n FB 860 - VMC_AxisControl with instance DB
n FB 872 - VMC_KernelSigma7_EC with instance DB
n FB 874 - VMC_InitSigma7W_EC with instance DB
n UDT 860 - MC_Axis_REF
n UDT 872 - VMC_ConfigSigma7EC_REF
1. Choose the Siemens SIMATIC Manager and transfer your project into the CPU.
The transfer can only be done by the Siemens SIMATIC Manager - not hard-
ware configurator!
Since slave and module parameters are transmitted by means of
SDO respectively SDO Init command, the configuration remains
active, until a power cycle is performed or new parameters for the
same SDO objects are transferred.
With an overall reset the slave and module parameters are not
reset!
ð
You can take your application into operation now.
CAUTION!
Please always observe the safety instructions for your drive,
especially during commissioning!
2. Before the double-axis drive can be controlled, it must be initialized. To do this, call
the Init block FB 874 - VMC_InitSigma7W_EC with Enable = TRUE.
ð
The output Valid returns TRUE. In the event of a fault, you can determine the
error by evaluating the ErrorID.
You have to call the Init block again if you load a new axis DB or you have
changed parameters on the Init block.
Do not continue until the Init block does not report any errors!
3. Ensure that the Kernel block FB 872 - VMC_KernelSigma7_EC is called cyclically
for each axis. In this way, control signals are transmitted to the drive and status
messages are reported.
4. Program your application with the FB 860 - VMC_AxisControl or with the PLCopen
blocks for each axis.
There is the possibility to control your drive via HMI. For this, a predefined symbol library
is available for Movicon to access the VMC_AxisControl function block.
Ä
Chap. 13.8
‘Controlling the drive via HMI’ page 613
Sequence of operations
Controlling the drive via
HMI
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 399
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