1.
2.
1.
2.
3.
-
-
-
N O T I C E
Connect the PSM 510, DAM 510, and ACM 510 to 1 SYNC unit and the ISD 510/DSD 510 servo drives to another. This protects
against interruptions in communication to the PSM 510 and DAM 510 if the U
AUX
supply to the servo drives is switched off
due to an error.
6.11.14 Setting the PLC Cycle Time in TwinCAT® PLC Control
The minimum cycle time is 400 µs. The ISD 510 devices can run EtherCAT
®
cycle times in multiples of 400 µs or 500 µs. The devices
are automatically parameterized by the PLC on start-up, depending on the EtherCAT
®
configuration of the physical interface. To ac-
cess the system base time, select [SYSTEM-Configuration
→
Real-Time Settings] in the TwinCAT
®
System Manager. Multiples of this
base time can then be used as EtherCAT
®
cycle times.
N O T I C E
Set the task cycle time of the PLC program to be the same as the EtherCAT
®
cycle time. Otherwise data may be lost and
performance reduced.
Procedure
Double-click
Task configuration
in the
Resources
tab.
Ensure that the PLC cycle time is the same as the EtherCAT
®
cycle time.
e
3
0
b
g
3
5
6
.1
0
Illustration 74: Task Configuration to Parameterize the PLC Cycle Time
N O T I C E
After changing the task cycle time in
TwinCAT® PLC Control
, carry out a
ReScan
of the PLC configuration in-
side the
TwinCAT® System Manager
to update the settings. Afterwards, activate the configuration in the PLC.
6.11.15 Configuration as a TwinCAT® NC Axis
The servo drives can be used with the built-in NC functionality of TwinCAT
®
.
Everything that is related to the PSM 510 and DAM 510 must be done as described in
6.11.2 Creating a TwinCAT® Project
.
Procedure
In addition to the
Danfoss_VLT_ServoMotion_V_x_y_z.lib
file, include the
TcMC2.lib
file.
Create 1 instance of
AXIS_REF
(instead of
AXIS_REF_DDS
) for each ISD 510/DSD 510 servo drive that is used as an NC axis.
Append the PLC project into the TwinCAT
®
System Manager, import the devices, and add them to TwinCAT
®
, however in the
last step, answer the question if the servo drive is used as an NC axis with
Yes
. Then an NC task is created automatically.
6.11.15.1 I/O Configuration for Servo Drives used as NC Axes
In the TwinCAT
®
System Manager, select a different I/O Configuration for the servo drives used as NC axes.
Procedure
AQ262449648484en-000101 / 175R1135 | 105
Danfoss A/S © 2020.08
Commissioning
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide
