessing Inputs and Outputs 127
6.14.11 Programming using the Danfoss VLT® Servo Motion Library 128
6.14.12 Instantiating AXIS_REF_DDS in SIMOTION SCOUT® 129
6.14.13 Instantiating PSM_REF in SIMOTION SCOUT® 129
6.14.14 Instantiating DAM_REF in SIMOTION SCOUT® 130
6.14.15 Instantiating ACM_REF in SIMOTION SCOUT® 130
6.14.16 Global Compiler Settings 131
6.14.17 Assigning Tasks 131
6.15 Programming Guidelines for SIMOTION SCOUT® 133
6.16 VLT® Servo Toolbox Software 134
6.16.2 System Requirements 134
6.16.3 Installing the VLT® Servo Toolbox Software 134
6.16.4 VLT® Servo Toolbox Communication 135
6.16.4.1 Overview 135
6.16.4.2 Firewall 135
6.16.4.3 Indirect Communication 135
6.16.4.4 Direct Communication 139
6.17 VLT® Servo Toolbox Commissioning 142
6.17.1 Step 1: Opening the Main Window 142
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6.18 Motion Library 145
6.18.1 Function Blocks 145
6.18.2 Simple Programming Template 146
7 Operation 147
7.1 Operating Modes 147
7.1.1 Supported Operating Modes 147
7.1.2 Motion Functions 148
7.2 Operating Status Indicators 148
7.2.1 Operating LEDs on SDM 511 and SDM 512 148
7.2.2 Operating LEDs on the PSM 510 149
7.2.3 Operating LEDs on the DAM 510 150
8 Functional Safety Concept 153
8.1 Functional Description 153
8.2 Safety Precautions 153
8.3 Qualified Personnel for Working with Functional Safety 154
8.4 Applied Standards and Compliance 154
8.5 Abbreviations and Conventions 155
8.6 Installation 156
8.7 Application Example 156
8.8 Commissioning Test 157
8.8.1 Commissioning Test using Libraries 157
8.9 Operation of the STO Function 160
8.9.2 Fault Reset 161
8.10 Functional Safety Characteristic Data 161
8.11 Maintenance, Security, and User Accessibility 161
9 Diagnostics 163
9.1 Faults 163
9.2 Troubleshooting 163
9.2.1 Troubleshooting for the Servo Drive Modules SDM 511/SDM 512 163
9.2.1.1 Drive not Running/Starting Slowly 163
9.2.1.2 Drive Hums and Draws High Current 164
9.2.1.3 Drive Stops Suddenly and Restart is not Possible 164
9.2.1.4 Motor Rotating in Wrong Direction 164
9.2.1.5 Motor not Generating Expected Torque 164
9.2.1.6 Drive Screaming 164
9.2.1.7 Uneven Running 165
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9.2.1.8 Vibration 165
9.2.1.9 Unusual Running Noises 165
9.2.1.10 Drive Speed Drops Sharply under Load 165
9.2.1.11 Brake not Releasing 165
9.2.1.12 Holding Brake not Holding the Servo Drive 166
9.2.1.13 Delayed Brake Engagement 166
9.2.1.14 Noises when Power-Off Brake is Engaged 166
9.2.1.15 LEDs not Lighting Up 166
9.2.1.16 Drive Protection Trips Immediately 166
9.2.2 Troubleshooting for the Servo System 167
9.2.2.1 LCP Display is Dark/Not Functioning 167
9.2.2.2 Open Power Fuses or Circuit Breaker Trip 167
9.2.2.3 DC-link Voltage Too High (Error 0x3210/0x103) 168
9.2.2.4 DC-link Voltage Too Low (Error 0x3220/0x104) 168
9.2.2.5 DC-link Overcurrent (Error 0x2396/0x15C) 168
9.2.2.6 DC link Overpower (Error 0x2313/0x161) 169
9.2.2.7 PT Power Overload (Error 0x2314/0x162) 169
9.2.2.8 UAUX Overcurrent (Error 0x2391/0x125) 169
9.2.2.9 UAUX Overvoltage (Error 0x3292/0x133) 169
9.2.2.10 UAUX Undervoltage (Error 0x3294/0x135) 170
9.2.2.11 Mains Phase Loss (Error 0x3130/0x12F) 170
9.2.2.12 Grounding Fault 170
9.2.2.13 Brake Resistor Error 170
9.2.2.14 Brake Chopper Error 171
9.2.2.15 Internal Fan Error 171
9.3 Error Codes 171
9.3.1 No error (0x0000 / 0x0) 171
9.3.2 Generic err (0x1000 / 0x100) 172
9.3.3 Overcurrent on output (0x2310 / 0x101) 172
9.3.4 High current overload (0x2311 / 0x15F) 172
9.3.5 I2T current overload (0x2312 / 0x160) 172
9.3.6 High power overload (0x2313 / 0x161) 172
9.3.7 PT power overload (0x2314 / 0x162) 173
9.3.8 Short circuit (0x2320 / 0x163) 173
9.3.9 Earth leakage (0x2330 / 0x151) 173
9.3.10 AUX overcurrent (0x2391 / 0x125) 173
9.3.11 AUX user limit current (0x2393 / 0x127) 174
9.3.12 AUX user limit current warning (0x2394 / 0x128) 174
9.3.13 AUX fuse failure (0x2395 / 0x129) 174
9.3.14 DC overcurrent trip (0x2396 / 0x15C) 174
9.3.16 I2T overload motor (0x239B / 0x102) 175
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9.3.17 Mains phase loss (0x3130 / 0x12F) 175
9.3.18 DC link overvoltage (0x3210 / 0x103) 175
9.3.19 Overcurrent trip SW (0x3210 / 0x103) 175
9.3.20 DC link undervoltage (0x3220 / 0x104) 176
9.3.21 UDC charging error (0x3230 / 0x152) 176
9.3.29 UAUX charging error (0x3297 / 0x154) 178
9.3.31 UAUX shutdown error (0x3299 / 0x155) 178
9.3.32 UAUX undervoltage hardware (0x329A / 0x156) 179
9.3.36 Overtemperature: Power module (0x4290 / 0x105) 180
9.3.37 Overtemperature: Control card (0x4291 / 0x106) 180
9.3.38 Overtemperature: Power card (0x4292 / 0x107) 180
9.3.39 Inrush overtemperature: DC link (0x4293 / 013C) 180
9.3.43 Charge switch failure voltage (0x5121 /0x158) 181
9.3.44 EE Checksum Error (parameter missing) (0x5530 / 0x10A) 182
9.3.45 Parameter error (0x6320 / 0x10B) 182
9.3.46 Conf par ver (0x6382 / 0x15D) 182
9.3.47 Configuration parameters limits error (0x6383 / 0x164) 182
9.3.48 Power EEprom configuration error (0x6384 / 0x166) 183
9.3.49 Brake chopper failure (0x7111 / 0x141) 183
9.3.50 Brake chopper overcurrent (0x7112 / 0x167) 183
9.3.51 Brake resistor maximum power limit (0x7181 / 0x142) 183
9.3.52 Brake resistor user power limit (0x7182 / 0x143) 184
9.3.53 Brake mains voltage too high (0x7183 / 0x159) 184
9.3.54 Internal position sensor error (0x7320 / 0x10C) 184
9.3.55 External position sensor error (0x7380 / 0x10D) 185
9.3.56 Following error (0x8611 / 0x10E) 185
9.3.57 Homing error on entering homing mode (0x8693 / 0x10F) 185
9.3.58 Homing error on start homing method (0x8694 / 0x110) 185
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9.3.59 Homing error distance (0x8695 / 0x111) 185
9.3.60 Mechanical brake failure (0xFF01 / 0x112) 186
9.3.61 Short circuit in mechanical brake control (0xFF02 / 0x113) 186
9.3.62 External interface power failure (0xFF0A / 0x114) 186
9.3.63 Communication interrupted (0xFF10 / 0x14F) 186
9.3.65 Fan lifetime critical (0xFF22 / 0x15A) 187
9.3.71 Timing violation 6 (0xFF65 / 0x11A) 188
9.3.75 Firmware: Package description mismatch (0xFF70 / 0x11B) 189
9.3.76 Firmware: Power cycle needed (0xFF71 / 0x11C) 189
9.3.77 Firmware: Update started (0xFF72 / 0x11D) 190
9.3.78 Firmware: Update invalid (0xFF73 / 0x15B) 190
9.3.80 STO mismatch (0xFF81 / 0x11F) 190
9.3.82 Guide value reversed (0xFF90 / 0x121) 191
9.3.83 Guide value implausible (0xFF91 / 0x122) 191
9.3.84 Sign of life error (0xFF95 / 0x14E) 191
10 Maintenance, Decommissioning, and Disposal 192
10.1 Warnings 192
10.2 Maintenance Tasks 192
10.3 Inspection during Operation 192
10.4 Repair 193
10.5 System Component Replacement 194
10.5.1 Dismounting the System Components 194
10.6 Cable Replacement 196
10.6.2.1 Disconnecting the Feed-In Cable 197
10.6.2.2 Replacing the Feed-In Cable 197
10.6.2.3 Connecting the Feed-In Cable 197
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10.6.3 Loop Cable Replacement 198
10.6.3.1 Disconnecting the Loop Cable 198
10.6.3.2 Replacing the Loop Cable 198
10.6.3.3 Connecting the Loop Cable 198
10.7 Fuse Replacement in Decentral Access Module (DAM 510) 198
10.8 Fan Replacement 200
10.9 Product Returns 201
10.10 Recycling 201
10.11 Disposal 201
11 Specifications 202
11.1 Nameplates 202
11.1.1 Example Nameplate on the Front of the System Modules 202
11.1.2 Example Nameplate on the Side of the System Modules 202
11.2 Power Supply Module (PSM 510) 204
11.2.1 Dimensions of PSM 510 204
11.2.2 Characteristic Data for PSM 510 204
11.3 Servo Drive Module (SDM 511/SDM 512) 205
11.3.1 Motor Overload Protection 205
11.3.4 Characteristic Data SDM 511 207
11.3.5 Characteristic Data SDM 512 208
11.4 Decentral Access Module (DAM 510) 210
11.4.1 Dimensions of DAM 510 210
11.4.2 Characteristic Data for DAM 510 210
11.4.3 Hybrid Cable Protection 211
11.5 Auxiliary Capacitors Module (ACM 510) 212
11.5.1 Dimensions 212
11.5.2 Characteristic Data for ACM 510 212
11.6 Expansion Module (EXM 510) 213
11.6.1 Dimensions 213
11.6.2 Characteristic Data for EXM 510 213
11.7 Connectors on the System Modules 213
11.7.1 Backlink Connector 213
11.7.2 Brake Connectors 215
11.7.2.1 Brake Resistor Connector on PSM 510 215
11.7.2.2 Brake and Motor Temperature Sensor Connector on SDM 511/SDM 512 215
11.7.3 Ethernet Connectors 217
11.7.3.1 Ethernet Connectors on PSM 510 and ACM 510 218
11.7.3.2 Ethernet Connectors on DAM 510 218
11.7.3.3 Ethernet Connectors on SDM 511/SDM 512 219
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11.7.4 I/O Connectors 219
11.7.4.1 I/O Connector on PSM 510/ACM 510 219
11.7.4.2 I/O Connector on SDM 511/SDM 512 220
11.7.5 UAUX Connector 221
11.7.5.1 24/48 V Cable Cross Sections for PSM 510 222
11.7.6 LCP Connector (M8, 6-pole) 222
11.7.7 AC Mains Connector 223
11.7.7.1 Mains Cable Cross-Sections for PSM 510 224
11.7.8.1 Motor Cable Cross-Sections for SDM 511 225
11.7.8.2 Motor Cable Cross-Sections for SDM 512 225
11.7.9 Relay Connector 225
11.7.9.1 Relay Connector on PSM 510/ACM 510 226
11.7.9.2 Relay Connectors on SDM 511/SDM 512 226
11.7.10.1 STO Connectors on SDM 511 and SDM 512 227
11.7.10.2 STO Connectors on PSM 510 228
11.7.10.3 STO Connectors on the DAM 510 230
11.7.14 External Encoder Connectors 235
11.7.15 Expansion Module Connector 236
11.8 General Specifications and Environmental Conditions for MSD 510 System 237
11.9 Storage 238
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Operating Guide | VLT® Multiaxis Servo Drive MSD 510 System

Introduction

1 Introduction
1.1 Purpose of the Operating Guide
The purpose of this operating guide is to describe the VLT® Multiaxis Servo Drive MSD 510 System.
This operating guide contains information about:
• Installation
• Commissioning
• Programming
• Operation
• Troubleshooting
• Service and Maintenance
This operating guide is intended for use by qualified personnel. Read the operating guide in full to use the servo system safely and professionally, and pay particular attention to the safety instructions and general warnings.
This operating guide is an integral part of the servo system and also contains important service information. Therefore always keep this operating guide available with the servo system.
Compliance with the information in the manual is a prerequisite for:
• Trouble-free operation
• Recognition of product liability claims
Therefore, read this operating guide before working with the MSD 510 system.
1.2 Additional Resources
Table 1: Additional Resources
Manual Description
VLT® Multiaxis Servo Drive MSD 510 System Operat­ing Instructions
VLT® Servo Drive System ISD 510, DSD 510, MSD 510 Design Guide
VLT® Servo Drive System ISD 510, DSD 510, MSD 510 Programming Guide
Information about the installation, commissioning, and operation of the MSD 510 servo system.
Information about the setup of the MSD 510 servo system and detailed technical data.
Information about the programming of the MSD 510 servo system.
1.3 Copyright
VLT® is a Danfoss registered trademark.
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1.4 Approvals and Certifications
Table 2: Approvals and Certifications
Certification Description
IEC/EN 61800-3 Adjustable speed electrical power drive systems.
Part 3: EMC requirements and specific test methods.
IEC/EN 61800-5-1 Adjustable speed electrical power drive systems.
Part 5-1: Safety requirements - Electrical, thermal, and energy.
IEC/EN 61800-5-2 Adjustable speed electrical power drive systems.
Part 5-2: Safety requirements - Functional.
IEC/EN 61508-1 Functional safety of electrical/electronic/programmable electronic safety-related systems.
Part 1: General requirements.
IEC/EN 61508-2 Functional safety of electrical/electronic/programmable electronic safety-related systems.
Part 2: Requirements for electrical/electronic/programmable electronic safety-related systems.
Introduction
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 electron-
ic control systems.
IEC/EN 61326-3-1 Electrical equipment for measurement, control, and laboratory use - EMC requirements.
Part 3-1: Immunity requirements for safety-related systems and for equipment intended to perform safety­related functions (functional safety) - General industrial applications.
IEC/EN 60529 Degrees of protection provided by enclosures (IP Code).
UL 508C UL Standard for Safety for Power Conversion Equipment.
(Only applies to ISD 510 servo drive sizes 1 and 2.)
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Certification Description
UL 61800-5-1 Adjustable speed electrical power drive systems.
Part 5-1: Safety requirements - Electrical, thermal, and energy.
ISD 510 servo drive sizes 3 and 4:
MSD 510:
CE
2014/30/EU Electromagnetic Compatibility (EMC) Directive.
Introduction
2014/35/EU Low Voltage Directive (LVD).
(2011/65/EU) amen-
Restriction of Hazardous Substances (RoHS).
ded (EU) 2015/863
2006/42/EC Machinery Directive (MD).
EtherCAT
®
Ethernet POWERLINK
PROFINET RT/IRT
PLCopen
®
®
Ethernet for Control Automation Technology. Ethernet-based fieldbus system.
®
Ethernet-based fieldbus system.
Ethernet-based fieldbus system.
Technical specification. Function blocks for motion control (formerly Part 1 and Part 2) Version 2.0 March 17, 2011.
1.5 Areas of Application
Potential areas of application are:
• Food and beverage machines
• Packaging machines
• Pharmaceutical machines
• Applications running with a group of servo drives
1.6 Software
Updates to the firmware, VLT® Servo Toolbox software, and PLC libraries may be available. When updates are available, they can be downloaded from the danfoss.com website.
The VLT® Servo Toolbox software or the PLC libraries can be used to install the firmware on the servo drives or on the system modules.
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Introduction
1.7 Terminology
Table 3: Terminology
Term Description
ACM 510 Auxiliary Capacitors Module
DAM 510 Decentral Access Module that connects the Danfoss decentral servo drives (ISD 510 and DSD 510) to
the servo system via a hybrid cable.
DSD 510 Decentral Servo Drive
DSD 510 system compo-
Includes DSD 510 servo drives, PSM 510, DAM 510, and the optional ACM 510.
nents
EXM 510 Extension module
Feed-in cable Hybrid cable for connection from the DAM 510 to the 1st servo drive.
ISD 510 Integrated Servo Drive
ISD 510 system components Includes ISD 510 servo drives, PSM 510, DAM 510, and the optional ACM 510.
LCP Local Control Panel
Loop cable Hybrid cable for connecting servo drives in daisy-chain format.
MSD 510 Multiaxis Servo Drive
MSD 510 system compo-
Includes SDM 511/SDM 512, PSM 510, DAM 510, and the optional ACM 510.
nents
PLC Programmable Logic Controller (external device for controlling the servo system).
PSM 510 Power Supply Module that generates a 565–680 V DC supply.
SDM 511 Servo Drive Module (single axis)
SDM 512 Servo Drive Module (double axis)
System modules Includes PSM 510, DAM 510, and the optional ACM 510.
VIN PSM Input of PSM 510 (V AC).
V
PSM Output of PSM 510 (V DC).
OUT
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2 Safety
2.1 Safety Symbols
The following symbols are used in this guide:
WARNING
Indicates a potentially hazardous situation that could result in death or serious injury.
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

Safety

Indicates important information, including situations that can result in damage to equipment or property.
2.2 Safety Instructions and Precautions
Compliance with the safety instructions and precautions is necessary at all times.
• Orderly and proper transport, storage, fitting, and installation, as well as careful operation and maintenance, are essential for the trouble-free and safe operation of the servo system and its components.
• Only suitably trained and qualified personnel may work on the MSD 510 system and its components or in its vicinity.
• Only use accessories and spare parts approved by Danfoss.
• Comply with the specified ambient conditions.
• The information in this manual about the use of available components is provided solely by way of examples of applications and suggestions.
• The plant engineer or system engineer is personally responsible for checking the suitability of the supplied components and the information provided in this manual for the specific application concerned:
- For compliance with the safety regulations and standards relevant to the specific application.
- For implementing the necessary measures, changes, and extensions.
• Commissioning the servo system or its components is not allowed until it has been ascertained that the machine, system, or plant in which they are installed conforms to the statutory provisions, safety regulations, and standards that apply to the application in the country of use.
• Operation is only allowed in compliance with the national EMC regulations for the application concerned.
• Compliance with the limit values specified by national regulations is the responsibility of the producer of the plant, system, or machine.
• Compliance with the specifications, connection conditions, and installation conditions in this manual is mandatory.
• The safety regulations and safety provisions of the country in which the equipment is used must be observed.
• To protect the user against electrical shock and to protect the servo system against overload, protective grounding is obligatory and must be performed in accordance with local and national regulations.
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Safety
2.2.1 Operational Safety
Operational safety
• Safety-related applications are only allowed if they are explicitly and unambiguously mentioned in this manual.
• All applications that can cause hazards to people or damage to property are safety-related applications.
• The stop functions implemented in the software of the PLC do not interrupt the mains supply to the Power Supply Module (PSM 510). Therefore, they must not be used for electrical safety for the servo system.
• The servo system can be brought to a stop by a software command or a zero speed setpoint, however DC voltage remains present on the servo drives and/or mains voltage in the PSM 510. Also, when the system is stopped, it may start up again on its own if the circuitry is defective or after the elimination of a temporary overload, a problem with the supply voltage, or a problem with the system. If personal safety considerations (for example, risk of personal injury caused by contact with moving machine parts after an unintended start) make it necessary to ensure that an unintended start cannot occur, these stop functions are not sufficient. In this case, ensure that the servo system is detached from the mains network, and prevent unintended motor starting, for example by using the Safe Torque Off function.
• The servo system may start running unintentionally during parameter configuration or programming. If this poses a risk to personal safety (for example, risk of personal injury due to contact with moving machine parts), prevent unintended motor starting, for example by using the Safe Torque Off function, or by safe disconnection of the servo drives.
• In addition to the L1, L2, and L3 supply voltage inputs on the PSM 510, the servo system has other supply voltage inputs, including external auxiliary voltage. Before commencing repair work, check that all supply voltage inputs have been switched off and that the necessary discharge time for the DC-link capacitors has elapsed.
2.3 Important Safety Warnings
The following safety instructions and precautions relate to the VLT® Multiaxis Servo Drive MSD 510 system. Read the safety instructions carefully before starting to work in any way with the 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 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.
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WARNING
HIGH VOLTAGE
The MSD 510 system contains components that operate at high voltage when connected to the electrical supply network. There are no indicators on the components that indicate the presence of mains supply. Incorrect installation, commissioning, or maintenance may lead to death or serious injury.
Installation, commissioning, and maintenance may only be performed by qualified personnel.
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WARNING
LEAKAGE/GROUNDING CURRENT HAZARD
Leakage/grounding currents are >3.5 mA. Improper grounding of the MSD 510 system modules may result in death or serious injury.
For reasons of operator safety, use a certified electrical installer to ground the system correctly in accordance with the
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applicable local and national electrical standards and directives, and the instructions in this manual.
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WARNING
DISCHARGE TIME
The MSD 510 system contains DC-link capacitors that remain charged for some time after the mains supply is switched off at the Power Supply Module (PSM 510). Failure to wait the specified 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 Power Supply Module (PSM 510) from the mains and wait for the capacitors
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to fully discharge before carrying out any maintenance or repair work on the servo system or its components.
Minimum waiting time (minutes)
15
DANGER
Risque du choc électrique. Une tension dangereuse peut être présentée jusqu’à 15 min après avoir coupé l’alimentation.
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Safety
WARNING
UNINTENDED START
The MSD 510 system contains servo drives, the PSM 510, and DAM 510 that are connected to the electrical supply network and can start running at any time. This may be caused by a fieldbus command, a reference signal, or clearing a fault condition. Servo drives and all connected devices must be in good operating condition. A deficient 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.
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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.
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CAUTION
DANGER OF BURNS
The surface of the servo drives can reach high temperatures of over 90°C during operation.
Do not touch the servo drives until they have cooled down.
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Safety
NOTICE
RCD COMPATIBILITY
The MSD 510 system contains components that can cause a DC current in the protective earthing conductor, which may result in malfunction in any devices connected to the system.
Where a residual current-operated protective (RCD) or monitoring (RCM) device is used for protection in case of direct or
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indirect contact, use a type B RCD or RCM device on the supply side of the MSD 510 system components.
2.4 Qualified Personnel
Installation, commissioning, and maintenance may only be carried out by qualified personnel. For the purposes of this manual and the safety instructions in this manual, qualified personnel are trained personnel who are authorized to fit, install, commission, ground, and label equipment, systems, and circuits in accordance with the standards for safety technology and who are familiar with the safety concepts of automation engineering.
Additionally, the personnel must be familiar with all the instructions and safety measures described in this manual.They must have suitable safety equipment and be trained in first aid.
2.5 Due Diligence
The operator and/or fabricator must ensure that:
• The servo system and its components are used only as intended.
• The components are operated only in a perfect operational condition.
• The operating instructions are always available near the servo system in complete and readable form.
• The servo system and its components are fitted, installed, commissioned, and maintained only by adequately qualified and authorized personnel.
• These personnel are regularly instructed on all relevant matters of occupational safety and environmental protection, as well as the contents of the operating instructions and the instructions it contains.
• The product markings and identification markings applied to the components, as well as safety and warning instructions, are not removed and are always kept in a legible condition.
• The national and international regulations regarding the control of machinery and equipment, that are applicable at the place of use of the servo system, are complied with.
• The users always have all current information relevant to their interests about the servo system and its use and operation.
2.6 Intended Use
The components of the MSD 510 system are intended to be installed in machines used in industrial environments in accordance with local laws and standards.
NOTICE
In a domestic environment, this product may cause radio interferences, in which case supplementary mitigation measures
-
may be required.
To ensure that the product is used as intended, the following conditions must be fulfilled before use:
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• Everyone who uses Danfoss products in any manner must read and understand the corresponding safety regulations and the description of the intended use.
• Do not alter hardware from its original state.
• Do not reverse-engineer software products or alter their source code.
• Do not install or operate damaged or faulty products.
• Ensure that the products are installed in conformance with the regulations mentioned in the documentation.
• Observe any specified maintenance and service intervals.
• Comply with all protective measures.
• Only fit or install the components described in this operating guide. Third-party devices and equipment may be used only in consultation with Danfoss.
2.6.1 Prohibited Application Areas
The servo system may not be used in the following application areas:
• Areas with potentially explosive atmospheres.
• Mobile or portable systems.
• Floating or airborne systems.
• Inhabited facilities.
• Sites where radioactive materials are present.
• Areas with extreme temperature variations or in which the maximum rated temperatures may be exceeded.
• Under water.
Safety
2.7 Forseeable Misuse
Any use not expressly approved by Danfoss constitutes misuse. This also applies to failure to comply with the specified operating conditions and applications. Danfoss assumes no liability of any sort for damage attributable to improper use.
2.8 Service and Support
Contact the local service representative for service and support.
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PSM
SDM 511 FS2
SDM 511 FS1
SDM 512 FS1
DAM 510
ACM 510
EXM 510
Operating Guide | VLT® Multiaxis Servo Drive MSD 510 System

System Description

3 System Description
3.1 Overview of the VLT® Multiaxis Servo Drive System MSD 510
The VLT® Multiaxis Servo Drive System MSD 510 is a high-performance central servo motion solution. The open system supports the real-time Ethernet protocols EtherCAT®, Ethernet POWERLINK®, and PROFINET®.
Illustration 3: MSD Modules
The system comprises:
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• Power Supply Module (PSM 510)
• Drive Modules:
- Single axis Servo Drive Module (SDM 511)
- Double axis Servo Drive Module (SDM 512)
• Decentral Access Module (DAM 510)
• Auxiliary Capacitors Module (ACM 510)
• Expansion Module (EXM 510)
• Software:
- Firmware for the servo drive modules (SDM 511 and SDM 512)
- Firmware for the Power Supply Module (PSM 510)
- Firmware for the Decentral Access Module (DAM 510)
- Firmware for the Auxiliary Capacitors Module (ACM 510)
- VLT® Servo Toolbox
- PLC libraries for AutomationStudio™, TwinCAT®, SIMOTION Scout, and TIA Portal.
Some modules are available in 2 enclosure (frame) sizes with widths of 50 mm (FS1) or 100 mm (FS2) depending on the power size.
Depending on the application, the system can be used exclusively in a central system, or together with Danfoss Decentral Servo Drives (ISD 510 and DSD 510) in a mixed system. Use of an AC choke is mandatory.
System Description
The system modules PSM 510, DAM 510, ACM 510, and drive modules SDM 511/SDM 512 are mounted to a backplate located in the control cabinet. DC-link and the control voltage supply are integrated in the backplate. The 'click and lock' backplate concept offers easy mounting and installation.
NOTICE
The MSD 510 modules cannot be used in servo systems from other manufacturers. Drives from other manufacturers cannot
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be used in the MSD 510 system.
Contact Danfoss for further information.
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NOTICE
The system modules have a protection rating of IP20 according to IEC/EN 60529 (except connectors, which are IP00). They
-
are only designed for use within a control cabinet. The system modules may be damaged if exposed to fluids.
3.1.1 Application Examples
There are numerous potential areas of application for the VLT® Multiaxis Servo Drive MSD 510 system as per the following examples.
Beverage machines
• Filling
• PET blow-moulding
Food and beverage packaging machines:
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• Flow wrapping
• Bag maker
• Tray sealing
• Shrink wrapping
Industrial and pharmaceutical packaging machines:
• Palletization
• Top loader
• Cartoning
• Tube filling
• Blister machine
• Liquid filling
• Solid dosing
3.1.2 Maximum Number of Modules
The maximum number of modules in the MSD 510 system is:
System Description
• PSM 510: 2 per system
• DAM 510: 3 per system (Depending on the system architecture it may be possible to add more. Contact Danfoss for further information.)
• SDM 511/SDM 512: Depends on the current rating and output power of the servo drive modules and the AUX current consumption during operation. Contact Danfoss for further information.
3.2 Power Supply Module PSM 510
3.2.1 Overview
PSM is the abbreviation for Power Supply Module. It is the power supply to the servo system. The PSM 510 supplies a DC power voltage and guarantees high-density output. The DC-link and 24/48 V DC are distributed via the backlink in the backplates to all system modules. The PSM 510 can be controlled via Ethernet-based fieldbus.
LEDs on the front of the PSM 510 show the operating status and warnings.
NOTICE
The MSD 510 system is designed for use within a control cabinet. If the STO function is used, the cabinet must be rated at
-
least IP54.
The PSM 510 has a protection rating of IP20 according to IEC/EN 60529 (except connectors, which are IP00).
-
The PSM 510 may be damaged if exposed to fluids.
-
All power cables are wired into the PSM 510, therefore at least 1 PSM 510 is required for each system.
The PSM 510 also performs service functions, such as voltage measuring, and is cooled by an internal fan.
The PSM 510 is available in 3 power sizes and delivers an output power of 10 kW, 20 kW, or 30 kW with 200% overload capacity for 3 seconds. Two PSM 510 modules can be used in parallel to achieve an output power of up to 60 kW.
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An example type code for the PSM 510 is: MSD510PSM510F2P10C0D6E20PLSXXXXXXXXXXXXX.
System Description
1 Backplate
3 Cable relief and shielding
5 Operating LEDs
7 PE screw
9 Internal/external brake resistor connector
Illustration 4: PSM 510
2 24/48 V input connector
4 Connectors: I/O, STO, relay, and Ethernet
6 LCP connector
8 AC mains supply connector
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3.2.2 Connectors on the Top of PSM 510
System Description
1 Ethernet connector IN
3 24/48 V IN connector
5 STO connector OUT
7 Relay connector
Illustration 5: Connectors on the Top of PSM 510
3.2.3 Connectors on the Bottom of PSM 510
1 Holder for internal brake resistor connector when not in use
2 Ethernet connector OUT
4 STO connector IN
6 I/O connector
2 AC mains supply connector
3 PE screws
Illustration 6: Connectors on the Bottom of PSM 510
4 Internal/external brake resistor connector
3.3 Servo Drive Module SDM 511/SDM 512
3.3.1 Overview
SDM is the abbreviation for Servo Drive Module. The SDM 511 is a single axis servo drive available in 5 power sizes and 2 enclosure sizes (FS1 is 50 mm and FS2 is 100 mm). The SDM 512 is a double axis servo drive available in 3 power sizes and 1 enclosure size (FS1, 50 mm). A double axis module operates 2 servo motors independently. Several feedback options are available. The SDMs are equipped with digital I/Os and Safe Torque Off (STO) and support several motor feedback encoders.
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1
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NOTICE
The MSD 510 system is designed for use within a control cabinet. If the STO function is used, the cabinet must be rated at
-
least IP54.
The SDMs have a protection rating of IP20 according to IEC/EN 60529 (except connectors, which are IP00).
-
The SDMs may be damaged if exposed to fluids.
-
System Description
1 Connectors: I/O, STO, relay, Ethernet, and external encoder
3 LCP Connector
5 Connectors: Motor, motor feedback, thermistor, brake,
Illustration 7: SDM 511/SDM 512 Modules
3.3.2 SDM 511/SDM 512 Types
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2 Operating LEDs
shielding, and cable relief
NOTICE
The Drive Configurator shows the valid configuration of servo drive variants. Only valid combinations are shown. Therefore,
-
not all variants detailed in the type code are visible.
4 PE screws
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Illustration 8: Type Code
Table 4: Legend to Type Code
System Description
[01–06] Product group [22–23] DC voltage [32–34] Firmware
MSD510
VLT® Multiaxis Servo Drive
D6 600 V DC-link voltage SXX Standard
[07–12] Product variant [24–26] Drive enclosure SC0 Customized
SDM511 MSD 510 Servo Drive Module 511 E20
IP20
(1)
[35] Safety
SDM512 MSD 510 Servo Drive Module 512 [27–29] Bus system T Safe torque off (STO)
[13–14] Drive variant FXX
Without feedback
(2)
[36–40] Reserved
SA Single axis servo drive FRX Resolver XXXXX Reserved
DA Double axis servo drive FS1 BiSS ST feedback, 17 bit
[15–16] Enclosure (frame) size FM1 BiSS MT feedback, 17 bit
F1 Enclosure (frame) size 1, 50 mm FE1 EnDat 2.1
F2 Enclosure (frame) size 2, 100 mm FE2 EnDat 2.2
[17–21] Current rating FHF
C02A5 2.5 A
C005A 5 A
C010A 10 A
C020A 20 A
C040A 40 A
rms
rms
rms
rms
rms
FHD
[30–31] Bus system
PL POWERLINK
EC EtherCAT
PN PROFINET
HIPERFACE®
HIPERFACE® DSL
(2)
(2)
1
IP20 according to IEC/EN 60529 (except connectors, which are IP00)
2
In preparation
3.3.3 Components
3.3.3.1 Cooling
The Servo Drive Modules SDM 511 and SDM 512 are cooled by a speed-controlled internal fan.
3.3.4 Connectors on SDM 511
This section details all connectors on the SDM 511 in enclosure sizes 1 (FS1, 50 mm) and 2 (FS2, 100 mm).
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3.3.4.1 Connectors on the Top of SDM 511
System Description
1 External encoder connector
3 Ethernet connector OUT
5 STO connector IN
7 Relay connector
Illustration 9: SDM 511, Enclosure Size 1 (FS1)
1 External encoder connector
3 Ethernet connector OUT
2 Ethernet connector IN
4 I/O connector
6 STO connector OUT
2 Ethernet connector IN
4 I/O connector
5 STO connector IN
6 STO connector OUT
7 Relay connector
Illustration 10: SDM 511, Enclosure Size 2 (FS2)
3.3.4.2 Connectors on the Bottom of SDM 511
1 Motor feedback connector 2 Motor brake and thermistor connector
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