Page 1 Operating Guide VLT® Servo Drive System ISD 510/DSD 510 drives.danfoss.com...
Page 3: Table Of Contents
Cooling 3.2.4.4 Thermal Protection 3.2.4.5 Built-in Feedback Devices 3.2.5 Drive Components 3.2.5.1 Connectors on the ISD 510 Servo Drives VLT® Decentral Servo Drive DSD 510 3.3.1 Overview of the DSD 510 Servo Drive Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135 | 3...
Page 4 Cable Layout and Routing 3.10.1 Standard Cabling Concept for 2 Lines 3.11 Software 3.12 Fieldbus 3.12.1 EtherCAT® 3.12.2 Ethernet POWERLINK® 3.12.3 PROFINET® Mechanical Installation Items Supplied Transport Inspection on Receipt Safety Measures during Installation 4 | Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135...
Page 5 Warnings for Electrical Installation Electrical Environmental Conditions EMC-Compliant Installation Grounding 5.4.1 Grounding for Electrical Safety 5.4.2 Grounding for EMC-Compliant Installation Mains Supply Requirements 5.5.1 Fuses 5.5.2 Circuit Breakers Auxiliary Supply Requirements 5.6.1 Fuses Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135 | 5...
Page 6 Setting the Node ID Directly on a Servo Drive or on the System Modules 6.4.2.2 Setting the Node ID for a Single Servo Drive via the Power Supply Module (PSM 510) or Decentral Access Module (DAM 510) via the LCP 6.4.3 Multiple Device ID Assignment 6 | Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135...
Page 7 Instantiating PSM_REF in TwinCAT® 6.11.7 Instantiating DAM_REF in TwinCAT® 6.11.8 Instantiating ACM_REF in TwinCAT® 6.11.9 Adding a PLC Project to TwinCAT® System Manager 6.11.10 Importing Devices to TwinCAT® 6.11.11 I/O Configuration and I/O Mapping Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135 | 7...
Page 8 Configuring the Send Clock Time 6.13.9.2 Configuring the Update Time 6.13.10 Accessing Inputs and Outputs 6.13.11 Programming using the Danfoss VLT® Servo Motion Library 6.13.12 Instantiating AXIS_REF_DDS in SIMOTION SCOUT® 6.13.13 Instantiating PSM_REF in SIMOTION SCOUT® 6.13.14 Instantiating DAM_REF in SIMOTION SCOUT®...
Page 9 Protective Measures Application Example Commissioning Test 8.8.1 Commissioning Test using Libraries 8.8.2 Commissioning Test using PROFINET® Devices Operation of the STO Function 8.9.1 Error Codes 8.9.2 Fault Reset 8.10 Functional Safety Characteristic Data Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135 | 9...
Page 10 9.2.2.9 AUX Undervoltage (Error 0x3294/0x135) 9.2.2.10 Mains Phase Loss (Error 0x3130/0x12F) 9.2.2.11 Generic Application Error (Error 0x1000/ 0x100) 9.2.2.12 Grounding Fault 9.2.2.13 Brake Resistor Error 9.2.2.14 Brake Chopper Error 9.2.2.15 Internal Fan Error 10 | Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135...
Page 11 Device under temperature (0x4220 / 0x138) 9.3.34 Overtemperature: Control card (0x4291 / 0x106) 9.3.35 Overtemperature: Power card (0x4292 / 0x107) 9.3.36 Inrush overtemperature DC link (0x4293 / 013C) 9.3.37 Inrush overtemperature AUX line (0x4294 / 0x13D) Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135 | 11...
Page 12 Firmware: Power cycle needed (0xFF71 / 0x11C) 9.3.72 Firmware: Update started (0xFF72 / 0x11D) 9.3.73 Firmware: Update invalid (0xFF73 / 0x15B) 9.3.74 STO active while drive enabled (0xFF80 / 0x11E) 9.3.75 STO mismatch (0xFF81 / 0x11F) 12 | Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135...
Page 13 Product Returns 10.11 Recycling 10.12 Disposal Specifications 11.1 Nameplates 11.1.1 Nameplate on ISD 510/DSD 510 Servo Drive 11.1.2 Nameplate on the System Modules 11.1.2.1 Example Nameplate on the Front of the System Modules Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135 | 13...
Page 14 11.9.3.2 Ethernet Connectors on DAM 510 11.9.4 I/O Connectors 11.9.4.1 I/O Connector on PSM 510/ACM 510 11.9.5 UAUX Connector 11.9.5.1 24/48 V Cable Cross Sections for PSM 510 11.9.6 LCP Connector (M8, 6-pole) 14 | Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135...
Page 15 ISD 510/DSD 510 Servo Drive 11.10.2 System Modules 11.11 Protection Ratings 11.11.1 Protection Ratings for ISD 510 Servo Drive 11.11.2 Protection Ratings for DSD 510 Servo Drive 11.12 Cables 11.12.1 Hybrid Cable PE 11.13 Storage Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135 | 15...
Page 16: Introduction
Part 5-1: Safety requirements - Electrical, thermal, and energy. IEC/EN 61800-5-2 Adjustable speed electrical power drive systems. Part 5-2: Safety requirements - Functional. IEC/EN 61508-1 Functional safety of electrical/electronic/programmable electronic safety-related systems. 16 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 17 Standard specifying requirements for adjustable speed drives with respect to electrical, thermal, and en- 274-17 (2017) ergy safety considerations. Applies to: • ISD 510 sizes 3 and 4 • DSD 510 • MSD 510 Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 17...
Page 18: Firmware Updates
Description ACM 510 Auxiliary Capacitors Module DAM 510 Decentral Access Module that connects the Danfoss decentral servo drives (ISD 510 and DSD 510) to the servo system via a hybrid cable. DSD 510 Decentral Servo Drive DSD 510 system compo- Includes DSD 510 servo drives, PSM 510, DAM 510, and the optional ACM 510 and EXM 510.
Page 19 VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Introduction Term Description Output of PSM 510 (V DC). Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 19...
Page 20: Safety
For reasons of operator safety, use a certified electrical installer to ground the system correctly in accordance with the appli- cable local and national electrical standards and directives, and the instructions in this manual. 20 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 21 Where a residual current-operated protective (RCD) or monitoring (RCM) device is used for protection in case of direct or indirect contact, use a type B RCD or RCM device on the supply side of the system components. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 21...
Page 22: Safety Instructions And Precautions
• Only suitably trained and qualified personnel may work on the servo system and its components or in its vicinity. • Only use accessories and spare parts approved by Danfoss. • Comply with the specified ambient conditions. •...
Page 23: Qualified Personnel
To ensure that the product is used as intended, the following conditions must be fulfilled before use: • Everyone who uses Danfoss products in any manner must read and understand the corresponding safety regulations and the description of the intended use.
Page 24: Forseeable Misuse
Under water. 2.7 Forseeable Misuse Any use not expressly approved by Danfoss constitutes misuse. This also applies to failure to comply with the specified operating conditions and applications. Danfoss assumes no liability of any sort for damage attributable to improper use.
Page 25: System Description
A central power supply: Power Supply Module (PSM 510). • Decentral Access Module (DAM 510). • Auxiliary Capacitors Module (ACM 510), optional • Expansion Module (EXM 510), optional • Cabling infrastructure. • Blind caps • Software Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 25...
Page 26: Application Examples
The motion control is integrated into the servo drive so that the motion sequences can take place independently. This reduces the required computing power of the central PLC and offers a highly flexible drive concept. Danfoss offers libraries for various IEC 61131-3 programmable PLCs.
Page 27: Vlt® Integrated Servo Drive Isd
N O T I C E The Drive Configurator shows the valid configuration of servo drive variants. Only valid combinations are shown. Therefore, not all variants detailed in the type code are visible. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 27...
Page 28: Motor Components
EN 10277-2. Depending on the mounting position, the ISD 510 servo drives can be sealed by a shaft seal (optional) to achieve IP65 on the A-side of the motor (see 11.11.1 Protection Ratings for ISD 510 Servo Drive for further information). 28 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 29: Brake (Optional)
3.2.5.1 Connectors on the ISD 510 Servo Drives This section details all possible connections for the standard and advanced servo drive. There are 5 connectors on the ISD 510 servo drives. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 29...
Page 30: Vlt® Decentral Servo Drive Dsd
The Drive Configurator shows the valid configuration of servo drive variants. Only valid combinations are shown. Therefore, not all variants detailed in the type code are visible. Table 8: Type Code DSD 510 1–3 4–6 8–12 13–14 15–17 18–20 21–22 23–25 27–28 29–30 31–38 39–40 C08A0 XXXXXXXX 30 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 31: Connectors On The Dsd 510 Servo Drives
The DSD 510 servo drives have the same X1-X5 connectors as the ISD 510 servo drives (see 3.2.5.1 Connectors on the ISD 510 Servo Drives). In addition to the X1-X5 connectors, the DSD 510 servo drives have 2 further connectors: X6 and X7. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 31...
Page 32: Power Supply Module (Psm 510)
The PSM 510 is available in 3 power sizes and delivers an output power of 10 kW, 20 kW, or 30 kW with 200% overload capacity for 3 seconds. To achieve an output power of up to 60 kW, 2 PSM 510 modules can be used in parallel. An example type code for the PSM 510 is: MSD510PSM510F2P10C0D6E20PLSXXXXXXXXXXXXX. 32 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 33: Decentral Access Module (Dam 510)
3.5.1 Overview DAM is the abbreviation for Decentral Access Module. The DAM 510 is a central interface/gateway to the decentral servo system. It is used to connect the Danfoss VLT Integrated Servo Drives ISD 510 and VLT Decentral Servo Drives DSD 510 to the servo system via ®...
Page 34: Auxiliary Capacitors Module (Acm 510)
N O T I C E The ACM 510 has a protection rating of IP20 according to IEC/EN 60529 (except connectors, which are IP00). The ACM 510 can be damaged if exposed to fluids. 34 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 35: Expansion Module Exm
The EXM 510 supports modular machine setup by splitting the system modules into 2 control cabinets. The maximum length of the cable between the EXM 510 modules is 5 m. 5.13 Connecting the Expansion Module EXM 510 for further information. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 35...
Page 36 The EXM 510 has a protection rating of IP20 according to IEC/EN 60529. The EXM 510 may be damaged if exposed to fluids. An example type code for the EXM 510 is: MSD510EXM510F1C062AD6E20XXXXXXXXXXXXXXXX 36 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 37: Local Control Panel (Lcp)
3.8.2.1 A: Display area The values in the display area differ depending on whether the LCP is connected to a Danfoss servo drive or system module. The display area is activated when the servo drive or module it is connected to receives power from the mains supply, a DC bus...
Page 38 Warn. Alarm Auto Hand Reset Illustration 9: Display Area when Connected to the PSM 510 and DAM 510 line voltage Temperature power board Actual UDC (current) Power consumption Actual UDC (voltage) 38 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 39: B: Display Menu Keys
3.8.2.3 C: Navigation keys and indicator lights (LEDs) Navigation keys are used for moving the display cursor and provide operation control in local operation. There are also 3 status LEDs in this area. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 39...
Page 40: D: Operation Keys And Reset
Resets the ISD 510/DSD 510 servo drive or PSM 510 after a fault has been cleared. The reset is only possible when in Hand On mode. 3.9 Cables 3.9.1 Hybrid Cable Illustration 11: Hybrid Loop Cable 40 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 41: Minimum Bending Radius For Hybrid Cable
Loop cable for connecting the ISD 510/DSD 510 servo drives in daisy-chain format in an application. Both these cables are provided by Danfoss and are available in various lengths. See the VLT® Servo Drive System ISD 510, DSD 510, MSD 510 (VLT® Flexmotion ) Design Guide for further information.
Page 42: Motor And Feedback Cable
Pre-configured motor and feedback cables are used to connect the DSD 510 servo drive to a PM motor. Both ends of the cable are fitted with M23 connectors. These cables are provided by Danfoss and are available in 2.5 m and 5 m lengths (see the VLT® Servo Drive System ISD 510, DSD 510, MSD 510 (VLT® Flexmotion ) Design Guide for further information).
Page 43: I/O And/Or Encoder Cable
The LCP cable connects the LCP to the advanced ISD 510/DSD 510 servo drive and the system modules via an M8 connector. The LCP cable can be purchased from Danfoss (see the VLT® Servo Drive System ISD 510, DSD 510, MSD 510 (VLT® Flexmotion ™...
Page 44: Software
• A PLC library for TIA Portal for operating the ISD 510/DSD 510 servo drives and the system modules. • Servo Toolbox: A Danfoss PC-based software tool for commissioning and debugging the devices. ® 3.12 Fieldbus The servo system has an open system architecture realized by fast Ethernet (100BASE-T) based communication. The system sup-...
Page 45: Ethercat
Module (DAM 510) or previous servo drive. slaves, for example EtherCAT encoder. ® The connector is only available on the advanced ser- M23 hybrid cable connector to the next servo drive. vo drives. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 45...
Page 46: Ethernet Powerlink
There are 2 ports on the ISD 510/DSD 510 servo drives, the PSM 510, and the ACM 510. There are 3 ports on the DAM 510. Only 2 can be used for Isochronous Real-Time (IRT) protocol, whereas all 3 can be used for Real-Time (RT) protocol. If the DAM 510 with IRT is 46 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 47 UDC + Real-Time Ethernet Bus + STO + U AUX . . . ISD 510 Illustration 17: Wiring Concept for Multiple DAM 510 Modules AC line choke Fieldbus extension cable Customer cable Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 47...
Page 48: Mechanical Installation
Register a complaint immediately with the carrier if there is visible transport damage. Register a complaint immediately with the responsible Danfoss representative if there are visible defects or the delivery is incomplete. 4.4 Safety Measures during Installation Always observe the safety instructions in this manual during installation.
Page 49: Isd 510/Dsd 510 Servo Drive
Provide a suitable mounting arrangement for the application. This depends on the type and weight of the modules. To avoid misalignment, ensure that the backplates are perfectly level. To ensure sufficient cooling, pay attention to the specified minimum space requirements. Ground the modules. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 49...
Page 50: Drilling Templates
The minimum distance for the straight connector is calculated as follows: 0.5 x cable diameter + connector height + R = 7.8 mm + 112 mm + 78 mm = 197.8 mm ≈ 200 mm 50 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 51: Space Requirements For Dsd 510 Servo Drive
The illustrations show the minimum distance from the servo drive to the next object, and the minimum allowable bending radius for permanently installed cable. For cable installation, allow the height of the connector plus an additional 30 mm for the cable. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 51...
Page 52: Minimum Distance For M23 Straight Connector On Dsd
Illustration 22: Minimum Distance for M23 Angled Connector 4.7.3 Space Requirements for System Modules The modules can be mounted next to each other but require a minimum space at the top and bottom for cooling. 52 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 53 VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Mechanical Installation [10.63] max. 100 [3.94] max. 120 [4.72] Illustration 23: Minimum Space Required at the Top and Bottom Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 53...
Page 54: Installation Aids And Tools Required
Always use the designated mounting holes in the mounting flange to fix the servo drive. Do not modify the mounting holes. Always use all 4 mounting holes. The motor may run unevenly if fewer mounting holes are used. 54 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 55: Coupling The Isd 510 Servo Drive
Observe the following safety warnings before coupling the ISD 510 servo drive. N O T I C E Do not machine the shaft. Do not use the ISD 510 servo drive if the shaft does not match the coupling arrangement. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 55...
Page 56: Tightening Torques For Fixing Screws
Drill the holes for mounting the DSD 510 (see 11.3.3 Dimensions of DSD 510 Servo Drive Mount the DSD 510 to the mounting plate using M5 screws. The tightening torque is 3 Nm Always use all 4 mounting holes. 56 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 57: Fitting Instructions For System Modules
Drill the holes for mounting the backplate as per the drilling template (see 4.6.3 Drilling Templates). Connect the backplates and the end cap via the click and lock method.  Illustration 28: Connecting the Backplates Backplate End Cap Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 57...
Page 58 Illustration 29: Mounting the Backplates in the Control Cabinet Slide the module onto the carrier at the bottom of the backplate. Press the 1st module onto the backlink connector at the top of the backplate. 58 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 59 Repeat steps 4, 5, and 6 for the remaining modules, ensuring that the lip at the left side of the 2nd module is inside the guiding groove at the right side of the 1st module ([1] in Illustration 32). Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 59...
Page 60 VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Mechanical Installation  Illustration 32: Guiding Groove 60 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 61: Electrical Installation
Where a residual current-operated protective (RCD) or monitoring (RCM) device is used for protection in case of direct or indirect contact, use a type B RCD or RCM device on the supply side of the system components. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 61...
Page 62: Emc-Compliant Installation
8 AWG (minimum 60 °C, Cu) to comply with UL requirements 5.4.2 Grounding for EMC-Compliant Installation • Establish electrical contact between the cable shield and the enclosure using the I/O shielding plate on each module. 62 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 63 Operating Guide Electrical Installation Illustration 34: Cable Shielding on the Top of the System Modules Cable I/O shielding plate Cable tie Illustration 35: Cable Shielding on the Bottom of the System Modules Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 63...
Page 64: Mains Supply Requirements
80 A (class T or J only) 5.5.2 Circuit Breakers Use a type B or type C circuit breaker with a capacity of 1.5 times the rated current of PSM 510 to fulfill CE requirements. 64 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 65: Auxiliary Supply Requirements
The safety supply can be looped from PSM 510 to the other system modules except for ACM 510. The cable for this is not provided. For further information, see Installation. N O T I C E Ensure reinforced isolation between safety signals and other signals, supplies (mains supply), and exposed conductive parts. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 65...
Page 66: Ul Requirements
Observe the discharge time for the DC-link capacitors. Do not forcefully connect or fit the connectors. Incorrect connection causes permanent damage to the connector. Table 22: Tightening Torques Connector Tightening Torque [Nm] 66 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 67: Connecting Hybrid Cables
Connect the female connector of the loop cable to the male connector (X1) of the next servo drive, and so on. Tighten the threaded rings by hand as described in step 5. Ensure that there is no mechanical tension on the cables. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 67...
Page 68 Screw the M23 metal blind cap onto the unused M23 female output connector (X2) on the last servo drive in the servo system. Tighten the metal blind cap until the sealing on the connector is covered.  Illustration 38: Mounting the M23 Blind Cap 68 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 69: Disconnecting Hybrid Cables
Avoid mechanical tension for all cables, especially regarding the range of motion of the installed servo drive. Secure all cables in accordance with regulations and depending on conditions on site. Ensure that cables cannot come loose, even after prolonged operation. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 69...
Page 70: Connecting I/O And/Or Encoder Cables To Port X3
Align the connector on the cable (not supplied) with the connector marked X4 on the servo drive. Press the connector towards the electronic housing of the servo drive and tighten the threaded ring of the connector by turning it clockwise. The maximum tightening torque is 0.4 Nm. 70 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 71: Connecting The Lcp Cable To Port X5
Press the connector towards the electronic housing of the servo drive and tighten the threaded ring of the connector by turning it clockwise. The maximum tightening torque is 0.2 Nm. The LCP cable can be ordered as an accessory. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 71...
Page 72: Connecting The 3Rd Ethernet Device Cable To Port X3
Table 23: Line Choke Characteristics for 1 PSM 510 Model Minimum I Inductance [mH] PSM 510 (10 kW) Minimum: 0.47 Maximum: 1.47 PSM 510 (20 kW) Minimum: 0.47 Maximum: 1.47 PSM 510 (30 kW) 0.47 ±10% 72 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 73: Connecting 1 Psm 510 To The Ac Choke
PSM 510 (2 x 30 kW) 0.24 ±10% Danfoss recommends mounting the AC line choke close to the PSM 510. The maximum cable length depends on the cross-section, and the required voltage and current at the DC-link. If the AC line chokes are mounted away from the PSM 510, the maximum cable distance is 5 m.
Page 74: Connecting 2 Psm 510 Modules To The Ac Choke With System Splitting
When 2 PSM 510 modules are used, the wiring between the AC line choke and each PSM 510 must be the same length within a tolerance of 0.5 m. Connect each PSM 510 to the AC choke directly. Parallel wiring is not permitted. 74 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 75: Connecting The Cables On The Power Supply Module Psm
5.10.2 Connecting the Cables on the Power Supply Module PSM 510 5.10.2.1 Connecting the Cables on the Top of the Power Supply Module PSM 510 Illustration 45: Connectors on the Top of PSM 510 Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 75...
Page 76: Connecting The Cables On The Bottom Of The Power Supply Module Psm
Plug the internal brake resistor connector to the internal brake connector holder [1]. Connect the PSM 510 to PE using one of the PE screws on the front side [3] and a PE wire. The tightening torque is 3 Nm. 76 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 77: Connecting The Decentral Access Module (Dam 510)
If required, connect the external encoder connector [5]. 5.11.2 Connecting the Feed-In Cable Illustration 48: Connectors on the Bottom of DAM 510 Ethernet connector STO out connector AUX connector UDC connector Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 77...
Page 78 STO– (gray, 0.5 mm Illustration 50: Connecting the Feed-In Cable Feed-in cable PE screws Cable tie for STO cable Bus connector EMC plate Cable tie for feed-in cable EMC plate screw 78 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 79: Connecting The Auxiliary Capacitors Module Acm
Connect the ACM 510 to PE using one of the PE screws on the front side [5] and a PE wire.. The tightening torque is 3 Nm. 5.13 Connecting the Expansion Module EXM 510 Illustration 52: Expansion Module Cable 24/48 V DC– Functional earth Shielded area DC– Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 79...
Page 80: Connecting The Brake Resistor On The Psm
Alternatively, the PSM 510 can be connected to an external brake resistor. In this case, the internal brake resistor on the PSM 510 must remain unconnected and the connector can be placed in the internal brake resistor connector holder. Paralleling or series of brake resistors is not permitted. 80 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 81 (see 5.10.2.2 Connecting the Cables on the Bottom of the Power Supply Module PSM 510). Paralleling or series of brake resistors is not permitted. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 81...
Page 82 Electrical Installation STATUS PSM STATUS PSM SVS ST SVS ST NET ST NET ST LINK/ACT LINK/ACT Illustration 55: Connection of Brake Resistor on 2 PSM 510 Modules in Parallel Internal brake resistor 82 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 83: Commissioning
Scroll down to submenu 12-6* Ethernet POWERLINK and press OK. Change the PSM 510/DAM 510 node ID to the desired value (1–239). Press OK to confirm the selection then wait for the ID assignment procedure to complete. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 83...
Page 84: Setting The Node Id For A Single Servo Drive Via The Power Supply Module (Psm 510) Or Decentral Access
The automatic PSM 510/DAM 510 ID assignment is used for automatically setting the Node IDs on all servo drives and system mod- ules for a specified PSM 510/DAM 510 line. This functionality is contained in parameter group 54- ** ID Assignment in subgroup 54-0* Automatic. 84 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 85: Profinet® Id Assignment
The maximum power-up time for the system modules is 15 s. This means the time from supplying the system with auxiliary voltage to the module being initialized completely. The power-up time stated is an indicative time. The exact status of the module can be seen via the statusword. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 85...
Page 86: System Module Charging Time
The libraries provided for the ISD 510 system can be used in: • TwinCAT V2 and V3 ® • SIMOTION SCOUT V5.2: ® C240 from V4.4 D410-2 from V4.4 D425-2 from V4.4 D435-2 from V4.4 D445-2 from V4.4 86 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 87: Programming With Automation Studio
Assign the libraries to the CPU in the next window. Click on Finish. Now the libraries are integrated into the Automation Studio project. ™ A new folder containing the ISD libraries is created during integration: • DDS_Drive Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 87...
Page 88: Constants Within The Dds_Drive Library
The names of the POUs that target the servo drive all end with _DDS. • DDS_PSM • Contains POUs defined by Danfoss (name starting with DD_) and provide the functionality for the Power Supply Module (PSM). • The names of the POUs that target the PSM all end with _PSM.
Page 89: Instantiating Axis_Ref_Dds In Automation Studio
Error codes can be read using the function block DD_ReadAcmError_ACM and/or DD_ReadAcmWarning_ACM. • ACM_TraceSignals Constants for the trace signals of the Auxiliary Capacitors Module (ACM 510). Intended to be used with the function block DD_Trace_ACM. 6.10.5 Instantiating AXIS_REF_DDS in Automation Studio™ Procedure Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 89...
Page 90: Instantiating Psm_Ref In Automation Studio
To create a link to the physical ACM, link each instance of ACM_REF to 1 physical ACM. This makes it the logical representa- tion of 1 physical ACM. Open the Logical View. 90 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 91: Importing A Servo Drive Into Automation Studio
Drag the selected module to the desired position to connect it to the selected hardware module, network interface, or slot. To change the node number, right-click on the device and select [Node Number → Change Node Number]. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 91...
Page 92: Importing Psm 510, Dam 510 And Acm 510 Into Automation Studio
Select the menu entry [Tools → Import Fieldbus Device...]. Select the XDD file for the PSM 510, DAM 510, or ACM 510 from its location on the hard drive. The device is then known to Automation Studio ™ 92 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 93: I/O Configuration And I/O Mapping
It is possible to use copy and paste to apply the same I/O configuration to multiple devices of the same type. Set Module supervised to off for the servo drives and the PSM/DAM/ACM. The parameter is found in the I/O configuration of the device. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 93...
Page 94 Map the inputs and outputs of the instance of the AXIS_REF_DDS function block and the physical data points of the ISD 510 servo drive (here myAxis is an instance of AXIS_REF_DDS): 94 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 95: Setting The Plc Cycle Time
Version V4.x: Open the B&R Help Explorer and go to [Automation Software → Getting Started → Creating programs in Automation Studio → Ex- ample project for a target system with CompactFlash]. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 95...
Page 96: Programming With Twincat
Contains program organization units (POUs) defined by PLCopen (name starting with MC_) and POUs defined by ® Danfoss (name starting with DD_). The Danfoss POUs provide additional functionality for the axis. • It is possible to combine POUs defined by PLCopen with POUs defined by Danfoss.
Page 97 The names of the POUs that target the servo drives all end with _DDS. • DDS_PSM • Contains POUs defined by Danfoss (name starting with DD_) and provide the functionality for the Power Supply Module (PSM 510). • The names of the POUs that target the PSM 510 all end with _PSM.
Page 98: Instantiating Axis_Ref_Dds In Twincat
Create 1 instance of function block AXIS_REF_DDS (located in folder DDS_Drive) for the ISD 510 servo drive that has to be controlled or monitored. Repeat step 1 for each additional servo drive. 98 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 99: Instantiating Psm_Ref In Twincat
PLC project, but with the file extension .tpy. Click on Open. 6.11.10 Importing Devices to TwinCAT® The following procedure is an example of how to import an ISD 510 servo drive to TwinCAT ® Procedure Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 99...
Page 100 Operating Guide Commissioning Copy the ESI file Danfoss ISD 510 S.xml into the folder TwinCAT Installation Folder\Io\EtherCAT on the hard drive. This only needs to be done once per project. The TwinCAT System Manager automatically searches for ESI files at this location on ®...
Page 101 VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Commissioning  Illustration 69: Add a Servo Drive to the Project Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 101...
Page 102: I/O Configuration And I/O Mapping
Using the TwinCAT System Manager, configure the ISD 510/DSD 510 servo drive so that the PDO mapping matches the require- ® ments of the library. 102 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 103: Attaching The Input And Output Variables To The Physical Data Points
Select Library TxPDO via menu [I/O-Configuration → I/O Devices → Device1 (EtherCAT) → Box 1 (VLT Decentral Access Module) → Drive 1 (VLT ISD 510 Integrated Servo Drive) → Module 1 (Library PDO) → Library TxPDO]. Select all entries Lib pdo tx1 to Lib pdo tx9 on the right side of the window.
Page 104: Transferring The Mappings Back To The Plc Program
AXIS_REF_DDS, myPSM is an instance of PSM_REF, and myDAM is an instance of DAM_REF). The concrete addresses can be different. Illustration 73: TwinCAT Configuration: I/O Mapping of 2 Servo Drives, 1 PSM 510, and 1 DAM 510 ® 104 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 105: Setting The Plc Cycle Time In Twincat® Plc Control
NC axis with Yes. Then an NC task is created automatically. 6.11.15.1 I/O Configuration for Servo Drives used as NC Axes In the TwinCAT System Manager, select a different I/O Configuration for the servo drives used as NC axes. ® Procedure Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 105...
Page 106: Connecting To The Plc
Table 26: Required Files System Module File required Whole servo system Package of libraries for the ISD 510 servo system: Danfoss_VLT_ServoMotion_V_x_y_z.zip Online Help file(.chm): Programming with SIMOTION SCOUT ® 106 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 107: Connecting To The Plc
The names of the POUs that target the servo drive all end with _DDS. • DDS_PSM Contains POUs defined by Danfoss (name starting with DD_) and provide the functionality for the Power Supply Module (PSM 510). The names of the POUs that target the PSM 510 all end with _PSM.
Page 108 VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Commissioning Contains POUs defined by Danfoss (name starting with DD_) and provide the functionality for the Decentral Access Module (DAM 510). The names of the POUs that target the DAM 510 all end with _DAM.
Page 109: Importing Devices Into Simotion Scout
To add a servo drive, select the xml file (according to the location on the hard drive) and click on Install. In the filename, 2.xx represents the version number and yyyymmdd represents the date. GSDML-V2.xx-Danfoss-ISD-yyyymmdd.xml GSDML-V2.xx-Danfoss-DSD-yyyymmdd.xml Repeat steps 2 and 3 for: Power Supply Module (PSM 510): GSDML-V2.xx-Danfoss-PSM-yyyymmdd.xml Decentral Access Module (DAM 510): Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 109...
Page 110: Assigning Ip Configuration And Device Name
[Options → Update catalog). Expand Drive Object 1 and folder Profile in the hardware catalog on the right side of the screen and drag the Danfoss Tele- gram to the free slot of Drive Object 1 at the bottom of the screen.
Page 111 Illustration 79: Selecting the Servo Drive In the Edit Ethernet Node window, select the option Use IP parameters. Enter the IP address and Subnet mask and click on Assign IP configuration. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 111...
Page 112 Operating Guide Commissioning  Illustration 80: Entering the IP Address and Assigning the IP Configuration Enter the device name that was previously selected and click on Assign Name and then Close. 112 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 113: Creating A Sync Domain
Select the station with the PROFINET devices to be involved in IRT communication. ® Select the PROFINET I/O interface in the section Station/IO system. ® Select the menu [Edit → PROFINET IO → Domain management]. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 113...
Page 114 In the Domain management window, select all devices to be configured as sync slaves in the Nodes section (keep the CTRL key depressed to select >1 device). Click on the Device Properties button. In the Device Properties window, select Sync slave as Synchronization role and click on OK. 114 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 115 Click on the VLT® ISD 510 IRT device. Double-click on the PN-IRT-Inteface in the Module. In the next window, open the IO Cycle tab and set field Assign IO device in isochronous mode to Servo. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 115...
Page 116: Configuring A Topology
Establish connections between ports by holding down the left mouse but- ® ton and drawing a line between the 2 ports. Once all connections are made, click on OK. 116 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 117: Defining Send Clock And Update Time
In the next window, open the Update Time tab, highlight the I/O device and click on the Edit button. In the next window (Edit Update Time/Mode), select the Update Time and click on OK. Illustration 89: Set Update Time Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 117...
Page 118: Accessing Inputs And Outputs
Process image: IPOsynchronousTask N O T I C E The I/O address must fit the configuration of the device in the HW Config tool. I/O variables can only be created in offline mode. 118 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 119: Programming Using The Danfoss Vlt® Servo Motion Library
VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Commissioning 6.13.11 Programming using the Danfoss VLT® Servo Motion Library Before using data types, functions, or function blocks from libraries, the following construct must be used in the interface section: USELIB DDS_BasCam, DDS_Drive, DDS_LabCam, DDS_PSM, DDS_DAM, DDS_ACM;...
Page 120: Instantiating Acm_Ref In Simotion Scout
Activate the global compiler settings Permit language extensions. Procedure Open the menu [Options → Settings]. In the next window, select the Compiler tab. Activate the checkbox Permit language extensions and click on OK. 120 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 121: Assigning Tasks
In the Program assignment area at the left side of the Synchronous Task window, assign the program by selecting it and clicking on the [>>] button. The program will then be moved to the Programs used section on the right side. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 121...
Page 122 In the Program assignment area at the left side of the PeripheralFaultTask window, assign the program by selecting it and clicking on the [>>] button. The program will then be moved to the Programs used section on the right side. Click on Close to save and compile the settings. 122 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 123: Programming Guidelines For Simotion Scout
GSDML file (General station description): GSDML-V2.xx-Danfoss-PSM-yyyymmdd.xml Decentral Access Module DAM 510 GSDML file (General station description): • GSDML-V2.xx-Danfoss-DAM-2Port-IRT-yyyymmdd.xml • GSDML-V2.xx-Danfoss-DAM-3Port-RT-yyyymmdd.xml Auxiliary Capacitors Module GSDML file (General station description): ACM 510 GSDML-V2.xx-Danfoss-ACM-yyyymmdd.xml Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 123...
Page 124: Creating A Tia Project
The names of the POUs that target the servo drive all end with _DDS. • DDS_PSM Contains POUs defined by Danfoss (name starting with DD_) and provide the functionality for the Power Supply Module (PSM 510). The names of the POUs that target the PSM 510 all end with _PSM.
Page 125: Importing Devices Into Tia
To add a servo drive, select one of the xml files [3] and click on Install. In the filename, 2.xx represents the version number and yyyymmdd represents the date. GSDML-V2.xx-Danfoss-ISD-yyyymmdd.xml GSDML-V2.xx-Danfoss-DSD-yyyymmdd.xml Repeat steps 2 and 3 for: Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 125...
Page 126: Creating A Network
VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Commissioning Power Supply Module (PSM 510): GSDML-V2.xx-Danfoss-PSM-yyyymmdd.xml Decentral Access Module (DAM 510): GSDML-V2.xx-Danfoss-DAM-2Port-IRT-yyyymmdd.xml GSDML-V2.xx-Danfoss-DAM-3Port-RT-yyyymmdd.xml GSDML-V2.xx-Danfoss-DAM-yyyymmdd.xml Auxiliary Capacitors Module (ACM 510): GSDML-V2.xx-Danfoss-ACM-yyyymmdd.xml 6.15.5 Creating a Network Procedure In the Devices window, select Device configuration [1] and add a PSM.
Page 127 Verify that all system components have the Sync slave role: Open Network view [1] and select the Ethernet subnet in which the sync domain is set up. Open the Ethernet subnet [2] properties. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 127...
Page 128 Activate the isochronous mode for each system component: Open Device view [1]. In section Device overview [2], click on danfoss-psm-01 [3]. In the Properties window [4], select the General tab [5] and then menu entries [PROFINET interface [X1] → Advanced options →...
Page 129 Select menu [PLC tags → FlexMotion], to open the FlexMotion_Telegram window. Define the address of the incoming and outgoing telegram for each system component. In operation block Synchronous Cycle [OB61], enter the telegram read instructions as per the example below. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 129...
Page 130: Programming Guidelines For Tia
Use the constant that is created automatically by TIA in menu [PLC tags → Show all tags → System Constants], for example, danfoss-isd-01~Device_object_1~Module_access_point. Only assign this variable in the 1st PLC cycle for initialization. The struc- tures to be used for each type of device are:...
Page 131: Vlt® Servo Toolbox Software
6.17 VLT® Servo Toolbox Software 6.17.1 Overview The VLT Servo Toolbox is a standalone PC software designed by Danfoss. It is used for parameterization and diagnostics of the ® system modules. It is also possible to operate the devices in a non-productive environment.
Page 132 Check that your system meets the system requirements specified in 6.17.2 System Requirements. Download the VLT Servo Toolbox installation file from the Danfoss website. ® Right-click on the .exe file and select Run as administrator. Follow the on-screen instructions to complete the installation process.
Page 133 Open the Network and Sharing Center. Select Change adapter settings. Right-click on the network interface used for fieldbus communication and select Properties. If the TCP/IPv6 is available for the network interface, disable it. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 133...
Page 134 To reach further nodes, accessible nodes provide the capability of adding IP addresses and subnets to the PG/PC interface. The new IP addresses and subnets are then added to the Ethernet interface of the PG/PC. 6.17.4.3.7.2 Adding IP Addresses and Subnets Procedure 134 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 135 Click on Yes to accept the addresses. The IP address/subnet mask is now added. N O T I C E If >1 Danfoss servo drive is used in the same PROFINET network, each servo drive must have a different name and IP ad- ®...
Page 136 Right-click on the network interface used for fieldbus communication and select Properties. Uncheck all checkboxes except the one for Internet Protocol Version 4 (TCP/IPv4). Disable the IPv4 Checksum offload on the network interfaces as described in 6.17.4.3.3 Enabling Indirect Communication. 136 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 137 Disable all network protocols except TCP/IPv4 on the network interface used for direct EtherCAT® communication. This prevents other PC software or the operating system using this network interface for other tasks, such as file and printer sharing and network Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 137...
Page 138 An online device is a logical device for which a physical device exists that the VLT Servo Toolbox is ® formation connected to. • The color indicates the state of the device and is device-specific. 138 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 139 Click on OK to connect. Verify that the connection is successful by checking the status strip at the bottom of the Main Window. Illustration 103: Connect to Network Window (Ethernet POWERLINK ® Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 139...
Page 140 A basic sample PLC application for starting up the servo system with 1 Power Supply Module (PSM 510), 1 Decentral Access Module (DAM 510), and 2 axes is provided. The project DDS_ServoMotion_SampleProject can be downloaded from the Danfoss website. Automation Studio ™...
Page 141 On and off compensation and hysteresis can be parameterized. Touch probe This functionality stores the position actual value at a rising or falling edge of the configured digital input. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 141...
Page 142 – Link/activity status of Hybrid In (X1) Ethernet link established. Flashing Ethernet link established and active. No link. Link/ACT X2 Green – Link/activity status of Hybrid Out (X2) Ethernet link established. 142 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 143 Input mains is not applied. SVS ST Green 24 V safety supply is applied. 24 V safety supply is not applied. NET ST Green Connected. Orange Online. Flashing Initialization. Initialization failed or other error. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 143...
Page 144 24 V safety supply is applied. 24 V safety supply is not applied. NET ST Green Connected. Orange Online. Flashing Initialization. Initialization failed or other error. Green Auxiliary voltage is applied to the output connector. 144 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 145 Device is in state Standby or Power-up. Device is in state Fault or Fault reaction active. Flashing DC-link is not applied at the input. CAP ST Green Capacitors fully charged. Flashing Capacitors charging/discharging. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 145...
Page 146 LINK/ACT X1 (Link/activity of In) Flashing Ethernet link established and active. No link. Green Ethernet link established. LINK/ACT X2 (Link/activity status of Out) Flashing Ethernet link established and active. No link. 146 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 147 If required, implement a manual reset function according to EN ISO 13849-1. For automatic restart without manual reset, observe the requirements detailed in paragraph 6.3.3.2.5 of EN ISO 12100:2010 or equivalent standard. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 147...
Page 148 Table 34: Safety-related Abbreviations and Conventions Abbrevia- Reference Description tion Cat. EN ISO 13849-1 Category B, 1–4 – Diagnostic coverage – Failure in time Failure rate: 1E-9/hour EN IEC 61508 Hardware fault tolerance 148 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 149 8.6 Installation Only Danfoss cables can be used for the installation of the servo system, however cables from other suppliers can be used for the user connection to the STO terminal STO DAM (Pins 1 and 2) on the Decentral Access Module (DAM 510).
Page 150 There are 2 ways to implement the commissioning test depending on the method used to program the PLC, however the steps of the test are the same: 150 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 151 VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Functional Safety Concept • Using the Danfoss Library or the TwinCAT Library. ® • Bit-wise readout of the status. 8.8.1 Commissioning Test using Libraries Depending on the application, 1 or both of the following libraries are required to program the commissioning test: •...
Page 152 Error 0x11E is shown in object 0x603F on all hibited by the error signal. servo drives. Check whether reset is required. Application does not run. Try to run the application (enable 1 or more servo drives). 152 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 153 Error code 0xFF81/0x11F means that there is a fault on the servo drive that can only be reset by carrying out a power cycle. Com- plete the commissioning test after the power cycle. Operation of the servo system can only be resumed if the test is completed successfully. If error code 0xFF81/0x11F or 0xFF85/0x120 is issued again, contact Danfoss Service. 8.9.2 Fault Reset To reset faults, change bit 7 of the controlword from 0 to 1.
Page 154 1 year N O T I C E The PSM 510, DAM 510, and ACM 510 do not contribute to the dangerous failure rate of the Danfoss system and can there- fore be excluded from safety-related calculations. 8.11 Maintenance, Security, and User Accessibility Maintenance: Test the STO safety function at least once per year as follows: •...
Page 155 N O T I C E If the fault cannot be eliminated by 1 of the measures listed in the troubleshooting tables, notify Danfoss Service. Have the following information available to enable Danfoss to provide help quickly and effectively: •...
Page 156 Defective bearing. • Defects on connected mechanics. • Incorrect control loop parameters. Troubleshooting • Check the shaft. • Check for loose mechanical components on the connected mechanics. • Check the parameter settings. 156 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 157 No power supply. Troubleshooting • Check the power supply. 9.2.1.16 Drive Protection Trips Immediately Possible Cause • Short circuit. • Incorrect control loop parameters. Troubleshooting • Check the wiring. • Contact Danfoss. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 157...
Page 158 Incorrect mains input supply. Troubleshooting • Check that the supply voltage matches the allowed specification. 9.2.2.4 Current Overload Trip (Error 0x2396/0x15C) This fault applies to the PSM 510 and the DAM 510. 158 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 159 • Incorrect current dimensioning of the supply equipment. Troubleshooting • Check that the supply matches the auxiliary supply requirements. • Check that the output power of the supply is sufficient. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 159...
Page 160 • Check the brake chopper connection. • Measure the resistance of the brake chopper and compare it with the parameter settings. 9.2.2.15 Internal Fan Error This fault applies to PSM 510. 160 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 161 Table 45: Continuous current overload (0x2312 / 0x160) Code PROFINET code Name Severity (warning/error/ Description LCP name ® trip lock) 0x2312 0x160 Continuous current Error Continuous current over- cont curr ovld overload load error. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 161...
Page 162 AUX overcur- Error Current on the AUX line has reached AUX overcurr rent the overcurrent limit. 9.3.11 AUX user limit current (0x2393 / 0x127) This error is valid for DAM 510. 162 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 163 Table 56: Thermal overload motor (0x239B / 0x102) Code PROFINET code Name Severity (warning/error/trip Description LCP name ® lock) 0x239B 0x102 Thermal overload Warning, error Thermal overload motor therm ovld mo- motor error. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 163...
Page 164 UDC unbal- balanced dicates an internal malfunction of the DC- ance link. 9.3.22 UAUX high voltage (0x3291 / 0x132) This error is valid for PSM 510, DAM 510, and ACM 510. 164 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 165 PROFINET Name Severity (warning/ Description LCP name ® error/trip lock) code 0x3296 0x137 DC link low Warning The DC-link voltage is lower than the UDC low volt voltage low-voltage warning limit. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 165...
Page 166 Warning, error overtemp Triggered when the maximum temperature of the temperature device main device component is exceeded. PSM: Thyristor rectifier module. DAM: Maximum temperature of both high side and low side IGBTs. 166 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 167 AUX line rush Too many power-ups of the AUX voltage have occurred within a short time period. 9.3.38 Overtemperature: Motor (0x4310 / 0x108) This error is valid for ISD 510/DSD 510. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 167...
Page 168 9.3.43 Configuration parameters limits error (0x6383 / 0x164) This error is valid for PSM 510, DAM 510, and ACM 510. 168 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 169 This error appears when the maxi- overload mum power limit of the brake chopper module is reached. 9.3.48 External brake chopper overload (0x7182 / 0x143) This error is valid for PSM 510. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 169...
Page 170 Table 92: Following error (0x8611 / 0x10E) Code PROFINET code Name Severity (warning/error/trip Description LCP name ® lock) 0x8611 0x10E Following error Warning, error A following error has occurred. following err 170 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 171 Short circuit in mechani- Trip lock Short circuit in brake brake mech cal brake control control. short 9.3.58 External interface power failure (0xFF0A / 0x114) This error is valid for ISD 510/DSD 510. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 171...
Page 172 Description LCP name ® 0xFF62 0x117 Timing violation 3 Trip lock Contact Danfoss. timing err 3 9.3.64 Timing violation 4 (0xFF63 / 0x118) This error is valid for ISD 510/DSD 510. 172 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 173 Timing violation 9 Trip lock Contact Danfoss. timing err 9 9.3.70 Firmware: Package description mismatch (0xFF70 / 0x11B) This error is valid for PSM 510, DAM 510, ACM 510, and ISD 510/DSD 510. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 173...
Page 174 STO activated while drive was enabled STO active drive enabled or tried to enable while STO active. 9.3.75 STO mismatch (0xFF81 / 0x11F) This error is valid for ISD 510/DSD 510. 174 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 175 Table 119: Sign of life error (0xFF95 / 0x14E) Code PROFINET code Name Severity (warning/error/trip Description LCP name ® lock) 0xFF95 0x14E Sign of life error Error PROFINET sign of life error. PNIO SOL error ® Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 175...
Page 176 Carry out a visual inspection Every 6 months Check for any abnormalities on the surface of the module. A shorter interval may be necessary depending on the application. Contact Danfoss for more information. 176 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 177 The fan is not making any unusual noises. • The condition of electrical wiring and cables. 10.4 Repair Always contact the local Danfoss sales company for information about the repair policy. 10.5 ISD 510/DSD 510 Servo Drive Replacement 10.5.1 Dismounting the ISD 510/DSD 510 Servo Drive Procedure Disconnect the supply and wait for the discharge time to elapse.
Page 178 Unplug the top connectors [1]. Unscrew the screw [2] on the I/O shielding plate [3]. Pull the I/O shielding plate upwards to remove it. Release the securing clamp [1] at the top of the module. 178 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 179 Fit the system modules (see 4.7.7 Fitting Instructions for System Modules). Connect the electrical cables (see chapter Electrical Installation). Switch the system on (see 6.8 Switching on the ISD 510/DSD 510 System). Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 179...
Page 180 Reconnect any cables that were connected to the X3, X4, or X5 ports. 10.7.3 Loop Cable Replacement 10.7.3.1 Disconnecting the Loop Cable Procedure Disconnect the Power Supply Module (PSM 510) from its power source (mains network) and all auxiliary supplies. 180 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 181 Remove the screws [1] and remove the cover.  Illustration 114: Opening the Cover on DAM 510 Use a screwdriver to remove the fuses and replace them with the same number of identical type fuses (see 5.5.1 Fuses). Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 181...
Page 182 Replace the cover and tighten the screws. The tightening torque is 2 Nm. 10.9 Fan Replacement Illustration 116: Fan Replacement on 50 mm Modules Illustration 117: Fan Replacement on 100 mm Modules 182 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 183 10.10 Product Returns Danfoss products can be returned for disposal at no charge. A prerequisite for this is that they are free of deposits, such as oil, grease, or other types of contamination that hampers disposal. Furthermore, foreign materials or third-party components cannot be included with the returned product.
Page 184 Check the nameplate and compare it with the order data. Use the part number for reference. The part number uniquely identifies the drive type. Ensure that the nameplate is clearly legible. The servo drives can be identified externally only by the original Danfoss nameplate. The following data is shown on the servo drive nameplate: VLT ISD 510 ISD510AT06C0D6E54FM1PNSXXTF108SXN30BKXSX Input1: 560-680VDC 3.4A...
Page 185 Pnom: 30kW Notes: MAC PSM 00:1B:08:15:B3:XX X1 IN: 00:1B:08:15:B3:XX 00:1B:08:15:B3:XX X2 OUT: Motor over-temperature sensing is required DANGER 15 MIN Illustration 120: Example Nameplate on the Front of the System Modules Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 185...
Page 186 5.2 Nm 6.0 Nm 11.2 Nm 13.0 Nm Rated speed 4600 4000 2900 2400 3000 3000 2000 – Rated tor- 11.2 – que M Rated cur- A DC – rent I 186 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 187 [inch] Functional – safety Cooling – Via flange Mounting – Via flange Weight 3.5 [7.7] 4.0 [8.8] 5.0 [11.0] 6.0 [13.2] 8.3 [18.3] 10.0 13.8 [30.4] – [lbs] [22.0] In preparation Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 187...
Page 188 Protective measures – Overload, short-circuit, and ground fault pro- tection. Maximum output frequency Functional safety – Cooling – Via mounting surface Mounting – Screw-mounted via base Number of motor connectors – 188 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 189 Peak power P Rated power P Minimum resistance Ω General Protective measures – Overload, short-circuit, and ground fault protection Line filter in accordance with EN 61800-3 – Category C3 Cooling – Integrated fan Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 189...
Page 190 Table 126: Characteristic Data for ACM 510 Definition Unit Value DC-link V DC 565–680 ±10% DC-link capacitance µF 2750 V DC 24/48 ±10% current consumption at 24 V DC A DC 190 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 191 11.3.2 Dimensions of ISD 510 Servo Drive All dimensions are in mm (in). [11.02] 44.4 [3.30] [1.74] [1.18] [0.09] 55.3 [2.17] Illustration 122: Dimensions of ISD 510 Size 1, 1.5 Nm Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 191...
Page 192 [0.11] 55.3 [2.17] Illustration 124: Dimensions of ISD 510 Size 2, 2.9 Nm [12.2] 74.2 [3.30] [2.92] [1.57] [0.11] 55.3 [2.17] Illustration 125: Dimensions of ISD 510 Size 2, 3.8 Nm 192 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 193 [7.04] [4.25] Illustration 127: Dimensions of ISD 510 Size 3, 6.0 Nm 301.5 [11.87] 46.5 [4.25] [1.83] [2.28] [0.13] [2.75] [5.43] Illustration 128: Dimensions of ISD 510 Size 4, 11.2 Nm Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 193...
Page 194 All dimensions are in mm (in). 137.3 [5.41] 21.3 [0.98] [1.97] [0.98] [0.63] [3.94] [0.84] 2xØ5.2 [0.2] STATUS PSM SVS ST NET ST LINK/ACT 2xØ5.2 [0.2] [10.63] Illustration 130: Dimensions of PSM 510 194 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 195 [0.2] STATUS DAM SVS ST NET ST LINK/ACT Ø5.2 [0.2] [10.63] Illustration 131: Dimensions of DAM 510 11.3.6 Dimensions of Auxiliary Capacitors Module (ACM 510) All dimensions are in mm (in). Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 195...
Page 196 11.3.7 Dimensions of Expansion Module (EXM 510) All dimensions are in mm (in). 87.3 [3.43] [0.98] [0.98] 144.75 Ø5.2 [5.70] 21.3 [0.2] [0.62] [1.97] [0.84] Ø5.2 [0.2] Illustration 133: Dimensions of EXM 510 196 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 197 Hardware: A 20 A non-replaceable SMD (surface-mounted device) fuse in case the first 2 protective measures fail. 11.7 Permitted Forces on the ISD 510 Servo Drive Shaft Illustration 134: Permitted Forces Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 197...
Page 198 The hybrid cable provides the supply (mains and auxiliary), the communication lines, and the safety supply for each line of servo drives. Input and output connectors are connected inside the servo drive. Illustration 135: Pin Assignment of X1 Male Hybrid Connector (M23) 198 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 199 The ISD 510/DSD 510 advanced servo drives have an additional fieldbus port (X3) for connecting a device that communicated via the selected fieldbus. Illustration 137: Pin Assignment of X3 3rd Ethernet Connector (M8, 4 pole) Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 199...
Page 200 Fulfills the RS485 specification. SSI CLK Positive SSI/BiSS clock out Maximum cable length (SSI & BiSS): 25 m Input 2 Analog/Digital input Digital input: Nominal voltage: 0-24 V Bandwidth: ≦ 100 kHz 200 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 201 5 V ±10% at 120 mA maximum load 11.8.5 X6: Standard/HIPERFACE DSL Motor Connector The standard/HIPERFACE DSL motor connector is an M23 female connector. Illustration 140: Pin Assignment of X6 Motor Connector Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 201...
Page 202 The data+/– signals are only present on the HIPERFACE DSL variant, otherwise both are not connected. 11.9 Connectors on the System Modules 11.9.1 Backlink Connector The backlink connector is located at the top of the backside of all the ISD 510 system modules. 202 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 203 VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Specifications Illustration 141: Pin Assignment of Backlink Connector Table 134: Pin Assignment of Backlink Connector Description 24/48 V FE: Functional earth DC– Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 203...
Page 204 Description Pins Ratings X1 IN Ethernet IN According to standard 100BASE-T. 1: TX+ 2: TX– X2 OUT Ethernet OUT1 3: RX+ 4: – 5: – 6: RX– 7: – 8: – 204 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 205 N O T I C E Only PELV potential can be connected to the digital inputs and outputs. 11.9.5 UAUX Connector The U connector is located on the Power Supply Module (PSM 510). Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 205...
Page 206 Rating/parameter Not connected – – /LCP RST Reset Active at ≦0.5 V LCP RS485 Positive RS485 signal Speed: 38.4 kBd /LCP RS485 Negative RS485 signal The levels fulfill the RS485 specification. 206 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 207 Power Supply Module PSM 510: 1 relay connector • Auxiliary Capacitors Module ACM 510: 1 relay connector N O T I C E Only PELV potential can be connected to the relay outputs. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 207...
Page 208 11.9.9 STO Connectors 11.9.9.1 STO Connectors on PSM 510 There is 1 input and 1 output STO connector on the Power Supply Module (PSM 510). Illustration 149: STO Output Connector on PSM 510 208 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 209 11.9.9.2 STO Connectors on the DAM 510 11.9.9.2.1 STO Connectors on the Top of DAM 510 There is 1 input and 1 output STO connector on the top of the Decentral Access Module (DAM 510). Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 209...
Page 210 11.9.9.2.2 STO Connector on the Bottom of DAM 510 There is 1 output STO connector on the bottom of the Decentral Access Module (DAM 510). The output is for the hybrid cable. 210 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 211 Conductor cross-section range: 0.2–6 mm (AWG 24–AWG 10) Plug terminal tightening torque: 0.5–0.8 Nm 11.9.11 AUX Connector The AUX connector is located on the bottom of the Decentral Access Module (DAM 510). Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 211...
Page 212 Nominal current: Depends on the number of servo drives in the applica- DAM 510. tion. Maximum current: 150 mA (see Table 150) Fulfill the following specifications: • BISS/SSI 212 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 213 , solid or flexible (AWG 18–AWG 4) Only use with ferrule without plastic sleeve with CRIMPFOX 16 S. Use shielded conductors for UDC (DC+, DC–). FE (func- – tional Plug terminal tightening torque: 1.7–1.8 Nm earth) – Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 213...
Page 214 EN 61800-3 EMC immunity functional safety EN 61800-5-2 Annex E Pollution degree Overvoltage category IP ratings 11.11.1 Protection Ratings for ISD 510 Servo Drive 11.11.2 Protection Ratings for DSD 510 Servo Drive. 214 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 215 EMC standard for emission and immunity EN 61800-3 EMC immunity for functional safety EN 61800-5-2 Annex E Degree of pollution according to EN 60664-1 Overvoltage category according to EN/IEC 61800-5-1 Illustration 158: Derating Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 215...
Page 216 Table 156: Hybrid Cable PE Item Description Cross section Hybrid cable PE Used to connect the PE wire from the hybrid cable to the PE screw on the Decentral Maximum cross-section: Access Module (DAM 510). 216 | Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135...
Page 217 To recondition the electrolytic capacitors, servo drives and system components not in service must be connected to a supply source once per year to allow the capacitors to charge and discharge. Otherwise the capacitors could suffer permanent damage. Danfoss A/S © 2020.08 AQ262449648484en-000101 / 175R1135 | 217...
Page 218 DSD 510 servo drive.................188 PSM 510, DAM 510 and ACM 510..........49 PSM 510....................189 EtherCAT® DAM 510....................190 Overview....................45 ACM 510....................190 ID assignment..................83 Circuit breakers..................64, 65 Ethernet connector................... 204 Clamping Ethernet POWERLINK® 218 | Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135...
Page 219 Installation procedure................57 Programming guidelines Installation tools................... 54 Automation Studio™ and TwinCAT®.......... 106 IP rating SIMOTION SCOUT®................123 System modules................215 TIA......................130 ISD 510 servo drive................216 Protection rating DSD 510 servo drive.................216 System modules................215 Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135 | 219...
Page 220 STO connector.....................209 Storage......................217 Switching on the ISD 510/DSD 510 system........86 X1/X2 connector..................198 System module replacement..............177 X3 connector....................199 System overview...................26 X4 connector....................200 X5 connector....................201 X6 connector....................201 Terminology....................18 220 | Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135...
Page 221 ® EtherCAT EtherCAT (Ethernet for Control Automation Technology) is an open high- ® ® performance Ethernet-based fieldbus system. EtherCAT is registered trade- ® mark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135 | 221...
Page 222 Describes an absolute encoder, in which the absolute position remains known after several revolutions. PELV Protected extra low voltage is an electricity supply voltage in a range which carries a low risk of dangerous electrical shock. 222 | Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135...
Page 223 DSD 510 servo drives and the Power Supply Module (PSM 510), Decentral Access Module (DAM 510), and Auxiliary Capacitors Module (ACM 510). Servo Toolbox A Danfoss pc software tool used for parameter setting and diagnostics of ® Servo Drive systems ®...
Page 224 VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Glossary Wireshark Wireshark is a network protocol analyzer released under the GNU General ® ® Public License version 2. 224 | Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135...
Page 225 VLT® Servo Drive System ISD 510/DSD 510 Operating Guide Glossary Danfoss A/S © 2020.08 AQ262449648484en-000101/175R1135 | 225...
Page 226 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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Vlt dsd 510

Danfoss VLT ISD 510 Operating Manual

1 Introduction

2 Safety

3 System Description

4 Mechanical Installation

5 Electrical Installation

6 Commissioning

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