Danfoss VLT ISD 510 Operating Manual page 151

VLT® Servo Drive System ISD 510/DSD 510
Operating Guide
• Using the Danfoss Library or the TwinCAT
• Bit-wise readout of the status.
8.8.1 Commissioning Test using Libraries
Depending on the application, 1 or both of the following libraries are required to program the commissioning test:
• Danfoss Library
- MC_ReadAxisInfo_DDS
- MC_ReadStatus_DDS
- MC_ReadAxisError_DDS
- MC_Reset_DDS
• TwinCAT Library
®
- MC_ReadStatus
- MC_ReadAxisError
- MC_Reset
Table 36: 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).
Danfoss A/S © 2020.08
Library.
®
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-
be activated without
queOff = True for all servo drives on the
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
MC_ReadAxisInfo_DDS output SafeTor-
while the servo drives
queOff = True
are running.
and
MC_ReadStatus_DDS output ErrorStop =
True
and
MC_ReadAxisError_DDS output AxisEr-
rorID = 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.
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