13.2.3.5 Drive specific blocks
The PLCopen blocks for axis control can be found here:
Ä
Chap. 13.7
‘Blocks for axis control’ page 542
13.2.3.5.1 UDT 872 - VMC_ConfigSigma7EC_REF - Sigma-7 EtherCAT Data structure axis configuration
This is a user-defined data structure that contains information about the configuration
data. The UDT is specially adapted to the use of a Sigma-7 drive, which is connected via
EtherCAT.
13.2.3.5.2 FB 872 - VMC_KernelSigma7_EC - Sigma-7 EtherCAT Kernel
This block converts the drive commands for a Sigma-7 axis via EtherCAT and communi-
cates with the drive. For each Sigma-7 axis, an instance of this FB is to be cyclically
called.
Please note that this module calls the SFB 238 internally.
In the SPEED7 Studio, this module is automatically inserted into your
project.
In Siemens SIMATIC Manager, you have to copy the SFB 238 from the
Motion Control Library into your project.
Parameter Declaration Data type Description
Init INPUT BOOL The block is internally reset with an edge 0-1. Existing motion
commands are aborted and the block is initialized.
Config IN_OUT UDT872 Data structure for transferring axis-dependent configuration
data to the AxisKernel.
Axis IN_OUT MC_AXIS_REF Data structure for transferring axis-dependent information to
the AxisKernel and PLCopen blocks.
13.2.3.5.3 FB 874 - VMC_InitSigma7W_EC - Sigma-7W EtherCAT Initialization
This block is used to configure the double-axis of a Sigma-7W drive. The block is spe-
cially adapted to the use of a Sigma-7W drive, which is connected via EtherCAT.
Parameter Declaration Data type Description
M1_Config IN_OUT UDT872 Data structure for transferring axis-dependent configura-
tion data to the AxisKernel for axis 1.
M1_Axis IN_OUT MC_AXIS_REF Data structure for transferring axis-dependent information
to the AxisKernel and PLCopen blocks for axis 1.
M2_Config IN_OUT UDT872 Data structure for transferring axis-dependent configura-
tion data to the AxisKernel for axis 2.
Description
Description
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 401
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