Danfoss VLT Series Programming Manual page 163

Programming
6 Programming
6.1 ID Assignment
6.1.1 EtherCAT ®
®
EtherCAT needs no special ID assignment (IP address).
Special ID assignment is only required when using indirect
communication via the ISD Toolbox software (see
chapter 5.3 ISD Toolbox Communication for further
information).
6.1.2 Ethernet POWERLINK
6.1.2.1 Single Device ID Assignment
When assigning an ID to a single device, use the Device
Information window in the ISD Toolbox (see
chapter 5.5.2.1 Device Information Window). Setting an ID to
a device can also be done via the LCP (see chapter 4 Local
Control Panel (LCP) Operation).
Setting the Node ID directly on a servo drive or on the
SAB
All IP-related parameters are located in parameter group
12-0* IP Settings. According to the Ethernet POWERLINK
standard, the IP address is fixed to 192.168.100.xxx. The
last number is the value in parameter 12-60 Node ID. For
parameter 12-02 Subnet Mask, the IP address is fixed to
255.255.255.0 and cannot be changed.
Attach the LCP to the servo drive or SAB for which the
Node ID should be changed. Change the value in
parameter 12-60 Node ID to select the desired IP address.
Setting the Node ID for a single servo drive via the SAB
It is also possible to change the Node ID of a servo drive
when the LCP is connected to the SAB. This functionality is
contained in parameter group 54-** ID Assignment on the
SAB in sub-group 54-1* Manual.
1. Attach the LCP to the SAB that is connected to
the servo drive for which the Node ID should be
changed.
2. Configure the parameters:
2a 54-10 EPL ID assignment line
2b 54-11 Drive index (position of the servo
drive in the line)
2c 51-12 EPL ID assignment assign ID
3. Set parameter 54-13 EPL ID assignment start to [1]
start.
MG36D102
Programming Guide
®
®
Danfoss A/S © 01/2017 All rights reserved.
6.1.2.2 Multiple Device ID Assignment
When assigning IDs to several devices (for example, when
setting up a new network), use the ISD Toolbox subtool
SAB ID assignment (see chapter 5.7.11 SAB ID Assignment via
®
Ethernet POWERLINK (SAB only)). Setting the IDs of all the
servo drives connected to an SAB at the same time can
also be done via the LCP when it is connected to the SAB
(see chapter 3 Servo Access Box (SAB) Operation).
Setting the Node IDs of all servo drives on an SAB line
The automatic SAB ID assignment is used for automatically
setting the Node IDs on all servo drives for a specified SAB
line. This functionality is contained in parameter group 54-
** ID Assignment on the SAB in sub-group 54-0* Automatic.
1. Attach the LCP to the SAB that is connected to
the servo drives for which the Node ID should be
changed.
2. Configure the parameters:
2a 54-02 EPL ID assignment line
2b 54-03 EPL ID assignment start ID
3. Set parameter 54-04 EPL ID assignment start to [1]
start.
6.2 Basic Programming
The libraries provided for the ISD 510 servo system can be
®
used in TwinCAT V2 and in the Automation Studio™
(Version 3.0.90 and 4.x, supported platform SG4)
environment to easily integrate the functionality without
the need of special motion runtime on the controller. The
provided function blocks conform to the PLCopen
standard. Knowledge of the underlying fieldbus communi-
®
cation and/or the CANopen
necessary.
The library contains:
•
Function blocks for controlling and monitoring
the servo drive and the SAB.
•
Function blocks for all available motion
commands of the servo drive.
•
Function blocks and structures for creating Basic
CAM profiles.
•
Function blocks and structures for creating
Labeling CAM profiles.
®
CiA DS 402 profile is not
161
6 6