Danfoss VLT Integrated Servo Drive ISD 510 System Operating Instructions Manual page 54

Commissioning
6 6
Illustration 6.13 TwinCAT
the PLC Project and Adding an SAB and 2 Servo Drives
I/O configuration and I/O mapping
When connecting >1 servo drive, connect port C (X2) of
the previous drive to port A (X1) of the next servo drive.
The SAB port assignment must also be followed, see
chapter 3.8.1 EtherCAT
present, the TwinCAT
function can be used to automatically add the connected
devices to the configuration in the correct order.
The servo drive has to be configured so that the PDO
mapping matches the requirements of the library. This is
done inside the TwinCAT
52
®
VLT Integrated Servo Drive ISD
®
System Manager after Appending
®
. If the hardware set-up is already
®
System Manager Scan devices
®
System Manager.
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®
510 System
1. Click on the ISD servo drive entry.
2. Select the Slots tab on the right side of the
window.
3. Remove the current PDO configuration by
selecting the entry Module 1 (CSV PDO) in the Slot
box.
4. Click on X.
5. Select Library PDO in the Module box.
6. Click on <.
Illustration 6.14 ISD 510 Servo Drive with Correct I/O Configu-
ration
Attach the input and output variables of the PLC program
to the physical inputs and outputs of the device. This is
®
done inside the TwinCAT System Manager so that the
library has access to all necessary objects.
1. Select Library TxPDO via menu [I/O-Configuration
→ I/O Devices → Device1 (EtherCAT
® Servo Access Box L1) → Drive 2 (VLT
(VLT
510 Integrated Servo Drive) → Module 1 (Library
PDO) → Library TxPDO].
2. Select all entries Lib pdo tx1 to Lib pdo tx9 on the
right side of the window (see Illustration 6.15).
3. Right-click and select Change Multi Link....
4. In the Attach Variable 36.0 Byte(s) (Input) window,
select [PLC-Configuration → MyFirstIsd510Project
→ Standard → .myAxis.TPDO].
Ensure that the Matching Size option is selected
in the Attach Variable window.
5. Click OK.
6. Click on Library RxPDO via menu [I/O-Configu-
ration → I/O Devices → Device1 (EtherCAT
®
Servo Access Box L1) → Drive2 (VLT
Box1 (VLT
ISD 510 Integrated Servo Drive) → Module1
(Library PDO) → Library RxPDO].
7. Select all entries Lib pdo rx1 to Lib pdo rx9 on the
right side of the window.
® ) → Box 1
®
ISD
® ) →
®
MG75K102