Danfoss VLT MSD 510 User Manual Download

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Operating Guide

VLT® Multiaxis Servo Drive MSD 510 System

Summary of Contents for VLT MSD 510

Page 1: ...Operating Guide VLT Multiaxis Servo Drive MSD 510 System...

Page 2: ......

Page 3: ...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 2 Connectors on the Top of...

Page 4: ...8 3 LCP Cable 43 3 9 Cable Layout and Routing 43 3 9 1 Maximum Cable Lengths 43 3 9 2 Wiring of Output Filter 44 3 9 3 Standard Cabling Concept for 2 Decentral Access Modules DAM 510 44 3 10 Software...

Page 5: ...9 1 3 Connecting 2 PSM 510 Modules to the AC Choke with System Splitting 70 5 9 2 Connecting the Cables on the Power Supply Module PSM 510 71 5 9 2 1 Connecting the Cables on the Top of the Power Sup...

Page 6: ...DDS in Automation Studio 90 6 11 6 Instantiating PSM_REF 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 Import...

Page 7: ...k 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 Mot...

Page 8: ...6 8 7 Application Example 156 8 8 Commissioning Test 157 8 8 1 Commissioning Test using Libraries 157 8 8 2 Commissioning Test using PROFINET Devices 159 8 9 Operation of the STO Function 160 8 9 1 Er...

Page 9: ...rror 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 C...

Page 10: ...card 0x4292 0x107 180 9 3 39 Inrush overtemperature DC link 0x4293 013C 180 9 3 40 Inrush overtemperature AUX line 0x4294 0x13D 181 9 3 41 Overtemperature Motor 0x4310 0x108 181 9 3 42 UAUX undervolta...

Page 11: ...r 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 79 STO active while drive enabled 0xFF80 0x11E 190 9 3 80 STO mismat...

Page 12: ...eristic 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...

Page 13: ...ay 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 STO Connectors 227 11 7 10 1 STO Connectors on SDM 511 and SDM 512 227 11 7 10...

Page 14: ...tem 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 5...

Page 15: ...y 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...

Page 16: ...fieldbus system PLCopen 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 Foo...

Page 17: ...ives 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 nents...

Page 18: ...sponsible 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 stan...

Page 19: ...tion 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...

Page 20: ...lectrical 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 g...

Page 21: ...n 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 adequ...

Page 22: ...anfoss 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 airbor...

Page 23: ...on solution The open system supports the real time Ethernet protocols EtherCAT Ethernet POWERLINK and PROFINET e30bg579 10 PSM SDM 511 FS2 SDM 511 FS1 SDM 512 FS1 DAM 510 ACM 510 EXM 510 Illustration...

Page 24: ...les 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...

Page 25: ...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 warnin...

Page 26: ...elding 5 Operating LEDs 7 PE screw 9 Internal external brake resistor connector 2 24 48 V input connector 4 Connectors I O STO relay and Ethernet 6 LCP connector 8 AC mains supply connector Illustrati...

Page 27: ...tors on the Bottom of PSM 510 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 a...

Page 28: ...4 5 e30bg580 10 1 Connectors I O STO relay Ethernet and external encoder 3 LCP Connector 5 Connectors Motor motor feedback thermistor brake shielding and cable relief 2 Operating LEDs 4 PE screws Illu...

Page 29: ...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 HIPERFACE 2 C02A5 2 5 Arms FHD HIPERFACE DSL 2 C...

Page 30: ...5 7 e30bg444 10 1 External encoder connector 3 Ethernet connector OUT 5 STO connector IN 7 Relay connector 2 Ethernet connector IN 4 I O connector 6 STO connector OUT Illustration 10 SDM 511 Enclosure...

Page 31: ...6 7 8 9 10 11 12 13 14 1 External encoder connector SDM1 3 Ethernet connector OUT SDM1 5 I O connector SDM2 7 STO connector IN SDM2 9 STO connector OUT SDM2 11 Ethernet connector OUT SDM2 13 Ethernet...

Page 32: ...d the Ethernet based fieldbus via the hybrid feed in cable The DAM 510 provides functions such as Overcurrent protection of the hybrid cable Overvoltage protection Charging circuit of the DC link Exte...

Page 33: ...ating LEDs 4 PE screw Illustration 15 DAM 510 3 4 2 Connectors on the Top of DAM 510 1 2 3 4 5 e30bg467 10 1 Ethernet connector IN 3 STO connector IN 2 Ethernet connector OUT 4 STO connector OUT Syste...

Page 34: ...ed to the MSD 510 system to store energy enabling a controlled machine stop in emergency situations NOTICE The MSD 510 system is designed for use within a control cabinet If the STO function is used t...

Page 35: ...Illustration 18 ACM 510 3 5 2 Connectors on the Top of ACM 510 e30bg469 11 1 2 4 3 1 Ethernet connector IN 3 I O connector 2 Ethernet connector OUT 4 Relay connector Illustration 19 Connectors on the...

Page 36: ...l cabinet If the STO function is used the cabinet must be rated at least IP54 The EXM 510 has a protection rating of IP20 according to IEC EN 60529 except connectors which are IP00 The EXM 510 may be...

Page 37: ...ontrol cabinet using a mounting set available as an accessory and then connected to the modules via M8 to SUB D cables available as an accessory See the VLT Servo Drive System ISD 510 DSD 510 MSD 510...

Page 38: ...19 20 21 Status e30bg799 10 1 AUX line voltage 3 Actual UDC current 5 Actual UDC voltage 2 Temperature power card 4 Power consumption Illustration 21 Display Area when Connected to the Power Supply M...

Page 39: ...6 17 18 19 20 21 Status e30bh719 10 Velocity Status Enabled 1 Current actual value 3 Position actual value 2 Temperature power card 4 Actual velocity Illustration 22 Display Area when Connected to the...

Page 40: ...a when Connected to the Auxiliary Capacitors Module ACM 510 3 7 2 2 B Display menu keys Menu keys are used for menu access for parameter set up toggling through status display modes during normal oper...

Page 41: ...hown 3 7 2 4 D Operation keys and reset The operation keys are located at the bottom of the LCP Table 8 Operation Keys and Reset Key Function 18 Hand On Enables the connected MSD 510 modules to be con...

Page 42: ...input end it is pigtailed and the connectors are mounted on the corresponding terminals on the Decentral Access Module DAM 510 Table 9 Hybrid Cables Cable type Shielded unshielded Notes Feed in cable...

Page 43: ...ed via the backlink connector see 11 7 1 Backlink Connector Connect the real time Ethernet fieldbus to the 1st module in the MSD 510 system using a standard Ethernet cable not provided Use the Etherne...

Page 44: ...On OK Ba ck Ca nc el Info Quick Menu Main Menu Alarm Log LCP PSM 510 DAM 510 DAM 510 STATUS PSM LINK ACT DEV STO NET ST X1 X2 STATUS DAM LINK ACT DEV STO NET ST AUX X1 X2 X3 STATUS DAM LINK ACT DEV ST...

Page 45: ...n methods Using the VLT Servo Motion libraries available for TwinCAT Automation Studio and SIMOTION SCOUT and TiA Portal Using the NC axis functionality of TwinCAT ISD 510 DSD 510 and SDM 511 SDM 512...

Page 46: ...able connector to other EtherCAT slaves for example EtherCAT encoder The connector is only available on the advanced servo drives X2 M23 hybrid cable connector to the next servo drive Illustration 26...

Page 47: ...POWERLINK 3 11 3 PROFINET The ISD 510 DSD 510 servo drive servo drive modules SDM 511 SDM 512 and system modules support PROFINET conformance class C as per IEC 61158 5 10 2014 IEC 61158 6 10 2014 IE...

Page 48: ...ng gear with sufficient load capacity to transport the servo system components Avoid vibration during transport Avoid heavy impacts and blows 4 3 Inspection on Receipt Procedure 1 After receiving the...

Page 49: ...on condensing The minimum space required above and below the system modules is detailed in 4 7 1 Space Requirements for System Modules 4 6 Preparation for Installation 4 6 1 System Modules Context Mak...

Page 50: ...n 29 Drilling templates for 50 mm and 100 mm System Modules 4 7 Installation Procedure 4 7 1 Space Requirements for System Modules The modules can be mounted next to each other but require a minimum s...

Page 51: ...min 30 1 57 min 40 6 367 7 max 120 4 72 e30bg820 10 380 min 155 Illustration 30 Minimum Space Required at the Top and Bottom Mechanical Installation Operating Guide VLT Multiaxis Servo Drive MSD 510 S...

Page 52: ...ing to the fixings screws not included are required 4 7 3 Fitting Instructions for System Modules Context NOTICE Mount the MSD 510system component with the highest output power next to the PSM 510 Mou...

Page 53: ...od e30bg802 10 Illustration 32 Connecting the Backplates 3 Mount the backplates to the mounting plate in the control cabinet using M5 screws with a minimum head diameter or washer diameter of 9 5 mm T...

Page 54: ...ide the module onto the carrier at the bottom of the backplate 5 Press the 1st module onto the backlink connector at the top of the backplate Mechanical Installation Operating Guide VLT Multiaxis Serv...

Page 55: ...LINK ACT X1 X2 STATUS DAM DEV SVS ST NET ST AUX LINK ACT X1 X2 X3 STATUS DAM DEV SVS ST NET ST AUX LINK ACT X1 X2 X3 LCP LCP LCP Illustration 35 Pulling Down the Holding Clamp at the Top of the Backp...

Page 56: ...1 e30bg822 10 Illustration 36 Guiding Groove Mechanical Installation Operating Guide VLT Multiaxis Servo Drive MSD 510 System AQ262450196490en 000101 175R1170 56 Danfoss A S 2019 10...

Page 57: ...ious injury Installation commissioning and maintenance may only be performed by qualified personnel WARNING HIGH VOLTAGE Potentially lethal voltage is present on the connectors that may lead to death...

Page 58: ...g RCM device is used for protection in case of direct or indirect contact use a type B RCD or RCM device on the supply side of the MSD 510 system components NOTICE All modules must be mounted in a con...

Page 59: ...C Cu To comply with UL requirements ensure a minimum ground wire cross section of at least 6 AWG minimum 60 C Cu If a PSM 510 module with 10 kW is used the cable cross section can be reduced to 10 mm...

Page 60: ...the System Components 1 2 3 e30bh343 10 1 Cable tie 3 PE screw 2 EMC metal shielding plate Illustration 39 Cable Shielding on the Bottom of the System Components Use a cable with a shielding that has...

Page 61: ...earthed supply earthing system Prospective short circuit current 5 kA Protective class I Grounded 3 phase mains network 400 480 V AC 10 3 phase lines and PE line 3 phase frequency 44 66 Hz Maximum inp...

Page 62: ...xternal isolated source The 24 48 V DC external supply for auxiliary voltage must be dedicated to the MSD 510 system meaning that the supply is used exclusively for powering the PSM 510 The maximum ca...

Page 63: ...d isolation between safety signals and other signals supplies mains supply and exposed conductive parts 5 7 UL Requirements NOTICE Integral solid state short circuit protection does not provide branch...

Page 64: ...xis 2 170 Axis 1 120 10 60 12 1 Shielded area 3 V 5 PE 2 U 4 W Illustration 40 Motor Cable for 50 mm Wide Servo Drive Modules 40 60 15 15 150 1 2 3 4 5 e30bh465 10 1 Shielded area 2 U Electrical Insta...

Page 65: ...2 e30bg810 10 Illustration 43 Connecting the Motor Cable on 100 mm Wide Servo Drive Modules Procedure 1 Insert the wires into the motor connector 2 Insert the motor connector 1 3 Secure and shield the...

Page 66: ...Cable tie for brake thermistor cable 5 EMC plate screw 2 Brake thermistor connector 4 EMC plate Illustration 45 Connecting the Brake Thermistor Cable NOTICE Use a motor with reinforced insulation bet...

Page 67: ...UT X2 OUT 5 STO connector IN STO SDM 511 512 7 Relay connector REL SDM 511 512 2 Ethernet connector IN X1 IN 4 I O connector I O SDM 511 512 6 STO connector OUT STO SDM 511 512 Illustration 46 Connect...

Page 68: ...SM 510 Modules to the AC Choke for further information Table 15 Line Choke Characteristics for 2 PSM 510 installed in parallel Model Minimum Irms A Urms V Inductance mH PSM 510 2 x 30 kW 125 500 0 24...

Page 69: ...e AC Choke Connect the PSM 510 modules to the same AC choke as shown in illustration 48 Ensure the choke used is the correct size based on the combined power of the PSM 510 modules When 2 PSM 510 modu...

Page 70: ...odules are used the wiring between the AC line choke and each PSM 510 must be the same length within a tolerance of 0 5 m Connect each PSM 510 to the AC choke directly Parallel wiring is not permitted...

Page 71: ...the system splitting and half are set after the system splitting the setup is permitted with derating equal to the AC choke s tolerance referred to 60 kW For example 10 derating is 54 kW NOTICE Furth...

Page 72: ...Connecting the Cables on the Bottom of the Power Supply Module PSM 510 Context 2 1 3 4 e30bg466 10 1 Holder for internal brake resistor connector when not in use 3 PE screws 2 AC mains supply connecto...

Page 73: ...module to the input connector 1 2 Insert the wires from the STO output of the previous module into the 24 V IN STO input connector see 11 7 10 3 1 STO Connectors on the Top of DAM 510 3 Insert the 24...

Page 74: ...mm2 4 mm2 fork lug 2 UDC black 2 5 mm2 4 mm2 4 STO pink 0 5 mm2 6 AUX red 2 5 mm2 8 Ethernet fieldbus green RJ45 connector Illustration 54 Feed In Cable 1 2 3 4 5 6 e30bg807 10 1 Feed in cable PE scr...

Page 75: ...screw on the front side 1 using a PE wire The tightening torque is 3 Nm 5 11 Connecting the Auxiliary Capacitors Module ACM 510 Context e30bh350 11 1 2 4 3 1 Ethernet connector IN X1 IN 3 I O connect...

Page 76: ...ration 57 Expansion Module Cable e30bh392 11 1 2 3 4 5 6 7 1 EMC shielding plate screw 3 DC cables 5 GND cable 7 Cable tie 2 PE screw 4 Functional earth cable 6 24 48 V cable Illustration 58 Connectin...

Page 77: ...torque is 3 Nm 6 Ground the expansion module to PE using a PE wire and the PE screw 2 The tightening torque is 3 Nm 5 13 Connecting the Brake Resistor on the PSM 510 The PSM 510 is connected to the in...

Page 78: ...connected to the internal brake resistor and the other is connected to an external brake resistor Both PSM 510 modules are connected to an external brake resistor In this case the internal brake resis...

Page 79: ...T X1 X2 LCP 1 1 e30bh424 10 PSM 510 PSM 510 1 Internal brake resistor Illustration 60 Connection of Brake Resistor on 2 PSM 510 Modules in Parallel Electrical Installation Operating Guide VLT Multiaxi...

Page 80: ...fore commencing operation after extended downtime or storage Procedure 1 Check if all the threaded connectors of mechanical and electrical components are firmly tightened 2 Check if the free circulati...

Page 81: ...ce button 3 to transfer the file to a device Power cycle the device to activate the transferred configuration NOTICE Refer to the subtool for a detailed description of each parameter 6 3 2 Drive Commi...

Page 82: ...related parameters are located in parameter group 12 0 IP Settings According to the Ethernet POWERLINK standard the IP address is fixed to 192 168 100 xxx The last number is the value in parameter 12...

Page 83: ...tart and change the status from 0 ready to 1 start 11 Press OK to confirm the selection then wait for the ID assignment procedure to complete 12 Check that the ID assignment was completed successfully...

Page 84: ...rameter 54 02 Epl ID assignment start id then select a valid value 1 239 The value will be assigned to the device at the specified position index The PSM 510 DAM 510 connected to the LCP is at positio...

Page 85: ...les until they are all powered up correctly If 2 PSM 510 modules are mounted in parallel power up both PSM 510 modules simultaneously within a maximum delay of 1 second 6 8 System Module Charging Time...

Page 86: ...em Procedure 1 Switch on UAUX power to enable communication to the PSM 510 DAM 510 and SDM modules to be established 2 Switch on the mains 3 Set the PSM 510 to state Operation enabled Now the system m...

Page 87: ...tion for the advanced DSD 510 servo drive 0x0300008D_DSD510_A xdd XDD file XML Device Description for the SDM 511 SDM 512 servo drive module 0x0300008D_SDM510 xdd XDD file XML Device Description for t...

Page 88: ...ly Module PSM The names of the POUs that target the PSM all end with _PSM DDS_DAM Contains POUs defined by Danfoss name starting with DD_ and provide the functionality for the Decentral Access Module...

Page 89: ...output AbortCode that is available in several POUs PSM_ErrorCodes Constants for error codes of the Power Supply Module PSM 510 Error codes can be read using the function block DD_ReadPsmError_PSM and...

Page 90: ...itialize each instance of a drive with its DriveType Example Illustration 63 Instantiation of AXIS_REF_DDS and Setting of Initial Values 6 11 6 Instantiating PSM_REF in Automation Studio Procedure 1 C...

Page 91: ...Studio Procedure 1 Create 1 instance of function block ACM_REF located in folder DDS_ACM for every Auxiliary Capacitors Module ACM that has to be controlled or monitored 2 To create a link to the phy...

Page 92: ...the Ethernet POWERLINK interface of the controller in the Physical View Right click on the controller in the Physical View and select Open POWERLINK Right click on the interface and select Insert In...

Page 93: ...rvo drive in the group POWERLINK in the Hardware Catalog toolbox Drag the selected module to the desired position to connect it to the selected hardware module network interface or slot To change the...

Page 94: ...or ACM 510 to the Ethernet POWERLINK interface of the controller in the Physical View Right click on the controller in the Physical View and select Open POWERLINK Right click on the interface and sele...

Page 95: ...m Designer to show the System Designer To add a hardware module to the Physical View or System Designer select the PSM 510 DAM 510 or ACM 510 in the group POWERLINK in the Hardware Catalog toolbox Dra...

Page 96: ...e ACM 510 so that the library has access to all necessary objects Right click on the entry of the PSM DAM ACM and select Open I O Configuration in V3 0 90 and Configuration in V4 x In the Channels sec...

Page 97: ...l Configuration 4 Map the inputs and outputs of the instance of the AXIS_REF_DDS function block and the physical data points of the ISD 510 servo drive here myAxis is an instance of AXIS_REF_DDS Commi...

Page 98: ...ion can be accessed by right clicking CPU Open IF3 POWERLINK Configuration in the Physical View for V3 0 90 or PLK Configuration for V4 x NOTICE Ensure that the task cycle times of the PLC program and...

Page 99: ...ive Danfoss_ISD510_A xml ESI file EtherCAT Slave Information for the standard DSD 510 servo drive Danfoss_DSD510_S xml ESI file EtherCAT Slave Information for the advanced DSD 510 servo drive Danfoss_...

Page 100: ...lect the Danfoss_VLT_ServoMotion_V_x_y_z file according to the location on the hard drive 4 Click on Open Now the libraries are integrated into the TwinCAT PLC control project e30bh611 10 Illustration...

Page 101: ...that target the DAM 510 all end with _DAM DDS_ACM Contains POUs defined by Danfoss name starting with DD_ and provide the functionality for the Auxiliary Capacitors Module ACM 510 The names of the PO...

Page 102: ...output AbortCode that is available in several POUs PSM_ErrorCodes Constants for error codes of the Power Supply Module PSM 510 Error codes can be read using the function block DD_ReadPsmError_PSM and...

Page 103: ...EF in TwinCAT Procedure 1 Create 1 instance of function block PSM_REF located in folder DDS_PSM for each Power Supply Module that has to be controlled or monitored 2 Repeat step 1 for additional Power...

Page 104: ...and outputs to the TwinCAT System Manager Procedure 1 To add the project information to the TwinCAT System Manager right click on PLC Configuration and select Append PLC project 2 In the Insert IEC 1...

Page 105: ...ert EtherCAT Device window select Danfoss GmbH VLT FlexMotion VLT Power Supply Module PSM 510 and click on OK 7 To add a Decentral Access Module right click on Device1 EtherCAT and select Append Box 8...

Page 106: ...e30bh517 10 Illustration 75 Add a Servo Drive to the Project Commissioning Operating Guide VLT Multiaxis Servo Drive MSD 510 System AQ262450196490en 000101 175R1170 106 Danfoss A S 2019 10...

Page 107: ...s with No If the servo drive is to be used as an NC axis see 6 12 15 Configuration as a TwinCAT NC Axis NOTICE Add 1 entry to the EtherCAT master of the TwinCAT System Manager for each physical servo...

Page 108: ...drive entry 2 Select the Slots tab on the right side of the window 3 Remove the current PDO configuration by selecting the entry Module 1 CSV PDO in the Slot box 4 Click on X 5 Select Library PDO in...

Page 109: ...Right click on WcState via menu I O Configuration I O Devices Device1 EtherCAT Box1 VLT Decentral Access Module Drive2 VLT ISD 510 Integrated Servo Drive WcState and select Change Link 12 In the Attac...

Page 110: ...510 DAM 510 ACM 510 and SDM 511 SDM 512 to 1 SYNC unit and the ISD 510 DSD 510 servo drives to another This protects against interruptions in communication to the PSM 510 and DAM 510 if the UAUX supp...

Page 111: ...ity of TwinCAT Everything that is related to the PSM 510 and DAM 510 must be done as described in 6 12 2 Creating a TwinCAT Project Procedure 1 In addition to the Danfoss_VLT_ServoMotion_V_x_y_z lib f...

Page 112: ...o and TwinCAT Recommendations for implementation Initialize parameters that usually do not change only once at the beginning of the program In Automation Studio use the _INIT section Call up function...

Page 113: ...GSDML file General station description GSDML V2 31 Danfoss ACM yyyymmdd xml 6 14 2 Connecting to the PLC Information on how to connect to the PLC can be found in detail in the SIMOTION SCOUT Help Open...

Page 114: ...M 510 all end with _PSM DDS_DAM Contains POUs defined by Danfoss name starting with DD_ and provide the functionality for the Decentral Access Module DAM 510 The names of the POUs that target the DAM...

Page 115: ...ject Tree after Including Danfoss Servo Motion Libraries NOTICE Do not remove or rename these libraries Commissioning Operating Guide VLT Multiaxis Servo Drive MSD 510 System AQ262450196490en 000101 1...

Page 116: ...ry 3 Select file DDS_Intern xml according to the location on the hard drive 4 Click on OK Now the library is integrated into the SIMOTION SCOUT project 5 Repeat steps 2 4 for DDS_BasCam xml DDS_Drive...

Page 117: ...side of the screen and selecting Additional Field Devices Drives VLT FlexMotion If the device is not visible update the hardware catalog by selecting Options Update catalog 6 Expand Drive Object 1 an...

Page 118: ...ifferent name and IP address The IP address assignment is also required when using indirect communication via the VLT Toolbox software see the VLT Servo Drive System ISD 510 DSD 510 MSD 510 Programmin...

Page 119: ...e listed under device type VLT ISD 510 The DSD 510 servo drives are listed under device type VLT DSD 510 The SDM 511 SDM 512 servo drive modules are listed under device type VLT SDM 510 3 Select the d...

Page 120: ...bnet mask and click on Assign IP configuration e30bh524 10 Illustration 86 Entering the IP Address and Assigning the IP Configuration 6 Enter the device name that was previously selected and click on...

Page 121: ...to a common cycle clock One device has the role of the sync master clock generator All other devices are sync slaves NOTICE All devices that exchange data via Isochronous Real Time IRT must belong to...

Page 122: ...5 In the Sync Domain tab select the station in the upper field of the Nodes section 6 In the lower field of the Nodes section double click on the device that should be configured as the sync master 7...

Page 123: ...elect the station with the PROFINET devices 13 Select the menu Edit Object Properties 14 In the next window open the Isochronous Tasks tab select the isochronous mode for I O data change and click on...

Page 124: ...vice in Isochronous Mode 6 14 8 Configuring a Topology Context The topology must be configured and parameterized Commissioning Operating Guide VLT Multiaxis Servo Drive MSD 510 System AQ262450196490en...

Page 125: ...Graphic view tab e30bh529 10 Illustration 93 Graphic View Tab in Topology Editor 5 Connect the PROFINET device with the station Establish connections between ports by holding down the left mouse butt...

Page 126: ...xIO 3 Select the menu Edit PROFINET IO Domain management 4 In the next window open the Sync Domain tab and in the Send clock time ms field select an appropriate time for the process for example 1 000...

Page 127: ...e and click on OK e30bg366 10 Illustration 95 Set Update Time NOTICE The system cycle clocks of the PLC program must be the same as the PROFINET send clock otherwise data may be lost and performance r...

Page 128: ...n the HW Config tool I O variables can only be created in offline mode 6 14 11 Programming using the Danfoss VLT Servo Motion Library Before using data types functions or function blocks from librarie...

Page 129: ...Quality at the beginning of the application program for each axis in every cycle Use the system function _quality I Ovariable whereby I Ovariable is the variable containing the cyclic data that was as...

Page 130: ...a unit declared with VAR_GLOBAL In the DAM_REF structure assign the variable Quality at the beginning of the application program for each Decentral Access Module in every cycle Use the system function...

Page 131: ...device in every cycle NOTICE Only create instructions and other program parts between the calls of DD_UpdateProcessInput and DD_UpdateProcessOutput 6 14 16 Global Compiler Settings Context Activate th...

Page 132: ...synchronousTask in the tree structure 6 In the Program assignment area at the left side of the Synchronous Task window assign the program by selecting it and clicking on the button The program will th...

Page 133: ...DD_UpdateProcessOutput_DDS for every axis to update the process image partition of inputs and outputs Call up these function blocks in every PLC cycle Only create instructions and other program parts...

Page 134: ...for testing purposes CAM editor For designing CAM profiles for the servo drives Configuration parameter For setting up the motor and feedback parameters and PID settings Drive commissioning For motor...

Page 135: ...he devices on the fieldbus Therefore ensure that the VLT Servo Toolbox is allowed to communicate through the firewall on the VLT Servo Toolbox host system Inappropriate changes to firewall settings ma...

Page 136: ...able requires administrator privileges Therefore administrator credentials may be requested when initializing the connection 6 16 4 3 3 Enabling Indirect Communication Context Carry out the following...

Page 137: ...y or via Remote Desktop 6 16 4 3 5 Activating the IP Routing in the EtherCAT Master Context The procedure described here may vary depending on the type of PLC and operating system installed Procedure...

Page 138: ...t 6 16 4 3 7 Additional Settings for Indirect Communication with PROFINET 6 16 4 3 7 1 Overview Each PROFINET device needs a device name and an IP address The IP address and the device name are assign...

Page 139: ...e and IP address The last number of the IP address is the ID that is used in the VLT Servo Toolbox software to identify the device When the Accessible nodes tab is closed the addresses are retained Th...

Page 140: ...rk 6 16 4 4 2 Network Settings for Direct Communication with Ethernet POWERLINK Disable all network protocols except TCP IPv4 on the network interface used for direct Ethernet POWERLINK communication...

Page 141: ...ation and select Properties 4 Uncheck all checkboxes except the one for Internet Protocol Version 4 TCP IPv4 5 Disable the IPv4 Checksum offload on the network interfaces as described in 6 16 4 3 2 Ne...

Page 142: ...dress and 255 255 255 0 as the subnet mask Leave all other fields empty e30bh531 10 Illustration 106 Internet Protocol Version 4 TCP IPv4 Properties 6 16 4 4 5 Network Settings for Direct Communicatio...

Page 143: ...managing connections showing and changing settings managing open subtools and showing help contents 2 Tool bar Contains shortcuts for saving and loading projects connecting to and disconnecting from...

Page 144: ...D 510 Programming Guide for further infor mation on the subtools 6 Workspace This is the space for hosting the subtools and its size depends on the Main Window size The subtools can be maximized minim...

Page 145: ...e Environment and click on OK 3 All selected devices appear in the Device Environment window and automatically go online indicated by a glowing light bulb next to each device name 6 18 Motion Library...

Page 146: ...website Automation Studio Detailed information on how to open the sample project within the ISD package in Automation Studio can be found in the Automation Studio Help Open the B R Help Explorer and...

Page 147: ...ed under torque control and executes a movement with constant torque Linear ramps are used Additional parameters such as torque ramp and maximum velocity can be para meterized Homing mode In homing mo...

Page 148: ...sition actual value after a rising or falling edge at the configured digital input 7 2 Operating Status Indicators The operating status of the MSD 510 system components is indicated via the LEDs on ea...

Page 149: ...rk status of the device see corresponding fieldbus stand ard LINK ACT X1 Link activity status of In Green On Ethernet link established Flashing Ethernet link established and active Off No link LINK AC...

Page 150: ...lashing Initialization On Initialization failed or other error LINK ACT X1 Link activity status of In Green On Ethernet link established Flashing Ethernet link established and active Off No link LINK...

Page 151: ...n On Auxiliary voltage is applied to the output connector Off Auxiliary voltage is not applied to the output connector Red On Auxiliary voltage undervoltage detected in the hardware LINK ACT X1 Link a...

Page 152: ...t CAP ST Green On Capacitors fully charged Flashing Capacitors charging discharging Off Capacitors discharged NET ST Green On Connected Orange On Online Red Flashing Initialization On Initialization f...

Page 153: ...h additional measures for preventing uncontrolled and hazardous movement for example mechanical brakes WARNING RISK OF ELECTRICAL SHOCK The STO function does not isolate mains voltage to the servo sys...

Page 154: ...eived training from qualified electrical engineers and are suitably experienced to operate devices systems plant and machinery in accordance with the general standards and guidelines for safety techno...

Page 155: ...failure dangerous Unit years PFH EN IEC 61508 Probability of dangerous failures per hour Take this value into account if the safety device is operated in high demand mode or in continu ous operating...

Page 156: ...th Plus and Minus Switching Output Signals with test pulses must not have test pulses of 1 ms Longer pulses may lead to reduced availability of the servo system 8 6 1 Protective Measures Install the M...

Page 157: ...he STO function after every change to the installed function or after a safety fault There are 2 ways to implement the commissioning test depending on the method used to program the PLC however the st...

Page 158: ...is required MC_ReadAxisInfo_DDS output SafeTor queOff False for all servo drives on the corresponding line 6 Run the application all the servo drives are ena bled Application runs as expected Applicat...

Page 159: ...pplication runs as expected 2 Stop the application All servo drives are at speed 0 RPM 3 Disable all the servo drives All servo drives are disabled 4 Enable STO Check that STO can be activated without...

Page 160: ...fault occurred because of the STO circuit the cause of the fault can be found in object 0x603F Table 32 Error Codes Error code PROFINET error code Classification Description Reset 0xFF80 0x11E Fault S...

Page 161: ...tegrity level SIL 2 2 Probability of failure per hour PFH 0 h 4 x 10 9 h 4 x 10 9 h 0 h Safe failure fraction SFF 100 95 95 100 Subsystem classification Type A Functional test interval 1 year 1 For ea...

Page 162: ...SD 510 DSD 510 servo drives and other system components if access to them could result in safety risks Functional Safety Concept Operating Guide VLT Multiaxis Servo Drive MSD 510 System AQ262450196490...

Page 163: ...ed in the troubleshooting tables notify Danfoss Service Have the following information available to enable Danfoss to provide help quickly and effectively Type number Error code Firmware version Syste...

Page 164: ...ble Cause Mirror mode activated Troubleshooting Check the parameter settings 9 2 1 5 Motor not Generating Expected Torque Possible Cause Drive defective Parameter error Troubleshooting Check the param...

Page 165: ...Troubleshooting Check the shaft Check for loose mechanical components on the connected mechanics Check the parameter settings 9 2 1 10 Drive Speed Drops Sharply under Load Possible Cause Drive is runn...

Page 166: ...e error Troubleshooting Contact Danfoss 9 2 1 14 Noises when Power Off Brake is Engaged Possible Cause Mechanical brake damaged Troubleshooting Contact Danfoss 9 2 1 15 LEDs not Lighting Up Possible C...

Page 167: ...ce Missing or open fuses or circuit breaker tripped Check the fuses and circuit breaker No power to the LCP Check the LCP cable for proper connection or damage Replace any faulty LCP or connection cab...

Page 168: ...re decelerating with in sufficient ramp time Avoid simultaneous deceleration of several servo drives Change the deceleration speed DAM 510 PSM 510 ISD 510 DSD 510 servo drives SDM 511 SDM 512 servo dr...

Page 169: ...f the nominal power rating for too long Troubleshooting Check the current consumption 9 2 2 8 UAUX Overcurrent Error 0x2391 0x125 This fault applies to the DAM 510 Possible Causes The servo drives are...

Page 170: ...e supply side The voltage imbalance is too high Troubleshooting Check the supply voltages and supply currents to the device 9 2 2 12 Grounding Fault This fault applies to the PSM 510 DAM 510 ACM 510 a...

Page 171: ...the resistance of the brake chopper and compare it with the parameter settings 9 2 2 15 Internal Fan Error This fault applies to PSM 510 and SDM 511 SDM 512 Possible Causes Fan is not mounted Fan is b...

Page 172: ...h current overload 0x2311 0x15F This error is valid for DAM 510 and SDM 511 SDM 512 Table 39 High current overload 0x2311 0x15F Code PROFINET code Name Severity warning error trip lock Description LCP...

Page 173: ...ing error trip lock Description LCP name 0x2320 0x163 Short circuit Trip lock DC overcurrent short circuit error DC over curr 9 3 9 Earth leakage 0x2330 0x151 This error is valid for PSM 510 DAM 510 a...

Page 174: ...ed the user defined limit for warning AUX curr warn 9 3 13 AUX fuse failure 0x2395 0x129 This error is valid for DAM 510 Table 48 AUX fuse failure 0x2395 0x129 Code PROFINET code Name Severity warning...

Page 175: ...e 52 Mains phase loss 0x3130 0x12F Code PROFINET code Name Severity warning error trip lock Description LCP name 0x3130 0x12F Mains phase loss Error Mains phase loss detected This occurs when a phase...

Page 176: ...510 ACM 510 and SDM 511 SDM 512 Table 56 UDC charging error 0x3230 0x152 Code PROFINET code Name Severity warning error trip lock Description LCP name 0x3230 0x152 UDC charging error Error The maximum...

Page 177: ...AM 510 ACM 510 and SDM 511 SDM 512 Table 60 UAUX low voltage 0x3293 0x134 Code PROFINET code Name Severity warning error trip lock Description LCP name 0x3293 0x134 UAUX low voltage Warning UAUX below...

Page 178: ...0x154 This error is valid for DAM 510 Table 64 UAUX charging error 0x3297 0x154 Code PROFINET code Name Severity warning error trip lock Description LCP name 0x3297 0x154 UAUX charging error Error Loa...

Page 179: ...le 68 Automated fault reset failure 0x329B 0x168 Code PROFINET code Name Severity warning error trip lock Description LCP name 0x329B 0x168 Automated fault re set failure Trip lock Too many auto fault...

Page 180: ...0x106 This error is valid for PSM 510 DAM 510 ACM 510 and SDM 511 SDM 512 Table 72 Overtemperature Control card 0x4291 0x106 Code PROFINET code Name Severity warning error trip lock Description LCP na...

Page 181: ...time period inrush UAUX 9 3 41 Overtemperature Motor 0x4310 0x108 This error is valid for SDM 511 SDM 512 Table 76 Overtemperature Motor 0x4310 0x108 Code PROFINET code Name Severity warning error tri...

Page 182: ...valid for PSM 510 DAM 510 ACM 510 and SDM 511 SDM 512 Table 80 Param err 0x6320 0x10B Code PROFINET code Name Severity warning error trip lock Description LCP name 0x6320 0x10B Parameter error Trip l...

Page 183: ...E PROM 9 3 49 Brake chopper failure 0x7111 0x141 This error is valid for PSM 510 Table 84 Brake chopper failure 0x7111 0x141 Code PROFINET code Name Severity warning error trip lock Description LCP na...

Page 184: ...ltage and the brake resistor value set in parameter 2 16 Brake resistor power 300 s The error is reported when the value is exceeded within 300 s brake usr pwr lim 9 3 53 Brake mains voltage too high...

Page 185: ...or is valid for SDM 511 SDM 512 Table 92 Homing error on entering homing mode 0x8693 0x10F Code PROFINET code Name Severity warning error trip lock Description LCP name 0x8693 0x10F Homing error on en...

Page 186: ...rt circuit in mechanical brake control 0xFF02 0x113 Code PROFINET code Name Severity warning error trip lock Description LCP name 0xFF02 0x113 Short circuit in mechani cal brake control Trip lock Shor...

Page 187: ...65 Fan lifetime critical 0xFF22 0x15A This error is valid for PSM 510 and SDM 511 SDM 512 Table 100 Fan lifetime critical 0xFF22 0x15A Code PROFINET code Name Severity warning error trip lock Descript...

Page 188: ...Description LCP name 0xFF63 0x118 Timing violation 4 Trip lock Contact Danfoss timing err 4 9 3 70 Timing violation 5 0xFF64 0x119 This error is valid for SDM 511 SDM 512 Table 105 Timing violation 5...

Page 189: ...irmware Package description mismatch 0xFF70 0x11B This error is valid for PSM 510 DAM 510 ACM 510 and SDM 511 SDM 512 Table 110 Firmware Package description mismatch 0xFF70 0x11B Code PROFINET code Na...

Page 190: ...Invalid or corrupted firmware package update Last valid firmware package has been loa ded FW upd invalid 9 3 79 STO active while drive enabled 0xFF80 0x11E This error is valid for SDM 511 SDM 512 Tab...

Page 191: ...he servo drive was in CAM mode guide val rev 9 3 83 Guide value implausible 0xFF91 0x122 This error is valid for SDM 511 SDM 512 Table 118 Guide value implausible 0xFF91 0x122 Code PROFINET code Name...

Page 192: ...rs to fully discharge before carrying out any maintenance or repair work on the servo system or its components Minimum waiting time minutes 15 10 2 Maintenance Tasks The MSD 510 system components are...

Page 193: ...n of electrical wiring and cables 10 4 Repair Always contact the local Danfoss sales company for information about the repair policy Maintenance Decommissioning and Disposal Operating Guide VLT Multia...

Page 194: ...omponents Do not dismount the connectors from the EMC plate 1 2 3 4 e30bg813 10 Illustration 115 Disconnecting the EMC Plate Unplug the RJ45 connector 2 only on DAM 510 Unscrew the screw 4 on the EMC...

Page 195: ...e module 1 e30bg815 10 STATUS PSM DEV SVS ST NET ST LINK ACT X1 X2 STATUS DAM DEV SVS ST NET ST AUX LINK ACT X1 X2 X3 STATUS DAM DEV SVS ST NET ST AUX LINK ACT X1 X2 X3 LCP LCP LCP Illustration 117 Re...

Page 196: ...see chapter Electrical Installation 4 Switch the system on see 6 9 Switching on the MSD 510 System 5 Configure the system module s parameters according to the fieldbus used see 6 4 EtherCAT ID Assign...

Page 197: ...hreaded ring of the connector on the servo drive 12 Disconnect the feed in cable from the servo drive 10 6 2 2 Replacing the Feed In Cable Replace the feed in cable with a cable of identical type and...

Page 198: ...ign Guide for part numbers 10 6 3 3 Connecting the Loop Cable 1 Connect the male connector of the loop cable to the female connector on the servo drive 2 Connect the female connector of the loop cable...

Page 199: ...nd replace them with the same number of identical type fuses see 5 4 1 Fuses e30bg801 10 Illustration 120 Removing the Fuse 3 Replace the cover and tighten the screws 1 The tightening torque is 2 Nm M...

Page 200: ...on fan types can be found in the VLT Servo Drive System ISD 510 DSD 510 MSD 510 Design Guide Procedure 1 Use a screwdriver as a lever to release the fan holder 2 Remove the fan 3 Replace the fan with...

Page 201: ...ling Take metals and plastics to recycling stations The servo drives and system modules are classified as electronic waste and the packaging is classified as packaging waste 10 11 Disposal Devices con...

Page 202: ...6001Q368 OUTPUT Pnom 30kW Notes MAC PSM X1 IN X2 OUT 15 MIN 00 1B 08 15 B3 XX 00 1B 08 15 B3 XX 00 1B 08 15 B3 XX e30bg276 10 1 2 3 4 5 6 7 8 9 Motor over temperature sensing is required 1 Danfoss log...

Page 203: ...rotection rating IP20 according to IEC EN 60529 except connectors which are IP00 8 Short circuit current rating Illustration 124 Example Nameplate on the Side of the System Modules for PSM 510 Specifi...

Page 204: ...r Supply Module PSM 510 Definition Unit Power size 1 Power size 2 Power size 3 Input Mains input voltage V AC 400 480 10 3 phase see 5 2 Electrical Environmental Conditions Input current UMIN A 20 34...

Page 205: ...0 1 An external brake resistor can be connected 11 3 Servo Drive Module SDM 511 SDM 512 11 3 1 Motor Overload Protection NOTICE Internal motor overload protection operates at 105 of the motor full loa...

Page 206: ...M 512 has an input for motor temperature sensor 11 3 3 Dimensions e30bg584 10 13 0 51 50 1 97 21 3 0 84 84 3 3 32 25 0 98 25 0 98 5 2 0 2 6 0 24 7 0 28 5 2 0 2 380 14 96 471 18 54 367 14 45 270 10 63...

Page 207: ...losure size 1 FS1 5 A Enclosure size 1 FS1 10 A Enclosure size 1 FS1 20 A Enclosure size 2 FS2 40 A Input DC link V DC 565 680 10 DC link capacitance F 330 900 UAUX V DC 24 48 10 UAUX current consumpt...

Page 208: ...all mounted on backplate using backlink connector Number of motor connectors 1 Weight kg 3 9 6 2 Dimensions W x H x D mm 84 3 x 471 x 270 134 3 x 471 x 270 11 3 5 Characteristic Data SDM 512 Table 124...

Page 209: ...frequency 65 Derating of nominal and peak current with 10 kHz switching frequency 55 Protective measures Overload short circuit and ground fault protection Maximum output frequency Hz 590 Functional s...

Page 210: ...f DAM 510 11 4 2 Characteristic Data for DAM 510 Table 125 Characteristic Data for Decentral Access Module DAM 510 Definition Unit Power size 1 Power size 2 Input DC link V DC 565 680 10 DC link capac...

Page 211: ...nector Weight kg 3 05 Dimensions W x H x D mm 84 3 x 467 9 x 270 11 4 3 Hybrid Cable Protection The AUX 24 48 V has 3 levels of protection Software seconds timing range The control boards opens the 24...

Page 212: ...itors Module ACM 510 Characteristic Data Definition Unit Value DC link V DC 565 680 10 DC link capacitance F 2750 UAUX V DC 24 48 10 UAUX current consumption at 24 V DC A DC 0 5 UAUX current consumpti...

Page 213: ...tic Data Definition Unit Value DC link V DC 565 680 10 Maximum current A DC 62 Mounting Wall mounted on backplate using backlink connector Weight kg 0 6 Dimensions W x H x D mm 87 x 380 x 145 11 7 Con...

Page 214: ...1 Pin Assignment of Backlink Connector Table 128 Pin Assignment of Backlink Connector Pin Description 1 24 48 V 2 GND Specifications Operating Guide VLT Multiaxis Servo Drive MSD 510 System AQ26245019...

Page 215: ...iption Notes Ratings 1 DC R Used for connecting a brake re sistor Nominal voltage 560 800 V DC Maximum brake current 80 A Conductor cross section range 0 75 16 mm2 AWG 18 AWG 4 2 R NOTICE The maximum...

Page 216: ...iption Notes Rating parameter 1 TEMP Used to connect the motor s temperature sensor if present KTY83 110 KTY84 130 PT1000 2 TEMP 3 BRAKE Used to connect the motor s mechanical brake if present Nominal...

Page 217: ...ed to the temperature sensor input NOTICE The maximum length of the brake cable is 80 m shielded 11 7 3 Ethernet Connectors Ethernet connectors are located on all the system modules e30be395 10 8 1 Il...

Page 218: ...T X2 OUT Ethernet OUT1 11 7 3 2 Ethernet Connectors on DAM 510 Table 133 Ethernet Connectors on DAM 510 Connector name Description Pins Ratings X1 IN Ethernet IN 1 TX 2 TX 3 RX 4 5 6 RX 7 8 According...

Page 219: ...SM 510 ACM 510 1 2 3 4 e30bg458 11 Illustration 135 I O Connector on PSM 510 I O PSM and ACM 510 I O ACM Table 135 Pin Assignment of I O Connector on PSM 510 ACM 510 Pins Description Notes Rating para...

Page 220: ...511 SDM 512 10 9 8 7 6 5 4 3 2 1 e30bg451 11 Illustration 136 I O Connector on SDM 511 SDM 512 Table 136 Pin Assignment of I O Connector on SDM 511 SDM 512 Pins Description Notes Rating parameter 1 2...

Page 221: ...l input Nominal voltage 0 24 V Bandwidth 100 kHz Analog input Nominal voltage 0 10 V Input impedance 5 46 k Bandwidth 25 kHz 10 DigIn1 1 Maximum output current for all 4 digital outputs together If al...

Page 222: ...section range 0 75 16 mm2 solid or flexible AWG 18 AWG 4 2 GND NOTICE Only PELV potential can be connected to the UAUX input 11 7 5 1 24 48 V Cable Cross Sections for PSM 510 Table 138 24 48 V Cable...

Page 223: ...RS485 specification 4 LCP RS485 Negative RS485 signal 5 GND GND 6 VCC 5 V supply for LCP 5 V 10 at 120 mA maximum load NOTICE Only PELV potential can be connected to the LCP input 11 7 7 AC Mains Con...

Page 224: ...ble Cross Sections for PSM 510 PSM 510 10 kW PSM 510 20 kW PSM 510 30 kW Minimum cable cross section for CE 4 mm2 minimum 70 C Cu 16 mm2 minimum 70 C Cu 16 mm2 minimum 90 C Cu Minimum cable cross sect...

Page 225: ...SDM 511 10 Arms SDM 511 20 Arms SDM 511 40 Arms Minimum cable cross section for CE min 70 C Cu 1 5 mm2 4 mm2 10 mm2 Minimum cable cross section for UL min 60 C Cu 14 AWG 10 AWG 6 AWG 11 7 8 2 Motor C...

Page 226: ...ACM Pins Description Notes Rating parameter 11 NC Normally closed 24 V DC Nominal current 2 A Conductor cross section range 0 2 1 5 mm2 AWG 24 AWG 16 12 NO Normally open 24 V DC 13 COM Common 11 7 9 2...

Page 227: ...WG 16 12 NO Normally open 24 V DC 13 COM Common REL SDM2 1 21 NC Normally closed 24 V DC 22 NO Normally open 24 V DC 23 COM Common 1 Only on SDM 512 11 7 10 STO Connectors 11 7 10 1 STO Connectors on...

Page 228: ...oltage 24 V DC 10 Nominal current Depends on the number of servo drives in the application Maximum current 1 A Conductor cross section range 0 2 1 5 mm2 AWG 24 AWG 16 2 STO 3 STO Used for STO input vo...

Page 229: ...ter STO PSM 1 STO Used for STO output voltage to the input of the other system modules Nominal voltage 24 V DC 10 Nominal current Depends on the number of servo drives in the applica tion Maximum curr...

Page 230: ...input and 1 output STO connector on the top of the Decentral Access Module DAM 510 e30bg454 11 1 2 Illustration 147 STO Output Connector on the Top of DAM 510 e30bh664 10 3 4 Illustration 148 STO Inpu...

Page 231: ...s 1 output STO connector on the bottom of the Decentral Access Module DAM 510 The output is for the hybrid cable e30bg457 10 Illustration 149 STO Connector on the Bottom of DAM 510 Table 150 Pin Assig...

Page 232: ...hybrid cable for the ISD line Nominal voltage 560 800 V DC Nominal current Depends on the number of servo drives in the ap plication Maximum current 25 A Conductor cross section range 0 2 6 mm2 AWG 2...

Page 233: ...1 7 13 Motor Feedback Connectors The motor feedback connectors allow the connection of an encoder or resolver to the Servo Drive Modules SDM 511 SDM 512 SDM 511 has 1 motor feedback connector E SDM1 S...

Page 234: ...olver positive sine input 20 ENC_CLK X X Encoder positive clock signal 21 ENC_CLK X X Encoder negative clock signal 22 SUPPLY 2 X X X 5 11 V depending on feedback type maximum 250 mA 23 SENS 3 X X X P...

Page 235: ...external encoder connectors are located on the Servo Drive Modules SDM 511 SDM 512 and the Decentral Access Module DAM 510 as follows SDM 511 E SDM1 SDM 512 E SDM1 and E SDM2 DAM 510 E DAM 5 1 6 9 e30...

Page 236: ...ground If encoders are powered externally the ground of the external supply must be connected to GX 7 8 RS422 RXD Negative data Bus speed SSI 0 5 Mbit with 25 m cable BiSS Fulfills the RS485 specifica...

Page 237: ...onditions for MSD 510 System Table 157 General Specifications and Environmental Conditions for MSD 510 System Specification Value Protection rating IP20 according to IEC EN 60529 except connectors whi...

Page 238: ...e30bh106 10 Illustration 155 Derating 11 9 Storage Store the servo system components in a dry dust free location with low vibration veff 0 2 mm s The storage location must be free from corrosive gase...

Page 239: ...Ethernet connectors 218 218 219 Ethernet POWERLINK 47 Ethernet POWERLINK ID assignment 82 Ethernet POWERLINK master 142 Expansion module connector 237 External encoder connector 235 F Feed in cable 4...

Page 240: ...llation 48 Safety instructions 18 Safety supply requirements 62 Service and support 22 SIMOTION SCOUT 113 Single device ID assignment 82 Software 44 Software updates 16 Space requirements for system m...

Page 241: ...in Automation e V CE European test and certification mark CIA DS 402 Device profile for drives and motion control CIA is a registered community trademark of CAN in Automation e V Connector M23 Servo...

Page 242: ...ated gate bipolar transistor is a 3 terminal semiconductor device primarily used as an electronic switch to combine high efficiency and fast switching Installation elevation Installation elevation abo...

Page 243: ...the driver com ponents for the IGBTs Scope Scope is part of the DDS Toolbox software and is used for diagnosis It ena bles internal signals to be depicted SDM Servo Drive Module SIL 2 Safety Integrat...

Page 244: ...Module ACM 510 V VLT Servo Toolbox A pc software tool used for parameter setting and diagnostics of VLT Servo Drive systems W Wireshark Wireshark is a network protocol analyzer released under the GNU...

Page 245: ...VLT Servo Drive Systems Glossary Operating Guide VLT Multiaxis Servo Drive MSD 510 System AQ262450196490en 000101 175R1170 245 Danfoss A S 2019 10...

Page 246: ...der provided that such alterations can be made without subsequential changes being necessary in specifications already agreed All trademarks in this material are property of the respective companies D...

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