Danfoss VLT Series Programming Manual page 167

Programming
®
Illustration 6.5 TwinCAT System Manager after Appending 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 servo drive to port A (X1) of the next servo
drive. Also make the port assignment for the SAB. If the
hardware set-up is already present, the TwinCAT
Manager Scan devices function can be used to automat-
ically add the connected devices to the configuration in
the correct order.
Configure the servo drive, so that the PDO mapping
matches the requirements of the library, via the TwinCAT
System Manager.
MG36D102
Programming Guide
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Illustration 6.6 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. Use the
TwinCAT
access to all necessary objects.
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System
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Danfoss A/S © 01/2017 All rights reserved.
Click on the ISD servo drive entry.
Select the Slots tab on the right side of the
window.
Remove the current PDO configuration by
selecting the entry Module 1 (CSV PDO) in the Slot
box.
Click on X.
Select Library PDO in the Module box.
Click on <.
®
System Manager for this so that the library has
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].
Select all entries Lib pdo tx1 to Lib pdo tx9 on the
right side of the window (see Illustration 6.7).
Right-click and select Change Multi Link....
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.
Click on OK.
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].
6 6
® ) → Box 1
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ISD
® ) →
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