Danfoss VLT Series Programming Manual page 88

Servo Drive Operation
2.6 Peripherals
2.6.1 Inputs
2 2
The servo drive supports 2 inputs. The functionality of the
inputs can be configured for various purposes. Each input
can be defined as being:
•
Analog input (for example, usable in CAM mode
as analog sensor for alignment).
•
Digital input (for example, usable in CAM mode as
trigger).
•
Left/right limit switch (for example, usable in
Homing mode).
•
Homing switch (for example, usable in Homing
mode).
•
Touch probe input.
Also the logical polarity of the input can be configured
using object 0x200F (see chapter 7.21.3 Parameter: Dual
Analog User Inputs Configuration (0x200F)). Use objects
0x60FD, 0x200D, or 0x2006 to read the values of the inputs
(see chapter 7.21.1 Parameter 16-60: Digital Inputs (0x60FD),
chapter 7.21.2 Parameters 16-62 and 16-64: Analog Inputs
(0x200D), and chapter 7.22.12 Parameter 50-08: Motion and
Input Status (0x2006)).
2.6.2 Output
The servo drive supports 1 output. This output can be
influenced by various functionalities of the servo drive. Use
object 0x2FFF (see chapter 7.21.5 Parameter 52-05: Digital
Output Configuration (0x2FFF)) to configure the
functionality that controls the output. Use object 0x2006
to read the value of the output (see
chapter 7.22.12 Parameter 50-08: Motion and Input Status
(0x2006)).
2.6.3 External Encoder
The advanced servo drive supports an interface to connect
an external encoder. The parameters for configuration are
described in chapter 7.21.6 External Encoder Objects. The
external encoder can be used as source for the guide value
(see chapter 7.9.3 Parameter: Guide Value Reference Option
Code (0x2063)). Encoders of type BiSS-B and SSI are
supported.
2.7 Monitoring
2.7.1 Errors and Warnings
If an error occurs the servo drive signals it. Depending on
the reason of the error or warning, the servo drive changes
its state. 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
86
®
VLT Integrated Servo Drive ISD
shutdown of the machine, so that the downtime can be
reduced. The required warning messages are listed in
chapter 9.2.2 Error Codes. When an error occurs, its code is
recorded in non-volatile memory, along with the actual
guide value, IGBT temperature, winding temperature, and
operating time. There are maximum 128 entries available
and older entries are overwritten. Use the ISD Toolbox to
read the error history (see chapter 5.7.5 Get Error History
(Servo Drive and SAB)).
The last error code and the last warning code are given in
objects 0x603F (see chapter 7.22.9 Parameter 15-30: Error
Code (0x603F)) and/or 0x5FFE (see
chapter 7.22.10 Parameter 16-92: Warning Code (0x5FFE)).
2.7.2 Trace
The servo drive has a built-in real-time signal tracer
component which can record up to 8 internal signals into
internal memory for later upload over the fieldbus. The
trace process is controlled via parameters over the fieldbus,
using a PLC library function block (see
chapter 6.5.4.24 DD_Trace_ISD51x), or using the Scope
subtool of the ISD Toolbox (see chapter 5.7.3 Scope (Single
and Multi-device for Servo Drive and SAB)) for graphical
representation. The available trace signals are listed in
chapter 9.2.3 Trace Signals).
There are 3 different task levels for sampling:
•
•
•
The sampling is always done synchronous to the fieldbus
cycle.
The servo drive supports recording of up to 64000 samples
in total (sum of all recorded signals). The complete number
of configured samples must be recorded before it is
possible to read the data. All samples are represented as
floating point values. Use subsampling to get longer traces,
so only every nth sample is recorded by the servo drive.
Tracing can be started instantly or a trigger can be
configured. The trigger can be every trace signal, together
with a trigger level, the slope, and the length of pre-
trigger history. The trigger signal itself can be recorded but
it is not required. The servo drive provides a status readout
for the trace process.
Danfoss A/S © 01/2017 All rights reserved.
®
510 System
Real-time task: 100 µs or 125 µs
Fast task: 200 µs or 250 µs
Slow task: 400 µs or 500 µs
MG36D102