Danfoss VLT Series Programming Manual
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Danfoss VLT Series Programming Manual

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

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Summary of Contents for Danfoss VLT Series

  • Page 1 ENGINEERING TOMORROW Programming Guide ® ® Integrated Servo Drive ISD 510 System vlt-drives.danfoss.com...
  • Page 3 2.4.4.2 Homing on Positive/Negative Block 2.4.4.3 Homing on Positive/Negative Limit Switch 2.4.4.4 Homing on Positive/Negative Home Switch 2.4.4.5 Homing on Current Position 2.4.4.6 Error Behavior in Homing Mode 2.4.5 CAM Mode 2.4.5.1 Activating a CAM profile MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 4 2.7.6 STO and Brake Status 3 Servo Access Box (SAB) Operation 3.1 Overview 3.2 Control 3.2.1 Relay Outputs 3.3 Monitoring 3.3.1 AUX Output 3.3.2 DC Output 3.3.3 Brake Control and Monitoring 3.3.4 Input Voltages 3.3.5 Temperatures Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 5 4.4.10 Off Key 4.4.11 Auto On Key 4.4.12 Reset Key ▲ ] and Down [ ▼ ] Keys 4.4.13 Up [ ◀ ] and Right [ ▶ ] Keys 4.4.14 Left [ MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 6 5.7.2 Firmware Update (Single and Multi-device for Servo Drive and SAB) 5.7.2.1 Single Device Firmware Update 5.7.2.2 Multi-Device Firmware Update 5.7.3 Scope (Single and Multi-device for Servo Drive and SAB) 5.7.3.1 Sampling 5.7.3.2 Triggering 5.7.3.3 Trace Signals 5.7.3.4 Status Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 7 6.3.1 Programming with TwinCAT 6.3.1.1 ISD Deliverables ® 6.3.1.2 Creating a TwinCAT Project ® 6.3.1.3 Configuration as a TwinCAT NC Axis 6.3.1.4 Connecting to the PLC 6.4 Automation Studio™ 6.4.1 Programming with Automation Studio™ MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 8 6.5.4.11 MC_ReadActualPosition_ISD51x 6.5.4.12 MC_ReadActualVelocity_ISD51x 6.5.4.13 MC_ReadActualTorque_ISD51x 6.5.4.14 MC_ReadDigitalInput_ISD51x 6.5.4.15 DD_ReadAnalogInput_ISD51x 6.5.4.16 MC_ReadDigitalOutput_ISD51x 6.5.4.17 DD_WriteDigitalOutput_ISD51x 6.5.4.18 MC_ReadParameter_ISD51x and MC_ReadBoolParameter_ISD51x 6.5.4.19 DD_ReadParameter4_ISD51x 6.5.4.20 DD_ReadParameter_ISD51x 6.5.4.21 MC_WriteParameter_ISD51x 6.5.4.22 DD_WriteParameter_ISD51x 6.5.4.23 DD_WriteParameter4_ISD51x 6.5.4.24 DD_Trace_ISD51x 6.5.4.25 DD_BrakeHandling_ISD51x Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 9: Table Of Contents

    6.5.6.8 DD_GoToSetpoint_ISD51x 6.5.6.9 DD_ReadCamInfo_ISD51x 6.5.7 Drive – CAM Creation 6.5.7.1 Basic CAM 6.5.8 SAB 6.5.8.1 SAB_REF 6.5.8.2 DD_Power_SAB 6.5.8.3 DD_Reset_SAB 6.5.8.4 DD_ReadSabInfo_SAB 6.5.8.5 DD_ReadSabError_SAB 6.5.8.6 DD_ReadSabWarning_SAB 6.5.8.7 DD_ReadVersion_SAB 6.5.8.8 DD_UpdateFirmware_SAB 6.5.8.9 DD_ReadDcLinkPower_SAB MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 10 7.4.2 Parameters 55-10 and 55-11: Gear Ratio (0x6091) 7.4.3 Parameters 55-20 and 55-21: Feed Constant (0x6092) 7.4.4 Parameters 55-30 and 55-31: Velocity Factor (0x6096) 7.4.5 Parameters 55-40 and 55-41: Acceleration Factor (0x6097) Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 11 7.8.1 Parameter: Position Guide Value (0x2060) 7.8.2 Parameter: Velocity Guide Value (0x2064) 7.8.3 Parameter: Guide Value Option Code (0x2061) 7.8.4 Parameter: Guide Value Scaling Factor (0x3808) 7.8.5 Parameter: Guide Value Offset (0x3806) 7.9 Guide Value Reference Objects MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 12 7.13.3 Parameters 52-42 and 52-43: Homing Speeds (0x6099) 7.13.4 Parameter 52-44: Homing Acceleration (0x609A) 7.13.5 Parameter 52-50 to 52-57: Supported Homing Methods (0x60E3) 7.13.6 Parameter 52-45 to 52-48: Additional Homing objects (0x2040) Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 13 7.18.3 Parameter 51-51: Touch Probe 1 Positive Edge (0x60BA) 7.18.4 Parameter 51-54: Touch Probe 1 Negative Edge (0x60BB) 7.18.5 Parameter 51-61: Touch Probe 2 Positive Edge (0x60BC) 7.18.6 Parameter 51-64: Touch Probe 2 Negative Edge (0x60BD) MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 14 7.21.6.1 Parameters 51-30 and 51-34 to 51-40: External Encoder Configuration (0x3000) 7.21.6.2 Parameter 51-32 and 51-33: External Encoder (0x2011) 7.21.6.3 Parameter 51-31: External Encoder Enable (0x3001) 7.22 Monitoring Objects 7.22.1 Following Error Detection Objects 7.22.1.1 Parameter: Following Error Window (0x6065) Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 15 8.10.1 Object 0x2030: Brake Control 8.11 Object 0x2031: Brake Resistor 8.12 Object 0x2032: Brake Resistor Power Limit 8.13 Object 0x2033: Brake Resistor Power Monitoring 8.14 Object 0x2034: Brake Check 8.15 Object 0x2035: Brake Duty Cycle Monitoring MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 16 9.3.2 Warnings and Alarms 9.3.3 Trace Signals 9.4 Operating Status Indicators 9.4.1 Operating LEDs on the Servo Drive 9.4.2 Operating LEDs on the Servo Access Box 10 Appendix 10.1 Glossary 10.2 General XML Conventions Index Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 17 Read the document in full in order to use the • ISD Toolbox: A Danfoss PC-based software tool for servo system safely and professionally, and pay particular commissioning and debugging the devices. attention to the safety instructions and general warnings.
  • Page 18 If the servo drive, SAB, 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. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 19 • When changing parameters, take suitable measures to ensure that unintended movement cannot pose any danger. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 20 (see chapter 7.22.4 Parameters 15-40, 15-41, and 15-43: Version log (0x4000)). NOTICE To change the supported fieldbus, update to the corresponding firmware. After changing the fieldbus, the original product code is no longer valid. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 21 Quick stop active state is implemented, which is optional according to the standard. When entering this state, the behavior of the servo drive is according to the option code defined in object 0x605A (see chapter 7.20.6 Parameter 50-46: Quick Stop Option Code (0x605A)). MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 22 If no fault exists on the servo drive, the fault condition is reset. After leaving state Fault, clear the fault reset bit in the Controlword via fieldbus or the LCP. Not supported. – Table 2.2 Transition Events and Actions Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 23 Objects, whose values are not dependent on the factor group, have fixed units specified with the objects. The objects of the factor group can be found in chapter 7.4 Factor Group Objects. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 24 The behavior of the servo drive in a position-controlled mode of operation differs to other modes. In a position- controlled mode of operation, the drive does not pass over the software position limit. The target position is limited to Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 25 Illustration 2.5 Normal Positioning: Target Position is in the Busy Valid Position Range Error Illustration 2.7 Servo Drive is Outside the Valid Position Limit and the Target Position is in a Valid Area MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 26 [µs] [µs] [µs] Illustration 2.9 Servo Drive is Outside the Valid Position Limit. The Target Position is Still Not in a Valid Area, but is Nearer to it than the Previous Position Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 27 – – – Controlword (0x6040) Selector Position controller parameters (0x2013) Speed controller parameters (0x2012) Position controller parameters 2 (0x2015) Speed controller parameters 2 (0x2014) Illustration 2.11 Position Control Loop MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 28 As soon as there is a new setpoint (handed over using the handshaking between Controlword and Statusword), the new setpoint is processed with the corresponding parameters. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 29 Controlword. The servo drive sets the setpoint acknowledge bit in the Statusword to 1. Afterwards, the servo drive with the setpoint acknowledge bit set to 0 signals its ability to accept new setpoints. An example is shown in Illustration 2.14. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 30 If the Change set immediately bit is set to 0, the new setpoint is rejected (case 4 in Illustration 2.15). If the Change set immediately bit is set to 1, the new setpoint is processed immediately. The currently running setpoint profile is discarded (case 5 in Illustration 2.15). Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 31 Drive position (0x2022) – Position range (0x607B) Target reached Software position (0x607D) Limit Selector function Target position (0x607A) Position demand value (0x6062) Comparator Target position (0x607A) Illustration 2.17 Position Reached – Functional Overview MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 32 Torque limit Minimum Application torque limit (0x2053) comparator Illustration 2.19 Profile Velocity Mode Control Function The usage of acceleration and deceleration for the calculation of the trajectory is shown in Illustration 2.20. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 33 If a servo drive is running within the accepted velocity range over the time velocity window time, the bit Target reached (bit 10) in the Statusword is set to 1. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 34 If the torque of the servo drive is within this area (see chapter 7.12.8 Parameter: Torque Window (0x2050)) for a specified time, the torque window time (see chapter 7.12.9 Parameter: Torque Window Time (0x2051)) and the related control bit 10 Target reached, in the Statusword is set to 1. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 35 Based on this home position and the home offset (see chapter 7.13.1 Parameter 52-40: Home Offset (0x607C)), the new zero position is calculated (see Illustration 2.26). Zero Home position position Illustration 2.26 Home Offset Definition MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 36 The reference position found during homing is lost after a reset. However, it is possible to save this reference position permanently (see sub-index 3 in chapter 7.7.8 Parameters 51-02, 52-04, and 52-49: Application Settings (0x2016) for details). The homing bit is not set after a power-cycle, however the position is preserved. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 37 Operation enabled, as there is no movement. If the servo drive is in state Operation enabled during activation, it must be in standstill. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 38 (positive or negative). As soon as a rising edge is detected on the limit switch, the motor reverses direction and ramps to the velocity set in object 0x6099 sub-index 2: Speed during search for zero (see Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 39 7.7.5 Parameter 50-03: Position Actual Value (0x6064)) equals the Home offset (see chapter 7.13.1 Parameter 52-40: Home Offset (0x607C)): Position actual value (0x6064) = Home offset (0x607C) If the value of the Home offset is higher than the Position range limit, only the modulo part is used. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 40 Each data point consists of: segments, actions, and exit conditions. There are Master position different segment types that each have a special Slave position functionality to provide intelligent application functionality within the servo drive. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 41 1. The CAM is defined over the whole guide value cycle. Not The factor group (feed constant, gear ratio, and so on) applicable for advanced CAM. has no effect in CAM mode. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 42 Profile Selector (0x3804). jumps in position and velocity, for example when using Switch to CAM mode (this can also be done different master scaling values. earlier). Perform handshaking to send the CAM activation request. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 43 When a concrete blend distance is used, set the Use blend distance bit. Then, the value given in the minimum blending object 0x380A (see chapter 7.14.11 Parameter: Minimum Blending Distance (0x380A)) is used to calculate a MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 44 See object 0x6066. for object 0x6066. Table 2.11 Attributes for Element followingError The rest of the CamProfile element depends on the profile type (basic or advanced) and is described in the following chapters. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 45 0 in the 1 data point. • Illustration 2.41 and Illustration 2.42 show partial data point not at masterPos 0, last data CAMs (1 point not at masterPos 1). MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 46 InSync Illustration 2.45 CAM 2: Partial CAM - Cyclic: Blending Segment is an Automatically Calculated P5 End of Illustration 2.43 CAM 1: Full CAM - Non-cyclic: Velocity at the End is 0 Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 47 Use blend distance = 1, the processing of it (at least the start point) takes place in the same master cycle (as the CAM activation request), otherwise a CAM error is issued. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 48 In Illustration 2.50, the blending distance is not long enough to reach the 1 data point of the next CAM. The axis therefore automatically increases the blending up to the 1 point of the next CAM. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 49 Change CAM imm=1 cycle Use blend dist=1 Active CAM 2 CAM 3 InSync End of pro le Illustration 2.57 Use blending distance; Blending distance is not long enough to reach the next CAM. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 50 Illustration 2.58 Transition with absolute master and relative slave positioning; End of No blending distance used. Illustration 2.60 Change CAM immediately = 0. Use blending distance; Blending distance is long enough to cover the gap to the next CAM. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 51 Use blend dist=1 Active CAM 2 CAM 3 InSync End of pro le Illustration 2.63 Change CAM immediately = 1. Use blending distance; Blending distance is not long enough to reach the next CAM. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 52 Illustration 2.69 Change CAM immediately = 1. No blending distance used. If the CAMs do not match in slave position and velocity, a jump may occur. This may lead to a following error. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 53 The transition is rejected and the servo drive acts as if the command was never issued. End of pro le Illustration 2.73 CAM profile with relative master and relative slave positioning. A jump in velocity may occur if the CAMs do not match. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 54 GuidePoly GuideSegment Polynomial of 5 order based on guide value. MoveDistance- GuideSegment Segment Uses run-time calculated polynomial of 5 order; the angle is sent over fieldbus at run- time. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 55 0. In a CAM, there must be exactly 1 starting node node within the processed path. (1 node with ID 0). However, this starting node does not MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 56 The node with nodeID 0 is the starting node. Illustration 2.81 XML Representation of an EventNode masterPos M Float; 0.0–1.0 Master position for this GuideNode. Given in revolutions of guide value. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 57 In Illustration 2.82, an example is given where segments with ID 1, 3, and 4 all have the same succeeding node. Regardless of which segment the servo drive is coming from, segment 5 is processed afterwards. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 58 If a non-existing action ID is used, an error is issued during parsing. Table 2.17 Common Attributes for all GuideSegments Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 59 Start/ Endpoint represen- tation. startAction Same as in Table 2.17. endAction Same as in Table 2.17. Table 2.19 Attributes for GuidePoly in Coefficient Representation MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 60 Guide succNode Same as in Table 2.17. value startPos Float See Table 2.18 for Illustration 2.88 FlyingStopSegment type= relative. startVel Same as in Table 2.18. endVel Same as in Table 2.18. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 61 Table 2.21 Attributes for FlyingStopSegment in Start/Endpoint Representation The ReturnSegment is used to return from any position to a defined absolute position. In this way, all offsets of the logical rotor angle are discarded and a fixed relation MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 62 The EventSegmentContainer embeds a time-related Table 2.23 Partition Example of ReturnSegment for movement (composed by EventNodes and EventSegments) Single-turn Axis (revolutions = 1; offsetRev = 0) into the guide value-related process. It provides a certain Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 63 ID of the starting ventNode nodeID of an EventNode at the EventNode. beginning of this segment. If a non-existing node ID is used, an error is issued during parsing. Table 2.25 Attributes for EventSegmentContainer MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 64 Complex movements can be combined by a the segment is aborted as number of TimePolys. soon as 1 of them applies (logical OR). If a non-existing exit condition ID is used, an error is issued during parsing. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 65 O; default = 0 Float Same as startVel but at startPos in the Start/ the end of the Endpoint represen- segment. tation. exitCond Same as in Table 2.26. startAction Same as in Table 2.26. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 66 It is similar to a VelocitySegment, but with a occur. coupling factor for the velocity (velocityRatio). Illustration 2.98 Start/Endpoint Representation Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 67 2 succeeding segments have different startAcc and endAcc values. torqueLimit Same as in Table 2.29. exitCond Same as in Table 2.26. startAction Same as in Table 2.26. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 68 Same as in Table 2.26. FALSE automatically by the servo drive. If FALSE, the Table 2.32 Attributes for PwMOffSegment in Start/Endpoint value can be used for Representation diagnostics. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 69 CAM. The behavior that is interesting here is the transition to the second (advanced) CAM based on the point of activation request and the configuration of the second (advanced) CAM. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 70 Node cycle Use blend dist=1 Illustration 2.107 Blending Ends inside a GuidePoly of Type Illustration 2.105 Minimum Blending Distance Ends within a Absolute. Segment The blending is done to that exact position. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 71 If the following segment is a segment with an undetermined start position (see Table 2.34), the servo drive calculates a P4 to do the blending in order to adjust MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 72 <selControlParam set="1"/> worst case movement is Value Mandatory/ influenced by range/ Attribute optional Description this parameter. allowed (+default value) values Switches/selects control parameter set 1 or 2. Table 2.37 Attributes for selControlParam Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 73 Rising/falling/ Indicates which both input events are counted. Table 2.42 Attributes for startCounter <stopCounter input="1"/> Element stopCounter stops the counting of any digital input events of the specified digital input. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 74 The axis proceeds with the next segment as soon parameterized maximal length of the mark. as the condition is met. Exit conditions can only be defined <rectMark input="1" mode="analogue" threshold="50" for EventSegments. minLength="300" maxLength="400"/> Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 75 The black line shows an example The pattern information is transmitted to objects 0x3830 to for the case that the pattern is found right at the point in 0x3837 (see chapter 7.14.6 Parameters: CAM Pattern 1–8 (0x3830–3837)). MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 76 This exit condition checks if the torque is above or below condition="above"> the specified absolute value. As soon as the value is above or below the threshold, the axis proceeds with the next segment. <checkTorque threshold="500" condition="above"/> Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 77 • Starting the CAM with a ReturnSegment distinguish between a new and a resent command. (suggested solution). Therefore, the edge of the toggle bit is used for this purpose. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 78 CAM execution or as a reaction on a command. Table 2.56 CAM Control Data Information Bit 16 (MSB) of the status code is a toggle bit. As synchronous fieldbuses are supported, it is not possible to Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 79 The absolute relation between master and slave is settings. The friction effects are eliminated automatically. important (Gear In Pos functionality), as shown in Illustration 2.115. This functionality can be commanded using function block DD_GetInertia_ISD51x (see MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 80 The overall structure for this mode is shown in Illustration 2.118. The servo drive provides actual values for position, velocity, and torque to the control device. In cyclic synchronous manner, it provides a target velocity to Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 81 Switch Parsing Control (0x3843)). When the status signals input. that the data is valid, the functionality can be enabled by using the Controlword (see chapter 7.2.1 Parameter 16-00 Controlword (0x6040)). MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 82 When disabling the digital CAM switching functionality, the values persist (that is, they do not switch back to values, before the enabling). It is also possible to change those values during the operation of the digital CAM by writing Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 83 = Position; not integer >0 switch is ON. used otherwise If unit = The unit of this Revolutions: value depends on the Unit float >0 attribute of the Switches element. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 84 The function is configured using object 0x60B8 (see chapter 7.18.1 Parameter: Touch Probe Function (0x60B8)), where the different options regarding the trigger event can be selected. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 85 LastPosition LastPosition FirstPosition accepted accepted FirstPosition B. FirstPosition > LastPosition – – FirstPosition FirstPosition LastPosition accepted accepted accepted LastPosition Illustration 2.128 Examples of Windows where Trigger Events are Accepted (For Modulo Axes) MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 86 → 0x60B9 bit 0, 1, 2 = 0 Status bits are reset. → 0x60BA, 0x60BB Touch probe position 1 positive/negative values are not changed. Illustration 2.129 Timing Diagram for Touch Probe Example Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 87 Using this object, the servo drive can also be instructed to The guide value reference simulation can be parameterized with the objects given in chapter 7.9.6 Guide Value calculate the guide value velocity. Reference Simulation. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 88 Some events provide warning messages before disabling the servo drive through an error. An application has the possibility then to react on the warning to avoid a Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 89 Following error time out (0x6066) regarded to be in standstill. Following error window (0x6065) Following error Window Timer comparator Position demand value (0x6062) – Position actual value (0x6064) Illustration 2.133 Following Error - Functional Description MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 90 9.2.1 Troubleshooting. STO information is available in objects 0x6041 (see chapter 7.3.1 Parameter 16-03 Statusword (0x6041)) and 0x2007 (see chapter 7.22.8 Parameter 50-09: STO Voltage and Brake Status (0x2007)). Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 91 UDC + Real-Time Ethernet Bus + STO + U . . . ISD 510 . . . Quick Main Alarm Status Menu Menu Hand Auto Reset Illustration 3.1 ISD 510 Servo System MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 92 Inrush SAB card nished Disable UDC Operation Operation disable – Disable Enabled Error enabled disabled Disable Illustration 3.2 State Diagram with Possible Transitions UDC disable – Disable Standby Legend: Error – Disable Fault Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 93 Bus OK Brake resistor ready, no warning Brake resistor warning Brake resistor ready, no fault Brake resistor fault Brake energy too high/fault (IGBT) Controlword Remote control Local control Standby/no alarm Standby/no warning MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 94 SAB state machine. protects itself and the servo drives by shutting down to prevent any damage. In such cases, warnings may not be visible if the shutdown occurs quickly. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 95 (chapter 8.18 Object 0x2063: Guide Value Reference Option Code), and 0x3000 (chapter 7.21.6.1 Parameters 51-30 and 51-34 to 51-40: External Encoder Configuration (0x3000)). 3.5 Signal Tracing For information on signal tracing, see chapter 2.7.2 Trace. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 96 The display area is activated when the servo drive or SAB Illustration 4.1 Display Area when Connected to an ISD 510 it is connected to receives power from the mains supply, a Servo Drive DC bus terminal, or U Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 97 Switch on Disabled. Table 4.1 Display Menu Keys This only works in Hand On mode. Off mode enables transition from Hand On mode to Auto On mode. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 98 The Status menu in Auto On mode shows readout parameters. Press the [Status] key while the Status menu is shown to toggle the readout mode between Single-line readout and Double-line readout. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 99 Temperature power card [16-31] Actual UDC (current) [50-73] ISD power consumption [16-10] Actual UDC (voltage) [16-30] Table 4.8 Default Readouts for SAB The readout configuration can be changed and is retained after a power cycle. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 100 1), as depicted in Illustration 4.7. Select a group and press the [OK] key to show its subgroup (level 2). Select the subgroup and press the [OK] key to show all parameters belonging to the subgroup. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 101 The selected digit is color-inverted to indicate the position values, as shown in Illustration 4.12. of the cursor. Illustration 4.10 shows editing the value of parameter 52-12 Profile velocity. The set value is 600 and the 2 digit from MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 102 Where 12-5* EtherCAT (EtherCAT only) necessary, the fieldbus-specific availability of the menu 12-6* Ethernet POWERLINK (Ethernet items is indicated in italics. POWERLINK only) Drive Information 15-** 15-0* Operating Data Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 103 (for example, PLC) by setting the remote bit (bit 9) the state Disabled. When enabling the servo drive via in the Statusword to 0. When Hand On mode is released, parameter 52-03 Hand On state, set 52-20 Target Velocity MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 104 Illustration 4.16 depicts the LCP Status screen in Hand On specified by parameter 00-33 Unit for position readout. mode shown when Jog mode is active. The text “Jog mode” is shown in the center of the screen to indicate that Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 105 On mode with velocity to Off mode. The LED above the [Off] key indicates that Off mode is active – there is no other indication on the LCP display. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 106 When the [Main Menu] key is held down for 3 s, the parameter shortcut is shown (see Illustration 4.21), and it is Illustration 4.19 Alarm Log possible to navigate to any parameter on the device by entering its number. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 107 (see chapter 4.4.7 Info Key), the [Cancel] key closes the Info When the Alarm Log screen is active and an alarm is screen and shows the previous screen. highlighted, press the [Info] key to show the alarm info MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 108 [ ] key to decrement ▲ it. Keeping the [ ] key pressed keeps incrementing the value by 1. Holding the key down speeds up incrementing Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 109 52-71 Jog speed User units, as defined in Contains the commanded jog speed in user units (factor parameter group 00-3*. group has been applied). Table 4.11 ISD 510 Servo Drive-specific LCP Parameters MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 110 Selects the SAB line number for the ID assignment. 54-11 Drive index – Selects the index of the device in the selected line (1–32). 54-13 Epl id assignment start – Starts the manual ID assignment. Table 4.12 SAB-specific LCP Parameters Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 111 The ISD Toolbox is a standalone PC software designed by 5.3 ISD Toolbox Communication Danfoss. It is used for parameterization and diagnostics of the servo drives and the SAB. It is also possible to operate This chapter describes the Ethernet specific network the devices in a non-productive environment.
  • Page 112 Aux 1 Aux 2 Safe 1 Safe 2 . . . Fieldbus General-purpose network Illustration 5.2 Logical View of Direct Ethernet-based Fieldbus Illustration 5.3 Local Area Connection Properties Communication Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 113 Internet Protocol Version 4 (TCP/IPv4). Enable Connect to TCP/IP Stack in the Windows Network section. Enable IP Enable Router in the Windows IP Routing section. Reboot the PLC for the changes to take effect. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 114 Select the fieldbus type and the network interface to connect to. Click on OK to connect. Verify that the connection is successful by checking the status strip in the Main Window. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 115 Carry out the following steps to optimize the control loop parameter: Use the drive control in profile position mode to: Create a step response (see section Mode of operation controls – Profile MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 116 The behavior of the ISD servo drives is defined by the Abort connection option code. The SAB state is not directly affected by the reset command. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 117 Shows the communication state of the ISD Toolbox. If connected to a network, it shows the used hardware interface (for example, network adapter) and the network name. Table 5.1 Legend to Illustration 5.7 MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 118 For this purpose, each root • Supported features (CoE, FoE, EoE, DC) node entry has a background color. The color code and the available states for the device are listed in Table 5.2 and Table 5.3. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 119 Illustration 5.11 shows the Service Mode tab page of the Device Information window. The device is in service mode (indicated by the red text “Service Mode”), and the device information shown in the respective text boxes has already been read. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 120 Output window. The timestamp of the message is generated when the message is shown. The content of the window can be saved to a plain-text file by clicking on the Save log button. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 121 The Options menu entry opens the Toolbox options window that contains tabs with the following option categories: • General • Watchlist • Default values Illustration 5.15 Toolbox Options - General Tab • Drive Units • Fieldbus-specific • Updates MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 122 ISD Toolbox starts. This option is Illustration 5.18 Toolbox Options - Drive unit disabled per default but can be enabled by checking the check-box Automatically check for updates when the ISD Toolbox starts (see Illustration 5.20). Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 123 Illustration 5.21 Select a Network Window (Ethernet via PLC) After successfully connecting to a network, a window opens where it is possible to go online with any offline devices that have been added to the Device Environment. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 124 IDs to search for can be specified. Use the menu [Edit → Scan for devices → Scan entire network] to search the ® entire network (CAN, EtherCAT , acyclic Ethernet ® POWERLINK , and Ethernet via PLC). Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 125 The default parameter values are not written to the device automatically. Print Offers the possibility to print the parameter list using the standard Windows print window. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 126 Close all other tools before opening the Multi-Device Firmware Update sub-tool because no other functionalities can be used during the firmware update process. Open the Multi-device Firmware Update sub-tool via menu [Multiple Device Functionalities → Firmware Update] for a Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 127 Scope. The available sampling rates standard digital oscilloscopes. depend on the fieldbus cycle time. 100 µs, 125 µs Real-time task 200 µs, 250 µs Fast task 400 µs, 500 µs Slow task Table 5.7 Sampling Rates MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 128 Level field. The trigger level field is a decimal value with 2 decimal places. The default value of the field is 0. Table 5.8 Legend to Illustration 5.30 Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 129 Channel Sets the color in which the traced data for color the given channel is visualized. The color of a channel can be changed at any time. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 130 5.7.3.5 Running a Trace The Scope must be in state Ready in order to run a trace. Click on the Run button shown in Illustration 5.33. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 131 Value at left cursor and Value at right cursor are updated for every signal to reflect the cursor positions. By clicking on the button next to the cursor position field, the corresponding cursor MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 132 Auto-scaling can be triggered by the following keyboard shortcuts: • Ctrl+1 performs Zero-centred auto-scaling. • Ctrl+2 performs Aligned and zero-centred auto- scaling. • Ctrl+3 performs Maximized auto-scaling. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 133 It is also possible to trace signals across different devices. Therefore every channel has an additional drop-down box where the device can be selected for each channel. The result of all traces is shown in the same diagram (see Illustration 5.36). MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 134 Options window (see chapter 5.5.8 Options Window). Illustration 5.39 shows the Drive Control sub-tool with an activated Profile Position Mode control. Profile velocity, acceleration, and deceleration can be set using the Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 135 Target velocity slider are set to match the Maximum profile velocity parameter on the servo drive. The initial slider position is in the middle of the slider, representing 0. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 136 Use the Target torque slider to set the value. The Target torque value is shown in mNm. Illustration 5.44 shows the Drive Control sub-tool with an activated Torque Profile Mode control. Illustration 5.42 Drive Control - Homing Mode Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 137 Drive Drive control sub-tool is shown in Illustration 5.38. The Control sub-tool. Use the Parameter List sub-tool (see active state is highlighted with its defined state color. and MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 138 The Error History can be saved to a plain-text file in a comma-separated format with a .log extension. The comma-separated values are ordered in the same way as in the Error History sub-tool. Click on the Save error history Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 139 When using switch mode position, set the Last On Position parameter. When using the switch mode time, set the Duration (ms) parameter. Depending on the selected unit in the parameters area, the First On Position and Last On MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 140 FTP site (for example, a PLC). 5.7.7.1 Menu Bar The menu bar organizes all general CAM Editor function- alities inside different groups. Shortcuts are given in brackets and characters for direct access are underlined. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 141 Sanity Check, and showing the Options dialog. The availability of certain entries depends on whether the basic or advanced CAM profile type is selected (see Illustration 5.53). Illustration 5.50 FTP Upload Dialog MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 142 The Add Comment entry opens the Add Comment dialog. This contains a form with a text box and the buttons OK and Cancel to add, edit, and remove plain-text comments to/from the CAM project. Illustration 5.56 CAM Editor Help Menu Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 143 CAM profiles (basic and/or advanced) and their Illustration 5.59 shows an example of the Add CAM Profile respective CAM profile elements: wizard. • Basic CAM profile: Data points • Advanced CAM profile: Nodes Segments Actions Exit conditions MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 144 If a Time poly is selected, the wizard contains a 2 step for specifying the specific properties of the Time poly (see chapter 5.7.7.7 Editing Advanced CAM Profiles). Illustration 5.60 Create Data Point Wizard Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 145 The rotor angle graph is rendered in the rotor angle color specified in the Options window. The default color is black. The rotor angle graph shows all CAM elements of the MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 146 No nodes or data points are virtually connected with first node). visualized in the plot area. It is not possible to select any CAM elements on the graph. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 147 CAM Profile window. Whenever the value of a Data point created property has changed, this is reflected by the CAM profile graph. Illustration 5.65 Basic CAM Editing: Creating a Data Point MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 148 CAM can be found in • Master scaling chapter 2.4.5.5 Advanced CAM. Advanced CAM guide nodes only contain guide values (master positions) and event nodes do not contain any Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 149 Guide poly with the desired start and end rotor Visible angles, which simultaneously creates the relevant guide nodes. After selecting the Create Guide Poly item from the context menu, only 2 clicks are required to define a Guide poly: The MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 150 • When creating a Time poly, its predecessor node has to already exist and a path must also exist Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 151 End actions: Contains the list of actions that are performed at the end of the segment. • Appearance Visible: Indicates if the segment is shown inside the CAM Profile window. • Information (all read-only) MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 152 When changing this property, the value of the End position property is automatically recalculated. • Start Start acceleration: Specifies the acceleration of the axis at the beginning of the segment. The acceleration is Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 153 The reference position is determined by segment. It is the same as the start the absolute position at the beginning velocity of Guide poly. of this segment and the partition. • • Information (all read-only) MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 154 50°. Brake point: Contains the calculated point (guide value, rotor angle) at which the drive starts braking. End rotor angle: Contains the calculated position at the end of this segment. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 155 1 of them applies (logical OR). the end of the segment. For more Time poly information, see Start velocity. The Time poly has the following properties: • Information (all read-only) • Parameters MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 156 Deceleration: Specifies the deceleration middle of the segment. Illustration 5.77 contains a torque of the axis when decreasing the velocity. segment with a velocity limit of 60 RPM and a duration of 2000 ms. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 157 For fast visual identification, sync is position from the previous segment is shown in the middle of the segment (see Illustration 5.78). used as the starting position. Velocity high: Velocity of the axis during this segment. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 158 This triggers a new computation of the following path and a relocation of all succeeding elements due to the different duration and end position of the newly selected default segment. Illustration 5.80 Friction Segment Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 159 End velocity and Start velocity. automatically and must be triggered by using • Jump in acceleration: Shown whenever 2 the Parse button. succeeding segments, connected by a node, define different End acceleration and Start acceleration. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 160 (enabled) but the others are 12 Loading info Text field showing the loading state for the not accessible (disabled). selected profile. Illustration 5.84 CAM Profile Management Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 161 3 drives on line 1 and 4 drives on Revert to changed ID: Undoes the changes to the line 2. ID field and reverts the value back to the actual ID of the servo drive. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 162 ID is instantly set on the servo drive. If the servo drive is already added to the Device Environment using its old ID, remove it and add it again with its new Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 163 CAM profiles. drive in the line) • Function blocks and structures for creating 51-12 EPL ID assignment assign ID Labeling CAM profiles. Set parameter 54-13 EPL ID assignment start to [1] start. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 164 Contains POUs that are needed internally for the libraries. • ® ESI file (EtherCAT Slave Information) for the Do not use these POUs in an ISD 510 servo drive: Danfoss ISD 500.xml application. • ® ESI file (EtherCAT Slave Information) for the SAB: •...
  • Page 165 Error codes can be read using the function block DD_ReadSabError_SAB and/or DD_ReadSabWarning_SAB. Illustration 6.2 Instantiation of AXIS_REF_ISD51x • SabTraceSignals Constants for the trace signals of the SAB. Intended to be used with the function block DD_Trace_SAB. • SdoAbortCodes MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 166 The next step is to import the servo drive and the SAB into ® the TwinCAT System Manager software: Copy the ESI file Danfoss ISD 500.xml into the folder TwinCAT Installation Folder\Io\EtherCAT on the hard drive. This only has to be done once per ®...
  • Page 167 Configure the servo drive, so that the PDO mapping ISD 510 Integrated Servo Drive) → Module1 ® matches the requirements of the library, via the TwinCAT (Library PDO) → Library RxPDO]. System Manager. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 168 In the Attach Variable port (Input) window, select [PLC-Configuration → MyFirstIsd510Project → Standard → .myAxis.NodeNumber]. ® Illustration 6.8 TwinCAT Configuration: I/O Mapping of 2 Servo Drives and 1 SAB Click on OK. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 169 The servo drives can be used with the built-in NC ® functionality of TwinCAT . Everything related to the SAB must be done as described in chapter 6.3.1.2 Creating a ® TwinCAT Project. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 170 Click on Open. Assign the libraries to the CPU in the next window. Click on Finish. Now the libraries are integrated into the Automation Studio™ project. Illustration 6.10 Standard Libraries Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 171 Error codes can be read using the Import fieldbus device and add to Physical View function block DD_ReadSabError_SAB The next step is to import the ISD 510 servo drive into and/or DD_ReadSabWarning_SAB. Automation Studio™: • SabTraceSignals MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 172 The device is pdo tx_I5051 ARRAY[]) to Read. then known to Automation Studio™. These settings configure the cyclic communication with the device. These parameters are required for the library to work. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 173 Set the PLC cycle time in Automation Studio™: Right-click [CPU → Open Software Configuration] in the Physical View. Ensure that the PLC cycle time is the same as the ® Ethernet POWERLINK cycle time. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 174 For enumerations defined by PLCopen , the prefix MC_ is the corresponding motion command. The response time used. For enumerations defined by Danfoss, the prefix DD_ depends on the specific functionality. is used. _ISD51x is used as Supplier ID for enumerations.
  • Page 175 (synchronized) motion is aborted by this state, the movement of the axis is not influenced by another (non-synchronized) motion command. the function blocks. Power is off and there is no error in the axis. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 176 CommandAborted is set (see block has control of the axis (Active and Busy are TRUE (see case 1 in Illustration 6.19). case 3 in Illustration 6.20). Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 177 Busy is TRUE, because the outputs may still change. instance that caused the error. Can be used for central error handling within a PLC project. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 178 Acceleration and Deceleration are always positive values. Position and Distance can be both positive and negative. Velocity can be positive and negative, or can be positive value only, for example, if the direction is determined by other means. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 179 ® communication. See chapter 6.3.1.2 Creating a TwinCAT ™ Project and chapter 6.4.1.2 Creating an Automation Studio Project. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 180 Enable is set to FALSE. If the servo drive starts reacting again, the Error output can change to FALSE again without a new rising edge of Enable. Set the value to 0 to disable the limiting functionality. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 181 TRUE if the axis is in state ErrorStop. Disabled BOOL TRUE if the axis is in state Disabled. Stopping BOOL TRUE if the axis is in state Stopping. Homing BOOL TRUE if the axis is in state Homing. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 182 Done BOOL Busy BOOL Busy BOOL Error BOOL Error BOOL ErrorInfo DD_ERROR_ISD51x ErrorInfo DD_ERROR_ISD51x AxisWarningID WORD SerialNumber STRING(18) MajorVersionNo UINT MinorVersionNo UINT BetaVersionNo UINT Illustration 6.29 DD_ReadAxisWarning_ISD51x SoftwareType UINT Illustration 6.30 DD_ReadVersion_ISD51x Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 183 AXIS_REF_- Axis ISD51x BOOL Execute Done BOOL STRING(80) FileName Busy BOOL Error BOOL E_OpenPath Path ErrorInfo DD_ERROR_- ISD51x ® Illustration 6.31 DD_UpdateFirmware_ISD51x for TwinCAT (See Table 6.9 for other available development environments. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 184 BOOL ErrorInfo DD_ERROR_ISD51x Error identification and Decelerating BOOL DirectionPositive BOOL instance identifier. DirectionNegative BOOL See chapter 6.5.2.3 Error LimitActive BOOL Indication. HomeAbsSwit BOOL Digital home switch input is active. Illustration 6.33 MC_ReadMotionState_ISD51x Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 185 Position is valid. If Enable is reset, the data loses its validity and all outputs are reset, regardless of whether new data is available. The output Position is a signed value. The output data is available immediately. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 186 Torque is valid. If Enable is reset, the data loses its validity, all outputs are reset, and new data is available. The output Torque is a signed value. The output data is available immediately. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 187 SDO abort code if there is See chapter 6.5.2.3 Error an error. Available in the Indication. list of constants: Value BOOL The value of the selected SdoAbortCodes. input signal Table 6.16 DD_ReadAnalogInput_ISD51x Table 6.15 MC_ReadDigitalInput_ISD51x MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 188 See chapter 6.5.2.3 Error within the function block. Indication. ErrorInfo DD_ERROR_ISD51x Error identification and Value BOOL The value of the output instance identifier. signal. See chapter 6.5.2.3 Error Table 6.17 MC_ReadDigitalOutput_ISD51x Indication. Table 6.18 DD_WriteDigitalOutput_ISD51x Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 189 VAR_OUTPUT Valid BOOL The function block has a Table 6.20 Parameters for MC_ReadParameter_ISD51x, valid output. MC_ReadBoolParameter_ISD51x and MC_WriteParameter_ISD51x MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 190 See chapter 6.5.2.3 Error Indication. AbortCode DWORD SDO abort code if there is an error. Available in the list of constants: SdoAbortCodes. Value DWORD Value of the specified parameter. Table 6.21 DD_ReadParameter4_ISD51x Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 191 Error BOOL An error has occurred Busy BOOL The function block is not within the function block. finished and new output values are to be expected. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 192 4 bytes to the object dictionary of the axis. For the index and sub-index of the parameters, see chapter 7 Servo Drive Parameter Description. The data is written to the device asynchronously and is therefore not immediately available in the axis. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 193 See chapter 6.5.2.3 Error functionality functionality Indication. Illustration 6.48 Behavior of Successful Abort of Functionality AbortCode DWORD SDO abort code if there is an error. Available in the list of constants: SdoAbortCodes. Table 6.25 DD_WriteParameter4_ISD51x MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 194 VAR_IN_OUT from the device. Axis AXIS_REF_ISD51x Reference to the axis. Busy BOOL The function block is not finished and new output chapter 6.5.4.1 AXIS_REF_IS values are to be expected. D51x. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 195: Dd_Selectcontrolparamset_Isd51X

    The manipulation of the brake can take some time and is by CAM mode (see chapter 6.5.6.2 MC_CamIn_ISD51x). not applied to the axis immediately. The manipulation of the control parameter set takes effect with the next network communication cycle. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 196 The activation of the touch probe functionality can take some time. Busy BOOL The function block is not finished and new output values are to be expected. CommandA- BOOL Command is aborted by borted another command (MC_AbortTrigger_ISD51x). Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 197 To generate a digital CAM switches file, see the description Illustration 6.54 MC_AbortTrigger_ISD51x in chapter 2.5.1 Digital CAM Switch, or use the ISD Toolbox chapter 5.7.6 Digital CAM Switch (Servo Drive only). MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 198: Dd_Preparedigcamswitch_Isd51X

    The function block is not finished and new output values are to be expected. Error BOOL An error has occurred within the function block. ErrorInfo DD_ERROR_ISD51x Error identification and instance identifier. See chapter 6.5.2.3 Error Indication. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 199: Drive - Motion

    Illustration 6.57 DD_ProduceGuideValue_ISD51x The time limit is supervised by the PLC. Use function block MC_Stop_ISD51x (chapter 6.5.5.2 MC_Stop_ISD51x) to abort an active homing procedure. It can take some time until the homing procedure starts. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 200: Mc_Home_Isd51X

    The homing modes can be selected from the enumerations [user-defined acceleration in Table 6.37. unit]. Deceleration UDINT Value of the deceleration [user-defined acceleration unit]. TorqueLimit UINT 0xFFFF Maximum torque used for this motion [per thousand of rated torque]. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 201 Homing on current position. Table 6.37 Enumeration DD_HOME_MODE_ISD51x Ensure that the physical inputs of the servo drive are configured appropriately (see chapter 7.21.3 Parameter: Dual Analog User Inputs Configuration (0x200F)). MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 202: Mc_Stop_Isd51X

    Stopping and back to Standstill when Execute is FALSE. The state remains as Stopping for as long as the input Execute is TRUE. The Done output is set when the stop ramp is finished. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 203: Mc_Halt_Isd51X

    MC_Halt_ISD51x. MC_Halt_ISD51x AXIS_REF_- Axis ISD51x BOOL Execute Done BOOL UDINT Deceleration Busy BOOL Command BOOL Aborted Error BOOL ErrorInfo DD_ERROR_- ISD51x Illustration 6.60 MC_Halt_ISD51x MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 204 [user- defined velocity unit]. Only values >0 are allowed. Acceleration UDINT Value of acceleration (increasing energy of the motor) [user-defined acceleration unit]. Only values >0 are allowed. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 205 The buffer mode itself is described in more detail in chapter 2.4.1 Profile Position Mode. It is only possible to have 1 buffered position. Any attempt to make a 2 buffered command leads to an error. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 206: Mc_Moveabsolute_Isd51X

    FB1. Execute Execute FB1. FB1. Done Done FB1. FB1. Command Command Aborted Aborted FB2. FB2. Execute Execute FB2. FB2. Done Done FB2. FB2. Active Active Illustration 6.62 Buffered versus Aborting with MC_MoveAbsolute Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 207: Mc_Moverelative_Isd51X

    (increasing energy of the motor) [user-defined acceleration unit]. Only values >0 are allowed. Deceleration UDINT Value of the deceleration (decreasing energy of the motor) [user-defined acceleration unit]. Only values >0 are allowed. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 208 FB1. Execute Execute FB1. FB1. Done Done FB1. FB1. Command Command Aborted Aborted FB2. FB2. Execute Execute FB2. FB2. Done Done FB2. FB2. Active Active Illustration 6.64 Buffered versus Aborting with MC_MoveRelative Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 209: Mc_Moveadditive_Isd51X

    Buffered and Aborting. reached) [user-defined velocity unit]. Only values >0 are allowed. Acceleration UDINT Value of the acceleration (increasing energy of the motor) [user-defined acceleration unit]. Only values >0 are allowed. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 210 FB1. Execute Execute FB1. FB1. Done Done FB1. FB1. Command Command Aborted Aborted FB2. FB2. Execute Execute FB2. FB2. Done Done FB2. FB2. Active Active Illustration 6.66 Buffered versus Aborting with MC_MoveAdditive Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 211: Mc_Movevelocity_Isd51X

    [in Busy BOOL The function block is not technical units per s]. Only finished and new output values are to be expected. values >0 are allowed. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 212: Mc_Gearin_Isd51X

    Only values >0 are allowed for the inputs Velocity, Acceleration, and Deceleration. The value 0 is not allowed for the inputs RatioNumerator and RatioDeno- Illustration 6.69 MC_GearIn_ISD51x minator. The command is transferred and executed immediately. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 213 ErrorInfo DD_ERROR_ISD51x Error identification and running in sync. instance identifier. SyncMode MC_SYNC_ mcShort Defines the mode for See chapter 6.5.2.3 Error MODE_ISD est_ISD5 synchronizing. Indication. See Table 6.50. Table 6.49 MC_GearInPos_ISD51x MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 214: Dd_Getinertia_Isd51X

    [user-defined velocity unit]. E_OpenPath Path ParseErrorDebug DWORD Only values >0 are STRING(80) PatternFile allowed. TorqueLimit UINT 0xFFFF Maximum torque used during this motion [mNm ® Illustration 6.72 MC_CamTableSelect_ISD51x in TwinCAT (Millinewtonmeter)]. VAR_OUTPUT Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 215: Mc_Camin_Isd51X

    VAR_INPUT ErrorInfo DD_ERROR_ISD51x Error identification and Execute BOOL FALSE Start at rising edge. instance identifier. MasterOffset DINT Offset of the master shaft See chapter 6.5.2.3 Error to CAM [guide value unit]. Indication. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 216: Dd_Camscaling_Isd51X

    See chapter 6.5.2.3 Error The use of the parameters inside the axis takes effect Indication. immediately. The numerator and the denominator for 1 factor are used by the servo drive at the same time. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 217 See chapter 6.5.2.3 Error Error BOOL An error has occurred Indication. within the function block. ErrorInfo DD_ERROR_ISD51x Error identification and Table 6.57 DD_SetFollowSegment_ISD51x instance identifier. See chapter 6.5.2.3 Error Indication. Table 6.56 DD_CamScaling_ISD51x MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 218 An error has occurred instance identifier. within the function block. See chapter 6.5.2.3 Error ErrorInfo DD_ERROR_ISD51x Error identification and Indication. instance identifier. Table 6.59 DD_RotationStop_ISD51x See chapter 6.5.2.3 Error Indication. Table 6.58 DD_SetSegmentParameter_ISD51x Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 219 TRUE: Notification is sent Direction MC_DIRECT mcShor- Direction of motion. together with information ION_ISD51 testWay See Table 6.42. of the following segment. _ISD51x VAR_OUTPUT Duration UINT Duration of this movement [ms]. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 220: Dd_Readcaminfo_Isd51X

    Axis AXIS_REF_ISD51x Reference to the axis. chapter 6.5.4.1 AXIS_REF_IS D51x. VAR_INPUT Enable BOOL FALSE Read the information continuously while enabled. VAR_OUTPUT Valid BOOL The function block has a valid set of outputs. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 221 [kg m²] position. This is the PositionP REAL Proportional part of the position position at gear in controller. (motor side). PositionD REAL Differential part of the position controller. Table 6.67 DD_CONTROL_PARAMETER_ISD51x MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 222 Done BOOL CAM profile has been read selects generic or 1 of the and structure can now be ® TwinCAT system paths on used. the target device. VAR_OUTPUT Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 223: Sab

    Fault state. Only issue 1 function block DD_Power_SAB per SAB. The Enable input in this function block is not an Enable input as described in chapter 6.5.2.2 Function Blocks with MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 224 SAB_REF Reference to the SAB. See chapter 6.5.8.1 SAB_REF. VAR_INPUT Enable BOOL FALSE Get the SAB information continuously while enabled. VAR_OUTPUT Valid BOOL The function block has a valid set of outputs. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 225: Dd_Readsabwarning_Sab

    SAB_REF SAB_REF BOOL Enable Valid BOOL BOOL Enable Valid BOOL Busy BOOL Busy BOOL Error BOOL Error BOOL ErrorInfo DD_ERROR_ISD51x ErrorInfo DD_ERROR_ISD51x SabErrorID WORD WORD SabWarningID Illustration 6.88 DD_ReadSabError_SAB Illustration 6.89 DD_ReadSabWarning_SAB MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 226 Execute Done BOOL SerialNumber STRING(18) STRING(80) FileName Busy BOOL MajorVersionNo UINT E_OpenPath Path Error BOOL MinorVersionNo UINT ErrorInfo DD_ERROR_ISD51x UINT BetaVersionNo SoftwareType UINT ® Illustration 6.91 DD_UpdateFirmware_SAB in TwinCAT Illustration 6.90 DD_ReadVersion_SAB Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 227 Values) if Enable is set. Valid is TRUE when the data-output Voltage is valid. If Enable is reset, the data loses its validity and all outputs are reset, regardless of whether new data is available. The output data is available immediately. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 228 For the index and the sub-index of the parameters, see chapter 8 SAB Parameter Description. The output data needs to be read from the device and is therefore not available immediately. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 229: Dd_Writeparameter4_Sab

    Length of the read data [Byte]. See chapter 6.5.2.3 Error Indication. Table 6.81 DD_ReadParameter_SAB AbortCode DWORD SDO abort code if there is an error. Available in the list of constants: SdoAbortCodes. Table 6.82 DD_WriteParameter4_SAB MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 230: Dd_Writeparameter_Sab

    SDO abort code if there is an TraceBufferSize UDINT Size of the trace error. Available in the list of buffer; use SIZEOF() constants: SdoAbortCodes. function. Size of the provided buffer Table 6.83 DD_WriteParameter_SAB [Byte]. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 231: Dd_Simulateguidevalue_Sab

    8.18 Object 0x2063: Guide Value Reference Option borted aborted successfully. Code). Error BOOL An error has occurred within the function block. ErrorInfo DD_ERROR_ISD51x Error identification and instance identifier. chapter 6.5.2.3 Error Indication. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 232 Error BOOL An error has valid output. occurred Busy BOOL The function within the block is not function block. finished and new output values are to be expected. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 233: Dd_Readvelguidevalueref_Sab

    Adding sample programs] and follow the instructions for library samples. VAR_IN_OUT SAB_REF Reference to the SAB. chapter 6.5.8.1 SAB_REF. VAR_INPUT Enable BOOL FALSE Get the value of the parameter continuously while enabled. VAR_OUTPUT MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 234: Servo Drive Parameter Description

    Object code Data type UNSIGNED16 Sub-index 0x00 Access Read/write PDO mapping Optional Value range See tables in this chapter. Default value – Table 7.1 0x6040: Controlword – – Table 7.2 0x6040: Controlword Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 235: Controlword In Profile Position Mode

    If positioning is in progress, the values given in Table 7.7 define the behavior. Change on Change set See Table 7.2 Halt See Table 7.2 Abs/rel setpoint immediately setpoint Table 7.2 Table 7.6 Controlword for Profile Position Mode MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 236: Controlword In Profile Velocity Mode

    Table 7.11 Controlword for Profile Torque Mode Value Definition The motion is executed or continued. Stop axis according to halt option code (see chapter 7.20.7 Parameter 50-47: Halt Option Code (0x605D)). Table 7.12 Definition of Bit 8 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 237: Controlword In Homing Mode

    Uses value of object 0x380A (see chapter 7.14.11 Parameter: Minimum Blending Distance (0x380A)) as the minimum length for blending to a new CAM. Table 7.16 Definition of Bits 5, 6, and 9 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 238: Controlword In Gear Mode

    7.2.1.8 Controlword in Cyclic Synchronous Position Mode The operation mode-specific bits and the Halt bit in the Controlword are ignored by the servo drive. The Halt function is controlled by the control device. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 239: Controlword In Cyclic Synchronous Velocity Mode

    Target reached Remote Warning Switch on disabled Quick stop Voltage enabled Fault Operation enabled Switched on rtso Ready to switch on Is homed Command error STO active Table 7.24 Definition of Statusword Bits MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 240 Check the safety voltage. If bit 15 (manufacturer-specific: command error) of the Statusword is 1, this indicates that there has been a problem in executing the command that has been sent over PDO. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 241: Statusword In Profile Position Mode

    Halt (bit 8 in Controlword) = 0: Target reached. Halt (bit 8 in Controlword) = 1: Velocity of axis is 0. Speed is not equal to 0. Speed is equal to 0. Table 7.29 Definition of Bits 10 and 12 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 242: Statusword In Profile Torque Mode

    Homing procedure is interrupted or not started. Reserved. Homing procedure is completed successfully. Homing error occurred, velocity is not 0. Homing error occurred, velocity is 0. Reserved. Table 7.33 Definition of Bits 10, 12, and 13 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 243: Statusword In Cam Mode

    Axis is not (yet) in sync with the given guide value. Axis is in sync with the given guide value. Not in synchronization movement (either not started or already in sync). In synchronization movement. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 244: Statusword In Isd Inertia Measurement Mode

    Bit 13: The following error bit. The following error value is only evaluated in state Operation enabled. After a reset, the setpoint is set to the actual value so that the following error is 0. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 245: Statusword In Cyclic Synchronous Velocity Mode

    LCP parameter number 55-00 Description Encoder increments Access Read only PDO mapping Optional Value range UNSIGNED32 Default value Sub-index 0x02 LCP parameter number 55-01 Description Motor revolutions Access Read only PDO mapping Optional MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 246: Parameters 55-10 And 55-11: Gear Ratio (0X6091)

    Default value Sub-index 0x02 LCP parameter number 55-11 Description Drive shaft revolutions Access Read/write Data type UNSIGNED32 PDO mapping Optional Value range 1 to 2 –1 Default value Table 7.43 0x6091: Gear Ratio Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 247: Parameters 55-20 And 55-21: Feed Constant (0X6092)

    Default value 36000 Sub-index 0x02 LCP parameter number 55-21 Description Shaft revolutions Access Read/write Data type UNSIGNED32 PDO mapping Optional Value range 1 to 2 –1 Default value Table 7.44 0x6092: Feed Constant MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 248: Parameters 55-30 And 55-31: Velocity Factor (0X6096)

    0x6097 Name Acceleration factor Object code Array Data type UNSIGNED32 Sub-index 0x00 Description Value of highest sub-index Access Const PDO mapping Default value 0x02 Sub-index 0x01 LCP parameter number 55-40 Description Numerator Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 249: Commonly Used Objects

    Optional Value range See Table 7.48. Default value Table 7.47 0x6060: Modes of Operation This object provides the output value of the trajectory generator. The value is given in user-defined velocity units. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 250: Parameter 52-01: Modes Of Operation Display (0X6061)

    Supported drive modes Object code Data type UNSIGNED32 Sub-index 0x00 Access Read only PDO mapping Optional Value range See Table 7.51. Default value Dependent on firmware version. Table 7.50 0x6502: Supported Drive Modes Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 251: Parameter 50-16: Maximum Profile Velocity (0X607F)

    Maximum motor speed Object code Data type UNSIGNED32 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED32 Default value Maximum value (dependent on servo drive size). Table 7.54 0x6080: Maximum Motor Speed MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 252: Parameter 52-12: Profile Velocity (0X6081)

    LCP parameter number 50-11, 52-13, and 52-21 Name Profile acceleration Object code Data type UNSIGNED32 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED32 Default value 1000 Table 7.56 0x6083: Profile Acceleration Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 253: Parameter 50-12: Profile Deceleration (0X6084)

    LCP parameter number 50-13 Name Quick stop deceleration Object code Data type UNSIGNED32 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED32 Default value 0x7FFF FFFF Table 7.58 0x6085: Quick Stop Deceleration MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 254: Parameter 50-14: Maximum Acceleration (0X60C5)

    0x60C6 LCP parameter number 50-15 Name Maximum deceleration Object code Data type UNSIGNED32 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED32 Default value 0x7FFF FFFF Table 7.60 0x60C6: Maximum Deceleration Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 255: Parameter: Maximum Torque (0X6072)

    52-15, 52-23, and 52-36 Name Application torque limit Object code Data type UNSIGNED16 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED16 Default value 0xFFFF Table 7.62 0x2053: Application Torque Limit MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 256: Control Parameters

    – Sub-index 0x03 LCP parameter number 51-09 Description Slow task Access Read only Data type FLOAT PDO mapping Optional Value range – Default value – Table 7.63 0x201D: Used Task Cycle Times Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 257: Parameter 51-01: Control Parameter Blending Time (0X201B)

    This object contains the parameters of the position controller. The value for derivative component is time constant. Attribute Value Index 0x2013 Name Position controller parameters Object code Array Sub-index 0x00 Description Value of highest sub-index Access Const Data type UNSIGNED8 PDO mapping MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 258: Parameters 51-26 And 51-27: Position Controller Parameters 2 (0X2015)

    Data type FLOAT PDO mapping Optional Value range FLOAT Default value Sub-index 0x02 LCP parameter number 51-27 Description Position controller differential Access Read/write Data type FLOAT PDO mapping Optional Value range FLOAT Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 259: Speed Controller

    Optional Value range FLOAT Default value Dependent on motor type and brake configuration. Sub-index 0x04 LCP parameter number 51-13 Description Speed controller differential Access Read only Data type FLOAT PDO mapping Optional MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 260: Parameters 51-20 To 51-25: Speed Controller Parameters 2 (0X2014)

    Read only Data type FLOAT PDO mapping Optional Value range FLOAT Default value Sub-index 0x02 LCP parameter number 51-21 Description Speed controller integral Access Read only Data type FLOAT PDO mapping Optional Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 261 FLOAT Default value Sub-index 0x06 LCP parameter number 51-25 Description Bandwidth Access Read only Data type FLOAT PDO mapping Optional Value range FLOAT Default value Table 7.69 0x2014: Speed Controller Parameters 2 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 262: Positions And Offset Objects

    – Name Position demand internal value Object code Data type INTEGER32 Sub-index 0x00 Access Read only PDO mapping Optional Value range INTEGER32 Default value – Table 7.71 0x60FC: Position Demand Internal Value Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 263: Parameter: Drive Position (0X2022)

    – Name Position actual internal value Object code Data type INTEGER32 Sub-index 0x00 Access Read only PDO mapping Optional Value range INTEGER32 Default value – Table 7.73 0x6063: Position Actual Internal Value MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 264: Parameter 50-03: Position Actual Value (0X6064)

    Data type INTEGER32 PDO mapping Optional Value range INTEGER32 Default value Sub-index 0x02 LCP parameter number 51-31 Description Maximum position range limit Access Read/write Data type INTEGER32 PDO mapping Optional Value range INTEGER32 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 265: Parameters 50-32 And 50-33: Software Position Limit (0X607D)

    0x7FFF FFFF Sub-index 0x02 LCP parameter number 51-33 Description Maximum position limit Access Read/write Data type INTEGER32 PDO mapping Optional Value range INTEGER32 Default value 0x8000 0000 Table 7.76 0x607D: Software Position Limit MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 266: Parameters 51-02, 52-04, And 52-49: Application Settings (0X2016)

    LCP parameter number 51-02 Description Observer speed enable Access Read/write Data type UNSIGNED16 PDO mapping Optional Value range 0, 1 Default value Sub-index 0x02 LCP parameter number 52-04 Description Drive mirror mode Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 267: Guide Value Objects

    LCP parameter number – Name Position guide value Object code Data type UNSIGNED32 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED32 Default value 0x03 Table 7.78 0x2060: Position Guide Value MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 268: Parameter: Velocity Guide Value (0X2064)

    Object code Data type UNSIGNED16 Sub-index 0x00 Access Read/write PDO mapping Optional Value range See Table 7.81. Default value Table 7.80 0x2061: Guide Value Option Code – Table 7.81 Guide Value Option Code Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 269: Parameter: Guide Value Scaling Factor (0X3808)

    Guide value scaling numerator Access Read/write PDO mapping Optional Value range INTEGER32 Default value Sub-index 0x02 LCP parameter number – Description Guide value scaling denominator Access Read/write PDO mapping Optional Value range INTEGER32 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 270: Parameter: Guide Value Offset (0X3806)

    0x3806 LCP parameter number – Name Guide value offset Object code Data type INTEGER32 Sub-index 0x00 Access Read/write PDO mapping Optional Value range INTEGER32 Default value Table 7.83 0x3806: Guide Value Offset Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 271: Guide Value Reference Objects

    Use this object to select the source that is used as provider for the guide value reference objects. Attribute Value Index 0x2063 LCP parameter number – Name Guide value reference option code Object code MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 272: Parameter: Position Guide Value Reference Set (0X2068)

    Name Position guide value reference set Object code Data type UNSIGNED32 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED32 Default value – Table 7.89 0x2068: Position Guide Value Reference Set Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 273: Parameter: Guide Value Plausibility Distance (0X2067)

    See Table 7.92. Default value Table 7.91 0x2070: Guide Value Reference Simulation Control – Table 7.92 Guide Value Reference Simulation Bit 0, en: 0: Guide reference simulation off. 1: Guide reference simulation on. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 274: Parameter: Guide Value Reference Speed Limit (0X2071)

    Reference Simulation shows that acceleration means increasing the speed in an absolute way. The value is given in rps/s. Attribute Value Index 0x2073 LCP parameter number – Name Guide value reference acceleration Object code Data type FLOAT Sub-index 0x00 Access Read/write PDO mapping Optional Value range FLOAT Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 275: Parameter: Guide Value Reference Deceleration (0X2074)

    Value Index 0x607A LCP parameter number 52-10 Name Target position Object code Data type INTEGER32 Sub-index 0x00 Access Read/write PDO mapping Optional Value range INTEGER32 Default value Table 7.97 0x607A: Target Position MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 276: Parameter 52-16: End Velocity (0X6082)

    The relative option bits control the behavior of positioning tasks in detail when the abs/rel bit (bit 6) in the Controlword is set to 1 in profile position mode (= relative positioning). Table 7.101 shows the bit value definitions. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 277 (0x607B, sub-index 1) and maximum position range limit (0x607B, sub-index 2) to 0. Depending on the application, different rotary axis movements are possible. These are coded by bit 6, 7, and 15 (see Table 7.102). MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 278 180°, even if the distance between target position is >1 revolution. However, it is allowed to cross the maximum/minimum limits of object 0x607B to reach the target position. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 279: Parameter: Position Window (0X6067)

    This object indicates the configured target velocity and is used as input for the trajectory generator. The value is given in user-defined velocity units. Attribute Value Index 0x60FF LCP parameter number 52-20 Name Target velocity MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 280: Parameter: Velocity Demand Value (0X606B)

    LCP parameter number 16-17, 50-04 Name Velocity actual value Object code Data type INTEGER32 Sub-index 0x00 Access Read only PDO mapping Optional Value range INTEGER32 Default value – Table 7.107 0x606C: Velocity Actual Value Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 281: Parameter: Velocity Window (0X606D)

    This object indicates the configured target velocity and is used as input for the trajectory generator. The value is given per thousand of rated torque. Attribute Value Index 0x6071 LCP parameter number 52-30 Name Target torque Object code Data type INTEGER16 Sub-index 0x00 Access Read/write PDO mapping Optional MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 282: Parameter: Torque Demand (0X6074)

    This object indicates the configured motor rated torque. All relative torque data refers to this value. The value is given in mNm (milli Newton meter). Attribute Value Index 0x6076 LCP parameter number 50-21 Name Motor rated torque Object code Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 283: Parameter 52-31: Torque Actual Value (0X6077)

    LCP parameter number 16-14 Name Current actual value Object code Data type INTEGER16 Sub-index 0x00 Access Read only PDO mapping Optional Value range INTEGER16 Default value – Table 7.115 0x6078: Current Actual Value MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 284: Parameter 52-32: Torque Slope (0X6087)

    This object indicates the configured torque window time for target reached. The value is given in milliseconds. Attribute Value Index 0x2051 LCP parameter number – Name Torque window time Object code Data type UNSIGNED16 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED16 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 285: Homing Mode Objects

    This object indicates the configured homing method to be used. All supported homing methods can be written into this object. Attribute Value Index 0x6098 LCP parameter number 52-41 Name Homing method Object code Data type INTEGER8 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 286: Parameters 52-42 And 52-43: Homing Speeds (0X6099)

    7.13.4 Parameter 52-44: Homing Acceleration (0x609A) This object indicates the configured acceleration to be used during homing operation. The value is given in user-defined acceleration units. Attribute Value Index 0x609A LCP parameter number 52-44 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 287: Parameter 52-50 To 52-57: Supported Homing Methods (0X60E3)

    Table 7.123 Definition of Sub-indexes for 0x60E3 Attribute Value Index 0x60E3 Name Supported homing methods Object code Array Data type UNSIGNED8 Sub-index 0x00 Description Value of highest sub-index Access Read only PDO mapping Default value 0x08 Sub-index 0x01 MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 288 Description supported homing method Access Read only Data type INTEGER8 PDO mapping Value range See Table 7.123. Default value Dependent on the configuration of object 0x200F. Sub-index 0x07 LCP parameter number 52-56 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 289: Parameter 52-45 To 52-48: Additional Homing Objects (0X2040)

    Default value 0x04 Sub-index 0x01 LCP parameter number 52-45 Description Homing blocking window velocity Access Read/write Data type UNSIGNED32 PDO mapping Optional Value range UNSIGNED32 Default value 6000 (corresponding to 10 RPM) MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 290: Cam Mode Objects

    0x380F Name CAM profile memory layout Object code Array Sub-index 0x00 Description Number of entries Access Read only PDO mapping Value range 0x02 Default value 0x02 Sub-index 0x01 LCP parameter number – Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 291: Parameter: Cam Status (0X3801)

    Data type UNSIGNED16 PDO mapping Optional Value range See Table 2.56 in chapter 2.4.5.7 Notifications from the Servo Drive. Default value – Sub-index 0x03 LCP parameter number – Description CAM status parameter 2 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 292: Parameter: Cam Control (0X3800)

    Data type UNSIGNED16 PDO mapping Optional Value range See Table 2.53 in chapter 2.4.5.6 Commands During Operation. Default value – Sub-index 0x03 LCP parameter number – Description CAM control parameter 2 Access Read/write Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 293: Parameters: Cam Profile 1-8 (0X3810-0X3817)

    Read/write Data type UNSIGNED16 PDO mapping Value range See Table 7.130. Default value Sub-index 0x02 LCP parameter number – Description CAM parsing state Access Read only Data type UNSIGNED16 PDO mapping Optional MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 294 0x0002 Error in 1 of the elements Number of the set Reserved controlParam. 0x0004 Profile currently active. No parsing Reserved possible. 0x0005 Out of CAM memory (CAM profile Reserved is too large). Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 295 6: Flying stop 7: Return 8: Event segment container 0x50: Time poly 0x51: Velocity 0x52: Torque 0x53: Sync 0x001E Only 1 friction segment allowed. Segment ID Reserved 0x0020 Undefined CAM file type. Reserved MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 296 0x1100 Exit ID element invalid. Attribute Exit ID Exit node Reserved exit ID is missing or has invalid number format. 0x1101 Exit ID element invalid. Attribute exit ID is out of range. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 297 Pattern file invalid. Reserved Line number Reserved 0x1107 Out of pattern memory. Pattern Reserved too large. 0x7FFE An unknown error occurred. Reserved 0x7FFF Parsing Reserved Table 7.132 CAM Parsing State and Error Information MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 298 Table 7.133 Definition of Parameter Type for CAM Profile Header Value Definition Reserved Node ID MasterPos Signal Action Table 7.134 Parameter IDs for GuideNodes Value Definition Reserved Node ID Signal Action Table 7.135 Parameter IDs for EventNodes Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 299 Table 7.137 Parameter IDs for Move Distance Segment Value Definition Reserved Segment ID Starting node Ending node Start action End action Default segment Partition Revolutions Offset Table 7.138 Parameter IDs for Return Segment MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 300 Start action End action Default segment Duration Exit condition Movement type Start position Start velocity Distance End velocity End acceleration 64–69 Coeffs a0–a5 Table 7.141 Parameter IDs for Time Poly Segment with Positions Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 301 Segment ID Starting node Ending node Start action End action Default segment Duration Exit condition Movement type Start position Velocity ration Acceleration Deceleration Torque limit Table 7.144 Parameter IDs for Sync Segment MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 302 Velocity high Do compensation Acceleration Deceleration Guide value offset Timeout Table 7.146 Parameter IDs for Friction Segment Value Definition Reserved MasterPos SlavePos Table 7.147 Definition of Parameter Type for Basic CAM Data Points Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 303: Parameters: Cam Data 1-8 (0X3820-3827)

    Table 7.149 0x3830: CAM Pattern 1 NOTICE Objects 0x3831 to 0x3837 are the same as CAM pattern 1 (0x3830) as shown in Table 7.149. Only the CAM pattern number increases by 1 for each sub-index. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 304: Parameter: Cam Profile Selector (0X3804)

    LCP parameter number – Name CAM profile selector Object code Data type UNSIGNED16 Sub-index 0x00 Access Read/write PDO mapping Optional Value range See Table 7.151. Default value Table 7.152 0x3804: CAM Profile Selector Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 305: Parameter: Cam Profile Status (0X3805)

    Additional information for bit 15: Table 7.155 shows which situations lead to a CAM error (bit 15 of the CAM profile status object), and which lead to command errors (signaled in the Statusword). MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 306: Parameter: Cam Slave Offset (0X3807)

    CAM. Attribute Value Index 0x3807 LCP parameter number – Name CAM slave offset Object code Data type FLOAT Sub-index 0x00 Access Read/write PDO mapping Optional Value range FLOAT Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 307: Parameter: Cam Slave Scaling (0X3809)

    Master axis / guide value Illustration 7.6 CAM Slave Scaling Attribute Value Index 0x3809 Name CAM slave scaling Object code Array Data type INTEGER32 Sub-index 0x00 Description Number of entries MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 308: Parameter: Minimum Blending Distance (0X380A)

    Attribute Value Index 0x380A Name Minimum blending distance Object code Data type UNSIGNED32 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED32 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 309: Parameter: Logical Cam Position (0X2020)

    The following values indicate special states during CAM 65534: Segment ID during blending to starting processing: node in profile • 65535: Segment ID during blending between CAM profiles Attribute Value Index 0x2019 Name Active Segment ID MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 310: Parameter: Last Node Id (0X201A)

    Default value 0x10 Sub-index 0x01 LCP parameter number – Description Memory cell 1 Access Read only Data type UNSIGNED32 PDO mapping Optional Value range UNSIGNED32 Default value – Table 7.164 0x3870: Logged Values Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 311: Parameter: Digital Input Counters (0X3860)

    Both objects also accept negative values. The division of 2 negative values results in a positive value. When writing both objects over PDO (in 1 PDO), they are updated at the same time. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 312: Parameter: Gear Synchronization Option Code (0X3901)

    INTEGER16 Sub-index 0x00 Access Read/write PDO mapping Optional Value range 0: Raise a command error 1: Sync to the next guide value cycle Default value Table 7.167 0x3901: Gear Synchronization Option Code Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 313: Parameter: Gear Master Start Distance (0X3902)

    Negative distance Negative master rotation Negative distance Start Sync Sync Position Illustration 7.9 Synchronization Executed at StartSync Position NOTICE Master Rotation direction and MasterStartDistance have the same signs, therefore synchronization is executed. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 314: Parameter: Gear Master Sync Position (0X3903)

    This object defines the position of the slave where the slave is in sync with the master. The value is given in user-defined position units. Attribute Value Index 0x3904 LCP parameter number – Name Gear slave sync position Object code Data type SIGNED32 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 315: Isd Inertia Measurement Objects

    Index 0x2009 LCP parameter number 52-60 Name Measure inertia Object code Data type FLOAT Sub-index 0x00 Access Read only PDO mapping Value range FLOAT Default value – Table 7.172 0x2009: Measured Inertia MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 316: Parameters 52-61 And 52-62: Inertia Measurement Parameters (0X200A)

    The value can be changed while the digital CAM switching functionality is enabled. It has an immediate effect. The value is given in milliseconds. Attribute Value Index 0x3840 LCP parameter number – Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 317: Parameter: Off Compensation (0X3841)

    Attribute Value Index 0x3842 Name Hysteresis Object code Array Data type RECORD Sub-index 0x00 Description Value of highest sub-index Access Read only MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 318: Parameters: Digital Cam Switch Parsing Control (0X3843)

    0x02 Description Digital CAM switch parsing state Access Read only Data type UNSIGNED16 PDO mapping Optional Value range See Table 7.180. Default value – Table 7.177 0x3843: Digital CAM Switch Parsing Control Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 319 0x7FFE An unknown Reserved error occurred. 0x7FFF Parsing Reserved Table 7.180 Digital CAM Switching State and Error Information NOTICE The counting of switches ID starts with 1. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 320: Parameter: Digital Cam Switches Data (0X3844)

    Switch off sampling at positive edge of touch probe 1. Enable sampling at positive edge of touch probe 1. Switch off sampling at negative edge of touch probe 1. Enable sampling at negative edge of touch probe 1. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 321: Parameter: Touch Probe Status (0X60B9)

    2 is switched off (object 0x60B8 bit 8 is 0). Use bits tp1 and tp2 of object 0x2006 (see chapter 7.22.12 Parameter 50-08: Motion and Input Status (0x2006)) to determine if a value has been stored (positive or negative edge). MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 322: Parameter 51-51: Touch Probe 1 Positive Edge (0X60Ba)

    Touch probe 1 positive edge Object code Data type INTEGER32 Sub-index 0x00 Access Read only PDO mapping Optional Value range INTEGER32 Default value – Table 7.187 0x60BA: Touch Probe 1 Positive Edge Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 323: Parameter 51-54: Touch Probe 1 Negative Edge (0X60Bb)

    This object provides the position value of touch probe 2 at negative edge. The value is given in user-defined position units. Attribute Value Index 0x60BD LCP parameter number 51-64 Name Touch probe 2 negative edge Object code Data type INTEGER32 Sub-index 0x00 Access Read only PDO mapping Optional Value range INTEGER32 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 324: Parameters 51-50 And 51-60: Touch Probe Source (0X60D0)

    7.18.8 Parameter: First Position (0x3853) This object defines the start position of the window. The value is given in user-defined position units. Attribute Value Index 0x3853 Name First position Object code Array Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 325: Parameter: Last Position (0X3854)

    0x01 LCP parameter number – Description Last position of touch probe 1 Access Read/write Data type INTEGER32 PDO mapping Optional Value range INTEGER32 Default value – Sub-index 0x02 LCP parameter number – MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 326: Parameter 51-53: Touch Probe Time Stamp 1 Positive Value (0X60D1)

    7.18.12 Parameter 51-63: Touch Probe Time Stamp 2 Positive Value (0x60D3) This object provides the time stamp value of touch probe 2 at positive edge. The value is given in nanoseconds. Attribute Value Index 0x60D3 LCP parameter number 51-63 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 327: Parameter 51-66: Touch Probe Time Stamp 2 Negative Value (0X60D4)

    Touch probe 1 positive edge counter Object code Data type UNSIGNED16 Sub-index 0x00 Access Read only PDO mapping Optional Value range UNSIGNED16 Default value – Table 7.199 0x60D5: Touch Probe 1 Positive Edge Counter MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 328: Parameter 51-55: Touch Probe 1 Negative Edge Counter (0X60D6)

    Touch probe 2 positive edge counter Object code Data type UNSIGNED16 Sub-index 0x00 Access Read only PDO mapping Optional Value range UNSIGNED16 Default value – Table 7.201 0x60D7: Touch Probe 2 Positive Edge Counter Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 329: Parameter 51-65: Touch Probe 2 Negative Edge Counter (0X60D8)

    Data type UNSIGNED16 PDO mapping Value range See Table 7.204. Default value – Sub-index 0x02 Description Trace control Access Read/write Data type UNSIGNED16 PDO mapping Value range 0, 1 Default value – MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 330 Trace buffer size Access Read only Data type UNSIGNED16 PDO mapping Value range UNSIGNED16 Default value – Sub-index 0x09 Description Trace info flags Access Read only Data type UNSIGNED32 PDO mapping Value range UNSIGNED32 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 331: Parameter: Signal Trace Channel Ids (0X5001)

    This object is used to define the process data signals that will be traced. The object is not visible in the LCP, so the sub- indexes do not have LCP parameter numbers. Attribute Value Index 0x5001 Name Signal trace channel IDs Object code Array Data type UNSIGNED32 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 332: Parameter: Trace Data (0X5002)

    This object contains a list of available trace signals. It can be used to verify whether the trace signal exists in the current firmware version of the device. Attribute Value Index 0x5004 LCP parameter number – Name Trace signal info Object code Data type DOMAIN Sub-index 0x00 Access Read only PDO mapping Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 333: Option Code Objects

    50-42 Name Target reached option code Object code Data type INTEGER16 Sub-index 0x00 Access Read/write PDO mapping Optional Value range See Table 7.210. Default value Table 7.209 0x2054: Target Reached Option Code MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 334: Parameter 50-43: Following Error Option Code (0X2055)

    Ramp down with current limit and transition to state Fault. Transition to state Switch on disabled (disable servo drive function; motor is free to rotate). Table 7.213 Definition of Values for Following Error Option Code Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 335: Parameter 50-44: Enable In Positioning Option Code (0X2052)

    See Table 7.217. Default value Table 7.216 0x6007: Abort Connection Option Code Value Definition No action. Disable voltage command. Quick stop command. Table 7.217 Definition of Values for Enable in Positioning Option Code MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 336: Parameter 50-46: Quick Stop Option Code (0X605A)

    LCP parameter number 50-47 Name Halt option code Object code Data type INTEGER16 Sub-index 0x00 Access Read/write PDO mapping Optional Value range See Table 7.221. Default value Table 7.220 0x605D: Halt Option Code Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 337: Parameter 50-48: Shutdown Option Code (0X605B)

    This object indicates what action is performed if a transition from state Operation enabled to state Switched on occurs. Attribute Value Index 0x605C LCP parameter number 50-49 Name Disable operation option code Object code Data type INTEGER16 Sub-index 0x00 Access Read/write PDO mapping Optional MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 338: Peripherals

    State of Left Limit input. rl: State of Right Limit input. hom: State of Home input. Value Definition Switched off (0 V) Switched on (supply voltage V DC) Table 7.228 Definition of Values for Digital Inputs Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 339: Parameters 16-62 And 16-64: Analog Inputs (0X200D)

    Left/right limit switch (for example, it can be used in Homing mode). • Homing switch (for example, it can be used in Homing mode). • Touch probe input. The polarity of the input can be inverted. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 340: Parameter 16-66: Digital Outputs (0X60Fe)

    This object commands simple digital outputs. It represents the physical output levels. Attribute Value Index 0x60FE Name Digital outputs Object code Array Data type UNSIGNED32 Sub-index 0x00 Description Value of highest sub-index Access Const Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 341: Parameter 52-05: Digital Output Configuration (0X2Fff)

    Table 7.236 defines the possible digital output configurations. Attribute Value Index 0x2FFF LCP parameter number 52-05 Name Digital output configuration Object code Data type UNSIGNED8 Sub-index 0x00 Access Read/write PDO mapping MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 342: External Encoder Objects

    External encoder single-turn bits Access Read/write Data type UNSIGNED16 PDO mapping Optional Value range UNSIGNED16 Default value Sub-index 0x03 LCP parameter number 51-36 Description External encoder align bits Access Read/write Data type UNSIGNED16 Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 343 Set this object to a value representing the multi-turn resolution of the encoder in bits. Set the value to 0 for a single-turn encoder. Sub-index 02: External encoder single-turn bits Set this object to a value representing the single-turn resolution of the encoder in bits. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 344: Parameter 51-32 And 51-33: External Encoder (0X2011)

    External encoder position Access Read only Data type UNSIGNED32 PDO mapping Optional Value range UNSIGNED32 Default value – Sub-index 0x02 LCP parameter number 51-33 Description External encoder speed Access Read only Data type FLOAT Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 345: Parameter 51-31: External Encoder Enable (0X3001)

    LCP parameter number – Name Following error window Object code Data type UNSIGNED32 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED32 Default value Corresponding to 5° Table 7.240 0x6065: Following Error Window MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 346: Parameter: Following Error Time Out (0X6066)

    50-05 Name Following error actual value Object code Data type INTEGER32 Sub-index 0x00 Access Read only PDO mapping Optional Value range INTEGER32 Default value – Table 7.242 0x60F4: Following Error Actual Value Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 347: Standstill Detection Objects

    0x6070 LCP parameter number – Name Velocity threshold time Object code Data type UNSIGNED16 Sub-index 0x00 Access Read/write PDO mapping Optional Value range UNSIGNED16 Default value Table 7.244 0x6070: Velocity Threshold Time MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 348: Constant Velocity Detection Objects

    This object contains all the information regarding the versioning of the firmware. Attribute Value Index 0x4000 Name Version log Object code Array Sub-index 0x00 Description Value of highest sub-index Access Const Data type UNSIGNED8 PDO mapping Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 349 Optional Value range UNSIGNED16 Default value – Sub-index 0x06 LCP Param number 15-43 (major, minor, beta, build) Description Build number Access Read only Data type UNSIGNED32 PDO mapping Optional Value range UNSIGNED32 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 350: Parameter 15-51: Serial String (0X4004)

    Index 0x4004 Name Serial string Object code Data type VISIBLE_STRING Sub-index 0x00 LCP parameter number 15-51 Access Read only PDO mapping Value range VISIBLE_STRING Default value – Table 7.250 0x4004: Serial String Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 351: Parameters 12-00 To 12-05: Communication Settings (0X400A)

    ® Additionally for Ethernet POWERLINK 12-60 (last number of the IP address) Name IP address Data type UNSIGNED32 Access Read only PDO mapping Value range – [maximum 200 characters] Default value 0xC0A864EF MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 352: Parameters 15-01 And 15-02: Total Running Time (0X5807)

    Object code Array Data type UNSIGNED32 Sub-index 0x00 Description Value of highest sub-index Access Read only PDO mapping Default value 0x02 Sub-index 0x01 LCP Parameter number 15-01 Description Total running time drive Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 353: Parameter 50-09: Sto Voltage And Brake Status (0X2007)

    WaitRelease, shaft is becoming locked. Otherwise Reserved. 3–0 STO activated. STO voltage is present; normal operation is possible. Otherwise Reserved. Table 7.255 Definition of Bits of the STO Voltage and Brake Status MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 354: Parameter 15-30: Error Code (0X603F)

    1 means that the device is controlled via LCP. Attribute Value Index 0x5020 LCP parameter number – Name Control source Object code Data type UNSIGNED16 Sub-index 0x00 Access Read/write PDO mapping Optional Value range 0, 1 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 355: Parameter 50-08: Motion And Input Status (0X2006)

    The servo drive is decelerating (decreasing the absolute value of the velocity); Is determined based on the actual value. con: Velocity is constant. The velocity can be 0. st: Velocity is constant. The velocity is 0. pos: Positive direction: The position is increasing. neg: Negative direction: The position is decreasing. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 356: Parameter 50-07: Overlaying Motion Status (0X2005)

    Value of highest sub-index Access Const Data type UNSIGNED8 PDO mapping Default value 0x05 Sub-index 0x01 LCP Parameter number – Description Measurement limit current Access Read only Data type FLOAT PDO mapping Optional Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 357 Sub-index 04: Number of Pole Pairs This object contains the number of pole pairs. Sub-index 05: Measurement Limit Brake Current This object contains the maximum measurable brake current. The value is given in Ampere. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 358: Voltage Objects

    Sub-index 3 contains the temperature from the internal sensor 2. Sub-index 4 contains the temperature of the motor winding. Attribute Value Index 0x2000 Name Temperature Object code Array Sub-index 0x00 Description Value of highest sub-index Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 359 Default value – Sub-index 0x04 LCP Parameter number 16-19 Description Temperature wire motor Access Read only Data type INTEGER16 PDO mapping Optional Value range INTEGER16 Default value – Table 7.266 0x2000: Temperature MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 360: Sab Parameter Description

    Statusword bits Relay 2 enable 0 = Open 1 = Closed (pu) (f ) (oe) (so) (rtso) Init Table 8.3 Controlword Bits disabled Standby Power-up Operation enabled Fault Table 8.7 SAB States Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 361: Object 0X2000: Sab Temperatures

    This object shows several DC-link voltages and currents. Object code Data type REAL Attribute Value Unit Ampere Index 0x2001 Description DC-link related values Sub-index 0x06 Object code Record LCP parameter number – Description DC-link voltage readout MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 362: Object 0X2003: Uaux Related Values

    51-81 Attribute Value Description AUX line voltage Index 0x2008 Access Read only Description ISD power consumption PDO mapping Object code Object code Data type UNSIGNED16 Data type REAL Sub-index 0x00 Unit Volt Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 363: Object 0X2009: Fan Speed Power Card

    See Table 3.2 in chapter 3.2.1 Relay Object code Outputs. Data type UNSIGNED16 Default value Value range See Table 3.2 in chapter 3.2.1 Relay Outputs. Sub-index 0x02 Default value LCP parameter number 05-41 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 364: Object 0X2030: Brake Control

    Access Read/write SDO_OUT_OF_RANGE message. PDO mapping Value range 0–3 (see Table 8.19) Default value Attribute Value Index 0x2031 Table 8.18 Object 0x2033: Brake Resistor Power Monitoring Description Brake resistor Object code Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 365: Object 0X2034: Brake Check

    8.21 Object 0x2070: Guide Value Reference Unit Simulation Control Table 8.22 Object 0x2035: Brake Duty Cycle Monitoring This SAB object is identical to the drive object (see chapter 7.9.6.1 Parameter: Guide Value Reference Simulation Control (0x2070)). MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 366: Object 0X2071: Guide Value Reference Speed Limit

    Not applicable for Ethernet POWERLINK Data type UNSIGNED32 0: IP communication (EoE) disabled. Access Read only 1: IP addresses configured manually. PDO mapping Value range – [maximum 200 characters] Default value 0xC0A864EF Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 367: Object 0X5020: Control Source

    PDO mapping Index 0x5020 Object code Description Control source Data type UNSIGNED32 Object code Data type UNSIGNED16 Table 8.26 Object 0x5807: Total Running Time Sub-index 0x00 LCP parameter number – Access Read/write MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 368: Object 0X503F: Error Code

    Data type UNSIGNED16 Sub-index 0x00 LCP parameter number 19-92 Access Read only PDO mapping Value range See warning codes in chapter 9.3.2 Warnings and Alarms. Default value Table 8.28 Object 0x5FFE: Warning Code Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 369: Diagnostics

    NOTICE error mode. status indicators (LEDs) on the servo If the fault cannot be eliminated by 1 of the measures drive. listed in Table 9.1 or Table 9.4, notify Danfoss Service. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 370: Error Codes

    (I2T) error state. mechanics. loop parameters. 0x3210 DC link Error Overvoltage • Check the overvoltage on DC-link overvolt parameter voltage settings. 0x3220 DC link Error Undervoltag undervoltag e on DC-link undervolt voltage. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 371 (for error when method example an attempt drive not in is made to standstill). enable the drive in this 0x8695 Homing Warning Homing Homing state. error distance distance distance reached. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 372: Trace Signals

    Actual pattern sensor value – odd – 00000035 Pattern sensor corr even ISD51x_TRC_PAT_SENS_CORR_EVEN Value of pattern sensor correlation – – even 00000036 Pattern sensor corr odd ISD51x_TRC_PAT_SENS_CORR_ODD Value of pattern sensor correlation – – Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 373 80000005 Target position ISD51x_TRC_DS402_TARGET_POSITION Position setpoint in user-defined units 0x607A 80000006 Target velocity ISD51x_TRC_DS402_TARGET_VELOCITY Velocity setpoint in user-defined units 0x60FF 80000007 Target torque ISD51x_TRC_DS402_TARGET_TORQUE Torque setpoint in ‰ of rated torque 0x6071 MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 374: Sab

    Replace any faulty LCP functionality not or connection cables. activated. ▲ ▼ Incorrect Press [Status] + [ ] to contrast setting. adjust the contrast. Display is Replace the faulty LCP or defective. connection cable. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 375 Mains phase A phase is Check the supply voltages loss. missing on the and supply currents to the supply side, or SAB. the voltage imbalance is too high. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 376: Warnings And Alarms

    Error The DC-link voltage is below the limit UDC undervolt and the SAB trips. 0x3291 high voltage Warning above warning limit. UAUX high volt 0x3292 overvoltage Error above overvoltage limit. UAUX overvolt Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 377 This error appears if a short circuit occurs. 0x7181 Brake resistor failure Error The brake resistor is monitored during brake r short operation. This error appears if a short circuit occurs. MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 378 Firmware: Update started Warning, Firmware update in progress. The FW update error warning becomes an error when an attempt is made to enable the drive in this state. Table 9.5 Error Codes for SAB Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 379: Trace Signals

    0x 6041 80010025 Position guide value reference SAB_TRC_POS_GUIDE_REF Position guide value reference 0x 2062 80010026 Velocity guide value reference SAB_TRC_VEL_GUIDE_REF Velocity guide value reference 0x 2065 Table 9.6 Trace Signals for SAB MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 380: Operating Status Indicators

    Hybrid Out (X2) on line 1. Ethernet link State machine is in established. state U disabled or Flashing Ethernet link Fault. Auxiliary voltage established and active. is not applied to line 1. No link. Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 381 CT X1 Ethernet link established. Flashing Ethernet link established and active. No link. Link/A Green – Link/activity status of CT X2 Out. Ethernet link established. Flashing Ethernet link established and active. No link. MG36D102 Danfoss A/S © 01/2017 All rights reserved.

  • Page 382: Appendix

    ISD servo drives are cooled by convection (without fans). Installation elevation above normal sea level, typically DC-link associated with a derating factor. Each servo drive has its own DC-link, consisting of capacitors. Integrated servo drive. Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 383: General Xml Conventions

    (sine and cosine). ISD Toolbox Safety (STO) A Danfoss pc software tool used for parameter setting and A servo drive safety circuit that switches off the voltages of diagnostics of ISD servo drives and the SAB. the driver components for the IGBTs.
  • Page 384 “e” or a capital “E” may be used. Any other characters inside the value cannot be used and lead to an error. Examples of allowed values: • 532.4 • +532.4 • –532 • –9.398846E-6 • –9.398846e-6 • 9.398846e+3 • –0.000305 Danfoss A/S © 01/2017 All rights reserved. MG36D102...

  • Page 385: Index

    Cyclic synchronous velocity mode..........78 Drive control sub-tool..............132 DS402 States................... 19 DD_BrakeHandling_ISD51x............193 DD_CAMScaling_ISD51x..............214 Editing values (on LCP)............... 99 DD_DigitalCamSwitch_ISD51x............. 196 Error codes for servo drive.............. 368 DD_Power_SAB.................. 221 Errors and Warnings................86 MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 386 Hand on mode (on LCP)..............101 Jog mode (on LCP)................102 Hardware limit switch................. 22 High voltage warning................. 17 Homing methods................. 35 Keys on LCP..................104 Homing mode..................33 Homing mode objects..............283 Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 387 Link/ACT X2..................379 Errors and Warnings................ 86 Link/ACT X3..................379 Objects....................343 Link/ACT X4..................379 System....................367 NET STAT................... 379 Trace...................... 86 SAB STAT................... 379 Via SAB....................92 Safe 1....................379 Safe 2....................379 MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 388 Profile velocity mode..............30 Operation ISD Toolbox..................109 Local control panel (LCP)............... 94 Servo Access Box (SAB)..............89 Servo Drive ISD 510................. 18 Operation keys (on LCP)..............95 Option code objects................. 331 Danfoss A/S © 01/2017 All rights reserved. MG36D102...
  • Page 389 State machine - PLCopen®.............. 172 State names for servo drive.............. 96 Status key (on LCP)................104 Status menu (on LCP)................96 Statusword for SAB (0x4041)............358 Statusword for servo drive (0x6041)........... 237 SyncSegment..................64 MG36D102 Danfoss A/S © 01/2017 All rights reserved.
  • Page 390 Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order 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.

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