Variable name Data type Default value DescriptionError BOOL An error hasoccurredwithin thefunction block.ErrorInfo DD_ERROR_ISD51x Error identifi-cation andinstanceidentifier.Seechapter 6.5.2.3Error Indication.PosGuideValue UDINT Value of theposition guidevalue reference[position guidevalue unit].Table 6.86 DD_ReadPosGuideValueRef_SAB6.5.8.18 DD_ReadVelGuideValueRef_SABThis function block provides the value of the velocity guidevalue reference if Enable is set (see chapter 8.19 Object0x2065: Velocity Guide Value Reference). Valid is TRUE whenthe data-output VelGuideValue is valid. If Enable is reset, thedata loses its validity and all outputs are reset, regardlessof whether new data is available.The output data is available immediately.DD_ReadVelGuideValueRef_SABSabEnableBOOLSAB_REFBOOLValidBOOLBusyBOOLDD_ERROR_ISD51xErrorInfoUDINTVelGuideValueError130BE981.10Illustration 6.101 DD_ReadVelGuideValueRef_SABVariable name Data type Default value DescriptionVAR_IN_OUTSab SAB_REF Reference tothe SAB.Seechapter 6.5.8.1SAB_REF.VAR_INPUTEnable BOOL FALSE Get the valueof theparametercontinuouslywhile enabled.VAR_OUTPUTVariable name Data type Default value DescriptionValid BOOL The functionblock has avalid output.Busy BOOL The functionblock is notfinished andnew outputvalues are tobe expected.Error BOOL An error hasoccurredwithin thefunction block.ErrorInfo DD_ERROR_ISD51x Error identifi-cation andinstanceidentifier.Seechapter 6.5.2.3Error Indication.VelGuideValue UDINT Value of thevelocity guidevaluereference.[velocity guidevalue unit].Table 6.87 DD_ReadVelGuideValueRef_SAB6.6 Simple Programming TemplateTwinCAT®A basic sample PLC application for starting up the ISD 510servo system with 1 SAB and 2 axes is provided. Theproject ISD_System_SampleProject can be downloaded fromthe Danfoss website.Automation Studio™Detailed information on how to open the sample projectwithin the ISD package in Automation Studio™ can befound in the Automation Studio™ Help. Open the B&RHelp Explorer and go to [Programming → Examples →Adding sample programs] and follow the instructions forlibrary samples.Programming Programming GuideMG36D102 Danfoss A/S © 01/2017 All rights reserved. 2316 6
