Danfoss VLT ISD 410, Operating Instructions Manual

Page 1: ...MAKING MODERN LIVING POSSIBLE Operating Instructions VLT Integrated Servo Drive ISD 410...

Page 2: ...rsonnel 10 3 5 Due Diligence 10 3 6 Intended Use 10 3 7 Foreseeable Misuse 11 4 Description 12 4 1 Types 12 4 1 1 Configurations 13 4 2 Motor Components 14 4 2 1 Shaft 14 4 2 2 Brake Optional 14 4 2 3...

Page 3: ...bles 24 6 Commissioning 25 6 1 Switching on the Servomotors 25 6 2 Connecting the Components 25 6 3 Functional Operation Test before initial power up or operation 25 6 4 Parameter Configuration 25 6 5...

Page 4: ...without Brake 39 12 3 2 Servomotor with Brake 40 12 4 Dimensions 41 12 4 1 Servomotor with ISD Flange without Brake 41 12 4 2 Servomotor with ISD Flange and Brake 42 12 4 3 Servomotor with IEC Flange...

Page 5: ...Servomotor without Brake 47 12 8 2 Servomotor with Brake 48 13 Appendix 50 13 1 Glossary 50 Index 52 Contents VLT ISD 410 Servomotor Operating Instructions 4 MG75D102 VLT is a registered Danfoss trad...

Page 6: ...e after the mains supply is switched off at the power supply module To avoid electrical shock fully disconnect the power supply module from the mains before carrying out maintenance The DC links of th...

Page 7: ...stor 3 Connection box 9 ISD servo drive 4 Master 10 Hybrid cable DC CAN 5 CAN line 11 DC line 6 Encoder box 12 AC line Table 2 1 Legend to Illustration 2 1 The servomotors are self contained distribut...

Page 8: ...tegral part of the ISD 410 servomotor Keep these operating instructions available with the servo system at all times Compliance with the information in the operating instructions is a prerequisite for...

Page 9: ...r that indicate the presence of mains voltage This indication is provided at the distributor box Installation commissioning and maintenance may only be performed by qualified staff Incorrect installat...

Page 10: ...rise to hazards to people or damage to property are safety related applications The stop functions implemented in the software of the master system do not interrupt the mains voltage supply to the pow...

Page 11: ...amiliar with all the instructions and safety measures described in these operating instructions They must have suitable safety equipment and be trained in first aid 3 5 Due Diligence The operator and...

Page 12: ...in the following application areas Areas with potentially explosive atmospheres Mobile or portable systems Floating or airborne systems Inhabited facilities Sites where radioactive materials are prese...

Page 13: ...e in 2 flange versions Both versions are available with or without a holding brake Type Description ISD Unique flange developed by Danfoss specifically for ISD 410 servomotors IEC Standardised flange...

Page 14: ...tions 130BC454 10 Illustration 4 5 IEC Flange for Servomotor with Brake Short description for Illustration 4 5 Integrated brake long type IEC flange for standardised installation Various encoder optio...

Page 15: ...with a small amount dispersed by the housing 4 2 4 Winding Motor The winding causes the motor rotor to turn There is a choice of two winding and magnet packages They differ in speed and torque charact...

Page 16: ...ed in a 12 bit counter This allows a maximum of 4096 turns to be counted It communicates using the BiSS protocol The following table summarises the functions of the individual angle position encoders...

Page 17: ...ut 90V OK y l p p u S r e w o P C D C A A 0 1 8 C D V 0 0 3 Enable Error 300V_OK 90V_OK 300 Signal Outputs 10A Signal Inputs Illustration 4 7 Motor Daisy chaining Looping Number Item Cable Type Item C...

Page 18: ...n individual conditions and must therefore be determined in advance for each application 4 3 2 Hybrid Cable The ends of the connection cables are fitted with M23 connectors The feed cable is pigtailed...

Page 19: ...n application Feed Cable 130BC493 10 UDC UDC PE V CC GND CAN H CAN L 71 mm 52 mm A B C 2 3 1 D 4 24 V STO Illustration 4 11 Feed Cable The feed cable is used to connect the first servomotor of a group...

Page 20: ...5 2 PE Green Yellow 3 UDC 2 Black 4 24 V Safety STO 3 Black 1 STO referenced to UDC CAN A CAN GND Black 0 5 Twisted pair A B CAN Low White Twisted pair B C CAN High Blue Twisted pair B D CAN Vcc Red T...

Page 21: ...bus Output M23 internal thread 3 Sensor Input M12 external thread Table 4 8 Connectors A B C D A B C D 2 3 4 PE 1 1 130BC461 10 input output Illustration 4 14 Power and CAN Bus Ports Pin Signal Functi...

Page 22: ...isible transport damage with the responsible Danfoss representative in case of visible defects or incomplete delivery 5 2 Safety Measures during Installation Always observe the safety instructions in...

Page 23: ...e hybrid cable The hybrid cable connector can be tightened quickly and correctly with the aid of this tool 5 5 3 Tightening Torques See Table 5 1 for tightening torque values for the fixing screws Alw...

Page 24: ...odule To avoid electrical shock fully disconnect the power supply module from the mains before carrying out maintenance The DC links of the individual ISD servomotors are connected in parallel when th...

Page 25: ...ble from the connection box 4 Loosen the threaded rings of the connectors Use the Danfoss installation tool for this purpose 5 Disconnect the hybrid cable and the sensor cable if present from the serv...

Page 26: ...the first servomotor by connecting the cable leads on the connection box and the servomotor using the threaded connectors 4 Using the loop cables intended for this purpose connect the other servomoto...

Page 27: ...along a precisely predefined curved path with high accuracy and variable speed ISD curve mode functionality is stored in the component library under CoDeSys For more information see the component lib...

Page 28: ...ding torques of the servo drive and the optional brake do not constitute safety functions If hazards are present additional measures must be taken such as protective fences barriers and exclusion of p...

Page 29: ...me to dangerous failure MTTFD 62 years Diagnostic coverage DC 60 Category 3 Lifetime 20 years Data for EN IEC 62061 EN IEC 61508 EN IEC 61800 5 2 SIL 2 suitability SILCL 2 Probability of dangerous fai...

Page 30: ...1 1 ISD 410 servo drive 2 Control PCB 3 Inverter 4 Output stage 5 Hybrid cable short circuit proof 6 Cat 3 safety device 7 24 V DC power supply Table 8 2 Legend to Illustration 8 1 When the safe stop...

Page 31: ...the emergency message over the CAN bus 2 Send a Reset message over the CAN bus to the servo drive and restart the servo drive The test step is passed if the servomotor remains in safe stop and the ho...

Page 32: ...ay still be a hazard from the servomotors on line 2 DC 300 V DC 300 V DC 24 V DC 24 V DC 24 V DC 24 V DC 300 V DC 300 V DC 300 V DC 300 V 4 4 4 4 4 4 4 4 1 1 1 1 1 1 1 1 3 3 3 3 3 3 3 3 1a 1b 2a 2b 3...

Page 33: ...eck CAN connection Wrong motor rotation direction Parameter error Check software Change rotation direction if appropriate Motor runs normally but does not generate the expected torque Motor defective...

Page 34: ...for any damage resulting from the use of parts not approved by Danfoss The spare parts kit shaft seal grease and service instructions can be ordered under part number 175G7706 A special tool is neces...

Page 35: ...connected Doing so will damage the electronic circuitry Observe the discharge time for the DC link capacitors CAUTION Do not forcefully connect or fit the connectors Incorrect connection will cause p...

Page 36: ...he cabling again for sufficient slack 5 Using the Danfoss installation tool tighten the threaded rings of the connectors 10 4 Servomotor Replacement 10 4 1 Dismounting The procedure for dismounting th...

Page 37: ...e Time 11 1 Decommissioning The procedure for decommissioning the servomotor is the reverse of the installation procedure described in 5 Instal lation Fitting Proceed as follows 1 Disconnect power sup...

Page 38: ...s packaging waste 11 4 2 Disposal Devices containing electronic components may not be disposed of as normal domestic waste Dispose of servomotors as hazardous waste electrical waste recyclable waste e...

Page 39: ...ake option 4 Ambient temperature range 9 Serial number 5 Protection rating 10 Table 12 1 Legend to Illustration 12 1 Check that the nameplate is clearly legible The servomotors can be identified exter...

Page 40: ...A DC 0 6 1 1 Peak current A DC 3 95 7 Rated speed RPM 600 1000 Max speed RPM 1000 1500 Rated power W 180 330 Pole pairs p 8 8 Torque coefficient Nm A 1 9 1 25 Voltage coefficient V 1000 RPM 130 85 Mo...

Page 41: ...Max speed RPM 1000 1500 Rated power W 195 345 Pole pairs p 8 8 Torque coefficient Nm A 1 9 1 25 Voltage coefficient V 1000 RPM 130 85 Moment of inertia kgm2 4 2 10 4 6 5 10 4 Vibration class 3M7 3M7 W...

Page 42: ...motor with ISD Flange without Brake 130BC467 10 9 95 106 2 124 100 134 44 19 Illustration 12 3 Front View Servomotor with ISD Flange without Brake 4 5 91 129 5 130BC468 10 Illustration 12 4 Rear View...

Page 43: ...or with ISD Flange and Brake 130BC464 10 9 95 106 2 124 100 134 44 19 Illustration 12 6 Front View Servomotor with ISD Flange and Brake 4 5 91 129 5 130BC465 10 Illustration 12 7 Rear View Servomotor...

Page 44: ...Flange without Brake 130BC473 10 95 j6 19 k6 110 55 35 22 5 115 9 4 x 90 10 Illustration 12 9 Front View Servomotor with IEC Flange without Brake 130BC474 10 91 1 2 9 5 Illustration 12 10 Rear View Se...

Page 45: ...IEC Flange and Brake 130BC470 10 95 j6 19 k6 110 55 35 22 5 115 9 4 x 90 10 Illustration 12 12 Front View Servomotor with IEC Flange and Brake 130BC471 10 91 1 2 9 5 Illustration 12 13 Rear View Servo...

Page 46: ...1200 1000 800 600 400 200 0 1400 1600 n 1 min M Nm 130BC484 10 Illustration 12 14 S1 Duty Cycle Characteristic Curve 12 6 2 S3 Service Cycle Intermittent periodic service Rated torques apply to inter...

Page 47: ...75G7803 04 11 12 19 20 12 6 2 3 Servomotors 175G7805 06 13 14 21 22 130BC488 10 120 0 100 0 80 0 60 0 40 0 20 0 0 0 0 2 4 6 8 10 12 14 175G7805 175G7806 Duty Rating 100 1 min 500 1 min 1000 1 min 1500...

Page 48: ...radial forces acting on the internal components of the motor 12 8 1 Servomotor without Brake The specifications apply to the speed range from 10 RPM to the maximum rated speed The figures show the max...

Page 49: ...ontal Installation Radial Force in N Axial Force in N Max Speed in RPM 1200 200 1500 800 300 1500 400 300 1500 200 350 1500 Table 12 7 Combinations of Permitted Forces ISD IEC Servomotor with Brake fo...

Page 50: ...h Shaft Facing Downward Radial Force in N Axial Force in N Max Speed in RPM 1200 200 1500 800 300 1500 400 300 1500 200 360 1500 Table 12 9 Combinations of Permitted Forces ISD IEC Servomotor with Bra...

Page 51: ...rt Software Solutions GmbH Connection box The connection box provides the link between the power supply module and the servo drives Connector M23 Servomotor connector Cooling ISD servo drives are cool...

Page 52: ...Nodes are branches within a cam disc function PELV Low voltage directive regarding voltage levels and distances between lines PDO Process Data Object see DS301 Planetary gear A specific type of gearin...

Page 53: ...34 Disclaimer 5 Dismounting 36 Disposal 37 Documents 7 Due Diligence 10 E Electrical Environmental Conditions 23 Installation 23 Encoder Angle Position 15 Multi turn 15 Single turn 15 Environmental Co...

Page 54: ...Start 5 Warnings 8 5 Safety Concept Safety Concept 27 Acceptance Test 30 Activating Deactivating The Safe Stop Function 28 Application Examples 31 Functional Description 27 Installation 29 Sensor Cabl...

Page 55: ...ded Start 5 V Voltage Warning 5 W Warning Discharge Time 5 34 High Voltage 5 Unintended Start 5 Winding 14 Index VLT ISD 410 Servomotor Operating Instructions 54 MG75D102 VLT is a registered Danfoss t...

Page 56: ...www danfoss com drives MG75D102 130R0374 MG75D102 Rev 2012 06 12...

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