YASKAWA VIPA SPEED7 - Page 398

For simplicity, the connection of the FB 860 - VMC_AxisControl is to be shown here. This
universal block supports simple motion commands and returns status messages. The
inputs and outputs can be individually connected. Please specify the reference to the cor-
responding axis data at ‘Axis’ in the axis DB.
FB 860 - VMC_AxisControl, DB 860 Ä Chap. 13.7.2.2 ‘FB 860 - VMC_AxisControl -
Control block axis control’ page 544
ð
CALL "VMC_AxisControl" , "DI_AxisControl01"
AxisEnable :="AxCtrl1_AxisEnable"
AxisReset :="AxCtrl1_AxisReset"
HomeExecute :="AxCtrl1_HomeExecute"
HomePosition :="AxCtrl1_HomePosition"
StopExecute :="AxCtrl1_StopExecute"
MvVelocityExecute:="AxCtrl1_MvVelExecute"
MvRelativeExecute:="AxCtrl1_MvRelExecute"
MvAbsoluteExecute:="AxCtrl1_MvAbsExecute"
PositionDistance :="AxCtrl1_PositionDistance"
Velocity :="AxCtrl1_Velocity"
Acceleration :="AxCtrl1_Acceleration"
Deceleration :="AxCtrl1_Deceleration"
JogPositive :="AxCtrl1_JogPositive"
JogNegative :="AxCtrl1_JogNegative"
JogVelocity :="AxCtrl1_JogVelocity"
JogAcceleration :="AxCtrl1_JogAcceleration"
JogDeceleration :="AxCtrl1_JogDeceleration"
AxisReady :="AxCtrl1_AxisReady"
AxisEnabled :="AxCtrl1_AxisEnabled"
AxisError :="AxCtrl1_AxisError"
AxisErrorID :="AxCtrl1_AxisErrorID"
DriveWarning :="AxCtrl1_DriveWarning"
DriveError :="AxCtrl1_DriveError"
DriveErrorID :="AxCtrl1_DriveErrorID"
IsHomed :="AxCtrl1_IsHomed"
ModeOfOperation :="AxCtrl1_ModeOfOperation"
PLCopenState :="AxCtrl1_PLCopenState"
ActualPosition :="AxCtrl1_ActualPosition"
ActualVelocity :="AxCtrl1_ActualVelocity"
CmdDone :="AxCtrl1_CmdDone"
CmdBusy :="AxCtrl1_CmdBusy"
CmdAborted :="AxCtrl1_CmdAborted"
CmdError :="AxCtrl1_CmdError"
CmdErrorID :="AxCtrl1_CmdErrorID"
DirectionPositive:="AxCtrl1_DirectionPos"
DirectionNegative:="AxCtrl1_DirectionNeg"
SWLimitMinActive :="AxCtrl1_SWLimitMinActive"
SWLimitMaxActive :="AxCtrl1_SWLimitMaxActive"
HWLimitMinActive :="AxCtrl1_HWLimitMinActive"
HWLimitMaxActive :="AxCtrl1_HWLimitMaxActive"
Axis :="Axis...".Axis
At Axis, enter "Axis01" for axis 1 and "Axis02" for axis 2.
For complex motion tasks, you can use the PLCopen blocks.
Here you must also specify the reference to the corresponding
axis data at Axis in the axis DB.
Your project now includes the following blocks:
n OB 1 - Main
n OB 57 - DP Manufacturer Alarm
n OB 82 - I/O_FLT1
n OB 86 - Rack_FLT
Connecting the block for
motion sequences
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 398