Danfoss VLT series Operating instructions

ENGINEERING TOMORROW
Programming Guide
VLT®Integrated Servo Drive ISD®510 System
vlt-drives.danfoss.com

Contents
1 Introduction 15
1.1 Purpose of the Programming Guide 15
1.2 Additional Resources 15
1.3 Copyright 15
1.4 Software 15
1.4.1 Software Version 15
1.4.2 Firmware Updates 15
1.5 Approvals and Certications 15
1.6 Terminology 16
1.7 Safety 16
2 Servo Drive Operation 18
2.1 Overview 18
2.2 Firmware Update 18
2.3 Basic Operation 19
2.3.1 State Machine 19
2.3.2 Factor Group 21
2.3.3 Positions and Osets 22
2.3.4 Position Limits 22
2.3.4.1 Hardware Limit Switch 22
2.3.4.2 Software Position Limit 22
2.3.5 Brake Handling 24
2.3.6 Control Loops 24
2.3.6.1 Position Controller 25
2.3.6.2 Speed Controller 26
2.3.6.3 Current Controller 26
2.4 Operating Modes 26
2.4.1 Prole Position Mode 26
2.4.2 Prole Velocity Mode 30
2.4.3 Prole Torque Mode 32
2.4.4 Homing Mode 33
2.4.4.1 Homing on Actual Position 35
2.4.4.2 Homing on Positive/Negative Block 36
2.4.4.3 Homing on Positive/Negative Limit Switch 36
2.4.4.4 Homing on Positive/Negative Home Switch 37
2.4.4.5 Homing on Current Position 37
2.4.4.6 Error Behavior in Homing Mode 38
2.4.5 CAM Mode 38
2.4.5.1 Activating a CAM prole 40
Contents Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 1

2.4.5.2 CAM Conguration: Master Absolute/Relative 41
2.4.5.3 CAM Header Information 41
2.4.5.4 Basic CAM 43
2.4.5.5 Advanced CAM 52
2.4.5.6 Commands During Operation 75
2.4.5.7 Notications from the Servo Drive 76
2.4.6 Gear Mode 77
2.4.7 ISD Inertia Measurement Mode 77
2.4.8 Cyclic Synchronous Position Mode 78
2.4.9 Cyclic Synchronous Velocity Mode 78
2.5 Motion Functions 79
2.5.1 Digital CAM Switch 79
2.5.2 ISD Touch Probe 82
2.5.2.1 Touch Probe Window 83
2.5.2.2 Touch Probe Edge Counter for Continuous Mode 83
2.5.2.3 Timing Example 84
2.5.3 Guide Value 85
2.5.3.1 Guide Value Reference 85
2.5.3.2 Guide Value Reference Simulation 85
2.6 Peripherals 86
2.6.1 Inputs 86
2.6.2 Output 86
2.6.3 External Encoder 86
2.7 Monitoring 86
2.7.1 Errors and Warnings 86
2.7.2 Trace 86
2.7.3 Following Error Detection 87
2.7.4 Standstill Detection 87
2.7.5 Constant Velocity Detection 88
2.7.6 STO and Brake Status 88
3 Servo Access Box (SAB) Operation 89
3.1 Overview 89
3.2 Control 90
3.2.1 Relay Outputs 91
3.3 Monitoring 92
3.3.1 AUX Output 92
3.3.2 DC Output 92
3.3.3 Brake Control and Monitoring 92
3.3.4 Input Voltages 93
3.3.5 Temperatures 93
Contents VLT®Integrated Servo Drive ISD®510 System
2 Danfoss A/S © 01/2017 All rights reserved. MG36D102

3.3.6 Cooling Fans 93
3.4 External Encoder and Guide Value 93
3.5 Signal Tracing 93
3.6 Multiple Device ID Assignment 93
3.7 Software Version 93
3.8 Firmware Update 93
4 Local Control Panel (LCP) Operation 94
4.1 Overview 94
4.2 Local Control Panel (LCP) Layout 94
4.3 Graphical User Interface 96
4.3.1 Supported Languages 96
4.3.2 LCP Display 96
4.3.3 Status Menu (Auto On Mode) 96
4.3.3.1 Default Readouts for ISD 510 Servo Drive 97
4.3.3.2 Default Readouts for SAB 97
4.3.3.3 Alarms and Warnings 98
4.3.4 Main Menu 98
4.3.4.1 Displaying and Editing Values 99
4.3.4.2 ISD 510 Drive Menu 100
4.3.4.3 SAB Menu 100
4.3.5 Hand On Mode 101
4.3.5.1 Servo Drive 101
4.3.5.2 SAB 104
4.3.6 Alarm Log 104
4.4 Keys 104
4.4.1 Status Key 104
4.4.2 Quick Menu Key 104
4.4.3 Main Menu Key 104
4.4.4 Alarm Log Key 105
4.4.5 Back Key 105
4.4.6 Cancel Key 105
4.4.7 Info Key 105
4.4.8 OK Key 106
4.4.9 Hand On Key 106
4.4.10 O Key 106
4.4.11 Auto On Key 106
4.4.12 Reset Key 106
4.4.13 Up [▲] and Down [▼] Keys 106
4.4.14 Left [◀] and Right [▶] Keys 107
Contents Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 3

4.5 LCP-specic Parameters 107
4.5.1 ISD 510 Servo Drive-specic LCP Parameters 107
4.5.2 SAB-specic LCP Parameters 108
5 Operation with ISD Toolbox 109
5.1 Overview 109
5.2 ISD Toolbox Installation 109
5.2.1 System Requirements 109
5.2.2 Installation 109
5.3 ISD Toolbox Communication 109
5.3.1 Network Settings for Indirect Communication 110
5.3.2 Network Settings for Direct Communication with Ethernet POWERLINK®111
5.3.3 Network Settings for Direct Communication with EtherCAT®112
5.4 ISD Toolbox Commissioning 112
5.5 Look and Feel 113
5.5.1 Main Window 114
5.5.2 Device Environment Window 116
5.5.2.1 Device Information Window 116
5.5.3 Watchlist Window 118
5.5.4 Output Window 118
5.5.5 Project File 119
5.5.6 Importing and Exporting Devices 119
5.5.7 Online Help 119
5.5.8 Options Window 119
5.6 Connection and Devices 121
5.6.1 Connect to Bus 121
5.6.2 Disconnect from Bus 121
5.6.3 Online/Oine Devices 121
5.6.4 Adding/Removing Devices 121
5.6.5 Scan for Devices 122
5.7 Sub-Tools 122
5.7.1 Parameter List (Servo Drive and SAB) 122
5.7.2 Firmware Update (Single and Multi-device for Servo Drive and SAB) 124
5.7.2.1 Single Device Firmware Update 124
5.7.2.2 Multi-Device Firmware Update 124
5.7.3 Scope (Single and Multi-device for Servo Drive and SAB) 125
5.7.3.1 Sampling 125
5.7.3.2 Triggering 126
5.7.3.3 Trace Signals 127
5.7.3.4 Status 128
Contents VLT®Integrated Servo Drive ISD®510 System
4 Danfoss A/S © 01/2017 All rights reserved. MG36D102

5.7.3.5 Running a Trace 128
5.7.3.6 Polling 129
5.7.3.7 Canceling a Trace 129
5.7.3.8 Trace Visualization 129
5.7.3.9 Saving and Loading Data 130
5.7.3.10 Online and Oine Mode 131
5.7.3.11 Reports, Document Exporting, and Printing 131
5.7.3.12 Multi-device Scope 131
5.7.4 Drive Control (Servo Drive only) 132
5.7.5 Get Error History (Servo Drive and SAB) 136
5.7.6 Digital CAM Switch (Servo Drive only) 137
5.7.7 CAM Editor (Servo Drive only) 138
5.7.7.1 Menu Bar 138
5.7.7.2 Property Window 141
5.7.7.3 Toolbar 141
5.7.7.4 Wizards 141
5.7.7.5 CAM Prole Window Overview 143
5.7.7.6 Editing Basic CAM Proles 144
5.7.7.7 Editing Advanced CAM Proles 146
5.7.7.8 Standalone Emulation of the CAM Editor 157
5.7.8 CAM Prole Management 157
5.7.9 Touch Probe (Servo Drive only) 158
5.7.10 SAB Control (SAB only) 158
5.7.11 SAB ID Assignment via Ethernet POWERLINK®(SAB only) 159
6 Programming 161
6.1 ID Assignment 161
6.1.1 EtherCAT®161
6.1.2 Ethernet POWERLINK®161
6.1.2.1 Single Device ID Assignment 161
6.1.2.2 Multiple Device ID Assignment 161
6.2 Basic Programming 161
6.3 TwinCAT®162
6.3.1 Programming with TwinCAT®162
6.3.1.1 ISD Deliverables 162
6.3.1.2 Creating a TwinCAT®Project 162
6.3.1.3 Conguration as a TwinCAT®NC Axis 167
6.3.1.4 Connecting to the PLC 167
6.4 Automation Studio™168
6.4.1 Programming with Automation Studio™168
Contents Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 5

6.4.1.1 Requirements 168
6.4.1.2 Creating an Automation Studio™Project 168
6.4.1.3 Connecting to the PLC 172
6.5 Function Block Descriptions 172
6.5.1 Overview PLCopen®172
6.5.1.1 Naming Conventions 172
6.5.1.2 Structure of Library/Package 172
6.5.1.3 PLCopen®State Machine 172
6.5.2 General Input/Output Behavior 174
6.5.2.1 Function Blocks with Execute Input 174
6.5.2.2 Function Blocks with Enable Input 175
6.5.2.3 Error Indication 175
6.5.2.4 Technical Units in the PLC library 176
6.5.3 Programming Guidelines 176
6.5.4 Drive – Administrative 177
6.5.4.1 AXIS_REF_ISD51x 177
6.5.4.2 MC_Power_ISD51x 177
6.5.4.3 MC_Reset_ISD51x 178
6.5.4.4 MC_ReadStatus_ISD51x 179
6.5.4.5 MC_ReadAxisError_ISD51x 179
6.5.4.6 DD_ReadAxisWarning_ISD51x 180
6.5.4.7 DD_ReadVersion_ISD51x 180
6.5.4.8 DD_UpdateFirmware_ISD51x 181
6.5.4.9 MC_ReadAxisInfo_ISD51x 182
6.5.4.10 MC_ReadMotionState_ISD51x 182
6.5.4.11 MC_ReadActualPosition_ISD51x 183
6.5.4.12 MC_ReadActualVelocity_ISD51x 183
6.5.4.13 MC_ReadActualTorque_ISD51x 184
6.5.4.14 MC_ReadDigitalInput_ISD51x 185
6.5.4.15 DD_ReadAnalogInput_ISD51x 185
6.5.4.16 MC_ReadDigitalOutput_ISD51x 186
6.5.4.17 DD_WriteDigitalOutput_ISD51x 186
6.5.4.18 MC_ReadParameter_ISD51x and MC_ReadBoolParameter_ISD51x 187
6.5.4.19 DD_ReadParameter4_ISD51x 188
6.5.4.20 DD_ReadParameter_ISD51x 189
6.5.4.21 MC_WriteParameter_ISD51x 189
6.5.4.22 DD_WriteParameter_ISD51x 190
6.5.4.23 DD_WriteParameter4_ISD51x 190
6.5.4.24 DD_Trace_ISD51x 191
6.5.4.25 DD_BrakeHandling_ISD51x 193
Contents VLT®Integrated Servo Drive ISD®510 System
6 Danfoss A/S © 01/2017 All rights reserved. MG36D102

6.5.4.26 DD_SelectControlParamSet_ISD51x 193
6.5.4.27 MC_TouchProbe_ISD51x 194
6.5.4.28 MC_AbortTrigger_ISD51x 195
6.5.4.29 DD_PrepareDigCamSwitch_ISD51x 195
6.5.4.30 DD_DigitalCamSwitch_ISD51x 196
6.5.4.31 DD_ProduceGuideValue_ISD51x 197
6.5.5 Drive – Motion 197
6.5.5.1 MC_Home_ISD51x 197
6.5.5.2 MC_Stop_ISD51x 200
6.5.5.3 MC_Halt_ISD51x 201
6.5.5.4 MC_MoveAbsolute_ISD51x 202
6.5.5.5 MC_MoveRelative_ISD51x 205
6.5.5.6 MC_MoveAdditive_ISD51x 207
6.5.5.7 MC_MoveVelocity_ISD51x 209
6.5.5.8 MC_TorqueControl_ISD51x 209
6.5.5.9 MC_GearIn_ISD51x 210
6.5.5.10 MC_GearInPos_ISD51x 210
6.5.5.11 DD_GetInertia_ISD51x 212
6.5.6 Drive – CAM Operation 212
6.5.6.1 MC_CamTableSelect_ISD51x 212
6.5.6.2 MC_CamIn_ISD51x 213
6.5.6.3 DD_CamScaling_ISD51x 214
6.5.6.4 DD_SetFollowSegment_ISD51x 215
6.5.6.5 DD_SetSegmentParameter_ISD51x 216
6.5.6.6 DD_RotationStop_ISD51x 216
6.5.6.7 DD_NodeNotication_ISD51x 217
6.5.6.8 DD_GoToSetpoint_ISD51x 217
6.5.6.9 DD_ReadCamInfo_ISD51x 218
6.5.7 Drive – CAM Creation 218
6.5.7.1 Basic CAM 218
6.5.8 SAB 221
6.5.8.1 SAB_REF 221
6.5.8.2 DD_Power_SAB 221
6.5.8.3 DD_Reset_SAB 222
6.5.8.4 DD_ReadSabInfo_SAB 222
6.5.8.5 DD_ReadSabError_SAB 223
6.5.8.6 DD_ReadSabWarning_SAB 223
6.5.8.7 DD_ReadVersion_SAB 224
6.5.8.8 DD_UpdateFirmware_SAB 224
6.5.8.9 DD_ReadDcLinkPower_SAB 225
Contents Programming Guide
MG36D102 Danfoss A/S © 01/2017 All rights reserved. 7

6.5.8.10 DD_ReadDcLinkVoltage_SAB 225
6.5.8.11 DD_ReadParameter4_SAB 226
6.5.8.12 DD_ReadParameter_SAB 226
6.5.8.13 DD_WriteParameter4_SAB 227
6.5.8.14 DD_WriteParameter_SAB 228
6.5.8.15 DD_Trace_SAB 228
6.5.8.16 DD_SimulateGuideValue_SAB 229
6.5.8.17 DD_ReadPosGuideValueRef_SAB 230
6.5.8.18 DD_ReadVelGuideValueRef_SAB 231
6.6 Simple Programming Template 231
7 Servo Drive Parameter Description 232
7.1 Overview 232
7.2 Controlword Object 232
7.2.1 Parameter 16-00 Controlword (0x6040) 232
7.2.1.1 Controlword in Prole Position Mode 233
7.2.1.2 Controlword in Prole Velocity Mode 234
7.2.1.3 Controlword in Prole Torque Mode 234
7.2.1.4 Controlword in Homing Mode 235
7.2.1.5 Controlword in CAM Mode 235
7.2.1.6 Controlword in Gear Mode 236
7.2.1.7 Controlword in ISD Inertia Measurement Mode 236
7.2.1.8 Controlword in Cyclic Synchronous Position Mode 236
7.2.1.9 Controlword in Cyclic Synchronous Velocity Mode 237
7.3 Statusword Object 237
7.3.1 Parameter 16-03 Statusword (0x6041) 237
7.3.1.1 Statusword in Prole Position Mode 239
7.3.1.2 Statusword in Prole Velocity Mode 239
7.3.1.3 Statusword in Prole Torque Mode 240
7.3.1.4 Statusword in Homing Mode 240
7.3.1.5 Statusword in CAM Mode 241
7.3.1.6 Statusword in Gear Mode 241
7.3.1.7 Statusword in ISD Inertia Measurement Mode 242
7.3.1.8 Statusword in Cyclic Synchronous Position Mode 242
7.3.1.9 Statusword in Cyclic Synchronous Velocity Mode 243
7.4 Factor Group Objects 243
7.4.1 Parameters 55-00 and 55-01: Position Encoder Resolution (0x608F) 243
7.4.2 Parameters 55-10 and 55-11: Gear Ratio (0x6091) 244
7.4.3 Parameters 55-20 and 55-21: Feed Constant (0x6092) 245
7.4.4 Parameters 55-30 and 55-31: Velocity Factor (0x6096) 246
7.4.5 Parameters 55-40 and 55-41: Acceleration Factor (0x6097) 246
Contents VLT®Integrated Servo Drive ISD®510 System
8 Danfoss A/S © 01/2017 All rights reserved. MG36D102