YASKAWA VIPA SPEED7 - Page 402

Parameter Declaration Data type Description
M2_Axis IN_OUT MC_AXIS_REF Data structure for transferring axis-dependent information
to the AxisKernel and PLCopen blocks for axis 2.
Enable INPUT BOOL Release of initialization
LogicalAddress INPUT INT Start address of the PDO input data
M1_PdoInputs INPUT INT Start address of the input PDOs for axis 1
M1_PdoOutputs INPUT INT Start address of the output PDOs for axis 1
M1_EncoderType INPUT INT Encoder type of axis 1
n 1: Absolute encoder
n 2: Incremental encoder
M1_EncoderResolutionBits INPUT INT Number of bits corresponding to one encoder revolution
of axis 1. Default: 20
M1_FactorPosition INPUT REAL Factor for converting the position of user units [u] into
drive units [increments] and back of axis 1.
It's valid: p
[increments]
= p
[u]
x FactorPosition
Please consider the factor which can be specified on the
drive via the objects 0x2701: 1 and 0x2701: 2. This
should be 1.
M1_FactorVelocity INPUT REAL Factor for converting the speed of user units [u/s] into
drive units [increments/s] and back of axis 1.
It's valid: v
[increments/s]
= v
[u/s]
x FactorVelocity
Please also take into account the factor which you can
specify on the drive via objects 0x2702: 1 and 0x2702: 2.
This should be 1.
M1_FactorAcceleration INPUT REAL
Factor to convert the acceleration of user units [u/s
2
] in
drive units [10
-4
x increments/s
2
] and back of axis 1.
It's valid: 10
-4
x a
[increments/s
2
]
= a
[u/s
2
] x FactorAcceleration
Please also take into account the factor which you can
specify on the drive via objects 0x2703: 1 and 0x2703: 2.
This should be 1.
M1_OffsetPosition INPUT REAL Offset for the zero position of axis 1 [u].
M1_MaxVelocityApp INPUT REAL Maximum application speed of axis 1 [u/s].
The command inputs are checked to the maximum value
before execution.
M1_MaxAccelerationApp INPUT REAL
Maximum acceleration of application of axis 1 [u/s
2
].
The command inputs are checked to the maximum value
before execution.
M1_MaxDecelerationApp INPUT REAL
Maximum acceleration of application of axis 1 [u/s
2
].
The command inputs are checked to the maximum value
before execution.
M1_MaxPosition INPUT REAL Maximum position for monitoring the software limits of
axis 1 [u].
M1_MinPosition INPUT REAL Minimum position for monitoring the software limits of
axis 1 [u].
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
HB00 | OPL_SP7 | Operation list | en | 18-30 402