Parameter Declaration Data type Description
MinUserPosition OUTPUT REAL Minimum user position based on the minimum encoder
value of 0x80000000 and the FactorPosition [u].
MaxUserPosition OUTPUT REAL Maximum user position based on the maximum encoder
value of 0x7FFFFFFF and the FactorPosition [u].
Valid OUTPUT BOOL Initialization
n TRUE: Initialization is valid.
Error OUTPUT BOOL
n Error
– TRUE: An error has occurred. Additional error
information can be found in the parameter
ErrorID. The axis is disabled.
ErrorID OUTPUT WORD Additional error information
Ä
Chap. 13.10 ‘ErrorID - Additional error information’
page 637
13.2.3 Usage Sigma-7W EtherCAT
13.2.3.1 Overview
Usage of the single-axis drive
Ä
Chap. 13.2.2 ‘Usage Sigma-7S EtherCAT’ page 324
n SPEED7 Studio from V1.6.1
or
n Siemens SIMATIC Manager from V 5.5, SP2 & SPEED7 EtherCAT Manager & Simple
Motion Control Library
n CPU with EtherCAT master, e.g. CPU 015-CEFNR00
n Sigma-7W Double-axis drive with EtherCAT option card
1. Set the parameters on the drive
n The setting of the parameters happens by means of the software tool Sigma
Win+.
2. Hardware configuration in VIPA SPEED7 Studio or Siemens SIMATIC Manager
n Configuring a CPU with EtherCAT master functionality
n Configuration of the Sigma-7W EtherCAT double axes.
n Configuring the EtherCAT connection via SPEED7 EtherCAT Manager
3. Programming in VIPA SPEED7 Studio or Siemens SIMATIC Manager
n Init block for the configuration of the double axes.
n Kernel block for communication with one axis each.
n Connecting the blocks for motion sequences.
Precondition
Steps of configuration
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 362
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