PN Name Data
type
R/W Comments
13 MaxAccelerationAppl REAL R/W Maximal allowed acceleration of the axis in the application
Access on:
#Axis.AxisConfiguration.DynamicLimits.MaxAccel
erationApp
14 MaxDecelerationSystem REAL R Maximal allowed deceleration of the axis in the motion system
This parameter is currently not supported
15 MaxDecelerationAppl REAL R/W Maximal allowed deceleration of the axis in the application
Access on:
#Axis.AxisConfiguration.DynamicLimits.MaxDecel
erationApp
16 MaxJerkSystem REAL R Maximum allowed jerk of the axis in the motion system
This parameter is currently not supported
17 MaxJerkAppl REAL R/W Maximum allowed jerk of the axis in the application
This parameter is currently not supported.
13.7.3.36 VIPA-specific parameter
Positioning axis: Yaskawa Sigma-5 / Sigma-7 via EtherCAT
No. Name Data type Index Subindex Access
900 HomingDone BOOL - -
R/W
1, 2
901 PositiveTorqueLimit BOOL - -
R/W
1, 2
902 NegativeTorqueLimit BOOL - -
R/W
1, 2
1000 ErrorCode WORD 603F 0
R
3
1001 HomeOffset DWORD 607C 0
R/W
5, 6
1002 HomingMethod WORD 6098 0
R/W
3, 4
1003 SpeedSearchSwitch DWORD 6099 1
R/W
5, 6
1004 SpeedSearchZero DWORD 6099 2
R/W
5, 6
1005 HomingAcceleration DWORD 609A 0
R/W
5, 6
1006 PositiveTorqueLimit WORD 60E0 0
R/W
3, 4
1007 NegativeTorqueLimit WORD 0x60E1 0
R/W
3, 4
1008 MotorRatedTorque DWORD 0x6076 0
R/W
5, 6
1) Access via
Ä
Chap. 13.7.3.21 ‘FB 825 - MC_ReadBoolParameter - read axis boolean parameter data’ page 584
2) Access via
Ä
Chap. 13.7.3.22 ‘FB 826 - MC_WriteBoolParameter - write axis boolean parameter data’ page 586
3) Access via
Ä
Chap. 13.7.3.25 ‘FB 829 - VMC_ReadWordParameter - read axis word parameter data’ page 592
4) Access via
Ä
Chap. 13.7.3.26 ‘FB 830 - VMC_WriteWordParameter - write axis word parameter data’ page 594
5) Access via
Ä
Chap. 13.7.3.23 ‘FB 827 - VMC_ReadDWordParameter - read axis double word parameter data’ page 588
6) Access via
Ä
Chap. 13.7.3.24 ‘FB 828 - VMC_WriteDWordParameter - write axis double word parameter data’ page 590
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Complex motion tasks - PLCopen blocks
HB00 | OPL_SP7 | Operation list | en | 18-30 612
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