Parameter Declaration Data type Description
InputsStartAddressPDO INPUT INT Start address of the input PDOs
OutputsStartAddressPDO INPUT INT Start address of the output PDOs
MaxVelocityDrive INPUT REAL Maximum application speed [u].
MaxOutputFrequency INPUT REAL Maximum output frequency [Hz]. Please transfer the
value from the software tool Drive Wizard+ here.
NumberOfPoles INPUT INT Number of poles. Please transfer the value from the soft-
ware tool Drive Wizard+ here.
Valid OUTPUT BOOL Initialization
n TRUE: Initialization is valid.
Error OUTPUT BOOL
n Error
– TRUE: An error has occurred. Additional error
information can be found in the parameter
ErrorID. The axis is disabled.
ErrorID OUTPUT WORD Additional error information
Ä
Chap. 13.10 ‘ErrorID - Additional error information’
page 637
MaxVelocity OUTPUT INT Maximum velocity in [rpm]. This value is determined
automatically.
13.7 Blocks for axis control
13.7.1 Overview
At Axis Control the blocks for programming motion tasks and status
queries can be found. The following components can only be used to
control the following drive systems.
– Sigma-5 EtherCAT
– Sigma-7S EtherCAT
– Sigma-7W EtherCAT
– Inverter drive (inverter) via EtherCAT
Please note that there are also restrictions here. The supported blocks
can be found in the following table.
Simple motion tasks
Supported blocks Sigma-5/7
EtherCAT
Inverter
EtherCAT
Page
UDT 860 - MC_AXIS_REF - data structure for axis yes yes
Ä
544
FB 860 - VMC_AxisControl - control of drive functions and query of drive states yes yes
Ä
544
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Overview
HB00 | OPL_SP7 | Operation list | en | 18-30 542
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