MAKING MODERN LIVING POSSIBLE
Operating Instructions
VLT® Integrated Servo Drive ISD® 510 System
vlt-drives.danfoss.com
Contents Operating Instructions
Contents
1 Introduction
1.1 Purpose of the Operating Instructions
1.2 Additional Resources
1.3 Copyright
1.4 Approvals and Certications
1.5 System Overview
1.5.1 Areas of Application 8
1.6 Software
1.7 Terminology
2 Safety
2.1 Symbols Used in this Manual
2.2 General
2.3 Safety Instructions and Precautions
2.4 Important Safety Warnings
2.5 Qualied Personnel
2.6 Due Diligence
2.7 Intended Use
6
6
6
6
6
7
8
8
9
9
9
9
10
11
11
11
2.8 Foreseeable Misuse
2.9 Service and Support
3 System Description
3.1 Overview
3.2 Servo Drive
3.2.1 Servo Drive Types 14
3.2.2 Motor Components 14
3.2.2.1 Shaft 14
3.2.2.2 Brake (Optional) 14
3.2.2.3 Cooling 15
3.2.2.4 Thermal Protection 15
3.2.2.5 Built-In Feedback Devices 15
3.2.3 Drive Components 15
3.2.3.1 Connectors on the Servo Drives 15
3.3 Servo Access Box (SAB)
3.3.1 Connections on the SAB 19
3.3.1.1 STO Connectors 20
12
12
13
13
13
18
3.3.1.2 Mains Connectors 20
3.3.1.3 Brake Connectors 21
3.3.1.4 Relay Connectors 21
3.3.1.5 Encoder Connectors 21
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 1
Contents
VLT® Integrated Servo Drive ISD® 510 System
3.3.1.6 Ethernet Connectors (not included) 22
3.3.1.7 AUX Connectors 22
3.3.1.8 24/48 V IN Connector 22
3.3.1.9 UDC Connectors 22
3.3.1.10 Hybrid Cable PE 22
3.4 Local Control Panel (LCP)
3.4.1 Overview 23
3.4.2 Local Control Panel (LCP) Layout 23
3.5 Cables
3.5.1 Hybrid Cable 25
3.5.2 I/O and/or Encoder Cable 25
3.5.3 Additional Cables 25
3.6 Connection Cables/Cabling
3.6.1 Layout and Routing 26
3.6.1.1 Standard Cabling Concept for 2 Lines 26
3.6.1.2 Standard Cabling Concept for 1 Line 26
3.7 Software
3.8 Fieldbus
3.8.1 EtherCAT
3.8.2 Ethernet POWERLINK
®
4 Mechanical Installation
4.1 Transport and Delivery
23
25
26
27
27
27
®
28
29
29
4.1.1 Items Supplied 29
4.1.2 Transport 29
4.1.3 Inspection on Receipt 29
4.2 Safety Measures during Installation
4.3 Installation Environment
4.4 Preparation for Installation
4.4.1 Servo Drive 30
4.4.2 Servo Access Box (SAB) 31
4.5 Installation Procedure
4.5.1 Installation and Space Requirements 32
4.5.2 Installation Aids and Tools Required 32
4.5.3 Fitting Instructions Servo Drive 32
4.5.4 Tightening Torques 33
4.5.5 Fitting Instructions Servo Access Box (SAB) 33
5 Electrical Installation
5.1 Warnings
5.2 Electrical Environmental Conditions
29
29
30
32
35
35
35
2 Danfoss A/S © 12/2015 All rights reserved. MG75K102
Contents Operating Instructions
5.3 EMC-Compliant Installation
5.4 Grounding
5.5 Mains Supply Requirements
5.6 Auxiliary Supply Requirements
5.7 Safety Supply Requirements
5.8 Connecting the Components
5.8.1 Servo Access Box 37
5.8.2 Servo Drive 39
5.8.2.1 Connecting/Disconnecting Hybrid Cables 39
5.8.2.2 Connecting/Disconnecting Cables from Ports X3, X4, and X5 41
6 Commissioning
6.1 Pre-Commissioning Checklist
6.2 ID Assignment
6.2.1 EtherCAT
6.2.2 Ethernet POWERLINK
6.2.2.1 Single Device ID Assignment 43
6.2.2.2 Multiple Device ID Assignment 43
®
35
35
36
36
36
37
43
43
43
43
®
43
6.3 Switching on the ISD 510 Servo System
6.4 Basic Programming
6.4.1 Programming with Automation Studio™
6.4.1.1 Requirements 44
6.4.1.2 Creating an Automation Studio™ Project
6.4.1.3 Connecting to the PLC 48
6.4.2 Programming with TwinCAT
®
6.4.2.1 ISD Deliverables 48
6.4.2.2 Creating a TwinCAT® Project 48
6.4.2.3 Conguration as a TwinCAT® NC Axis 54
6.4.2.4 Connecting to the PLC 55
6.4.3 Programming Guidelines 55
6.5 ISD Toolbox
6.5.1 Overview 56
6.5.2 System Requirements 56
6.5.3 Installation 56
6.5.4 ISD Toolbox Communication 56
44
44
44
44
48
56
6.5.4.1 Network Settings for Indirect Communication 57
6.5.4.2 Network Settings for Direct Communication with Ethernet POWERLINK
6.5.4.3 Network Settings for Direct Communication with EtherCAT
®
®
58
59
6.5.5 ISD Toolbox Commissioning 60
6.6 Motion Library
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 3
62
Contents
VLT® Integrated Servo Drive ISD® 510 System
6.6.1 Function Blocks 62
6.6.2 Simple Programming Template 62
7 Operation
7.1 Operating Modes
7.1.1 Motion Functions 63
7.2 Operating Status Indicators
7.2.1 Operating LEDs on the Servo Drive 64
7.2.2 Operating LEDs on the Servo Access Box 64
8 ISD Safety Concept
8.1 Applied Standards and Compliance
8.2 Abbreviations and Conventions
8.3 Qualied Personnel for Working with the STO Function
8.4 Safety Precautions
8.5 Functional Description
8.6 Installation
8.7 Operation of the ISD Safety Concept
8.7.1 Statusword 68
8.7.2 Error Codes 69
8.8 Fault Reset
63
63
63
66
66
66
66
67
68
68
68
69
8.9 Commissioning Test
8.10 Application Example
8.11 Safety Function Characteristic Data
8.12 Maintenance, Security, and User Accessibility
9 Diagnostics
9.1 Faults
9.2 Servo Drive
9.2.1 Troubleshooting 74
9.2.2 Error Codes 75
9.3 Servo Access Box (SAB)
9.3.1 Troubleshooting 77
9.3.2 Error Codes 78
10 Maintenance, Decommissioning, and Disposal
10.1 Maintenance Tasks
10.2 Inspection during Operation
10.3 Repair
69
72
73
73
74
74
74
77
81
81
82
82
10.3.1 Cable Replacement 82
10.3.1.1 Feed-In Cable Replacement 82
10.3.1.2 Loop Cable Replacement 83
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Contents Operating Instructions
10.4 Servo Drive Replacement
10.4.1 Dismounting 83
10.4.2 Fitting and Commissioning 83
10.5 SAB Replacement
10.5.1 Dismounting 83
10.5.2 Fitting and Commissioning 83
10.6 Decommissioning of the ISD 510 Servo System
10.7 Product Returns
10.8 Recycling and Disposal
10.8.1 Recycling 84
10.8.2 Disposal 84
11 Specications
11.1 Servo Drive
11.1.1 Nameplate 85
11.1.2 Characteristic Data 85
11.1.3 Dimensions 86
11.1.4 Permitted Forces 88
83
83
84
84
84
85
85
11.1.5 General Specications and Environmental Conditions 88
11.2 Servo Access Box
11.2.1 Nameplate 89
11.2.2 Characteristic Data 89
11.2.3 Dimensions 90
11.2.4 General Specications and Environmental Conditions 92
11.3 Cables
11.4 Storage
11.4.1 Long-Term Storage 92
12 Appendix
12.1 Glossary
Index
89
92
92
93
93
95
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 5
Introduction
VLT® Integrated Servo Drive ISD® 510 System
11
1 Introduction
1.1 Purpose of the Operating Instructions
The purpose of these operating instructions is to describe
the VLT® Integrated Servo Drive ISD® 510 System.
These operating instructions contain information about:
Installation
•
Commissioning
•
Programming
•
Operation
•
Troubleshooting
•
Service and maintenance
•
These operating instructions are intended for use by
qualied personnel. Read it in full to use the ISD 510 servo
system safely and professionally, and pay particular
attention to the safety instructions and general warnings.
These operating instructions are an integral part of the ISD
510 servo system and also contains important service
information. Therefore, keep it available with the ISD 510
servo system at all times.
Compliance with the information in these operating
instructions is a prerequisite for:
Trouble-free operation.
•
Recognition of product liability claims.
•
Therefore, read these operating instructions before working
with the ISD 510 servo system.
Additional Resources
1.2
Available manuals for the ISD 510 servo system:
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 Documents for the ISD 510 Servo System
Technical literature for Danfoss drives is also available
online at vlt-drives.danfoss.com/Support/Technical-Documen-
tation/.
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.
Copyright
1.3
VLT®, ISD®, and SAB® are Danfoss registered trademarks.
1.4 Approvals and Certications
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
IEC/EN
61800-5-2
IEC/EN 61508 Functional safety of electrical/electronical/
EN ISO 13849-1 Safety of machinery - Safety-related parts of
EN ISO 13849-2 Safety of machinery - Safety-related parts of
IEC/EN 60204-1 Safety of machinery - Electrical equipment of
IEC/EN 62061 Safety of machinery - Functional safety of
IEC/EN
61326-3-1
UL508C UL Standard for Safety for Power Conversion
2006/42/EC Machinery Directive
CE
2014/30/EU EMC Directive
2014/35/EU Low Voltage Directive
RoHS
(2002/95/EC)
Adjustable speed electrical power drive
systems.
Part 5-1: Safety requirements - Electrical,
thermal and energy.
Adjustable speed electrical power drive
systems.
Part 5-2: Safety requirements - Functional.
programmable electronic safety-related
systems.
control systems.
Part 1: General principles for design.
control systems.
Part 2: Validation.
machines.
Part 1: General requirements.
safety-related electrical, electronic, and
programmable electronic control systems.
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 safety-related functions (functional
safety) – General industrial applications.
Equipment.
Restriction of hazardous substances.
6 Danfoss A/S © 12/2015 All rights reserved. MG75K102
AUX 1
Status
Hand
On
O
Reset
Auto
On
OK
Back
Cancel
Info
Quick
Menu
Main
Menu
Alarm
Log
AUX 2
SAFE 1
SAFE 2
Status
Hand
On
O Reset
Auto
On
OK
Back
Cancel
Info
Quick
Menu
Main
Menu
Alarm
Log
LCP
SAB
400-480 V AC
1
ISD 510
2 3 n
UDC + Real-Time Ethernet Bus + STO + U
AUX
. . .
. . .
130BE384.10
Real-Time Ethernet
Introduction Operating Instructions
EtherCAT
®
Ethernet for Control Automation Technology.
Ethernet-based eldbus system (see
chapter 12.1 Glossary for further information).
Ethernet
POWERLINK
®
PLCopen
Ethernet-based eldbus system:
®
Technical specication.
Function blocks for motion control (formerly
Part 1 and Part 2) Version 2.0 March 17, 2011.
Table 1.2 Approvals and Certications
1.5 System Overview
Illustration 1.1 Overview of the ISD 510 Servo System
The servo drives are self-contained distributed drives,
whereby the drive electronics is housed together with the
motor in the same casing. There are 2 versions of the
ISD 510 servo drive:
1 1
Standard With 2 hybrid connectors (M23) that connect power
and communication signals from a hybrid cable.
Advanced As standard plus 3 additional interfaces for external
encoder or I/Os, eldbus devices, and for the local
control panel (LCP) to be connected directly.
Table 1.3 ISD 510 Servo Drive Versions
In this decentral system, the servo drives are operated in a
DC group and controlled by a PLC. The motion control
software runs independently in the servo drive, reducing
the load on the PLC.
The ISD 510 servo system requires hybrid cables that
contain the DC supply voltage, the Real-Time Ethernet,
U
, and STO signals.
AUX
The Servo Access Box (SAB®) is the central power supply
for the ISD 510 servo system.
The ISD 510 servo system is designed to accommodate up
to 64 ISD 510 servo drives and consists of:
ISD 510 servo drives
•
Servo Access Box (SAB)
•
1 PLC (not included)
•
Cabling
•
Blind caps
•
Software:
•
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 7
Introduction
VLT® Integrated Servo Drive ISD® 510 System
11
- Firmware for the servo drive
- Firmware for the SAB
- PC software tool: ISD Toolbox
- PLC libraries
Danfoss Motion library for VLT
•
Integrated Servo Drive ISD 510
system for AutomationStudio™
Danfoss Motion library for VLT
•
Integrated Servo Drive ISD 510
system for TwinCAT® 2
®
®
NOTICE
The ISD 510 servo drives cannot be used in servo
systems from other manufacturers without changing the
cabling infrastructure. Contact Danfoss for further
information.
Drives from other manufacturers cannot be used in the
ISD 510 servo system when using Danfoss hybrid cables.
1.5.1 Areas of Application
Potential areas of application are:
Food and beverage machines
•
Packaging machines
•
Pharmaceutical machines
•
Applications running with a group of decentral
•
servo drives.
Software
1.6
Updates to the rmware, ISD Toolbox software, and PLC
libraries may be available. When updates are available,
they can be downloaded from the danfoss.com website.
The ISD Toolbox software or the PLC libraries can be used
to install the rmware on the servo drives or on the SAB.
Terminology
1.7
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 1.4 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 12.1 Glossary.
8 Danfoss A/S © 12/2015 All rights reserved. MG75K102
Safety Operating Instructions
2 Safety
2.1 Symbols Used in this Manual
The following symbols are used in this manual:
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
Indicates important information, including situations that
can result in damage to equipment or property.
2.2 General
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.
2.3 Safety Instructions and Precautions
Compliance with the safety instructions and precautions is
necessary at all times.
Orderly and proper transport, storage,
•
installation, as well as careful operation and
maintenance, are essential for the trouble-free
and safe operation of the ISD 510 servo system
and its components.
Only suitably trained and qualied personnel may
•
work on the ISD 510 servo system and its
components or in its vicinity. See
chapter 2.5 Qualied Personnel.
tting, and
Only use accessories and spare parts approved by
•
Danfoss.
Comply with the specied ambient conditions.
•
For further information, see chapter 11.1.5 General
Specications and Environmental Conditions and
chapter 11.2.4 General Specications and Environmental 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 specic
application concerned:
- For compliance with the safety
regulations and standards relevant to
the specic application.
- For implementing the necessary
measures, changes, and extensions.
Commissioning the ISD 510 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 specied by
•
national regulations is the responsibility of the
producer of the plant, system, or machine.
Compliance with the specications, 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 drive and the SAB against
overload, protective grounding is obligatory and
must be performed in accordance with local and
national regulations.
2 2
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 9
Safety
VLT® Integrated Servo Drive ISD® 510 System
WARNING
the discharge safety warning in
chapter 2.4 Important Safety Warnings).
GROUNDING HAZARD
22
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.
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 SAB. Therefore, they must not be used as
safety switches for the ISD 510 servo system.
The servo drive can be brought to a stop by a
•
software command or a zero speed setpoint,
however DC voltage remains present on the servo
drive and/or mains voltage in the SAB. Also when
the servo drive is stopped, it may start up again
on its own if the circuitry of the servo drive is
defective or after the elimination of a temporary
overload, a problem with the supply voltage, or a
problem with the servo drive. 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
case, ensure that the ISD 510 servo system is
detached from the mains network, or that a
suitable stop function is implemented.
The servo drive may start running unintentionally
•
during parameter conguration 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 O function, or by safe disconnection of
the servo drives.
In addition to the L1, L2, and L3 supply voltage
•
inputs on the SAB, the ISD 510 servo system has
other supply voltage inputs, including external
auxiliary voltage. Before commencing repair work,
check that all supply voltage inputs have been
switched o and that the necessary discharge
time for the DC-link capacitors has elapsed (see
sucient. In this
2.4 Important Safety Warnings
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
(see chapter 2.5 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 2.1 for the capacitors to fully
discharge before carrying out any maintenance
or repair work on the ISD 510 servo system or
its components.
10 Danfoss A/S © 12/2015 All rights reserved. MG75K102
Safety Operating Instructions
Number Minimum waiting time (minutes)
0–64 servo drives 10
Table 2.1 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.
2.5 Qualied Personnel
Installation, commissioning, and maintenance of the
ISD 510 servo system may only be carried out by qualied
personnel.
For the purposes of this manual and the safety instructions
in this manual, qualied personnel are trained personnel
who are authorized to t, 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 rst aid.
Due Diligence
2.6
The operator and/or fabricator must ensure that:
The ISD 510 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 ISD 510 servo system in complete and
readable form.
The ISD 510 servo system and its components are
•
tted, installed, commissioned, and maintained
only by adequately qualied 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 identication 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 ISD 510 servo system, are complied with.
The users always have all current information
•
relevant to their interests about the ISD 510 servo
system and its use and operation.
2.7 Intended Use
The components of the ISD 510 servo 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 fullled before use:
Everyone who uses Danfoss products in any
•
manner must read and understand the
corresponding safety regulations and the
description of the intended use.
Hardware must be left in its original state.
•
Software products must not be reverse-
•
engineered and their source code must not be
altered.
Damaged or faulty products must not be installed
•
or put into operation.
It must be ensured that the products are installed
•
in conformance with the regulations mentioned
in the documentation.
Any specied maintenance and service intervals
•
must be observed.
All protective measures must be complied with.
•
Only the components described in these
•
operating instructions may be tted or installed.
Third-party devices and equipment may be used
only in consultation with Danfoss.
The ISD 510 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.
•
2 2
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 11
Safety
Areas with extreme temperature variations or in
•
which the maximum rated temperatures may be
exceeded.
22
•
Under water.
VLT® Integrated Servo Drive ISD® 510 System
2.8 Foreseeable Misuse
Any use not expressly approved by Danfoss constitutes
misuse. This also applies to failure to comply with the
specied operating conditions and applications.
Danfoss assumes no liability of any sort for damage attributable to improper use.
2.9 Service and Support
Contact the local service representative for service and
support:
vlt-drives.danfoss.com/Support/Service/
12 Danfoss A/S © 12/2015 All rights reserved. MG75K102
1
2
130BE385.10
System Description Operating Instructions
3 System Description
3.1 Overview
The VLT® Integrated Servo Drive ISD® 510 system is a highperformance decentral servo motion solution.
It comprises:
A central power supply VLT® Servo Access Box
•
(SAB®).
VLT® Integrated Servo Drives ISD® 510.
•
Cabling infrastructure.
•
The decentralization of the drive unit
mounting, installation, and operation. Depending on the
application, the SAB can power up to 64 drives in a servo
drive system when using 2 hybrid lines. It generates a DClink voltage of 565–680 V DC ±10% and guarantees high
power density. It has a removable local control panel (LCP),
and is based on the proven quality of a Danfoss frequency
converter.
The motion control is integrated into the servo drive so
that the motion sequences can take place independently.
This reduces the required computing power of the central
PLC and oers a highly exible drive concept. Danfoss
oers libraries for various IEC 61131-3 programmable PLCs.
Due to the standardized and certied eldbus interfaces of
the ISD devices, any PLC with an EtherCAT® master
functionality or Ethernet POWERLINK® managing node
functionality according to the standards can be used.
Hybrid cables are used to connect the drives, making
installation fast and simple. These hybrid cables contain
the DC-link supply, the Real-Time Ethernet, U
signals.
Servo Drive
3.2
oers benets in
and STO
AUX
encoder or I/Os, eldbus devices, and for the local control
panel (LCP) to be connected directly.
3 3
LEDs on the top of the servo drive show the current status
(see chapter 7.2 Operating Status Indicators for further
information). Data transfer takes place via Real-Time
Ethernet.
1 Operating LEDs (see chapter 7.2.1 Operating LEDs on the Servo
Drive for further information).
2 Connectors
Illustration 3.1 ISD 510 Servo Drive
The ISD 510 servo drive has the following ange sizes:
76 mm, 84 mm.
ISD is the abbreviation of integrated servo drive, which is a
compact drive with an integrated permanent magnet
synchronous motor (PMSM). This means the entire power
drive system consisting of motor, position sensor,
mechanical brake, and also power and control electronics
is integrated into 1 housing. Additional circuits, such as
main low voltage supply, bus drivers, and functional safety
are implemented within the servo drive electronics. All
servo drives have 2 hybrid connectors (M23) that connect
power and communication signals from a hybrid cable. The
advanced version has 3 additional interfaces for external
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 13
Further ange sizes of 108 mm and 138 mm are in
planning.
Size 1,
1.5 Nm
Flange size 76 mm 84 mm
Table 3.1 Motor and Flange Sizes
All dimensions of the servo drive are listed in
chapter 11.1.3 Dimensions.
Size 2,
2.1 Nm
Size 2,
2.9 Nm
Size 2,
3.8 Nm
System Description
VLT® Integrated Servo Drive ISD® 510 System
3.2.1 Servo Drive Types
Pos. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
Fixed I S D 5 1 0 T D 6
Variant A 0 1 C 5 E 5 4 F R X P L S X X T F 0 7 6 S X N 4 6 X S X S X
33
S 0 2 C 1 E 6 7 F S 1 E C S C O F F 0 8 4 C 0 N 4 0 B K S C X
0 2 C 9 F M 1 P N F 1 0 8 N 2 9 C
0 3 C 8 E N F 1 3 8 N 2 4
Table 3.2 Type Code
[01–03] Product group [21–22] Bus system [33–35] Motor speed
ISD
[04–06] Product variant EC
510
[07] Hardware conguration EN
A Advanced [23–25] Firmware [36] Mechanical brake
S Standard SXX Standard X Without brake
[08] Drive torque SC0 Customized version B With brake
T Torque [26] Safety [37] Motor shaft
[09–12] Torque T Safe Torque O (STO) S Standard smooth shaft
01C5 1.5 Nm F
02C1 2.1 Nm [27–30] Flange size C Customized
02C9 2.9 Nm F076 76 mm [38] Motor sealing
03C8 3.8 Nm F084 84 mm X Without sealing
[13–14] DC voltage F108
D6 600 V DC-link voltage F138
[15–17] Drive enclosure [31–32] Flange type SX Standard
E54 IP54 SX Standard CX Customized
E67 IP67 (shaft IP65) C0 Customized version
[18–20] Drive feedback
FRX Resolver
FS1 Single-turn feedback
FM1 Multi-turn feedback
VLT® Integrated Servo Drive
ISD® 510
PL
PN
Ethernet POWERLINK
EtherCAT
PROFINET
Ethernet/IP
Functional safety
108 mm
138 mm
®
®1)
™1)
1)
1)
®
N46 Rated speed 4600 RPM
N40 Rated speed 4000 RPM
N29 Rated speed 2900 RPM
N24 Rated speed 2400 RPM
1)
K
S With sealing
[39–40] Surface coating
Standard tted key
1)
Table 3.3 Legend to Type code
1) In preparation
3.2.2 Motor Components
3.2.2.1 Shaft
3.2.2.2 Brake (Optional)
The optional mechanical holding brake is designed as a
single-disc brake. The emergency stop function can be
The shaft transfers the motor force (torque) to the machine
coupled to the shaft.
The shaft material is C45+C or equivalent according to
EN 10277-2.
The ISD 510 servo drives can be sealed by a shaft seal
(optional) to achieve IP65 on the A-side of the motor (see
chapter 11.1.5 General Specications and Environmental
Conditions for further information).
initiated at most once every 3 minutes and up to 2000
times in total, depending on the load.
The eective holding torque is:
Size 1: 2.5 Nm
•
Size 2: 5.3 Nm
•
The brake operates as a holding brake according to the
fail-safe principle closed when no current. It is powered
from the 24–48 V DC auxiliary supply. This enables lowbacklash load holding when no current is present.
Electrical data: Power consumption:
Size 1: 1.5 W
•
Size 2: 1.8 W
•
14 Danfoss A/S © 12/2015 All rights reserved. MG75K102
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System Description Operating Instructions
NOTICE
Do not misuse the holding brake as a working brake
because this causes increased wear, resulting in
premature failure.
NOTICE
Using servo drives with brakes can reduce the number of
drives allowed, depending on the total length of each
hybrid line. See the shell diagram in the VLT® Integrated
Servo Drive ISD® 510 System Design Guide for further
information.
3.2.2.3 Cooling
The servo drives are self-cooling.
Cooling (heat dispersal) is primarily via the ange, with a
small amount dispersed by the housing.
3.2.2.4 Thermal Protection
Thermal sensors monitor the maximum allowable
temperature of the motor winding and switch the motor
o if the limit of 140 °C is exceeded. Thermal sensors are
also present in the drive to protect the electronics against
overtemperature. An error message is sent via Real-Time
Ethernet to the higher-level PLC and is also shown on the
LCP.
3.2.2.5 Built-In Feedback Devices
The built-in feedback device measures the rotor position.
There are 3 feedback variants available:
Resolver
•
17-Bit single-turn encoder
•
17-Bit multi-turn encoder
•
Table 3.4 summarizes the characteristic data of each
variant.
3.2.3 Drive Components
3.2.3.1 Connectors on the Servo Drives
This chapter details all possible connections for the
standard and advanced servo drive. Refer to the tables in
this chapter for maximum cable lengths, ratings, and other
limits.
There are 5 connectors on the servo drives.
Connector Description
X1 M23 Feed-in or loop hybrid cable input
X2 M23 Loop hybrid cable output or eldbus
extension cable
X3 (advanced version
only)
X4 (advanced version
only)
X5 (advanced version
only)
Illustration 3.2 Connectors on the ISD 510 Servo Drive
M8 Ethernet cable (minimum CAT5,
shielded)
M12 I/O and/or encoder cable (shielded)
M8 LCP cable (shielded)
3 3
Data/type Resolver Single-turn
encoder
Signal Sin/cos BiSS-B BiSS-B
Accuracy
Resolution 14 bit 17 bit 17 bit
Maximum
number of
turns
Table 3.4 Characteristic Data of Available Feedback Devices
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 15
±10 arc min ±1.6 arc min ±1.6 arc min
– – 4096 (12 bit)
Multi-turn
encoder
130BE381.10
CB
A
3
7
6
D
PE
2
8
5
BC
AD
PE
2
8
5
3
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6
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4
System Description
VLT® Integrated Servo Drive ISD® 510 System
X1 and X2: Hybrid connector (M23)
The hybrid cable provides the supply (mains and auxiliary),
the communication lines, and the safety supply for each
line of servo drives. Input and output connectors are
connected inside the servo drive.
33
Illustration 3.3 X1: Male Hybrid Connector (M23)
Pin Description Notes Rating/parameter
A UDC– Negative DC mains
supply
B UDC+ Positive DC mains
supply
C AUX+ Auxiliary supply 24–48 V DC, 15 A
D AUX– Auxiliary supply
ground
PE PE PE connector 15 A
2 STO+ Safety supply 24 V DC ±10%, 1 A
3 STO– Safety supply
ground
5 TD+ Positive Ethernet
transmit
6 RD+ Positive Ethernet
receive
7 TD– Negative Ethernet
transmit
8 RD– Negative Ethernet
receive
Operating voltage:
Negative DC supply
(maximum –15 A)
Operating voltage:
Positive DC supply
(maximum 15 A)
Absolute maximum
55 V DC
15 A
1 A
According to standard
100BASE-T
Table 3.5 Pin Assignment of X1 and X2 Hybrid Connectors (M23)
X3: 3rd Ethernet connector (M8, 4 pole)
The ISD 510 advanced servo drive has an additional
eldbus port (M8) for connecting a device that
communicates via the selected eldbus.
Illustration 3.4 X2: Female Connector (M23)
Pin Description Notes Rating/parameter
1 TD+ Positive Ethernet
transmit
2 RD+ Positive Ethernet
receive
3 TD– Negative Ethernet
transmit
4 RD– Negative Ethernet
receive
Illustration 3.5 Pin Assignment of X3 3rd Ethernet Connector
(M8, 4 pole)
According to standard
100BASE-T
16 Danfoss A/S © 12/2015 All rights reserved. MG75K102
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System Description Operating Instructions
X4: M12 I/O and/or encoder connector (M12, 8-pole)
The M12 I/O and/or encoder connector is available on the
advanced servo drive and can be used or congured as:
Digital output
•
Digital input
•
Analog input
•
24 V supply
•
External encoder interface (SSI or BiSS).
•
Pin Description Notes Rating/parameter
1 Digital
output
2 Ground Ground isolated –
3 Input 1 Analog/Digital input Digital input:
4 /SSI CLK Negative SSI/BiSS
5 SSI DAT Positive SSI/BiSS data
6 SSI CLK Positive SSI/BiSS clock
7 Input 2 Analog/Digital input Digital input:
Switched 24 V as
digital output or
supply (24 V/150 mA)
clock out
in
out
Nominal voltage
24 V ±15%
Maximum current
150 mA
Maximum switching
frequency 100 Hz
Nominal voltage 0–
24 V
Bandwidth: ≤ 100 kHz
Analog input:
Nominal voltage 0–
10 V
Input impedance
5.46 kΩ
Bandwidth: ≤ 25 kHz
SSI:
Bus Speed: 0.5 Mbit
with 25 m cable
BiSS:
Fullls the RS485
specication.
Maximum cable length
(SSI & BiSS): 25 m
Nominal voltage 0–
24 V
Bandwidth: ≤ 100 kHz
Analog input:
Nominal voltage 0–
10 V
Input impedance
5.46 kΩ
Bandwidth: ≤ 25 kHz
Pin Description Notes Rating/parameter
8 /SSI DAT Negative SSI/BiSS datainSSI:
Bus Speed: 0.5 Mbit
with 25 m cable
BiSS:
Fullls the RS485
specication.
Maximum cable length
(SSI & BiSS): 25 m
Illustration 3.6 Pin Assignment of X4 M12 I/O and/or Encoder
Connector (M12)
X5: LCP connector (M8, 6 pole)
The X5 connector is used to connect the LCP directly to
the advanced servo drive via a cable.
Pin Description Notes Rating/
parameter
1 Not connected – –
2 /LCP RST Reset Active at
<0.5 V
3 LCP RS485 Positive RS485
signal
4 /LCP RS485 Negative RS485
signal
5 GND GND –
6 VCC 5 V Supply for
LCP
Illustration 3.7 Pin Assignment of X5 LCP Connector
(M8, 6-pole)
Speed:
38.4 kBd
The levels
fulll the
RS485 speci-
cation.
5 V ±10% at
120 mA
maximum load
3 3
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System Description
VLT® Integrated Servo Drive ISD® 510 System
3.3 Servo Access Box (SAB)
The SAB is the power supply and central interface/gateway to the ISD 510 servo system. It guarantees the connection of the
servo drives to the eldbus, generates the DC-link voltage for the ISD 510 servo system, and delivers a high-density output.
It can be controlled using the local control panel (LCP) or via Ethernet-based eldbus.
The LEDs on the front of the unit show the operating status and warnings (see chapter 7.2.2 Operating LEDs on the Servo
33
Access Box for further information).
NOTICE
The SAB has an IP-rating of IP20. It is only designed for use within a control cabinet. The SAB may be damaged if
exposed to uids.
All power and signal cables are wired into the SAB and 2 independent lines of servo drives can be connected.
Service functions, such as voltage measuring, are performed by the SAB.
Illustration 3.8 Explosion Drawing of the Servo Access Box
18 Danfoss A/S © 12/2015 All rights reserved. MG75K102
System Description Operating Instructions
Number Description/connector name Name on
corresponding
connector
1 Local control panel (LCP) – 18 Hybrid cable line 2 –
2 Front cover – 19 Decoupling plate –
3 STO 1 IN: STO
(Used for STO input voltage 1)
4 STO 1 IN: 24 V
(Used for bridging when the STO function
is not required, see chapter 3.3.1.1 STO
Connectors)
5 LEDs for status of auxiliary output and
STO
6 Decoupling clamp for STO cable – 23 Relay 2 Relay 2
7 ISD Line 2: STO 2
(STO output to hybrid cable line 2)
8 ISD Line 2: NET 2 X4
(Ethernet output to hybrid cable line 2)
9 ISD Line 2: AUX 2
(Auxiliary output to hybrid cable line 2)
10 ISD Line 2: UDC 2
(UDC output to hybrid cable line 2)
11 ISD Line 1: STO 1
(STO output to hybrid cable line 1)
12 ISD Line 1: NET 1 X3
(Ethernet output to hybrid cable line 1)
13 ISD Line 1: AUX 1
(Auxiliary output to hybrid cable line 1)
14 ISD Line 1: UDC 1
(UDC output to hybrid cable line 1)
15 Grounding PE clamp for hybrid cable line2– 32 STO 2 IN: 24 V
16 Grounding PE clamp for hybrid cable line1– 33 Cover –
+STO– 20 Shielded cable grounding
+24V– 21 24/48 V IN
– 22 Relay 1 Relay 1
+STO– 24 Brake R– (81), R+ (82)
RJ45 connector
(without label)
+AUX– 26 Decoupling xture for Ethernet
+UDC– 27 Decoupling clamp for encoder
+STO– 28 X1
RJ45 connector
(without label)
+AUX– 30 GND, 24 V, GX, /RS422 TXD,
+UDC– 31 STO 2 IN: STO
Number Description/connector name Name on
corresponding
connector
–
clamp and strain relief
+AUX–
(Auxiliary input terminal)
25 Mains
(Input terminal)
inputs
cable
(Ethernet input line 1)
29 X2
(Ethernet input line 2)
RS422 TXD, /RS422 RXD, RS422
RXD
(Encoder terminal)
(Used for STO input voltage 2)
(Used for bridging when the
STO function is not required,
see chapter 3.3.1.1 STO
Connectors)
L1 (91), L2 (92), L3
(93)
–
–
RJ45 connector
(not included)
RJ45 connector
(not included)
Not labeled
+STO–
+24V–
3 3
17 Hybrid cable line 1 – – – –
Table 3.6 Legend to Illustration 3.8
3.3.1 Connections on the SAB
All required connectors are included with the SAB.
All cabling must comply with national and local regulations
on cable cross-sections and ambient temperature. Use
shielded/armored cables to comply with EMC emission
specications.
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 19
130BE393.10
+ STO –
130BE396.10
+ 24V –
130BE394.10
+ STO –
130BE388.10
L1 L2 L3
130BE706.10
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System Description
VLT® Integrated Servo Drive ISD® 510 System
3.3.1.1 STO Connectors
Item Position
on SAB
STO
Front Used for STO
33
1 IN:
STO
STO
Front Used for STO
2 IN:
STO
STO
Front These
1 IN:
24 V
STO
Front
2 IN:
24 V
Description Drawing/
pins
input voltage
1.
input voltage
2.
Pins (left
to right):
STO+
STO-
connectors can
only be used
to make a
bridge to STO
1 IN: STO and
STO 2 IN: STO
if the STO
Pins (left
to right):
24+
24-
Ratings
Nominal voltage:
24 V DC ±10%
Nominal current:
Depends on the
number of servo
drives in the
application.
Maximum current:
1 A
Maximum cross-
section:
2
1.5 mm
Nominal voltage:
24 V DC ±10%
Nominal current:
1 A
Maximum cross-
section:
2
1.5 mm
3.3.1.2 Mains Connectors
Item Description Drawing/
pins
AC
mains
supply
MainsPEThe PE screw is
Used to connect
L1/L2/L3
Pins (left
to right):
L1
L2
L3
– Cross-section:
used to connect
the protective
earth, see
Illustration 3.9.
Table 3.8 Mains Connectors
Ratings
Nominal voltage:
400–480 V AC
Nominal current:
12.5 A
Maximum cross-section:
2
4 mm
2
10 mm
See
chapter 5.4 Grounding for
further information.
function is not
required in the
application.
This connector
cannot be
used for any
other function.
ISD
Underside Used for STO
Line
1:
STO
1
ISD
Underside Used for STO
Line
2:
STO
2
output voltage
1.
output voltage
2.
Pins (left
to right):
STO+
STO-
Nominal voltage:
24 V DC ±10%
Nominal current:
Depends on the
number of servo
drives in the
application.
Maximum current:
1 A
Maximum cross-
1 PE screw
section:
2
0.5 mm
Illustration 3.9 PE Screw
Table 3.7 STO Connectors
20 Danfoss A/S © 12/2015 All rights reserved. MG75K102
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-DC +DC R- R+
130BE389.10
130BE390.10
RELAY 1
RELAY 2
130BE391.10
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GND
24 V
GX
RS422 TXD
RS422 TXD
RS422 RXD
RS422 RXD
System Description Operating Instructions
3.3.1.3 Brake Connectors
Item Description Drawing/pins Ratings
Brake Used for
connecting a
brake resistor
Nominal
voltage:
565–778 V DC
Maximum brake
current:
–DC (88) = Do not use
+DC (89) = Do not use
R– (81) = Brake –
R+ (82)= Brake +
14.25 A
Maximum cross-
section:
4 mm
Table 3.9 Brake Connectors
NOTICE
The maximum length of the brake cable is 20 m
(shielded).
3.3.1.4 Relay Connectors
Item Description Drawing/pins Ratings
3.3.1.5 Encoder Connectors
Item Description Drawing/pins Ratings
Encoder
connector
Used to
connect SSI or
BiSS encoders.
Maximum
cross-
section:
3 3
0.5 mm2.
Pins (left to right
on SAB label):
See
Table 3.12.
RS422 RXD
/RS422 RXD
2
RS422 TXD
/RS422 TXD
GX
24 V
GND
Table 3.11 Encoder Connectors
NOTICE
The maximum length of the encoder cable is 25 m
(shielded).
Relay1Used for a customer-
dened reaction. For
example, the relay
can be triggered if
the SAB issues a
warning.
Relay
2
Pins (left to
right):
1: Common
2: Normally
open
3: Normally
closed
Pins (left to
right):
4: Common
5: Normally
open
6: Normally
closed
Pin 1: Common
Pin 2: 240 V AC
Pin 3: 240 V AC
Nominal current:
2 A
Maximum cross-
section: 2.5 mm
Pin 4: Common
Pin 5: 400 V AC
Pin 6: 240 V AC
Nominal current:
2 A
Maximum cross-
section: 2.5 mm
Number Description Notes Rating/
parameter
SSI BiSS
1 RS422 RXD Positive data Bus speed:
2 /RS422 RXD Negative data
3 RS422 TXD Positive clock
2
4 /RS422 TXD Negative clock
SSI: 0.5 Mbit
with 25 m cable
BiSS: Fullls the
RS485 speci-
cation
5 GX Isolated ground
–
If encoders are
powered externally, the
ground of the external
supply must be
connected to GX.
6 24 V
24 V DC ±10%
(used for powering the
encoder)
2
7 GND Ground for pin 6 –
Maximum
current:
250 mA
Table 3.12 Pin Assignment for SSI and BiSS Encoders
Table 3.10 Relay Connectors
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130BE395.10
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1
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+ AUX –
130BE397.10
+ AUX –
130BE399.10
+ UDC –
System Description
VLT® Integrated Servo Drive ISD® 510 System
3.3.1.6 Ethernet Connectors (not included)
Connector
name
Ethernet X1 Connection to
33
Ethernet X2 Connection to
Ethernet X3 Connection to
Ethernet X4 Connection to
Description Drawing/pins Ratings
Fulll the
eldbus
100BASE-T
specication
eldbus
Pins:
servo line 1
1: TD+
2: TD–
servo line 2
3: RD+
6: RD–
3.3.1.8 24/48 V IN Connector
Connector
name
24/48 V IN
Connector
Description Drawing/
pins
Used for 24–
48 V DC input
to the SAB.
Pins (left to
right):
AUX+
AUX–
Ratings
Nominal voltage: 24–
48 V DC ±10%
Nominal current:
Depends on the
number of servo
drives in the
application
Maximum current:
34 A
Maximum cross-
Table 3.13 Ethernet Connectors
NOTICE
The maximum length of the X1 and X2 shielded Ethernet
cables is 30 m.
3.3.1.7 AUX Connectors
Connector
name
ISD Line 1:
AUX 1
ISD Line 2:
AUX 2
Description Drawing/
pins
Used to connect
the AUX output
from the SAB to
the hybrid cable.
Pins (left to
right):
AUX+
AUX–
Ratings
Nominal voltage:
24–48 V DC±10%
Nominal current:
Depends on the
number of servo
drives in the
application
Maximum current:
15 A
Maximum cross-
section: 2.5 mm
2
Table 3.15 24/48 V IN Connector
3.3.1.9 UDC Connectors
Connector
name
ISD Line 1:
UDC 1
ISD Line 2:
UDC 2
Description Drawing/
Used to connect
the DC-link
voltage from the
SAB to the
hybrid cable.
pins
Pins (left to
right):
UDC+
UDC–
section:
2
4 mm
Maximum cable
length: 3 m
Ratings
Nominal voltage:
565–778 V DC
Nominal current:
Depends on the
number of servo
drives in the
application
Maximum current:
15 A
Maximum cross-
section:
Table 3.14 AUX Connectors
2.5 mm
2
Table 3.16 UDC Connectors
3.3.1.10 Hybrid Cable PE
Item Description Drawing/pins Ratings
Hybrid
cable PE
Table 3.17 Hybrid Cable PE
22 Danfoss A/S © 12/2015 All rights reserved. MG75K102
Used to connect the
PE wire from the
hybrid cable to the
decoupling plate.
See callout 15 in
Illustration 3.8.
Maximum
cross-
section:
2.5 mm
2
130BE692.11
Auto
on
Reset
Hand
on
O
Status
Quick
Menu
Main
Menu
Alarm
Log
Back
Cancel
Info
OK
Status
271°
2850 RPM
On
Alarm
Warn.
A
38 °C
3.1 Nm
B
C
D
1.8 A
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18 19 20 21
System Description Operating Instructions
3.4 Local Control Panel (LCP)
3.4.1 Overview
The LCP is the graphical user interface on the SAB for
diagnostic and operating purposes. It is included as
standard with the SAB but can also be connected to the
advanced version servo drives using an optional cable
(M8 to LCP D-SUB extension cable).
The LCP display provides the operator with a quick view of
the state of the servo drive or SAB, depending on which
device it is connected to. The display shows parameters
and alarms/errors and can be used for commissioning and
troubleshooting. It can also be used to perform simple
functions, for example activating and deactivating the
output lines on the SAB. The LCP can be mounted on the
front of the control cabinet and then connected to the SAB
via SUB-D cables (available as an accessory).
3.4.2 Local Control Panel (LCP) Layout
The local control panel is divided into 4 functional groups
(see Illustration 3.10).
A. Display area.
B. Display menu keys.
C. Navigation keys and indicator lights (LEDs).
D. Operation keys and reset.
A. Display area
The values in the display area dier depending on whether
the LCP is connected to an ISD 510 servo drive or the SAB
as shown in Illustration 3.10 and Illustration 3.11.
The display area is activated when the ISD 510 servo drive
or SAB it is connected to receives power from the mains
supply, a DC bus terminal, or U
AUX
.
3 3
1 Actual torque
2 Temperature drive module
3 Position
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4 Speed
5 Current
Display Description
Illustration 3.10 Display Area when Connected to an ISD 510
Servo Drive
130BE693.11
Auto
on
Reset
Hand
on
O
Status
Quick
Menu
Main
Menu
Alarm
Log
Back
Cancel
Info
OK
Status
11.5 A
2.1 kW
On
Alarm
Warn.
A
38 °C
24 V
B
C
D
565 V
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18 19 20 21
System Description
VLT® Integrated Servo Drive ISD® 510 System
C. Navigation keys and indicator lights (LEDs)
Navigation keys are used for moving the display cursor
and provide operation control in local operation. There are
also 3 status LEDs in this area.
Key Function
33
Display Description
1 U
2 Temperature
3 Actual UDC (current)
4 ISD power consumption
5 Actual UDC (voltage)
Illustration 3.11 Display Area when Connected to the SAB
line voltage
AUX
10 Back Reverts to the previous step or list in the
menu structure.
11 Cancel Cancels the last change or command as long
as the display mode is not changed.
12 Info Press for a denition of the function being
shown.
13 Navigation
keys
Use the 4 navigation keys to move between
items in the menu.
14 OK Use to access parameter groups or to enable
a selection.
Table 3.19 Navigation Keys
LED Color Function
15 On Green The On LED activates when the
ISD 510 servo drive or SAB it is
connected to receives power from
the mains or auxiliary supply, or a
DC bus terminal.
16 Warn Yellow When warning conditions are met,
the yellow Warn LED activates and
text appears in the display area
identifying the problem.
17 Alarm Red A fault condition causes the red
Alarm LED to ash and an alarm
text is shown.
Table 3.20 Indicator Lights (LEDs)
B. Display menu keys
Menu keys are used for menu access for parameter set-up,
toggling through status display modes during normal
operation, and viewing fault log data.
Key Function
6 Status Shows operational information.
7 Quick Menu Allows access to parameters.
8 Main Menu Allows access to parameters.
9 Alarm Log Shows the last 10 alarms.
Table 3.18 Display Menu Keys
24 Danfoss A/S © 12/2015 All rights reserved. MG75K102
130BE383.10
System Description Operating Instructions
D. Operation keys and reset
Operation keys are located at the bottom of the LCP.
Key Function
18 Hand On Enables the connected ISD 510 servo drive
or SAB to be controlled via the LCP.
Switching between Hand On and Auto On
modes is only possible in certain states (see
the VLT® Integrated Servo Drive ISD® 510
System Programming Guide for further
information).
19 O Puts the SAB into state Standby and the
drive to state Switch on Disabled.
This only works in Hand On mode.
O mode enables transition from Hand On
mode to Auto On mode.
20 Auto On Puts the system in remote operational mode.
In Auto On mode, the device is controlled
•
by eldbus (PLC).
Note that switching between Auto On
and Hand On modes is only possible
when the drive is in state Switch on
disabled and/or the SAB is in state
Standby.
21 Reset Resets the ISD 510 servo drive or SAB after a
fault has been cleared.
The reset is only possible when in Hand On
mode
Table 3.21 Operation Keys and Reset
Both ends of the loop cable are tted with M23
connectors.
The feed-in cable is tted with an M23 connector at the
output end for connection to the 1st servo drive. At the
input end it is pigtailed with individual connectors for
connection to the corresponding terminals on the SAB.
Minimum bending radius
The maximum number of bending cycles is 5 million at
7.5 x cable diameter (15.6 mm).
Permanently exible: 12 x cable diameter
•
Permanently installed: 5 x cable diameter
•
Description Shielded/
unshielded
Feed-in
cable
Loop cable Shielded
Shielded
Maximum
cable
length
1)
40 m
1)
25 m
Port Notes
Signal/
control
Signal/
control
Hybrid cable
(overall shield
with additional
eldbus and
safety section
shield).
Hybrid cable
(overall shield
with additional
eldbus and
safety section
shield).
3 3
NOTICE
To adjust the display contrast, press [Status] and the
[▲]/[▼] keys.
3.5 Cables
3.5.1 Hybrid Cable
Illustration 3.12 Hybrid Loop Cable
There are 2 types of hybrid cables that are available with
both angled and straight M23 connectors:
Feed-in cable for connecting the 1st servo drive of
•
a group to the connection point on the SAB.
Loop cable for connecting the ISD 510 servo
•
drives in daisy-chain format in an application.
Both these cables are provided by Danfoss and are
available in various lengths. See the VLT® Integrated Servo
Drive ISD® 510 System Design Guide for further information.
Table 3.22 Hybrid Cables
1) Maximum 100 m total length for each line.
3.5.2 I/O and/or Encoder Cable
This cable connects the I/O and/or encoder to the servo
drive (see X4 in chapter 3.2.3.1 Connectors on the Servo
Drives). The cable is not included with the servo drives.
I/O and/or encoder cables with M12 connectors can be
used for the ISD 510 servo system if they comply with the
form factor dened in IEC 61076-2-101.
3.5.3 Additional Cables
Fieldbus extension cable
If this cable is not used, t the M23 blind cap to the X2
female connector on the last servo drive in the application.
LCP cables
There are 2 kinds of cable for the LCP module that can be
purchased from Danfoss (see the VLT® Integrated Servo
Drive ISD® 510 System Design Guide):
To connect the LCP to the servo drive.
•
To connect the LCP to the SAB.
•
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 25
130BE437.10
AUX 1
Status
Hand
On
Reset
Auto
On
OK
Back
Cancel
Info
Quick
Menu
Main
Menu
Alarm
Log
AUX 2
SAFE 1
SAFE 2
Status
Hand
On
Reset
Auto
On
OK
Back
Cancel
Info
Quick
Menu
Main
Menu
Alarm
Log
LCP
SAB
400-480 V AC
Real-Time Ethernet
1
ISD 510
2
. . .
. . .
130BE436.10
AUX 1
Status
Hand
On
Reset
Auto
On
OK
Back
Cancel
Info
Quick
Menu
Main
Menu
Alarm
Log
AUX 2
SAFE 1
SAFE 2
Status
Hand
On
Reset
Auto
On
OK
Back
Cancel
Info
Quick
Menu
Main
Menu
Alarm
Log
LCP
SAB
400-480 V AC
Real-Time Ethernet
1
ISD 510
2
. . .
System Description
VLT® Integrated Servo Drive ISD® 510 System
3.6 Connection Cables/Cabling
3.6.1.1 Standard Cabling Concept for 2
Lines
3.6.1 Layout and Routing
The servo drives are interconnected by hybrid loop cables.
A hybrid feed-in cable with quick-release connectors
33
provides the supply voltage from the SAB to the 1st servo
drive.
Routing in drag chains
The hybrid cable is compatible with drag chains and
therefore suitable for use in moving systems. The number
of bending cycles is dependent on individual conditions
and must therefore be determined in advance for each
application, see chapter 3.5.1 Hybrid Cable for further
information.
Maximum cable lengths
M23 Feed-in cable 40 m
M23 Loop cable 25 m
Fieldbus extension cable Length: 2 m
Maximum length to next port:
100 m
Maximum cable length per line 100 m
Table 3.23 Maximum Cable Lengths
1 M23 Feed-in cable
2 M23 Loop cable
Chapter 3.6.1.1 Standard Cabling Concept for 2 Lines and
chapter 3.6.1.2 Standard Cabling Concept for 1 Line show the
standard cabling concept without redundancy that can be
used to connect 1 or 2 lines, each with up to 32 servo
drives in an application.
NOTICE
For cabling with redundancy, see the VLT® Integrated
Servo Drive ISD® 510 System Design Guide.
Illustration 3.13 Standard Cabling Concept for 2 Lines
3.6.1.2 Standard Cabling Concept for 1 Line
1 M23 Feed-in cable
2 M23 Loop cable
Illustration 3.14 Standard Cabling Concept for 1 Line
26 Danfoss A/S © 12/2015 All rights reserved. MG75K102
EtherCAT
Slave Controller
(ESC)
OUT
Port 1 (B)
OUT
Port 2 (C)
IN
Port 0 (A)
X2X1
X3
130BE695.10
System Description Operating Instructions
3.7 Software
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
and provides the functionality described in
chapter 7 Operation.
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 6.4.2 Programming
®
with TwinCAT
ISD Toolbox: A Danfoss PC-based software tool for
•
commissioning and debugging the devices (see
chapter 6.5 ISD Toolbox for further information).
for further information).
3.8 Fieldbus
The ISD 510 servo system has an open system architecture
realized by fast Ethernet (100BASE-T) based communi-
cation. The system supports both EtherCAT® and Ethernet
POWERLINK®
ISD® 510 System Programming Guide for further information.
eldbuses. See the VLT® Integrated Servo Drive
3.8.1
EtherCAT
The servo drive and the SAB support the following
EtherCAT® protocols:
CANopen over EtherCAT® (CoE)
•
File Access over EtherCAT® (FoE)
•
Ethernet over EtherCAT® (EoE)
•
The servo drive and the SAB support distributed clocks. To
compensate for the failure of a communication cable
section in the system, cable redundancy is available for
eldbuses. See the VLT® Integrated Servo Drive
both
ISD® 510 System Design Guide for further information.
The EtherCAT® port assignment for the servo drive and
SAB are shown in Illustration 3.15 and Illustration 3.16.
®
3 3
In productive environments, communication to the devices
always takes place via a PLC that acts as a master. The
servo drives and the SABs can be controlled by these
communication methods:
Using the ISD library (available for TwinCAT® and
•
Automation Studio™).
Using the NC axis functionality of TwinCAT®.
•
Using the CANopen® CiA DS 402 standard by
•
reading and writing to objects.
The servo drives and the SABs can be operated with the
following cycle times (for both eldbuses):
400 µs and multiples of it (for example, 800 µs,
•
1200 µs, and so on).
500 µs and multiples of it (for example, 500 µs,
•
1 ms, and so on).
When the cycle time is a multiple of 400 µs and 500 µs,
the time base of 500 µs is used.
certied for both
®
The servo drive and the SAB are
eldbuses according to the corresponding rules and
regulations. The servo drive conforms to the CANopen
CiA DS 402 Drive Prole.
X1 M23 hybrid cable connector to SAB or previous servo drive.
X2 M23 hybrid cable connector to the next servo drive.
X3
M8 Ethernet cable connector to other EtherCAT® slaves, for
example EtherCAT® encoder.
The connector is only available on the advanced servo drive.
Illustration 3.15 EtherCAT® Port Assignment for the Servo
Drive
MG75K102 Danfoss A/S © 12/2015 All rights reserved. 27
ESC SAB L1
Main EtherCAT
slave
OUT
Port 2 (C)
OUT
Port 1 (B)
IN
Port 0 (A)
X1
ESC SAB L2
AL emulated
junction slave
IN
Port 0 (A)
OUT
Port 1 (B)
OUT
Port 2 (C)
X2
X3
X4
1
R
130BE696.10
System Description
VLT® Integrated Servo Drive ISD® 510 System
33
X1 RJ45 cable connector to the PLC or previous slave.
X2 RJ45 cable connector to the PLC or next slave.
X3
RJ45 to M23 hybrid adapter cable to the 1st servo drive on
line 1.
X4
RJ45 to M23 hybrid adapter cable to the 1st servo drive on
line 2.
1 Ports always connected internally in the SAB.
Illustration 3.16 EtherCAT® Port Assignment for the SAB in
Line Topology Mode (default)
3.8.2
Ethernet POWERLINK
®
The ISD drive and the SAB are certied according to
DS301 V1.1.0. The following features are supported for the
ISD servo drive and the SAB:
Work as controlled node.
•
Can be operated as multiplexed stations.
•
Support of cross-communication.
•
Ring redundancy is supported for media
•
redundancy.
Specic ports are not assigned for Ethernet POWERLINK®.
28 Danfoss A/S © 12/2015 All rights reserved. MG75K102
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