Danfoss VLT Integrated Servo Drive ISD 510 System User manual

Operating Guide
VLT® Servo Drive System ISD 510/DSD 510
drives.danfoss.com

1
1.1
1.2
1.3
1.4
1.5
1.6
2
2.1
2.2
2.3
2.3.1
2.4
2.5
2.6
2.6.1
2.7
2.8
3
3.1
3.1.1
3.2
3.2.1
3.2.2
3.2.3
3.2.4
3.2.4.1
3.2.4.2
3.2.4.3
3.2.4.4
3.2.4.5
3.2.5
3.2.5.1
3.3
3.3.1
Contents
Introduction 16
Purpose of the Operating Guide 16
Additional Resources 16
Copyright 16
Approvals and Certications 16
Firmware Updates 18
Terminology 18
Safety 20
Safety Symbols 20
Important Safety Warnings 20
Safety Instructions and Precautions 22
Operational Safety 22
Qualied Personnel 23
Due Diligence 23
Intended Use 23
Prohibited Application Areas 23
Forseeable Misuse 24
Service and Support 24
System Description 25
Overview of the ISD 510/DSD 510 System 25
Application Examples 26
VLT® Integrated Servo Drive ISD 510 27
Overview of the ISD 510 Servo Drive 27
Motor and Flange Sizes 27
ISD 510 Servo Drive Types 27
Motor Components 28
Shaft 28
Brake (Optional) 29
Cooling 29
Thermal Protection 29
Built-in Feedback Devices 29
Drive Components 29
Connectors on the ISD 510 Servo Drives 29
VLT® Decentral Servo Drive DSD 510 30
Overview of the DSD 510 Servo Drive 30
AQ262449648484en-000101/175R1135 | 3Danfoss A/S © 2020.08
Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

3.3.2
3.3.3
3.4
3.4.1
3.5
3.5.1
3.6
3.6.1
3.7
3.8
3.8.1
3.8.2
3.8.2.1
3.8.2.2
3.8.2.3
3.8.2.4
3.9
3.9.1
3.9.1.1
3.9.2
3.9.2.1
3.9.2.2
3.9.3
3.9.4
3.9.5
3.10
3.10.1
3.11
3.12
3.12.1
3.12.2
3.12.3
4
4.1
4.2
4.3
4.4
DSD 510 Servo Drive Types 30
Connectors on the DSD 510 Servo Drives 31
Power Supply Module (PSM 510) 32
Overview 32
Decentral Access Module (DAM 510) 33
Overview 33
Auxiliary Capacitors Module (ACM 510) 34
Overview 34
Expansion Module EXM 510 35
Local Control Panel (LCP) 37
Overview of the Local Control Panel 37
Layout of the Local Control Panel 37
A: Display area 37
B: Display menu keys 39
C: Navigation keys and indicator lights (LEDs) 39
D: Operation keys and reset 40
Cables 40
Hybrid Cable 40
Minimum Bending Radius for Hybrid Cable 41
Motor and Feedback Cable 42
Minimum Bending Radius for Motor Cable 42
Minimum Bending Radius for Feedback Cable 42
I/O and/or Encoder Cable 43
Fieldbus Extension Cable 43
LCP Cable 43
Cable Layout and Routing 43
Standard Cabling Concept for 2 Lines 43
Software 44
Fieldbus 44
EtherCAT® 45
Ethernet POWERLINK® 46
PROFINET® 46
Mechanical Installation 48
Items Supplied 48
Transport 48
Inspection on Receipt 48
Safety Measures during Installation 48
AQ262449648484en-000101/175R11354 | Danfoss A/S © 2020.08
Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

4.5
4.5.1
4.5.2
4.5.3
4.6
4.6.1
4.6.2
4.6.3
4.7
4.7.1
4.7.1.1
4.7.1.2
4.7.2
4.7.2.1
4.7.2.2
4.7.3
4.7.4
4.7.5
4.7.5.1
4.7.5.2
4.7.5.3
4.7.5.4
4.7.6
4.7.6.1
4.7.7
5
5.1
5.2
5.3
5.4
5.4.1
5.4.2
5.5
5.5.1
5.5.2
5.6
5.6.1
Installation Environment 48
Overview 48
ISD 510/DSD 510 Servo Drive 49
System Modules 49
Preparation for Installation 49
ISD 510/DSD 510 Servo Drive 49
System Modules 49
Drilling Templates 50
Installation Procedure 50
Space Requirements for ISD 510 Servo Drive 50
Minimum Distance for M23 Straight Connector on ISD 510 50
Minimum Distance for M23 Angled Connector on ISD 510 51
Space Requirements for DSD 510 Servo Drive 51
Minimum Distance for M23 Straight Connector on DSD 510 52
Minimum Distance for M23 Angled Connector on DSD 510 52
Space Requirements for System Modules 52
Installation Aids and Tools Required 54
Fitting Instructions for ISD 510 Servo Drive 54
Overview 54
Clamping the ISD 510 Servo Drive 54
Coupling the ISD 510 Servo Drive 55
Tightening Torques for Fixing Screws 56
Fitting Instruction for DSD 510 Servo Drive 56
Clamping the DSD 510 Servo Drive 56
Fitting Instructions for System Modules 57
Electrical Installation 61
Warnings for Electrical Installation 61
Electrical Environmental Conditions 61
EMC-Compliant Installation 62
Grounding 62
Grounding for Electrical Safety 62
Grounding for EMC-Compliant Installation 62
Mains Supply Requirements 64
Fuses 64
Circuit Breakers 64
Auxiliary Supply Requirements 65
Fuses 65
AQ262449648484en-000101/175R1135 | 5Danfoss A/S © 2020.08
Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

5.7
5.8
5.9
5.9.1
5.9.2
5.9.3
5.9.4
5.9.5
5.9.5.1
5.9.5.2
5.9.5.3
5.9.5.4
5.9.6
5.10
5.10.1
5.10.1.1
5.10.1.2
5.10.1.3
5.10.2
5.10.2.1
5.10.2.2
5.11
5.11.1
5.11.2
5.12
5.13
5.14
6
6.1
6.2
6.3
6.4
6.4.1
6.4.2
6.4.2.1
6.4.2.2
6.4.3
Safety Supply Requirements 65
UL Requirements 66
Connecting the ISD 510/DSD 510 Servo Drive 66
Electrical Installation Warnings for ISD 510/DSD 510 Servo Drive 66
General Instructions for Cable Installation 66
Connecting Hybrid Cables 67
Disconnecting Hybrid Cables 69
Connecting Cables to Ports X3, X4, and X5 69
Cable Routing Recommendations 69
Connecting I/O and/or Encoder Cables to Port X3 70
Connecting the LCP Cable to Port X5 71
Connecting the 3rd Ethernet Device Cable to Port X3 72
Disconnecting Cables from Ports X3, X4, and X5 72
Connecting the Power Supply Module PSM 510 72
AC Line Choke 72
Connecting 1 PSM 510 to the AC Choke 73
Connecting 2 PSM 510 Modules to the AC Choke 73
Connecting 2 PSM 510 Modules to the AC Choke with System Splitting 74
Connecting the Cables on the Power Supply Module PSM 510 75
Connecting the Cables on the Top of the Power Supply Module PSM 510 75
Connecting the Cables on the Bottom of the Power Supply Module PSM 510 76
Connecting the Decentral Access Module (DAM 510) 77
Connecting the Cables on the Top of the Decentral Access Module DAM 510 77
Connecting the Feed-In Cable 77
Connecting the Auxiliary Capacitors Module ACM 510 79
Connecting the Expansion Module EXM 510 79
Connecting the Brake Resistor on the PSM 510 80
Commissioning 83
Warnings for Commissioning 83
Pre-Commissioning Checklist 83
EtherCAT® ID Assignment 83
Ethernet POWERLINK® ID Assignment 83
Overview 83
Single Device ID Assignment 83
Setting the Node ID Directly on a Servo Drive or on the System Modules 83
Setting the Node ID for a Single Servo Drive via the Power Supply Module (PSM 510) or Decentral Access
Module (DAM 510) via the LCP 84
Multiple Device ID Assignment 84
AQ262449648484en-000101/175R11356 | Danfoss A/S © 2020.08
Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

6.4.3.1
6.5
6.6
6.7
6.8
6.8.1
6.9
6.10
6.10.1
6.10.2
6.10.3
6.10.4
6.10.5
6.10.6
6.10.7
6.10.8
6.10.9
6.10.9.1
6.10.9.2
6.10.10
6.10.10.1
6.10.10.2
6.10.11
6.10.12
6.10.13
6.11
6.11.1
6.11.2
6.11.3
6.11.4
6.11.5
6.11.6
6.11.7
6.11.8
6.11.9
6.11.10
6.11.11
Setting the Node IDs of all Servo Drives and System Modules on a Decentral Access Module (DAM 510)/
Power Supply Module (PSM 510) Line 84
PROFINET® ID Assignment 85
Power-Up Time 85
System Module Charging Time 86
Switching on the ISD 510/DSD 510 System 86
Procedure for Switching on the ISD 510/DSD 510 System 86
Libraries 86
Programming with Automation Studio™ 87
Requirements for Programming with Automation Studio™ 87
Creating an Automation Studio™ Project 87
Including the Servo Motion Libraries into an Automation Studio™ Project 87
Constants within the DDS_Drive Library 88
Instantiating AXIS_REF_DDS in Automation Studio™ 89
Instantiating PSM_REF in Automation Studio™ 90
Instantiating DAM_REF in Automation Studio™ 90
Instantiating ACM_REF in Automation Studio™ 90
Importing a Servo Drive into Automation Studio™ 91
Version V3.0.90 91
Version V4.x 91
Importing PSM 510, DAM 510 and ACM 510 into Automation Studio™ 92
Version V3.0.90 92
Version V4.x 92
I/O Conguration and I/O Mapping 93
Setting the PLC Cycle Time 95
Connecting to the PLC 95
Programming with TwinCAT® 96
Requirements for Programming with TwinCAT® 96
Creating a TwinCAT® Project 96
Including the TwinCAT® Library into a TwinCAT® Project 96
Constants within the DDS_Drive Library 88
Instantiating AXIS_REF_DDS in TwinCAT® 98
Instantiating PSM_REF in TwinCAT® 99
Instantiating DAM_REF in TwinCAT® 99
Instantiating ACM_REF in TwinCAT® 99
Adding a PLC Project to TwinCAT® System Manager 99
Importing Devices to TwinCAT® 99
I/O Conguration and I/O Mapping 102
AQ262449648484en-000101/175R1135 | 7Danfoss A/S © 2020.08
Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

6.11.12
6.11.13
6.11.14
6.11.15
6.11.15.1
6.11.16
6.12
6.13
6.13.1
6.13.2
6.13.3
6.13.4
6.13.5
6.13.6
6.13.7
6.13.8
6.13.9
6.13.9.1
6.13.9.2
6.13.10
6.13.11
6.13.12
6.13.13
6.13.14
6.13.15
6.13.16
6.13.17
6.14
6.15
6.15.1
6.15.2
6.15.3
6.15.4
6.15.5
6.16
6.17
6.17.1
6.17.2
Attaching the Input and Output Variables to the Physical Data Points 103
Transferring the Mappings back to the PLC Program 104
Setting the PLC Cycle Time in TwinCAT® PLC Control 105
Conguration as a TwinCAT® NC Axis 105
I/O Conguration for Servo Drives used as NC Axes 105
Connecting to the PLC 106
Programming Guidelines for Automation Studio™ and TwinCAT® 106
Programming with SIMOTION SCOUT® 106
Requirements for Programming with SIMOTION SCOUT® 106
Connecting to the PLC 107
Creating a SIMOTION SCOUT® Project 107
Including the Servo Motion Libraries into a SIMOTION SCOUT® Project 107
Importing Devices into SIMOTION SCOUT® 109
Assigning IP Conguration and Device Name 110
Creating a Sync Domain 113
Conguring a Topology 116
Dening Send Clock and Update Time 117
Conguring the Send Clock Time 117
Conguring the Update Time 117
Accessing Inputs and Outputs 118
Programming using the Danfoss VLT® Servo Motion Library 119
Instantiating AXIS_REF_DDS in SIMOTION SCOUT® 119
Instantiating PSM_REF in SIMOTION SCOUT® 119
Instantiating DAM_REF in SIMOTION SCOUT® 119
Instantiating ACM_REF in SIMOTION SCOUT® 120
Global Compiler Settings 120
Assigning Tasks 121
Programming Guidelines for SIMOTION SCOUT® 123
Programming with TIA 123
Requirements for Programming with TIA 123
Creating a TIA Project 124
Including the Servo Motion Libraries into a TIA Project 124
Importing Devices into TIA 125
Creating a Network 126
Programming Guidelines for TIA 130
VLT® Servo Toolbox Software 131
Overview 131
System Requirements 131
AQ262449648484en-000101/175R11358 | Danfoss A/S © 2020.08
Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

6.17.3
6.17.4
6.17.4.1
6.17.4.2
6.17.4.3
6.17.4.4
6.17.5
6.17.5.1
6.17.5.2
6.17.5.3
6.18
6.18.1
6.18.2
7
7.1
7.1.1
7.2
7.2.1
7.2.2
7.2.3
7.2.4
8
8.1
8.2
8.3
8.4
8.5
8.6
8.6.1
8.7
8.8
8.8.1
8.8.2
8.9
8.9.1
8.9.2
8.10
Installing the VLT® Servo Toolbox Software 132
VLT® Servo Toolbox Communication 132
Overview 132
Firewall 132
Indirect Communication 132
Direct Communication 135
VLT® Servo Toolbox Commissioning 138
Step 1: Opening the Main Window 138
Step 2: Connecting to Network 139
Step 3: Scanning for Devices 140
Motion Library 140
Function Blocks 140
Simple Programming Template 140
Operation 141
Operating Modes 141
Motion Functions 141
Operating Status Indicators 142
Operating LEDs on the ISD 510/DSD 510 Servo Drive 142
Operating LEDs on the PSM 510 143
Operating LEDs on the DAM 510 144
Operating LEDs on the ACM 510 145
Functional Safety Concept 147
Functional Description 147
Safety Precautions 147
Qualied Personnel for Working with Functional Safety 148
Applied Standards and Compliance 148
Abbreviations and Conventions 148
Installation 149
Protective Measures 150
Application Example 150
Commissioning Test 150
Commissioning Test using Libraries 151
Commissioning Test using PROFINET® Devices 152
Operation of the STO Function 153
Error Codes 153
Fault Reset 153
Functional Safety Characteristic Data 153
AQ262449648484en-000101/175R1135 | 9Danfoss A/S © 2020.08
Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

8.11
9
9.1
9.2
9.2.1
9.2.1.1
9.2.1.2
9.2.1.3
9.2.1.4
9.2.1.5
9.2.1.6
9.2.1.7
9.2.1.8
9.2.1.9
9.2.1.10
9.2.1.11
9.2.1.12
9.2.1.13
9.2.1.14
9.2.1.15
9.2.1.16
9.2.2
9.2.2.1
9.2.2.2
9.2.2.3
9.2.2.4
9.2.2.5
9.2.2.6
9.2.2.7
9.2.2.8
9.2.2.9
9.2.2.10
9.2.2.11
9.2.2.12
9.2.2.13
9.2.2.14
9.2.2.15
Maintenance, Security, and User Accessibility 154
Diagnostics 155
Faults 155
Troubleshooting 155
Troubleshooting for the ISD 510/DSD 510 Servo Drives 155
Drive not Running/Starting Slowly 155
Drive Hums and Draws High Current 155
Drive Stops Suddenly and Restart is not Possible 155
Motor Rotating in Wrong Direction 156
Motor not Generating Expected Torque 156
Drive Screaming 156
Uneven Running 156
Vibration 156
Unusual Running Noises 156
Drive Speed Drops Sharply under Load 157
Brake not Releasing 157
Holding Brake not Holding the Servo Drive 157
Delayed Brake Engagement 157
Noises when Power-O Brake is Engaged 157
LEDs not Lighting Up 157
Drive Protection Trips Immediately 157
Troubleshooting for the Servo System 158
LCP Display is Dark/Not Functioning 158
Open Power Fuses or Circuit Breaker Trip 158
DC-link Voltage Too Low (Error 0x3220/0x104) 158
Current Overload Trip (Error 0x2396/0x15C) 158
High Cont. Power Overload (Error 0x2313/0x161) 159
Continuous Power Overload (Error 0x2314/0x162) 159
AUX Overcurrent (Error 0x2391/0x125) 159
AUX Overvoltage (Error 0x3292/0x133) 159
AUX Undervoltage (Error 0x3294/0x135) 159
Mains Phase Loss (Error 0x3130/0x12F) 160
Generic Application Error (Error 0x1000/ 0x100) 160
Grounding Fault 160
Brake Resistor Error 160
Brake Chopper Error 160
Internal Fan Error 160
AQ262449648484en-000101/175R113510 | Danfoss A/S © 2020.08
Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

9.3
9.3.1
9.3.2
9.3.3
9.3.4
9.3.5
9.3.6
9.3.7
9.3.8
9.3.9
9.3.10
9.3.11
9.3.12
9.3.13
9.3.14
9.3.15
9.3.16
9.3.17
9.3.18
9.3.19
9.3.20
9.3.21
9.3.22
9.3.23
9.3.24
9.3.25
9.3.26
9.3.27
9.3.28
9.3.29
9.3.30
9.3.31
9.3.32
9.3.33
9.3.34
9.3.35
9.3.36
9.3.37
Error Codes for ISD 510/DSD 510 Servo System 161
No error (0x0000 / 0x0) 161
Generic application error (0x1000 / 0x100) 161
Overcurrent Trip (0x2310 / 0x101) 161
High cont. current overload (0x2311 / 0x15F) 161
Continuous current overload (0x2312 / 0x160) 161
High cont. power overload (0x2313 / 0x161) 162
Continuous power overload (0x2314 / 0x162) 162
Overcurrent short circuit (0x2320 / 0x163) 162
Ground fault (0x2330 / 0x151) 162
AUX overcurrent (0x2391 / 0x125) 162
AUX user limit current (0x2393 / 0x127) 162
AUX user limit current warning (0x2394 / 0x128) 163
AUX supply failure (0x2395 / 0x129) 163
Current overload trip (0x2396 / 0x15C) 163
Power overload trip (0x2397 / 0x12B) 163
Thermal overload motor (0x239B / 0x102) 163
Mains phase loss (0x3130 / 0x12F) 164
DC link overvoltage (0x3210 / 0x103) 164
DC link undervoltage (0x3220 / 0x104) 164
DC link charging error (0x3230 / 0x152) 164
DC Link unbalanced (0x3280 / 0x153) 164
UAUX high voltage (0x3291 / 0x132) 164
UAUX overvoltage (0x3292 / 0x133) 165
UAUX low voltage (0x3293 / 0x134) 165
UAUX undervoltage (0x3294 / 0x135) 165
DC link high voltage (0x3295 / 0x136) 165
DC link low voltage (0x3296 / 0x137) 165
UAUX charging error (0x3297 / 0x154) 166
DC link shutdown error (0x3298 / 0x165) 166
UAUX shutdown error (0x3299 / 0x155) 166
UAUX undervoltage hardware (0x329A / 0x156) 166
Device overtemperature (0x4210 / 0x157) 166
Device under temperature (0x4220 / 0x138) 167
Overtemperature: Control card (0x4291 / 0x106) 167
Overtemperature: Power card (0x4292 / 0x107) 167
Inrush overtemperature DC link (0x4293 / 013C) 167
Inrush overtemperature AUX line (0x4294 / 0x13D) 167
AQ262449648484en-000101/175R1135 | 11Danfoss A/S © 2020.08
Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

9.3.38
9.3.39
9.3.40
9.3.41
9.3.42
9.3.43
9.3.44
9.3.45
9.3.46
9.3.47
9.3.48
9.3.49
9.3.50
9.3.51
9.3.52
9.3.53
9.3.54
9.3.55
9.3.56
9.3.57
9.3.58
9.3.59
9.3.60
9.3.61
9.3.62
9.3.63
9.3.64
9.3.65
9.3.66
9.3.67
9.3.68
9.3.69
9.3.70
9.3.71
9.3.72
9.3.73
9.3.74
9.3.75
Overtemperature: Motor (0x4310 / 0x108) 167
Charge switch failure voltage (0x5121 /0x158) 168
EE Checksum Error (parameter missing) (0x5530 / 0x10A) 168
Parameter error (0x6320 / 0x10B) 168
Conf par ver (0x6382 / 0x15D) 168
Conguration parameters limits error (0x6383 / 0x164) 168
Power EEprom conguration error (0x6384 / 0x166) 169
Brake chopper failure (0x7111 / 0x141) 169
Brake chopper overcurrent (0x7112 / 0x167) 169
Brake chopper module overload (0x7181 / 0x142) 169
External brake chopper overload (0x7182 / 0x143) 169
Brake mains voltage too high (0x7183 / 0x159) 170
Internal position sensor error (0x7320 / 0x10C) 170
External position sensor error (0x7380 / 0x10D) 170
Following error (0x8611 / 0x10E) 170
Homing error on entering homing mode (0x8693 / 0x10F) 171
Homing error on start homing method (0x8694 / 0x110) 171
Homing error distance (0x8695 / 0x111) 171
Mechanical brake failure (0xFF01 / 0x112) 171
Short circuit in mechanical brake control (0xFF02 / 0x113) 171
External interface power failure (0xFF0A / 0x114) 171
Fan feedback inconsistent (0xFF21 / 0x145) 172
Fan lifetime critical (0xFF22 / 0x15A) 172
Timing violation 1 (0xFF60 / 0x115) 172
Timing violation 2 (0xFF61 / 0x116) 172
Timing violation 3 (0xFF62 / 0x117) 172
Timing violation 4 (0xFF63 / 0x118) 172
Timing violation 5 (0xFF64 / 0x119) 173
Timing violation 6 (0xFF65 / 0x11A) 173
Timing violation 7 (0xFF66 / 0x168) 173
Timing violation 8 (0xFF67 / 0x16B) 173
Timing violation 9 (0xFF68 / 0x16C) 173
Firmware: Package description mismatch (0xFF70 / 0x11B) 173
Firmware: Power cycle needed (0xFF71 / 0x11C) 174
Firmware: Update started (0xFF72 / 0x11D) 174
Firmware: Update invalid (0xFF73 / 0x15B) 174
STO active while drive enabled (0xFF80 / 0x11E) 174
STO mismatch (0xFF81 / 0x11F) 174
AQ262449648484en-000101/175R113512 | Danfoss A/S © 2020.08
Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

9.3.76
9.3.77
9.3.78
9.3.79
10
10.1
10.2
10.3
10.3.1
10.3.2
10.4
10.5
10.5.1
10.5.2
10.6
10.6.1
10.6.2
10.7
10.7.1
10.7.2
10.7.2.1
10.7.2.2
10.7.2.3
10.7.3
10.7.3.1
10.7.3.2
10.7.3.3
10.8
10.9
10.10
10.11
10.12
11
11.1
11.1.1
11.1.2
11.1.2.1
P_STO error (0xFF85 / 0x120) 175
Guide value reversed (0xFF90 / 0x121) 175
Guide value implausible (0xFF91 / 0x122) 175
Sign of life error (0xFF95 / 0x14E) 175
Maintenance, Decomissioning, and Disposal 176
Warnings 176
Maintenance Tasks 176
Inspection during Operation 177
ISD 510/DSD 510 Servo Drives 177
System Modules 177
Repair 177
ISD 510/DSD 510 Servo Drive Replacement 177
Dismounting the ISD 510/DSD 510 Servo Drive 177
Fitting and Commissioning the ISD 510/DSD 510 Servo Drive 177
System Module Replacement 177
Dismounting the System Modules 177
Fitting and Commissioning the System Modules 179
Cable Replacement 180
Overview 180
Feed-In Cable Replacement 180
Disconnecting the Feed-In Cable 180
Replacing the Feed-In Cable 180
Connecting the Feed-In Cable 180
Loop Cable Replacement 180
Disconnecting the Loop Cable 180
Replacing the Loop Cable 181
Connecting the Loop Cable 181
Fuse Replacement in Decentral Access Module (DAM 510) 181
Fan Replacement 182
Product Returns 183
Recycling 183
Disposal 183
Specications 184
Nameplates 184
Nameplate on ISD 510/DSD 510 Servo Drive 184
Nameplate on the System Modules 185
Example Nameplate on the Front of the System Modules 185
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Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

11.1.2.2
11.2
11.2.1
11.2.2
11.2.3
11.2.4
11.2.5
11.2.6
11.3
11.3.1
11.3.2
11.3.3
11.3.4
11.3.5
11.3.6
11.3.7
11.4
11.5
11.6
11.7
11.8
11.8.1
11.8.2
11.8.3
11.8.4
11.8.5
11.9
11.9.1
11.9.2
11.9.2.1
11.9.3
11.9.3.1
11.9.3.2
11.9.4
11.9.4.1
11.9.5
11.9.5.1
11.9.6
Example Nameplate on the Side of the System Modules 186
Characteristic Data 186
Characteristic Data for ISD 510 Servo Drive without Brake 186
Characteristic Data for ISD 510 Servo Drive with Brake 188
Characteristic Data for DSD 510 Servo Drive 188
Characteristic Data for Power Supply Module (PSM 510) 189
Characteristic Data for Decentral Access Module (DAM 510) 190
Characteristic Data for Auxiliary Capacitors Module (ACM 510) 190
Dimensions 191
ISD 510 Servo Drive Flange Dimensions 191
Dimensions of ISD 510 Servo Drive 191
Dimensions of DSD 510 Servo Drive 194
Dimensions of Power Supply Module (PSM 510) 194
Dimensions of Decentral Access Module (DAM 510) 195
Dimensions of Auxiliary Capacitors Module (ACM 510) 195
Dimensions of Expansion Module (EXM 510) 196
Motor Overload Protection 197
Motor Overtemperature Protection 197
Hybrid Cable Protection 197
Permitted Forces on the ISD 510 Servo Drive Shaft 197
Connectors on the ISD 510/DSD 510 Servo Drive 198
X1 and X2: Hybrid Connector (M23) 198
X3: 3rd Ethernet Connector (M8, 4 pole) 199
X4: I/O and/or Encoder Connector (M12, 8 pole) 200
X5: LCP Connector (M8, 6 pole) 201
X6: Standard/HIPERFACE DSL Motor Connector 201
Connectors on the System Modules 202
Backlink Connector 202
Brake Connectors 204
Brake Resistor Connector on PSM 510 204
Ethernet Connectors 204
Ethernet Connectors on PSM 510 and ACM 510 204
Ethernet Connectors on DAM 510 205
I/O Connectors 205
I/O Connector on PSM 510/ACM 510 205
UAUX Connector 205
24/48 V Cable Cross Sections for PSM 510 206
LCP Connector (M8, 6-pole) 206
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Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

11.9.7
11.9.7.1
11.9.8
11.9.8.1
11.9.9
11.9.9.1
11.9.9.2
11.9.10
11.9.11
11.9.12
11.9.13
11.9.13.1
11.10
11.10.1
11.10.2
11.11
11.11.1
11.11.2
11.12
11.12.1
11.13
AC Mains Connector 207
Mains Cable Cross-Sections for PSM 510 207
Relay Connector 207
Relay Connector on PSM 510/ACM 510 208
STO Connectors 208
STO Connectors on PSM 510 208
STO Connectors on the DAM 510 209
UDC Connector 211
AUX Connector 211
External Encoder Connectors 212
Expansion Module Connector 213
Cable Cross Sections for EXM 510 214
General Specications and Environmental Data 214
ISD 510/DSD 510 Servo Drive 214
System Modules 215
Protection Ratings 216
Protection Ratings for ISD 510 Servo Drive 216
Protection Ratings for DSD 510 Servo Drive 216
Cables 216
Hybrid Cable PE 216
Storage 217
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Contents
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

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•
•
•
•
•
•
•
1 Introduction
1.1 Purpose of the Operating Guide
The purpose of this operating guide is to describe the VLT® Integrated Servo Drive ISD 510/DSD 510 System.
This operating guide contains information about:
Installation
Commissioning
Programming
Operation
Troubleshooting
Service and Maintenance
This operating guide is intended for use by qualied personnel. Read the operating guide in full to use the servo system safely and
professionally, and pay particular attention to the safety instructions and general warnings.
This operating guide is an integral part of the servo system and also contains important service information. Therefore always keep
this operating guide available with the servo system.
Compliance with the information in the manual is a prerequisite for:
Trouble-free operation
Recognition of product liability claims
Therefore, read this operating guide before working with the VLT® Integrated Servo Drive ISD 510/DSD 510 system.
1.2 Additional Resources
Table 1: Additional Resources
Manual
Description
VLT® Integrated Servo Drive System ISD 510, DSD 510
Operating Instructions
Information about the installation, commissioning, and operation of the
ISD 510/DSD 510 servo system.
VLT® Servo Drive System ISD 510, DSD 510, MSD 510
(VLT® Flexmotion™) Design Guide
Information about the setup of the ISD 510/DSD 510 servo system and
detailed technical data.
VLT® Servo Drive System ISD 510, DSD 510, MSD 510
(VLT® Flexmotion™) Programming Guide
Information about the programming of the ISD 510, DSD 510, and
MSD 510 servo systems.
1.3 Copyright
VLT®and ISD®are Danfoss registered trademarks.
1.4 Approvals and Certications
The VLT® Servo Drive Systems ISD 510, DSD 510, MSD 510 comply with the standards and directives detailed in Table 2.
Table 2: Product and System Approvals and Certications
Certication
Description
IEC/EN 61800-3
Adjustable speed electrical power drive systems.
Part 3: EMC requirements and specic test methods.
IEC/EN 61800-5-1
Adjustable speed electrical power drive systems.
Part 5-1: Safety requirements - Electrical, thermal, and energy.
IEC/EN 61800-5-2
Adjustable speed electrical power drive systems.
Part 5-2: Safety requirements - Functional.
IEC/EN 61508-1
Functional safety of electrical/electronic/programmable electronic safety-related systems.
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Introduction
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

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•
•
Certication
Description
Part 1: General requirements.
IEC/EN 61508-2
Functional safety of electrical/electronic/programmable electronic safety-related systems.
Part 2: Requirements for electrical/electronic/programmable electronic safety-related systems.
EN ISO 13849-1
Safety of machinery - Safety-related parts of control systems.
Part 1: General principles for design.
EN ISO 13849-2
Safety of machinery - Safety-related parts of control systems.
Part 2: Validation.
IEC/EN 60204-1
Safety of machinery - Electrical equipment of machines.
Part 1: General requirements.
IEC/EN 62061
Safety of machinery - Functional safety of safety-related electrical, electronic, and programmable elec-
tronic control systems.
IEC/EN 61326-3-1
Electrical equipment for measurement, control, and laboratory use - EMC requirements.
Part 3-1: Immunity requirements for safety-related systems and for equipment intended to perform safe-
ty-related functions (functional safety) - General industrial applications.
IEC/EN 60529
Degrees of protection provided by enclosures (IP Code).
UL 508C
UL Standard for Safety for Power Conversion Equipment.
(Only applies to ISD 510 servo drive sizes 1 and 2.)
UL 61800-5-1
Adjustable speed electrical power drive systems.
Part 5-1: Safety requirements - Electrical, thermal, and energy.
ISD 510 servo drive sizes 3 and 4 and DSD 510:
MSD 510:
CSA C22.2 No.
274-13 (2013)
Standard specifying requirements for adjustable speed drives with respect to electrical, thermal, and en-
ergy safety considerations.
Applies to ISD 510 sizes 1 and 2.
CSA C22.2 No.
274-17 (2017)
Standard specifying requirements for adjustable speed drives with respect to electrical, thermal, and en-
ergy safety considerations.
Applies to:
ISD 510 sizes 3 and 4
DSD 510
MSD 510
CE
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Introduction
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

Certication
Description
2014/30/EU
Electromagnetic Compatibility (EMC) Directive.
2014/35/EU
Low Voltage Directive (LVD).
(2011/65/EU) amen-
ded (EU) 2015/863
Restriction of Hazardous Substances (RoHS).
2006/42/EC
Machinery Directive (MD).
EtherCAT®
Ethernet for Control Automation Technology. Ethernet-based eldbus system.
Ethernet POWER-
LINK®
Ethernet-based eldbus system.
PROFINET RT/IRT®
Ethernet-based eldbus system.
PLCopen®
Technical specication. Function blocks for motion control (formerly Part 1 and Part 2) Version 2.0 March
17, 2011.
1.5 Firmware Updates
Updates to the rmware, VLT®Servo Toolbox software, and PLC libraries may be available. When updates are available, they can be
downloaded from the Danfoss website (http://drives.danfoss.com). Use the VLT®Servo Toolbox software or the PLC libraries to install
the rmware on the servo drives or on the PSM 510 and DAM 510.
1.6 Terminology
Table 3: Terminology
Term
Description
ACM 510
Auxiliary Capacitors Module
DAM 510
Decentral Access Module that connects the Danfoss decentral servo drives (ISD 510 and DSD 510) to
the servo system via a hybrid cable.
DSD 510
Decentral Servo Drive
DSD 510 system compo-
nents
Includes DSD 510 servo drives, PSM 510, DAM 510, and the optional ACM 510 and EXM 510.
EXM 510
Expansion module for splitting system modules between 2 control cabinets.
Feed-in cable
Hybrid cable for connection from the DAM 510 to the 1st servo drive.
ISD 510
Integrated Servo Drive
ISD 510 system compo-
nents
Includes ISD 510 servo drives, PSM 510, DAM 510, and the optional ACM 510 and EXM 510.
LCP
Local Control Panel
Loop cable
Hybrid cable for connecting servo drives in daisy-chain format.
PLC
Programmable Logic Controller (external device for controlling the servo system).
PSM 510
Power Supply Module that generates a 565–680 V DC supply.
System modules
Includes PSM 510, DAM 510, and the optional ACM 510.
VIN PSM
Input of PSM 510 (V AC).
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Introduction
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

Term
Description
VOUT PSM
Output of PSM 510 (V DC).
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Introduction
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide

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2 Safety
2.1 Safety Symbols
The following symbols are used in this guide:
WARNING
Indicates a potentially hazardous situation that could result in death or serious injury.
CAUTION
Indicates a potentially hazardous situation that could result in minor or moderate injury. It can also be used to alert against unsafe
practices.
NOTICE
Indicates important information, including situations that can result in damage to equipment or property.
2.2 Important Safety Warnings
The following safety instructions and precautions relate to the ISD 510/DSD 510 servo system. Read the safety instructions carefully
before starting to work in any way with the servo system or its components. Pay particular attention to the safety instructions in the
relevant sections of this manual.
WARNING
HAZARDOUS SITUATION
If the ISD 510/DSD 510 system components, 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.
WARNING
HIGH VOLTAGE
The servo system contains components that operate at high voltage when connected to the electrical supply network. There are
no indicators on the components that indicate the presence of mains supply. Incorrect installation, commissioning, or mainte-
nance may lead to death or serious injury.
Installation, commissioning, and maintenance may only be performed by qualied personnel.
WARNING
LEAKAGE/GROUNDING CURRENT HAZARD
Leakage/grounding currents are >3.5 mA. Improper grounding of the ISD 510/DSD 510 servo drives and the system modules may
result in death or serious injury.
For reasons of operator safety, use a certied electrical installer to ground the system correctly in accordance with the appli-
cable local and national electrical standards and directives, and the instructions in this manual.
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Safety
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide