YASKAWA VIPA SPEED7 - Page 396

Open OB 1 and program the following FB calls with associated DBs:
FB 874 - VMC_InitSigma7W_EC, DB 874 Ä Chap. 13.2.3.5.3 ‘FB 874 - VMC_Init-
Sigma7W_EC - Sigma-7W EtherCAT Initialization’ page 401
At M1/M2_PdoInputs respectively M1/M2_PdoOutputs, enter the address from the
SPEED7 EtherCAT Manager for the according axis.
Ä 393
ð
CALL "VMC_InitSigma7W_EC" , "DI_InitSgm7WETC01"
Enable :=TRUE
LogicalAddress :=0
M1_PdoInputs :=0 (EtherCAT-Manager
Module1: S7 Input address)
M1_PdoOutputs :=0 (EtherCAT-Manager
Module1: S7 Output address)
M1_EncoderType :=2
M1_EncoderResolutionBits :=20
M1_FactorPosition :=1.048576e+006
M1_FactorVelocity :=1.048576e+006
M1_FactorAcceleration :=1.048576e+002
M1_OffsetPosition :=0.000000e+000
M1_MaxVelocityApp :=5.000000e+001
M1_MaxAccelerationApp :=1.000000e+002
M1_MaxDecelerationApp :=1.000000e+002
M1_MaxVelocityDrive :=6.000000e+001
M1_MaxAccelerationDrive :=1.500000e+002
M1_MaxDecelerationDrive :=1.500000e+002
M1_MaxPosition :=1.048500e+003
M1_MinPosition :=-1.048514e+003
M1_EnableMaxPosition :=TRUE
M1_EnableMinPosition :=TRUE
M2_PdoInputs :=36 (EtherCAT-Manager
Module2: S7 Input address)
M2_PdoOutputs :=36 (EtherCAT-Manager
Module2: S7 Output address)
M2_EncoderType :=2
M2_EncoderResolutionBits :=20
M2_FactorPosition :=1.048576e+006
M2_FactorVelocity :=1.048576e+006
M2_FactorAcceleration :=1.048576e+002
M2_OffsetPosition :=0.000000e+000
M2_MaxVelocityApp :=5.000000e+001
M2_MaxAccelerationApp :=1.000000e+002
M2_MaxDecelerationApp :=1.000000e+002
M2_MaxVelocityDrive :=6.000000e+001
M2_MaxAccelerationDrive :=1.500000e+002
M2_MaxDecelerationDrive :=1.500000e+002
M2_MaxPosition :=1.048500e+003
M2_MinPosition :=-1.048514e+003
M2_EnableMaxPosition :=TRUE
M2_EnableMinPosition :=TRUE
M1_MinUserPosition :=-1000.0
M1_MaxUserPosition :=1000.0
M2_MinUserPosition :=-1000.0
M2_MaxUserPosition :=1000.0
Valid :="InitS7WEC1_Valid"
Error :="InitS7WEC1_Error"
OB 1
Configuration of the
double-axis
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 396