6. For ‘Module 1’ and ‘Module 2’ in PDO assignment, activate the PDOs 1 and 2 for
the inputs and outputs. All subsequent PDOs must remain de-activated. If this is not
possible, please check the respective PDO parameter ‘Exclude’ .
7. In the ‘Device Editor’ of the SPEED7 EtherCAT Manager, select the ‘Distributed
clocks’ tab and set ‘DC unused’ as ‘Operating mode’ .
8. Select the ‘Process image’ tab in the ‘device editor’ using the arrow key and note
the following PDO start addresses for the parameters of the block FB 874 -
VMC_InitSigma7W_EC:
n Module 1: ‘S7 Input address’ à ‘M1_PdoInputs’ (here 0)
n Module 2: ‘S7 Input address’ à ‘M2_PdoInputs’ (here 36)
n Module 1: ‘S7 Output address’ à ‘M1_PdoOutputs’ (here 0)
n Module 2: ‘S7 Output address’ à ‘M2_PdoOutputs’ (here 36)
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 373
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