YASKAWA VIPA SPEED7 - Page 318

Open OB 1 and program the following FB calls with associated DBs:
FB 871 - VMC_InitSigma5_EC, DB 871 Ä Chap. 13.2.1.5.3 ‘FB 871 - VMC_Init-
Sigma5_EC - Sigma-5 EtherCAT initialization’ page 322
At InputsStartAddressPDO respectively OutputsStartAddressPDO, enter the
address from the SPEED7 EtherCAT Manager.
Ä 315
ð
CALL "VMC_InitSigma5_EC" , "DI_InitSgm5ETC01"
Enable :="InitS5EC1_Enable"
LogicalAddress :=300
InputsStartAddressPDO :=300 (EtherCAT-Man.: S7 Input
address)
OutputsStartAddressPDO:=300 (EtherCAT-Man.: S7 Output
address)
EncoderType :=1
EncoderResolutionBits :=20
FactorPosition :=1.048576e+006
FactorVelocity :=1.048576e+006
FactorAcceleration :=1.048576e+002
OffsetPosition :=0.000000e+000
MaxVelocityApp :=5.000000e+001
MaxAccelerationApp :=1.000000e+002
MaxDecelerationApp :=1.000000e+002
MaxVelocityDrive :=6.000000e+001
MaxAccelerationDrive :=1.500000e+002
MaxDecelerationDrive :=1.500000e+002
MaxPosition :=1.048500e+003
MinPosition :=-1.048514e+003
EnableMaxPosition :=TRUE
EnableMinPosition :=TRUE
MinUserPosition :="InitS5EC1_MinUserPos"
MaxUserPosition :="InitS5EC1_MaxUserPos"
Valid :="InitS5EC1_Valid"
Error :="InitS5EC1_Error"
ErrorID :="InitS5EC1_ErrorID"
Config :="Axis01".Config
Axis :="Axis01".Axis
The Kernel processes the user commands and passes them appropriately processed on
to the drive via the respective bus system.
FB 870 - VMC_KernelSigma5_EC, DB 870 Ä Chap. 13.2.1.5.2 ‘FB 870 - VMC_Ker-
nelSigma5_EC - Sigma-5 EtherCAT Kernel’ page 322
ð
CALL "VMC_KernelSigma5_EC" , "DI_KernelSgm5ETC01"
Init :="KernelS5EC1_Init"
Config:="Axis01".Config
Axis :="Axis01".Axis
OB 1
Configuration of the axis
Connecting the Kernel for
the axis
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-5 EtherCAT
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