Functional Description; Installation; Operation Of The Isd Safety Concept; Statusword - Danfoss VLT Integrated Servo Drive ISD 510 System Operating Instructions Manual

ISD Safety Concept
NOTICE
When designing the machine application, consider
timing and distance for coast to stop (Stop Category 2 or
STO). See EN 60204-1 for further information.
NOTICE
All signals connected to the STO must be supplied by a
SELV or PELV supply.

8.5 Functional Description

The STO function in the ISD 510 servo system features a
separate STO function for each line of servo drives in daisy-
chain format. The function is activated by inputs on the
SAB. Using the STO function activates the STO for all servo
drives on that line. Once the STO is activated, no torque is
generated on the axes. Reset of the safety function and
diagnostics can be carried out via the PLC.

8.6 Installation

8 8
Install the ISD 510 servo system as described in
chapter 4 Mechanical Installation and chapter 5 Electrical
Installation. Only Danfoss cables may be used for the
installation of the servo system, however cables from other
suppliers may be used for the user connection to the STO
terminals (STO 1 IN and STO 2 IN) on the SAB.
NOTICE
If the application does not require the Safe Torque Off
(STO) functionality, build a bridge by connecting +24 V
from the connector STO 1 IN: +24V to STO 1 IN: +STO,
and from STO 1 IN: –24 V to STO 1 IN: –STO. Repeat this
process for STO line 2 if used.
Safety relays that have a plus and minus switching output
signal can be directly connected to the ISD 510 servo
system to activate STO (see Illustration 8.1). Route the wires
for STO 1 and STO 2 separately and not in a single
multicore cable.
Illustration 8.1 Safety Relay with Plus and Minus Switching
Output
68
®
VLT Integrated Servo Drive ISD
Signals with test pulses must not have test pulses of >1
ms. Longer pulses may lead to reduced availability of the
servo system.
The external supply must be a SELV/PELV supply.

8.7 Operation of the ISD Safety Concept

This chapter details the basic STO signals. Some of the
signals can be reached in several ways, however only
access via fieldbus is described here. See the VLT
Integrated Servo Drive ISD
for further information.
The STO function does not require any parameterization
and is always enabled. To disable the function
permanently, connect the STO inputs directly to the 24 V
outputs STO 1 IN: 24 V or STO 2 IN: 24 V on the SAB.
The ISD 510 servo drive provides STO status signals via the
fieldbus.
For general information on how to access and map data
objects, see the VLT
Programming Guide.
Danfoss provides a library for ISD 510 to simplify the use
of the fieldbus functions. See the VLT
Drive ISD
information.

8.7.1 Statusword

The statusword in 0x6041 provides the STO status in bit 14.
The bit is set to 1 if STO is active and 0 if STO is
deactivated. All servo drives on each STO line must display
the same information in this bit. Carry out a check via the
PLC to compare the STO status of all servo drives on each
line.
If STO is activated when the servo drive is disabled, and no
attempt is made to enable the servo drive while STO is
SAB
active, it is not necessary to reset the STO function after
STO 1 IN: + STO reapplying supply to the STO terminals.
STO 1 IN: – STO
If STO is activated when the servo drive is enabled, an
error code is issued (see chapter 8.7.2 Error Codes).
STO 2 IN: + STO
STO 2 IN: – STO
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510 System Programming Guide
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510 System Programming Guide for further
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