YASKAWA VIPA SPEED7 - Page 403

Parameter Declaration Data type Description
M1_EnableMaxPosition INPUT BOOL Monitoring maximum position of axis 1
n TRUE: Activates the monitoring of the maximum posi-
tion.
M1_EnableMinPosition INPUT BOOL Monitoring minimum position of axis 1
n TRUE: Activation of the monitoring of the minimum
position.
M2_PdoInputs INPUT INT Start address of the input PDOs for axis 2
M2_PdoOutputs INPUT INT Start address of the output PDOs for axis 2
M2_EncoderType INPUT INT Encoder type of axis 2
n 1: Absolute encoder
n 2: Incremental encoder
M2_EncoderResolutionBits INPUT INT Number of bits corresponding to one encoder revolution
of axis 2. Default: 20
M2_FactorPosition INPUT REAL Factor for converting the position of user units [u] into
drive units [increments] and back of axis 2.
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.
M2_FactorVelocity INPUT REAL Factor for converting the speed of user units [u/s] into
drive units [increments/s] and back of axis 2.
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.
M2_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 2.
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.
M2_OffsetPosition INPUT REAL Offset for the zero position of axis 2 [u].
M2_MaxVelocityApp INPUT REAL Maximum application speed of axis 2 [u/s].
The command inputs are checked to the maximum value
before execution.
M2_MaxAccelerationApp INPUT REAL
Maximum acceleration of application of axis 2 [u/s
2
].
The command inputs are checked to the maximum value
before execution.
M2_MaxDecelerationApp INPUT REAL
Maximum acceleration of application of axis 2 [u/s
2
].
The command inputs are checked to the maximum value
before execution.
M2_MaxPosition INPUT REAL Maximum position for monitoring the software limits of
axis 2 [u].
VIPA SPEED7
Motion control - Simple Motion Control Library
Usage Sigma-5/7 EtherCAT > Usage Sigma-7W EtherCAT
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