• Danfoss Library- MC_ReadAxisInfo_DDS- MC_ReadStatus_DDS- MC_ReadAxisError_DDS- MC_Reset_DDS• TwinCAT® Library- MC_ReadStatus- MC_ReadAxisError- MC_ResetTable 30: Commissioning Test using LibrariesTest steps Reason for the teststepExpected result for Danfoss library Expected result for Twin‐CAT® library1 Run the application (allthe 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 speed0 RPM.3 Disable all the servodrives.– All servo drives are disabled. All servo drives are disabled.4 Enable STO. Check that STO canbe activated withouterror.MC_ReadAxisInfo_DDS output SafeTor-queOff = True for all servo drives on thecorresponding line.–5 Disable STO. Check that STO canbe deactivated with-out error. No reset isrequired.MC_ReadAxisInfo_DDS output SafeTor-queOff = False for all servo drives on thecorresponding line.–6 Run the application (allthe servo drives are ena-bled).– Application runs as expected. Application runs as expec-ted.7 Enable STO. Check that errors aregenerated correctlywhen STO is activatedwhile the servo drivesare running.Motors are torque free. Motors coastand stop after some time.MC_ReadAxisInfo_DDS output SafeTor-queOff = TrueandMC_ReadStatus_DDS output ErrorStop =TrueandMC_ReadAxisError_DDS output AxisError-ID = 0xFF80 on all enabled servo drives.Motors are torque free. Mo-tors coast and stop aftersome time.For enabled motors:MC_ReadStatus output Error-Stop = TrueandMC_ReadAxisError output Axi-sErrorID = 0xFF80 on all ena-bled servo drives.8 Try to run the applica-tion (enable 1 or moreservo drives).Checks that the STOfunction is workingcorrectly.Application does not run. Application does not run.Functional Safety ConceptOperating Guide | VLT® Multiaxis Servo Drive MSD 510 SystemAQ262450196490en-000101 / 175R1170158 | Danfoss A/S © 2019.10
