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6.14 Programming Guidelines for SIMOTION SCOUT®
Recommendations for implementation:
Only assign the variable
InputLogAddress
in the
AXIS_REF_DDS
structure once for each axis at the beginning of the program. Use
the system function
_getLogicalAddressOfIoVariable
to get this address from the I/O variable of the address list. Use the input
address of the module as the I/O variable. Only assign this variable in the 1st PLC cycle for initialization.
Initialize parameters that usually do not change only once at the beginning of the program.
Only assign the variable
Quality
in the
AXIS_REF_DDS
structure once for each axis at the beginning of the program. Use the
system function
_quality.var-name
. Carry out this check for every PLC cycle.
Call up the function blocks
DD_UpdateProcessInput_DDS
and
DD_UpdateProcessOutput_DDS
for every axis to update the proc-
ess image partition of inputs and outputs. Call up these function blocks in every PLC cycle.
Only create instructions and other program parts between calling up function blocks
DD_UpdateProcessInput_DDS
and
DD_Up-
dateProcessOutput_DDS
.
Call up function blocks that provide status or error information with
Enable input
at the beginning of the program.
Use 1 instance of function block
MC_Power_DDS
for every axis to control its power stage. Call up this function block in every PLC
cycle.
Use 1 instance of function block
DD_Power_PSM
for every PSM 510 to control the DC-link voltage on the output lines. Call up
this function block in every PLC cycle.
Use 1 instance of function block
DD_Power_DAM
for every DAM 510 to control the DC-link voltage on the output lines. Call up
this function block in every PLC cycle.
Use 1 instance of function block
DD_Power_ACM
for every ACM 510 to control the DC-link voltage on the output lines. Call up
this function block in every PLC cycle
Call up function blocks that execute (motion) commands at the end of the program.
Do not use any UDTs, POUs, enumerations, or constants starting with the prefix
iDD_
.
Do not change the reference to the axis on a function block while it is busy.
6.15 Programming with TIA
6.15.1 Requirements for Programming with TIA
The following files are required to integrate the servo system modules into a TIA project. In the filename,
2.xx
represents the version
number and
yyyymmdd
represents the date.
Table 27: Required Files
System Module
File required
Whole servo system
Package of libraries for the ISD 510 servo system: Danfoss_VLT_ServoMotion_V_x_y_z.zalxx.
ISD 510 servo drive
GSDML file (General station description):
GSDML-V2.xx-Danfoss-ISD-yyyymmdd.xml
DSD 510 servo drive
GSDML file (General station description):
GSDML-V2.xx-Danfoss-DSD-yyyymmdd.xml
Power Supply Module PSM 510
GSDML file (General station description):
GSDML-V2.xx-Danfoss-PSM-yyyymmdd.xml
Decentral Access Module DAM 510
GSDML file (General station description):
GSDML-V2.xx-Danfoss-DAM-2Port-IRT-yyyymmdd.xml
GSDML-V2.xx-Danfoss-DAM-3Port-RT-yyyymmdd.xml
Auxiliary Capacitors Module
ACM 510
GSDML file (General station description):
GSDML-V2.xx-Danfoss-ACM-yyyymmdd.xml
AQ262449648484en-000101 / 175R1135 | 123
Danfoss A/S © 2020.08
Commissioning
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide
