YASKAWA VIPA SPEED7 - Page 371

4. Perform the following settings for the Transmit PDOs:
Inputs: 1st Transmit PDO
Module 1 (SGD7). 1st Transmit PDO mapping Module 2 (SGD7). 1st Transmit PDO mapping
Name: Module 1 (SGD7). 1st Transmit PDO mapping Name: Module 2 (SGD7). 1st Transmit PDO mapping
Index: 0x1A00 Index: 0x1A10
Flags: Everything de-activated
Direction TxPdo (Input): activated
Exclude: 1A01: de-activated 1A11: de-activated
Please note these settings, otherwise the PDO mappings can not be activated at the same time!
Entries Module 1 (axis 1) Module 2 (axis 2) Bit length
Name Index Index
Status word 0x6041:00 0x6841: 00 16bit
Position actual internal
value
0x6063:00 0x6863:00 32bit
Position actual value 0x6064:00 0x6864:00 32bit
Torque actual value 0x6077:00 0x6877:00 16bit
Following error actual value 0x60F4:00 0x68F4:00 32bit
Modes of operation display 0x6061:00 0x6861:00 8bit
--- --- --- 8bit
Digital inputs 0x60FD:00 0x68FD:00 32bit
Inputs: 2nd Transmit PDO
Module 1 (SGD7). 2nd Transmit PDO mapping Module 2 (SGD7). 2nd Transmit PDO mapping
Name: Module 1 (SGD7). 2nd Transmit PDO mapping Name: Module 2 (SGD7). 2nd Transmit PDO mapping
Index: 0x1A01 Index: 0x1A11
Flags: Everything de-activated
Direction TxPdo (Input): activated
Exclude: 1A00, 1A02, 1A03: de-activated 1A10, 1A12, 1A13: de-activated
Please note these settings, otherwise the PDO mappings can not be activated at the same time!
Entries Module 1 (axis 1) Module 2 (axis 2) Bit length
Name Index Index
Touch probe status 0x60B9:00 0x68B9:00 16bit
Touch probe 1 position
value
0x60BA:00 0x68BA:00 32bit
Touch probe 2 position
value
0x60BC:00 0x68BC:00 32bit
Velocity actual value 0x606C:00 0x686C:00 32bit
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 371