3. In the ‘Catalog’ , open the ‘Simple Motion Control’ library at ‘Blocks’ and drag and
drop the following blocks into ‘Program blocks’ of the Project tree:
n Sigma-7 EtherCAT:
– UDT 872 - VMC_ConfigSigma7EC_REF
– FB 872 - VMC_KernelSigma7_EC
– FB 873 - VMC_InitSigma7S_EC
n Axis Control
– UDT 860 - MC_AXIS_REF
– Blocks for your movement sequences
1. Add a new DB as your axis DB to your project. Click in the Project tree within the
CPU at ‘PLC program’ , ‘Program blocks’ at ‘Add New block’ , select the block type
‘DB block’ and assign the name "Axis01" to it. The DB number can freely be
selected such as DB10.
ð
The block is created and opened.
2.
n In "Axis01", create the variable "Config" of type UDT 872. These are specific
axis configuration data.
n In "Axis01", create the variable "Axis" of type UDT 860. During operation, all
operating data of the axis are stored here.
Create axis DB
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7S EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 338
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