6.4.1.1 Requirements 168
6.4.1.2 Creating an Automation Studio™ Project
168
6.4.1.3 Connecting to the PLC 172
6.5 Function Block Descriptions
172
6.5.1 Overview PLCopen
®
172
6.5.1.1 Naming Conventions 172
6.5.1.2 Structure of Library/Package 172
6.5.1.3 PLCopen
®
State Machine 172
6.5.2 General Input/Output Behavior 174
6.5.2.1 Function Blocks with Execute Input 174
6.5.2.2 Function Blocks with Enable Input 175
6.5.2.3 Error Indication 175
6.5.2.4 Technical Units in the PLC library 176
6.5.3 Programming Guidelines 176
6.5.4 Drive – Administrative 177
6.5.4.1 AXIS_REF_ISD51x 177
6.5.4.2 MC_Power_ISD51x 177
6.5.4.3 MC_Reset_ISD51x 178
6.5.4.4 MC_ReadStatus_ISD51x 179
6.5.4.5 MC_ReadAxisError_ISD51x 179
6.5.4.6 DD_ReadAxisWarning_ISD51x 180
6.5.4.7 DD_ReadVersion_ISD51x 180
6.5.4.8 DD_UpdateFirmware_ISD51x 181
6.5.4.9 MC_ReadAxisInfo_ISD51x 182
6.5.4.10 MC_ReadMotionState_ISD51x 182
6.5.4.11 MC_ReadActualPosition_ISD51x 183
6.5.4.12 MC_ReadActualVelocity_ISD51x 183
6.5.4.13 MC_ReadActualTorque_ISD51x 184
6.5.4.14 MC_ReadDigitalInput_ISD51x 185
6.5.4.15 DD_ReadAnalogInput_ISD51x 185
6.5.4.16 MC_ReadDigitalOutput_ISD51x 186
6.5.4.17 DD_WriteDigitalOutput_ISD51x 186
6.5.4.18 MC_ReadParameter_ISD51x and MC_ReadBoolParameter_ISD51x 187
6.5.4.19 DD_ReadParameter4_ISD51x 188
6.5.4.20 DD_ReadParameter_ISD51x 189
6.5.4.21 MC_WriteParameter_ISD51x 189
6.5.4.22 DD_WriteParameter_ISD51x 190
6.5.4.23 DD_WriteParameter4_ISD51x 190
6.5.4.24 DD_Trace_ISD51x 191
6.5.4.25 DD_BrakeHandling_ISD51x 193
Contents
VLT
®
Integrated Servo Drive ISD
®
510 System
6 Danfoss A/S © 01/2017 All rights reserved. MG36D102
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