Danfoss VLT Series Programming Manual page 164

Programming
6.3 TwinCAT
6.3.1 Programming with TwinCAT
6.3.1.1 ISD Deliverables
To integrate the servo drive and the SAB into a TwinCAT
project, the following files are required:
•
Library for the ISD 510 servo system:
Danfoss_VLT_ISD_510.lib
•
ESI file (EtherCAT
ISD 510 servo drive: Danfoss ISD 500.xml
•
ESI file (EtherCAT
6 6
Danfoss SAB.xml
6.3.1.2 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
(infosys.beckhoff.com). Open the information system and
select [TwinCAT 2 → TwinCAT Quick Start or TwinCAT 2 →
TX1200 TwinCAT PLC → TwinCAT PLC Control].
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
Inside the library, the POUs are organized into folders:
•
BasCam_51x
-
•
ISD_51x
-
162
VLT
®
®
®
Slave Information) for the
®
Slave Information) for the SAB:
®
Project
®
can be found in
®
PLC Control,
®
PLC control project.
Contains POUs for the creation of basic
CAMs.
Contains POUs defined by PLCopen
(Name starting with MC_) and POUs
defined by Danfoss (name starting with
DD_). The POUs defined by Danfoss
Danfoss A/S © 01/2017 All rights reserved.
® ®
Integrated Servo Drive ISD
®
•
Intern_51x
•
LabCam_51x
•
SAB_51x
®
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.
Illustration 6.1 Library Manager after Including the ISD 51x
Library
®
510 System
provide additional functionality for the
axis.
-
It is possible to combine POUs defined
®
by PLCopen with POUs defined by
Danfoss.
- The names of the POUs that target the
servo drive all end with _ISD51x.
- Contains POUs that are needed
internally for the libraries.
- Do not use these POUs in an
application.
- Contains POUs for the creation of
labeling CAMs.
- Contains POUs 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.
MG36D102