Programming With Twincat; Requirements For Programming With Twincat; Creating A Twincat® Project; Including The Twincat® Library Into A Twincat® Project - Danfoss VLT ISD 510 Operating Manual

VLT® Servo Drive System ISD 510/DSD 510
Operating Guide
6.11 Programming with TwinCAT®
6.11.1 Requirements for Programming with TwinCAT®
To integrate the ISD 510/DSD 510 servo drives and the PSM 510, DAM 510, or ACM 510 into a TwinCAT
are required:
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Library for the ISD 510 servo system: Danfoss_VLT_ServoMotion_V_x_y_z.lib
• ESI file (EtherCAT Slave Information) for the standard ISD 510 servo drive: Danfoss_ISD510_S.xml
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• ESI file (EtherCAT Slave Information) for the advanced ISD 510 servo drive: Danfoss_ISD510_A.xml
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• ESI file (EtherCAT Slave Information) for the standard DSD 510 servo drive: Danfoss_DSD510_S.xml
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• ESI file (EtherCAT Slave Information) for the advanced DSD 510 servo drive: Danfoss_DSD510_A.xml
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• ESI file (EtherCAT Slave Information) for the Power Supply Module: Danfoss_PSM510.xml
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• ESI file (EtherCAT Slave Information) for the Decentral Access Module: Danfoss_DAM510.xml
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• ESI file (EtherCAT Slave Information) for the Auxiliary Capacitor Module: Danfoss_ACM510.xml
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6.11.2 Creating a TwinCAT® Project
Information on how to install TwinCAT
Open the information system and select [TwinCAT 2 → TwinCAT Quick Start → Installation].
Information on how to create a project in TwinCAT
sys.beckhoff.com/). Open the information system and select [TwinCAT 2 → TwinCAT Quick Start or TwinCAT 2 → TX1200 TwinCAT
PLC → TwinCAT PLC Control].
6.11.3 Including the TwinCAT® Library into a TwinCAT® Project
Procedure
1.
In the Resources tab of TwinCAT
2.
In the upper left area of the Library Manager window, right-click and select Additional Library....
3. Select the Danfoss_VLT_ServoMotion_V_x_y_z file (according to the location on the hard drive).
4.
Click on Open. Now the libraries are integrated into the TwinCAT
Illustration 66: Library Manager after Including the ServoMotion Library
Inside the library, the POUs are organized into folders:
• DDS_Drive
• Contains program organization units (POUs) defined by PLCopen
Danfoss (name starting with DD_). The Danfoss POUs provide additional functionality for the axis.
• It is possible to combine POUs defined by PLCopen
96 | Danfoss A/S © 2020.08
can be found in detail in the Beckhoff Information System (https://infosys.beckhoff.com/).
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can be found in detail in the Beckhoff Information System
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PLC Control, open the Library Manager.
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PLC control project.
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(name starting with MC_) and POUs defined by
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with POUs defined by Danfoss.
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AQ262449648484en-000101 / 175R1135
Commissioning
project, the following files
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(https://info-