18. Select the ‘Process image’ tab via the arrow key in the ‘Device editor’ and note for
the parameter of the block FB 871 - VMC_InitSigma5_EC the following PDO.
n ‘S7 Input address’ à ‘InputsStartAddressPDO’
n ‘S7 Output address’ à ‘OutputsStartAddressPDO’
19. By closing the SPEED7 EtherCAT Manager with [X] the configuration is taken to the
project. You can always edit your EtherCAT configuration in the SPEED7 EtherCAT
Manager, since the configuration is stored in your project.
20. Save and compile your configuration
13.2.1.4.3 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.
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-5 EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 315
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