Danfoss VLT MSD 510 Operating Manual page 158

Operating Guide | VLT® Multiaxis Servo Drive MSD 510 System
• Danfoss Library
- MC_ReadAxisInfo_DDS
- MC_ReadStatus_DDS
- MC_ReadAxisError_DDS
- MC_Reset_DDS
®
• TwinCAT Library
- MC_ReadStatus
- MC_ReadAxisError
- MC_Reset
Table 30: Commissioning Test using Libraries
Test steps
1 Run the application (all
the servo drives are ena-
bled).
2 Stop the application.
3 Disable all the servo
drives.
4 Enable STO.
5 Disable STO.
6 Run the application (all
the servo drives are ena-
bled).
7 Enable STO.
8 Try to run the applica-
tion (enable 1 or more
servo drives).
158 | Danfoss A/S © 2019.10
Reason for the test Expected result for Danfoss library
step
Check that the appli- Application runs as expected.
cation can run.
– All servo drives are at speed 0 RPM.
– All servo drives are disabled.
Check that STO can MC_ReadAxisInfo_DDS output SafeTor-
queOff = True for all servo drives on the
be activated without
error. corresponding line.
Check that STO can MC_ReadAxisInfo_DDS output SafeTor-
be deactivated with- queOff = False for all servo drives on the
out error. No reset is corresponding line.
required.
– Application runs as expected.
Check that errors are Motors are torque free. Motors coast
generated correctly and stop after some time.
when STO is activated
while the servo drives MC_ReadAxisInfo_DDS output SafeTor-
are running. queOff = True
and
MC_ReadStatus_DDS output ErrorStop =
True
and
MC_ReadAxisError_DDS output AxisError-
ID = 0xFF80 on all enabled servo drives.
Checks that the STO Application does not run.
function is working
correctly.
Functional Safety Concept
Expected result for Twin‐
®
CAT library
Application runs as expec-
ted.
All servo drives are at speed
0 RPM.
All servo drives are disabled.
–
–
Application runs as expec-
ted.
Motors are torque free. Mo-
tors coast and stop after
some time.
For enabled motors:
MC_ReadStatus output Error-
Stop = True
and
MC_ReadAxisError output Axi-
sErrorID = 0xFF80 on all ena-
bled servo drives.
Application does not run.
AQ262450196490en-000101 / 175R1170