e
3
0
b
g
3
7
2
.1
0
Illustration 101: IPOsynchronousTasks Configuration
8. Expand entry
SystemInterruptTasks
in the tree structure and select the new entry
PeripheralFaultTask
.
9. In the
PeripheralFaultTask
window, activate checkbox
Use task in execution system
.
10. In the
Program assignment
area at the left side of the
PeripheralFaultTask
window, assign the program by selecting it and clicking
on the [>>] button. The program will then be moved to the
Programs used
section on the right side.
11. Click on
Close
to save and compile the settings.
6.15 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 process
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_UpdateProcessOutput_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 Power Supply Module (PSM 510) to control the DC-link voltage on the
output lines. its power stage. Call up this function block in every PLC cycle.
•
Use 1 instance of function block
DD_Power_DAM
for every Decentral Access Module (DAM 510) to control the DC-link voltage on
the output lines. its power stage. Call up this function block in every PLC cycle.
•
Use 1 instance of function block
DD_Power_ACM
for every Auxiliary Capacitors Module (ACM 510) to control the DC-link voltage on
the output lines. its power stage. 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.
Commissioning
Operating Guide | VLT® Multiaxis Servo Drive MSD 510 System
AQ262450196490en-000101 / 175R1170| 133
Danfoss A/S © 2019.10
Содержание VLT MSD 510
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