N O T I C E- Set the task cycle time of the PLC program to be the same as the EtherCAT® cycle time. Otherwise data may be lost andperformance reduced.Procedure1. Double-click Task configuration in the Resources tab.2. Ensure that the PLC cycle time is the same as the EtherCAT® cycle time.e30bg356.10Illustration 80: Task Configuration to Parameterize the PLC Cycle TimeN O T I C E- After changing the task cycle time in TwinCAT® PLC Control, carry out a ReScan of the PLC configuration insidethe TwinCAT® System Manager to update the settings. Afterwards, activate the configuration in the PLC.6.12.15 Configuration as a TwinCAT® NC AxisContext:The servo drives can be used with the built-in NC functionality of TwinCAT®.Everything that is related to the PSM 510 and DAM 510 must be done as described in 6.12.2 Creating a TwinCAT® Project.Procedure1. In addition to the Danfoss_VLT_ServoMotion_V_x_y_z.lib file, include the TcMC2.lib file.2. Create 1 instance of AXIS_REF (instead of AXIS_REF_DDS) for each ISD 510/DSD 510 servo drive that is used as an NC axis.3. Append the PLC project into the TwinCAT® System Manager, import the devices, and add them to TwinCAT®, however in the laststep, answer the question if the servo drive is used as an NC axis with Yes. Then an NC task is created automatically.6.12.15.1 I/O Configuration for Servo Drives used as NC AxesContext:In the TwinCAT® System Manager, select a different I/O Configuration for the servo drives used as NC axes.CommissioningOperating Guide | VLT® Multiaxis Servo Drive MSD 510 SystemAQ262450196490en-000101 / 175R1170| 111Danfoss A/S © 2019.10
