Danfoss VLT series Programming Guide

7. Select all entries Lib pdo rx1 to Lib pdo rx9 on the
right side of the window.
8. Right-click and select Change Multi Link….
9. In the Attach Variable 36.0 Byte(s) (Output)
window, select [PLC-Conguration →
MyFirstIsd510Project → Standard → .myAxis.RPDO].
10. Click on OK.
11.
Right-click on WcState via [I/O-Conguration →
I/O Devices → Device1 (EtherCAT
®
) → Box1 (VLT
®
Servo Access Box L1) → Drive2 (VLT
®
ISD 510
Integrated Servo Drive) → WcState] and select
Change Link….
12. In the Attach Variable State (Input) window, select
[PLC-Conguration → MyFirstIsd510Project →
Standard → .myAxis.WcState].
13. Click on OK.
14.
Right-click on State via
[I/O-Conguration → I/O
Devices → Device1 (EtherCAT
®
) → Box1 (VLT
®
Servo Access Box L1) → Drive2 (VLT
®
ISD 510
Integrated Servo Drive) → InfoData] and select
Change Link….
15. In the Attach Variable State (Input) window, select
[PLC-Conguration → MyFirstIsd510Project →
Standard → .myAxis.State.
16. Click on OK.
17.
Right-click on netId via [I/O-Conguration → I/O
Devices → Device1 (EtherCAT
®
) → Box1 (VLT
®
Servo Access Box L1) → Drive2 (VLT
®
ISD 510
Integrated Servo Drive) → InfoData → AdsAddr]
and select Change Link….
18. In the Attach Variable netId (Input) window, select
[PLC-Conguration → MyFirstIsd510Project →
Standard → .myAxis.AmsNetId].
19. Click on OK.
20.
Right-click on port via [I/O-Conguration → I/O
Devices → Device1 (EtherCAT
®
) → Box1 (VLT
®
Servo Access Box L1) → Drive2 (VLT
®
ISD 510
Integrated Servo Drive) → InfoData → AdsAddr]
and select Change Link….
21. In the Attach Variable port (Input) window, select
[PLC-Conguration → MyFirstIsd510Project →
Standard → .myAxis.NodeNumber].
22. Click on OK.
Illustration 6.7 Attaching Inputs and Outputs to the Physical
Data Points
NOTICE
Repeat the steps 2–22 for Box 1 (VLT
®
Servo Access Box
L1) and the instance mySAB.
To transfer the mappings back to the PLC program, select
Activate Conguration… in menu item Actions.
After a rebuild in TwinCAT
®
PLC Control, the TwinCAT
®
conguration is according to Illustration 6.8 (here myAxis
and mySecondAxis are instances of AXIS_REF_ISD51x and
mySAB is an instance of SAB_REF). The concrete addresses
can be dierent.
Illustration 6.8 TwinCAT
®
Conguration: I/O Mapping of 2
Servo Drives and 1 SAB
Programming
VLT
®
Integrated Servo Drive ISD
®
510 System
166 Danfoss A/S © 01/2017 All rights reserved. MG36D102
6
6

Danfoss VLT series Specifications

General

Series	VLT
Category	DC Drives
Output Voltage	0-100% of input voltage
Protection Features	Overvoltage, Undervoltage, Overcurrent, Overtemperature, Short Circuit, Ground Fault
Communication Interfaces	Profibus, CANopen
Enclosure Rating	IP20, IP21, IP55, IP66
Cooling Method	Forced Air Cooling, Convection Cooling
Control Mode	Sensorless Vector, Closed Loop Vector
Ambient Temperature	-10°C to +50°C (14°F to 122°F)