Software; Fieldbus; Ethercat - Danfoss VLT Integrated Servo Drive ISD 510 System Operating Instructions Manual

System Description

3.7 Software

The software for the ISD 510 servo system comprises:
•
The firmware of the VLT
®
ISD 510 that is already installed on the device
and provides the functionality described in
chapter 7 Operation.
•
The firmware of the VLT
already installed on the device.
•
A package of PLC libraries for Automation
Studio™ for operating the ISD 510 devices (see
chapter 6.4.1 Programming with Automation
™ for further information).
Studio
•
A PLC library for TwinCAT
ISD 510 devices (see chapter 6.4.2 Programming
®
with TwinCAT for further information).
•
ISD Toolbox: A Danfoss PC-based software tool for
commissioning and debugging the devices (see
chapter 6.5 ISD Toolbox for further information).

3.8 Fieldbus

The ISD 510 servo system has an open system architecture
realized by fast Ethernet (100BASE-T) based communi-
cation. The system supports both EtherCAT
®
POWERLINK fieldbuses. See the VLT
®
ISD 510 System 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 ISD library (available for TwinCAT
Automation Studio™).
•
Using the NC axis functionality of TwinCAT
•
®
Using the CANopen
reading and writing to objects.
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.
MG75K102
Operating Instructions
®
Integrated Servo Drive
®
Servo Access Box that is
®
2 for operating the
®
and Ethernet
®
Integrated Servo Drive
®
and
®
.
CiA DS 402 standard by
®
Danfoss A/S © 12/2015 All rights reserved.

3.8.1 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. See the VLT
®
ISD 510 System Design Guide for further information.
®
The EtherCAT port assignment for the servo drive and
SAB are shown in Illustration 3.15 and Illustration 3.16.
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 3.15 EtherCAT Port Assignment for the Servo
Drive
®
(CoE)
®
(FoE)
®
(EoE)
Integrated Servo Drive
X2
®
slaves, for
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