Connecting To The Plc; Programming With Twincat; Isd Deliverables; Creating A Twincat ® Project - Danfoss VLT Integrated Servo Drive ISD 510 System Operating Instructions Manual

Commissioning
Illustration 6.6 I/O Mapping after Successful Configuration
Map the inputs and outputs of the instance of the
6 6
AXIS_REF_ISD51x function block and the physical data
points of the servo drive according to Illustration 6.7 (here
myAxis is an instance of AXIS_REF_ISD51x):
Illustration 6.7 I/O Mapping of an ISD 510 Servo Drive
Map the inputs and outputs of the instance of the SAB_REF
function block and the physical data points of the SAB
accordingly.
Cycle time settings
The minimum cycle time is 400 µs. The ISD 510 devices
can run Ethernet POWERLINK
400 µs and multiples of 500 µs. The devices are automat-
ically parameterized by the PLC on start-up, depending on
the Ethernet POWERLINK
interface. The Ethernet POWERLINK
accessed by right-clicking [CPU → Open IF3 POWERLINK
Configuration] in the Physical View.
NOTICE
The task cycle time of the PLC program should be the
same as the Ethernet POWERLINK
data could be lost and performance may be reduced.
48
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VLT Integrated Servo Drive ISD
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cycle times in multiples of
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configuration of the physical
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configuration can be
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cycle time. Otherwise,
Danfoss A/S © 12/2015 All rights reserved.
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510 System
Illustration 6.8 Ethernet POWERLINK
to Parameterize Ethernet POWERLINK
Set the PLC cycle time in Automation Studio™:
Right-click [CPU → Open Software Configuration]
1.
in the Physical View.
2. Ensure that the PLC cycle time is the same as the
Ethernet POWERLINK

6.4.1.3 Connecting to the PLC

Information on how to connect to the PLC can be found in
detail in the Automation Studio™ Help. Open the B&R Help
Explorer and go to [Automation Software → Getting Started
→ Creating programs with Automation Studio → First
project with X20 CPU → Configure online connection].

6.4.2 Programming with TwinCAT

6.4.2.1 ISD Deliverables

To integrate the servo drive and the SAB into a TwinCAT
project, the following files are needed:
•
Library for the ISD 510 servo system:
Danfoss_VLT_ISD_510.lib
•
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ESI file (EtherCAT Slave Information) for the
servo drive and the SAB: Danfoss ISD 500.xml
6.4.2.2 Creating a TwinCAT
Information on how to install TwinCAT
detail in the Beckhoff Information System
(infosys.beckhoff.com). Open the information system and
select [TwinCAT 2 → TwinCAT Quick Start → Installation].
Information on how to create a new project in TwinCAT
can be found in detail in the Beckhoff Information System
(http://infosys.beckhoff.com). Open the information system
and select [TwinCAT 2 → TwinCAT Quick Start or TwinCAT 2
→ TX1200 TwinCAT PLC → TwinCAT PLC Control].
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Configuration Window
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Cycle Time
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cycle time.
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Project
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can be found in
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MG75K102