Programming Guidelines For Simotion Scout - Danfoss VLT MSD 510 Operating Manual

Operating Guide | VLT® Multiaxis Servo Drive MSD 510 System
Illustration 101:
8. Expand entry SystemInterruptTasks in the tree structure and select the new entry PeripheralFaultTask.
9. In the PeripheralFaultTask window, activate checkbox Use task in execution system.
10. In the Program assignment area at the left side of the PeripheralFaultTask window, assign the program by selecting it and clicking
on the [>>] button. The program will then be moved to the Programs used section on the right side.
11. Click on Close to save and compile the settings.
6.15 Programming Guidelines for SIMOTION SCOUT®
Recommendations for implementation:
• Only assign the variable InputLogAddress in the AXIS_REF_DDS structure once for each axis at the beginning of the program. Use
the system function _getLogicalAddressOfIoVariable to get this address from the I/O variable of the address list. Use the input
address of the module as the I/O variable. Only assign this variable in the 1st PLC cycle for initialization.
• Initialize parameters that usually do not change only once at the beginning of the program.
• Only assign the variable Quality in the AXIS_REF_DDS structure once for each axis at the beginning of the program. Use the system
function _quality.var-name. Carry out this check for every PLC cycle.
• Call up the function blocks DD_UpdateProcessInput_DDS and DD_UpdateProcessOutput_DDS for every axis to update the process
image partition of inputs and outputs. Call up these function blocks in every PLC cycle.
• Only create instructions and other program parts between calling up function blocks DD_UpdateProcessInput_DDS and
DD_UpdateProcessOutput_DDS.
• Call up function blocks that provide status or error information with Enable input at the beginning of the program.
• Use 1 instance of function block MC_Power_DDS for every axis to control its power stage. Call up this function block in every PLC
cycle.
• Use 1 instance of function block DD_Power_PSM for every Power Supply Module (PSM 510) to control the DC-link voltage on the
output lines. its power stage. Call up this function block in every PLC cycle.
• Use 1 instance of function block DD_Power_DAM for every Decentral Access Module (DAM 510) to control the DC-link voltage on
the output lines. its power stage. Call up this function block in every PLC cycle.
• Use 1 instance of function block DD_Power_ACM for every Auxiliary Capacitors Module (ACM 510) to control the DC-link voltage on
the output lines. its power stage. Call up this function block in every PLC cycle
• Call up function blocks that execute (motion) commands at the end of the program.
• Do not use any UDTs, POUs, enumerations, or constants starting with the prefix iDD_.
• Do not change the reference to the axis on a function block while it is busy.
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IPOsynchronousTasks Configuration
Commissioning
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