Danfoss VLT Integrated Servo Drive ISD 510 System Operating Instructions Manual page 72

ISD Safety Concept
Test steps
4 Enable STO.
5 Disable STO.
6 Run the application (all the
servo drives are enabled).
7 Enable STO.
8 8
8 Try to run the application
(enable 1 or more servo
drives).
9 Disable STO.
10 Try to run the application
(enable 1 or more servo
drives).
11 Send a reset signal via
MC_Reset(_ISD51x).
12 Try to run the application (all
servo drives are enabled).
Table 8.3 Commissioning Test using Libraries
Commissioning test using bit-wise readout
Test steps
1 Run the application (all the servo drives
are enabled).
2 Stop the application.
3 Disable all the servo drives.
4 Enable STO.
5 Disable STO.
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VLT Integrated Servo Drive ISD
Reason for the test step Expected result for Danfoss
library
Check that STO can be MC_ReadAxisInfo_ISD51x output
activated without error. SafeTorqueOff = True for all
servo drives on the
corresponding line.
Check that STO can be MC_ReadAxisInfo_ISD51x output
deactivated without error. No SafeTorqueOff = False for all
reset is required. servo drives on the
corresponding line.
– Application runs as expected.
Check that errors are Motors are torque free. Motors
generated correctly when STO coast and stop after some
is activated while the servo time.
drives are running. MC_ReadAxisInfo_ISD51x output
SafeTorqueOff = True
and
MC_ReadStatus_ISD51x output
ErrorStop = True
and
MC_ReadAxisError_ISD51x
output AxisErrorID = 0xFF80 on
all enabled servo drives.
Checks that the STO function Application does not run.
is working correctly.
Check that the STO start is MC_ReadAxisInfo_ISD51x output
still inhibited by the error SafeTorqueOff = False
signal. and
MC_ReadStatus_ISD51x output
ErrorStop = True
Check whether reset is Application does not run.
required.
– MC_ReadAxisInfo_ISD51x output
SafeTorqueOff = False
and
MC_ReadStatus_ISD51x output
ErrorStop = False
– Application runs as expected.
Reason for the test step
Check that the application can run.
–
–
Check that STO can be activated without
error.
Check that STO can be deactivated
without error. No reset is required.
Danfoss A/S © 12/2015 All rights reserved.
®
510 System
Expected result for TwinCAT
library
–
–
Application runs as expected.
Motors are torque free. Motors
coast and stop after some
time.
For enabled motors:
MC_ReadStatus output ErrorStop
= True
and
MC_ReadAxisError output
AxisErrorID = 0xFF80 on all
enabled servo drives.
Application does not run.
MC_ReadStatus output ErrorStop
= True
Application does not run.
MC_ReadStatus output ErrorStop
= False
Application runs as expected.
Expected result
Application runs as expected.
All servo drives are at speed 0 RPM.
All servo drives are disabled.
Statusword bit 3 = 0 and bit 14 =1 in all
servo drives.
Statusword bit 3 = 0 and bit 14 =0 in all
servo drives.
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MG75K102