3. In the ‘Catalog’ , open the ‘Simple Motion Control’ library at ‘Blocks’ and drag and
drop the following blocks into ‘Program blocks’ of the Project tree:
n Sigma-7 EtherCAT:
– UDT 872 - VMC_ConfigSigma7EC_REF
– FB 872 - VMC_KernelSigma7_EC
– FB 874 - VMC_InitSigma7W_EC
n Axis Control
– UDT 860 - MC_AXIS_REF
– Blocks for your movement sequences
1. Add a new DB as your axis DB to your project. Click in the Project tree within the
CPU at ‘PLC program’ , ‘Program blocks’ at ‘Add New block’ , select the block type
‘DB block’ and assign the name "Axis01" to it. The DB number can freely be
selected such as DB 10.
ð
The block is created and opened.
2.
n In "Axis01", create the variable "Config" of type UDT 872. These are specific
axis configuration data.
n In "Axis01", create the variable "Axis" of type UDT 860. During operation, all
operating data of the axis are stored here.
1. Add another DB as your axis DB to your project and assign it the name "Axis02".
The DB number can freely be selected such as DB 11.
ð
The block is created and opened.
Create axis DB for
‘Module 1’
Create axis DB for
‘Module 2’
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 376
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