•
•
•
-
-
-
-
•
-
-
-
Using the Danfoss Library or the TwinCAT
®
Library.
Bit-wise readout of the status.
8.8.1 Commissioning Test using Libraries
Depending on the application, 1 or both of the following libraries are required to program the commissioning test:
Danfoss Library
MC_ReadAxisInfo_DDS
MC_ReadStatus_DDS
MC_ReadAxisError_DDS
MC_Reset_DDS
TwinCAT
®
Library
MC_ReadStatus
MC_ReadAxisError
MC_Reset
Table 36: Commissioning Test using Libraries
Test steps
Reason for the test
step
Expected result for Danfoss library
Expected result for Twin-
CAT
®
library
1
Run the application (all
the servo drives are ena-
bled).
Check that the appli-
cation can run.
Application runs as expected.
Application runs as expec-
ted.
2
Stop the application.
–
All servo drives are at speed 0 RPM.
All servo drives are at speed
0 RPM.
3
Disable all the servo
drives.
–
All servo drives are disabled.
All servo drives are disabled.
4
Enable STO.
Check that STO can
be activated without
error.
MC_ReadAxisInfo_DDS
output
SafeTor-
queOff
= True for all servo drives on the
corresponding line.
–
5
Disable STO.
Check that STO can
be deactivated with-
out error. No reset is
required.
MC_ReadAxisInfo_DDS
output
SafeTor-
queOff
= False for all servo drives on the
corresponding line.
–
6
Run the application (all
the servo drives are ena-
bled).
–
Application runs as expected.
Application runs as expec-
ted.
7
Enable STO.
Check that errors are
generated correctly
when STO is activated
while the servo drives
are running.
Motors are torque free. Motors coast
and stop after some time.
MC_ReadAxisInfo_DDS
output
SafeTor-
queOff
= True
and
MC_ReadStatus_DDS
output
ErrorStop
=
True
and
MC_ReadAxisError_DDS
output
AxisEr-
rorID
= 0xFF80 on all enabled servo
drives.
Motors are torque free. Mo-
tors coast and stop after
some time.
For enabled motors:
MC_ReadStatus output Error-
Stop
= True
and
MC_ReadAxisError output Axi-
sErrorID
= 0xFF80 on all ena-
bled servo drives.
8
Try to run the applica-
tion (enable 1 or more
servo drives).
Checks that the STO
function is working
correctly.
Application does not run.
Application does not run.
AQ262449648484en-000101 / 175R1135 | 151
Danfoss A/S © 2020.08
Functional Safety Concept
VLT® Servo Drive System ISD 510/DSD 510
Operating Guide
