Configuration As A Twincat ® Nc Axis - Danfoss VLT Integrated Servo Drive ISD 510 System Operating Instructions Manual

Commissioning
NOTICE
It is recommended to put the SAB to a separate SYNC
unit so that the communication to the SAB is not
interrupted if the U
switched off due to an error.
Cycle time settings
The minimum cycle time is 400 µs. The ISD 510 devices
can run EtherCAT
500 µs. The devices are automatically parameterized by the
PLC on start-up, depending on the EtherCAT
of the physical interface. The system base time can be
accessed by selecting [SYSTEM-Configuration → Real-Time
Settings] in the TwinCAT
6 6
base time can then be used as EtherCAT
NOTICE
Set the task cycle time of the PLC program to be the
same as the EtherCAT
get lost and performance is reduced.
Set the PLC cycle time in TwinCAT
1. Double-click Task configuration in the Resources
tab.
2. Ensure that the PLC cycle time is the same as the
EtherCAT
Illustration 6.17 Task Configuration to Parameterize PLC Cycle
Time
NOTICE
After changing the task cycle time in TwinCAT
Control, carry out a ReScan of the PLC configuration
inside the TwinCAT
settings. Afterwards, activate the configuration in the
PLC.
54
VLT
supply to the servo drives is
AUX
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cycle times in multiples of 400 µs or
®
configuration
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System Manager. Multiples of this
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cycle times.
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cycle time. Otherwise data can
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PLC Control:
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cycle time.
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System Manager to update the
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® ®
Integrated Servo Drive ISD
6.4.2.3 Configuration as a TwinCAT
Axis
It is possible to use the servo drives with the built-in NC
functionality of TwinCAT
SAB needs to be done as described in
chapter 6.4.2.2 Creating a TwinCAT
1. In addition to the Danfoss_VLT_ISD_510.lib file,
include the TcMC2.lib file (the
Danfoss_VLT_ISD_510.lib file is still needed for the
SAB to be operated).
2. Create 1 instance of AXIS_REF (instead of
AXIS_REF_ISD51x) for each servo drive that is used
as an NC axis.
3.
Append the PLC project into the TwinCAT
System Manager, import the devices and add
them to TwinCAT
chapter 6.4.2.2 Creating a TwinCAT
however in the last step, answer the question if
the servo drive is used as an NC axis with Yes.
Then an NC task is created automatically.
In the TwinCAT
ration needs to be selected for the drives that are used as
NC axes.
1. Depending on the mode of operation to be used,
select either the slot CSP PDO or CSV PDO. Per
default, CSV PDO is mapped and pre-selected. If
the drive should work with CSP PDO, the variables
need to be mapped:
2. In the same tab, select the preferred Unit.
3. Depending on the selected Unit, adjust the
Scaling Factor for the axis encoder via menu [NC-
Configuration → NC-Task 1 SAF → Axes → Axis 1 →
Axis 1_Enc] in the Parameter tab.
Example: When the unit Degrees is selected, the
®
PLC
scaling factor is 360°/2
4. Set the Reference Velocity in the Parameter tab via
menu [NC-Configuration → NC-Task 1 SAF → Axes
→ Axis 1 → Axis 1_Enc.
5. Set the Output Scaling Factor (Velocity) to 125.
6. Test the functionality and the configuration in the
Online tab of the axis.
510 System
®
. Everything that is related to the
®
Project.
®
as described in
®
System Manager a different I/O Configu-
1a In the Settings Tab of the NC Axis select
[NC-Configuration → NC-Task 1 SAF →
Axes → Axis 1]. Click on the Link To (all
Types)... button and select the desired
servo drive.
20 = 0.00034332275390625.
®
NC
®
®
Project,
MG75K102