n DB
A data block (axis DB) for configuration and status data must be created for each axis
of a drive. The data block consists of the following data structures:
– UDT 872 - VMC_ConfigSigma7EC_REF
The data structure describes the structure of the configuration of the drive.
Specific data structure for Sigma-7 EtherCAT.
– UDT 860 - MC_AXIS_REF
The data structure describes the structure of the parameters and status informa-
tion of drives.
General data structure for all drives and bus systems.
n FB 874 - VMC_InitSigma7W_EC
– The Initt block is used to configure the double-axis drive.
– Specific block for Sigma-7W EtherCAT.
– The configuration data for the initialization must be stored in the axis DB.
n FB 872 - VMC_KernelSigma7_EC
– The Kernel block communicates with the drive via the appropriate bus system,
processes the user requests and returns status messages.
– The FB 872 - VMC_KernelSigma7_EC must be called for each axis.
– Specific block for Sigma-7 EtherCAT.
– The exchange of the data takes place by means of the axis DB.
n FB 860 - VMC_AxisControl
– General block for all drives and bus systems.
– The FB 860 - VMC_AxisControl must be called for each axis.
– Supports simple motion commands and returns all relevant status messages.
– The exchange of the data takes place by means of the axis DB.
– For motion control and status query, via the instance data of the block you can
link a visualization.
– In addition to the FB 860 - VMC_AxisControl, PLCopen blocks can be used.
n FB 800 ... FB 838 - PLCopen
– The PLCopen blocks are used to program motion sequences and status queries.
– The PLCopen blocks must be called for each axis.
Programming
1. Click in the Project tree within the CPU at ‘PLC program’ , ‘Program blocks’ at ‘Add
New block’ .
ð
The dialog ‘Add block’ is opened.
2. Select the block type ‘OB block’ and add one after the other OB 57, OB 82 and
OB 86 to your project.
Copy blocks into project
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 375
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