YASKAWA VIPA SPEED7 - Replacement Behavior of Motion Jobs

n Homing
– The axis is currently homing:
Ä Chap. 13.7.3.4 ‘FB 801 - MC_Home - home axis’ page 551
Ä Chap. 13.7.2.2 ‘FB 860 - VMC_AxisControl - Control block axis control’
page 544
– As soon as the axis is homed, the state automatically changes to Standstill.
n Discrete Motion
– The axis is currently executing a motion task:
Ä Chap. 13.7.3.9 ‘FB 808 - MC_MoveAbsolute - move axis to absolute position’
page 561
Ä Chap. 13.7.3.7 ‘FB 804 - MC_MoveRelative - move axis relative’ page 557
Ä Chap. 13.7.3.6 ‘FB 803 - MC_Halt - holding axis’ page 555
Ä Chap. 13.7.2.2 ‘FB 860 - VMC_AxisControl - Control block axis control’
page 544
– As soon as the target of the movement task is reached, the state automatically
changes to Standstill.
n Continuous Motion
– The axis performs a permanent movement task:
Ä Chap. 13.7.3.8 ‘FB 805 - MC_MoveVelocity - drive axis with constant velocity’
page 559
Ä Chap. 13.7.2.2 ‘FB 860 - VMC_AxisControl - Control block axis control’
page 544
13.9.2 Replacement behavior of motion jobs
In the following with an example of MC_MoveRelative the replacement behavior of
motion jobs is explained. Ä Chap. 13.7.3.7 ‘FB 804 - MC_MoveRelative - move axis rela-
tive’ page 557
Example
VIPA SPEED7
Motion control - Simple Motion Control Library
States and behavior of the outputs > Replacement behavior of motion jobs
HB00 | OPL_SP7 | Operation list | en | 18-30 634