Danfoss VLT Integrated Servo Drive ISD 510 System Operating Instructions Manual page 51

Commissioning
How to include the ISD 510 library into a TwinCAT
project:
1.
In the Resources tab of TwinCAT
open the Library Manager.
2. In the upper left area of the Library Manager
window, right-click and select Additional Library
....
3. Select the Danfoss_VLT_ISD_510.lib file (according
to the location on the hard drive).
4. Click on Open. Now the libraries are integrated
®
into the TwinCAT PLC control project.
Inside the library, the POUs are organized into folders:
•
BasCam_51x
- Contains POUs for the creation of basic
CAMs.
•
ISD_51x
-
Contains POUs defined by PLCopen
(Name starting with MC_) and POUs
defined by Danfoss (name starting with
DD_). The POUs defined by Danfoss
provide additional functionality for the
axis.
-
It is possible to combine POUs defined
by PLCopen
Danfoss.
- The names of the POUs that target the
servo drive all end with _ISD51x.
•
Intern_51x
-
Contains POUs that are needed
internally for the libraries.
- Do not use these POUs in an
application.
•
LabCam_51x
- Contains POUs for the creation of
labeling CAMs.
•
SAB_51x
- Contains POUs that are defined by
Danfoss (Name starting with DD_) and
provide the functionality for the SAB.
- The names of the POUs that target the
SAB all end with _SAB.
When integrating the ISD 510 library, some standard
libraries are integrated automatically, unless they are
already part of the project.
NOTICE
Do not remove these libraries otherwise the ISD libraries
will not work.
MG75K102
Operating Instructions
®
®
PLC Control,
®
®
with POUs defined by
Danfoss A/S © 12/2015 All rights reserved.
Illustration 6.9 Library Manager after Including the ISD 51x
Library
Inside the library, the following lists of constants are
defined:
•
AxisErrorCodes
- Constants for error codes of the axis.
- Error codes can be read using the
function block MC_ReadAxisError_ISD51x
and/or DD_ReadAxisWarning_ISD51x.
•
AxisTraceSignals
- Constants for the trace signals of the
axis.
- Intended to be used with the function
block DD_Trace_ISD51x.
•
BasCam_51x
-
Constants for the creation of basic
CAMs.
•
CamParsingErrors
-
Constants for parsing problems of a
CAM.
- Error reason is returned by function
block MC_CamTableSelect_ISD51x.
•
Danfoss_VLT_ISD510
- Contains the version information of the
library.
•
FB_ErrorConstants
-
Constants for errors inside POUs.
- The reason is given in an output
ErrorInfo.ErrorID that is available in all
POUs.
•
Intern_51x
- Constants that are needed internally for
the library.
- They are not intended to be used in an
application.
•
LabCam_51x
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