YASKAWA VIPA SPEED7 - Page 361

Parameter Declaration Data type Description
InputsStartAddressPDO INPUT INT Start address of the input PDOs
OutputsStartAddressPDO INPUT INT Start address of the output PDOs
EncoderType INPUT INT Encoder type
n 1: Absolute encoder
n 2: Incremental encoder
EncoderResolutionBits INPUT INT Number of bits corresponding to one encoder revolution.
Default: 20
FactorPosition INPUT REAL Factor for converting the position of user units [u] into
drive units [increments] and back.
It's valid: p
[increments]
= p
[u]
x FactorPosition
Please consider the factor which can be specified on the
drive via the objects 0x2701: 1 and 0x2701: 2. This
should be 1.
Velocity Factor INPUT REAL Factor for converting the speed of user units [u/s] into
drive units [increments/s] and back.
It's valid: v
[increments/s]
= v
[u/s]
x FactorVelocity
Please also take into account the factor which you can
specify on the drive via objects 0x2702: 1 and 0x2702: 2.
This should be 1.
FactorAcceleration INPUT REAL
Factor to convert the acceleration of user units [u/s
2
] in
drive units [10
-4
x increments/s
2
] and back.
It's valid: 10
-4
x a
[increments/s
2
]
= a
[u/s
2
] x FactorAcceleration
Please also take into account the factor which you can
specify on the drive via objects 0x2703: 1 and 0x2703: 2.
This should be 1.
OffsetPosition INPUT REAL Offset for the zero position [u].
MaxVelocityApp INPUT REAL Maximum application speed [u/s].
The command inputs are checked to the maximum value
before execution.
MaxAccelerationApp INPUT REAL
Maximum acceleration of application [u/s
2
].
The command inputs are checked to the maximum value
before execution.
MaxDecelerationApp INPUT REAL
Maximum application delay [u/s
2
].
The command inputs are checked to the maximum value
before execution.
MaxPosition INPUT REAL Maximum position for monitoring the software limits [u].
MinPosition INPUT REAL Minimum position for monitoring the software limits [u].
EnableMaxPosition INPUT BOOL Monitoring maximum position
n TRUE: Activates the monitoring of the maximum posi-
tion.
EnableMinPosition INPUT BOOL Monitoring minimum position
n TRUE: Activation of the monitoring of the minimum
position.
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7S EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 361