13.2.1.3.2 User program
Program structure
n DB
A data block (axis DB) for configuration and status data must be created for each axis
of a drive. The data block consists of the following data structures:
– UDT 870 - VMC_ConfigSigma5EC_REF
The data structure describes the structure of the configuration of the drive.
Specific data structure for Sigma-5 EtherCAT.
– UDT 860 - MC_AXIS_REF
The data structure describes the structure of the parameters and status informa-
tion of drives.
General data structure for all drives and bus systems.
n FB 871 - VMC_InitSigma5_EC
– The Initt block is used to configure an axis.
– Specific block for Sigma-5 EtherCAT.
– The configuration data for the initialization must be stored in the axis DB.
n FB 870 - VMC_KernelSigma5_EC
– The Kernel block communicates with the drive via the appropriate bus system,
processes the user requests and returns status messages.
– Specific block for Sigma-5 EtherCAT.
– The exchange of the data takes place by means of the axis DB.
n FB 860 - VMC_AxisControl
– General block for all drives and bus systems.
– Supports simple motion commands and returns all relevant status messages.
– The exchange of the data takes place by means of the axis DB.
– For motion control and status query, via the instance data of the block you can
link a visualization.
– In addition to the FB 860 - VMC_AxisControl, PLCopen blocks can be used.
n FB 800 ... FB 838 - PLCopen
– The PLCopen blocks are used to program motion sequences and status queries.
– General blocks for all drives and bus systems.
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-5 EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 299
To Next Page
Loading...
