YASKAWA VIPA SPEED7 - Page 546

Parameter Declaration Data type Description
DriveErrorID OUTPUT WORD
n Error
– TRUE: There is an error on the drive.
Additional information can be found in the manufacturer's
manual.
IsHomed OUTPUT BOOL
n Information axis: homed
– TRUE: The axis is homed.
ModeOfOperation OUTPUT INT Drive-specific mode. For further information see drive manual.
Example Sigma-5:
0: No mode changed/no mode assigned
1: Profile Position mode
2: Reserved (keep last mode)
3: Profile Velocity mode
4: Torque Profile mode
6: Homing mode
7: Interpolated Position mode
8: Cyclic Sync Position mode
9: Cyclic Sync Velocity mode
10: Cyclic Sync Torque mode
Other Reserved (keep last mode)
PLCopenState OUTPUT INT Current PLCopenState:
1: Disabled
2: Standstill
3: Homing
4: Discrete Motion
5: Continous Motion
7: Stopping
8: Errorstop
ActualPosition OUTPUT REAL Position of the axis in [user unit].
ActualVelocity OUTPUT REAL Velocity of the axis in [user unit / s]
CmdDone OUTPUT BOOL
n Status
– TRUE: Job ended without error.
CmdBusy OUTPUT BOOL
n Status
– TRUE: Job is running.
CmdAborted OUTPUT BOOL
n Status
– TRUE: The job was aborted during processing by
another job.
CmdError OUTPUT BOOL
n Status
– TRUE: An error has occurred.
Additional error information can be found in the parameter
CmdErrorID.
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Simple motion tasks
HB00 | OPL_SP7 | Operation list | en | 18-30 546