Parameter Declaration Data type Description
Velocity INPUT REAL Velocity setting (signed value) in [user units / s].
Acceleration INPUT REAL
Acceleration in [user units / s
2
].
Deceleration INPUT REAL
Deceleration in [user units / s
2
].
JogPositive INPUT BOOL
n Drive axis with constant velocity in positive direction
– Edge 0-1: Drive axis with constant velocity is started.
– Edge 1-0: The axis is stopped.
JogNegative INPUT BOOL
n Drive axis with constant velocity in negative direction
– Edge 0-1: Drive axis with constant velocity is started.
– Edge 1-0: The axis is stopped.
JogVelocity INPUT REAL Speed setting for jogging (positive value) in [user units / s].
JogAcceleration INPUT REAL
Acceleration in [user units / s
2
].
JogDeceleration INPUT REAL
Delay for jogging in [user units / s
2
].
AxisReady OUTPUT BOOL
n AxisReady
– TRUE: The axis is ready to switch on.
– FALSE: The axis is not ready to switch on.
® Check and fix AxisError (see AxisErrorID).
® Check and fix DriveError (see DriveErrorID).
® Check initialization FB (input and output addresses
or PDO mapping correct?)
AxisEnabled OUTPUT BOOL
n Status axis
– TRUE: Axis is switched on and accepts motion com-
mands.
– FALSE: Axis is not switched on and does not accepts
motion commands.
AxisError OUTPUT BOOL
n Motion axis error
– TRUE: An error has occurred.
Additional error information can be found in the parameter
AxisErrorID.
® The axis is disabled.
AxisErrorID OUTPUT WORD Additional error information
Ä
Chap. 13.10 ‘ErrorID - Additional error information’
page 637
DriveWarning OUTPUT BOOL
n Warning
– TRUE: There is a warning on the drive.
Additional information can be found in the manufacturer's
manual.
DriveError OUTPUT BOOL
n Error on the drive
– TRUE: An error has occurred.
Additional error information can be found in the parameter
DriveErrorID.
® The axis is disabled.
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Simple motion tasks
HB00 | OPL_SP7 | Operation list | en | 18-30 545
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