2.6 Peripherals2.6.1 InputsThe servo drive supports 2 inputs. The functionality of theinputs can be configured for various purposes. Each inputcan be defined as being:• Analog input (for example, usable in CAM modeas analog sensor for alignment).• Digital input (for example, usable in CAM mode astrigger).• Left/right limit switch (for example, usable inHoming mode).• Homing switch (for example, usable in Homingmode).• Touch probe input.Also the logical polarity of the input can be configuredusing object 0x200F (see chapter 7.21.3 Parameter: DualAnalog User Inputs Configuration (0x200F)). Use objects0x60FD, 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 andInput Status (0x2006)).2.6.2 OutputThe servo drive supports 1 output. This output can beinfluenced by various functionalities of the servo drive. Useobject 0x2FFF (see chapter 7.21.5 Parameter 52-05: DigitalOutput Configuration (0x2FFF)) to configure thefunctionality that controls the output. Use object 0x2006to read the value of the output (seechapter 7.22.12 Parameter 50-08: Motion and Input Status(0x2006)).2.6.3 External EncoderThe advanced servo drive supports an interface to connectan external encoder. The parameters for configuration aredescribed in chapter 7.21.6 External Encoder Objects. Theexternal encoder can be used as source for the guide value(see chapter 7.9.3 Parameter: Guide Value Reference OptionCode (0x2063)). Encoders of type BiSS-B and SSI aresupported.2.7 Monitoring2.7.1 Errors and WarningsIf an error occurs the servo drive signals it. Depending onthe reason of the error or warning, the servo drive changesits state. Some events provide warning messages beforedisabling the servo drive through an error. An applicationhas the possibility then to react on the warning to avoid ashutdown of the machine, so that the downtime can bereduced. The required warning messages are listed inchapter 9.2.2 Error Codes. When an error occurs, its code isrecorded in non-volatile memory, along with the actualguide value, IGBT temperature, winding temperature, andoperating time. There are maximum 128 entries availableand older entries are overwritten. Use the ISD Toolbox toread 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 inobjects 0x603F (see chapter 7.22.9 Parameter 15-30: ErrorCode (0x603F)) and/or 0x5FFE (seechapter 7.22.10 Parameter 16-92: Warning Code (0x5FFE)).2.7.2 TraceThe servo drive has a built-in real-time signal tracercomponent which can record up to 8 internal signals intointernal memory for later upload over the fieldbus. Thetrace process is controlled via parameters over the fieldbus,using a PLC library function block (seechapter 6.5.4.24 DD_Trace_ISD51x), or using the Scopesubtool of the ISD Toolbox (see chapter 5.7.3 Scope (Singleand Multi-device for Servo Drive and SAB)) for graphicalrepresentation. The available trace signals are listed inchapter 9.2.3 Trace Signals).There are 3 different task levels for sampling:• Real-time task: 100 μs or 125 μs• Fast task: 200 μs or 250 μs• Slow task: 400 μs or 500 μsThe sampling is always done synchronous to the fieldbuscycle.The servo drive supports recording of up to 64000 samplesin total (sum of all recorded signals). The complete numberof configured samples must be recorded before it ispossible to read the data. All samples are represented asfloating 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 beconfigured. The trigger can be every trace signal, togetherwith a trigger level, the slope, and the length of pre-trigger history. The trigger signal itself can be recorded butit is not required. The servo drive provides a status readoutfor the trace process.Servo Drive Operation VLT® Integrated Servo Drive ISD® 510 System86 Danfoss A/S © 01/2017 All rights reserved. MG36D10222
