Safety Function Characteristic Data; Communication; Fieldbus; Ethercat - Danfoss VLT ISD 510 Design Manual

System Overview

2.7.7 Safety Function Characteristic Data

General information
Response time (from switching on the
input until torque generation is
disabled)
Lifetime
Data for EN/ISO 13849-1
Performance level (PL)
Category
Mean time to dangerous failure
(MTTF ) for maximum system size of
d
32 servo drives on each STO line
Diagnostic coverage (DC)
Data for EN/IEC 61508 and EN/IEC 62061
Safety integrity level (SIL)
Probability of failure per hour (PFH) for
maximum system size of 32 servo
drives on each STO line
Safe failure fraction (SFF)
Hardware fault tolerance (H)
Subsystem classification
Proof test interval
Table 2.8 Safety Function Characteristic Data

2.8 Communication

2.8.1 Fieldbus

®
The VLT Integrated Servo Drive ISD 510 System has an
open system architecture realized by fast Ethernet
(100BASE-T) based communication. The system supports
®
both EtherCAT and Ethernet POWERLINK
®
the VLT Integrated Servo Drive ISD
Programming Guide for further information.
In productive environments, communication to the devices
always takes place via a PLC that acts as a master. The
servo drives and the SABs can be controlled by these
communication methods:
•
Using the Danfoss VLT
(available for TwinCAT
Studio™).
•
Using the NC axis functionality of TwinCAT
the servo drives.
•
®
Using the CANopen
reading and writing to objects.
MG36C102
Design Guide
<100 ms
20 years
d
3
233 years (limited to 100
®
years if the VLT
Integrated Servo Drive
ISD 510 System forms an
entire safety channel)
60%
2
-8
<5 x 10 /h
>95%
0
Type A
1 year
®
fieldbuses. See
®
510 System
®
Servo Motion library
®
and Automation
®
for
CiA DS 402 standard by
Danfoss A/S © 08/2017 All rights reserved.
The servo drives and the SABs can be operated with the
following cycle times (for both fieldbuses):
•
400 µs and multiples of it (for example, 800 µs,
1200 µs, and so on).
•
500 µs and multiples of it (for example, 500 µs,
1 ms, and so on).
When the cycle time is a multiple of 400 µs and 500 µs,
the time base of 500 µs is used.
The servo drive and the SAB are certified for both
fieldbuses according to the corresponding rules and
regulations. The servo drive conforms to the CANopen
CiA DS 402 Drive Profile.
®

2.8.1.1 EtherCAT

The servo drive and the SAB support the following
®
EtherCAT protocols:
•
CANopen over EtherCAT
•
File Access over EtherCAT
•
Ethernet over EtherCAT
The servo drive and the SAB support distributed clocks. To
compensate for the failure of a communication cable
section in the system, cable redundancy is available for
both fieldbuses.
®
The EtherCAT port assignment for the servo drive and
SAB is shown in Illustration 2.12 and Illustration 2.13.
EtherCAT
Slave Controller
X1
(ESC)
OUT
Port 1 (B)
X3
X1 M23 hybrid cable connector to SAB or previous servo drive.
X2 M23 hybrid cable connector to the next servo drive.
X3 M8 Ethernet cable connector to other EtherCAT
®
example EtherCAT encoder.
The connector is only available on the advanced servo drive.
®
Illustration 2.12 EtherCAT Port Assignment for the ISD 510
Servo Drive
®
®
(CoE)
®
(FoE)
®
(EoE)
X2
®
slaves, for
21
2 2