6.12.11 I/O Configuration and I/O MappingContext:When connecting >1 SDM 511/SDM 512 drive module or servo drive, connect port C (X2) of the previous servo drive to port A (X1) ofthe next servo drive. Also carry out the port assignment for the Decentral Access Module (DAM 510).If the hardware setup is already present, the TwinCAT® System Manager Scan devices function can be used to automatically add theconnected devices to the configuration in the correct order.Using the TwinCAT® System Manager, configure the SDM 511/SDM 512 drive module or servo drive so that the PDO mapping matchesthe requirements of the library.Procedure (Example for an ISD 510 servo drive)1. Click on the ISD 510 servo drive entry.2. Select the Slots tab on the right side of the window.3. Remove the current PDO configuration by selecting the entry Module 1 (CSV PDO) in the Slot box.4. Click on X.5. Select Library PDO in the Module box.6. Click on <.e30bg353.11Illustration 77: ISD 510 Servo Drive with Correct I/O Configuration6.12.12 Attaching the Input and Output Variables to the Physical Data PointsContext:Use the TwinCAT® System Manager to attach the input and output variables of the PLC program to the physical inputs and outputs ofthe device. This ensures that the library has access to all necessary objects.W A R N I N G- Repeat steps 2–22 for Box 1 (VLT® Power Supply Module) and the instance myPSM.- Repeat steps 2–22 for Box 2 (VLT® Decentral Access Module) and the instance myDAM.CommissioningOperating Guide | VLT® Multiaxis Servo Drive MSD 510 SystemAQ262450196490en-000101 / 175R1170108 | Danfoss A/S © 2019.10
