Danfoss VLT Series Programming Manual page 168

Programming
7. Select all entries Lib pdo rx1 to Lib pdo rx9 on the
right side of the window.
8. Right-click and select Change Multi Link....
9. In the Attach Variable 36.0 Byte(s) (Output)
window, select [PLC-Configuration →
MyFirstIsd510Project → Standard → .myAxis.RPDO].
10. Click on OK.
Right-click on WcState via [I/O-Configuration →
11.
I/O Devices → Device1 (EtherCAT
Servo Access Box L1) → Drive2 (VLT
Integrated Servo Drive) → WcState] and select
Change Link....
12. In the Attach Variable State (Input) window, select
6 6
[PLC-Configuration → MyFirstIsd510Project →
Standard → .myAxis.WcState].
13. Click on OK.
Right-click on State via [I/O-Configuration → I/O
14.
Devices → Device1 (EtherCAT
Servo Access Box L1) → Drive2 (VLT
Integrated Servo Drive) → InfoData] and select
Change Link....
15. In the Attach Variable State (Input) window, select
[PLC-Configuration → MyFirstIsd510Project →
Standard → .myAxis.State.
16. Click on OK.
Right-click on netId via [I/O-Configuration → I/O
17.
Devices → Device1 (EtherCAT
Servo Access Box L1) → Drive2 (VLT
Integrated Servo Drive) → InfoData → AdsAddr]
and select Change Link....
18. In the Attach Variable netId (Input) window, select
[PLC-Configuration → MyFirstIsd510Project →
Standard → .myAxis.AmsNetId].
19. Click on OK.
Right-click on port via [I/O-Configuration → I/O
20.
Devices → Device1 (EtherCAT
Servo Access Box L1) → Drive2 (VLT
Integrated Servo Drive) → InfoData → AdsAddr]
and select Change Link....
21. In the Attach Variable port (Input) window, select
[PLC-Configuration → MyFirstIsd510Project →
Standard → .myAxis.NodeNumber].
22. Click on OK.
166
®
VLT Integrated Servo Drive ISD
® ®
) → Box1 (VLT
®
ISD 510
Illustration 6.7 Attaching Inputs and Outputs to the Physical
Data Points
NOTICE
Repeat the steps 2–22 for Box 1 (VLT
® ) → Box1 (VLT ®
L1) and the instance mySAB.
®
ISD 510
To transfer the mappings back to the PLC program, select
Activate Configuration... in menu item Actions.
After a rebuild in TwinCAT
configuration is according to Illustration 6.8 (here myAxis
and mySecondAxis are instances of AXIS_REF_ISD51x and
mySAB is an instance of SAB_REF). The concrete addresses
can be different.
® ) → Box1 (VLT ®
®
ISD 510
® ) → Box1 (VLT ®
®
ISD 510
Illustration 6.8 TwinCAT
Servo Drives and 1 SAB
Danfoss A/S © 01/2017 All rights reserved.
®
510 System
®
®
PLC Control, the TwinCAT
®
Configuration: I/O Mapping of 2
Servo Access Box
®
MG36D102