YASKAWA VIPA SPEED7 Operation Manual page 539

VIPA SPEED7
Connecting the block for
motion sequences
HB00 | OPL_SP7 | Operation list | en | 18-30
Usage inverter drive via EtherCAT > Usage in Siemens SIMATIC Manager
For simplicity, the connection of the FB 860 - VMC_AxisControl is to be shown here. This
universal block supports simple motion commands and returns status messages. The
inputs and outputs can be individually connected. Please specify the reference to the cor-
responding axis data at 'Axis' in the axis DB.
FB 860 - VMC_AxisControl, DB 860
Control block axis control' page 544
CALL
ð
AxisEnable
AxisReset
HomeExecute
HomePosition
StopExecute
MvVelocityExecute:="AxCtrl1_MvVelExecute"
MvRelativeExecute:="AxCtrl1_MvRelExecute"
MvAbsoluteExecute:="AxCtrl1_MvAbsExecute"
PositionDistance :="AxCtrl1_PositionDistance"
Velocity
Acceleration
Deceleration
JogPositive
JogNegative
JogVelocity
JogAcceleration
JogDeceleration
AxisReady
AxisEnabled
AxisError
AxisErrorID
DriveWarning
DriveError
DriveErrorID
IsHomed
ModeOfOperation
PLCopenState
ActualPosition
ActualVelocity
CmdDone
CmdBusy
CmdAborted
CmdError
CmdErrorID
DirectionPositive:="AxCtrl1_DirectionPos"
DirectionNegative:="AxCtrl1_DirectionNeg"
SWLimitMinActive :="AxCtrl1_SWLimitMinActive"
SWLimitMaxActive :="AxCtrl1_SWLimitMaxActive"
HWLimitMinActive :="AxCtrl1_HWLimitMinActive"
HWLimitMaxActive :="AxCtrl1_HWLimitMaxActive"
Axis
For complex motion tasks, you can use the PLCopen blocks.
Please specify the reference to the corresponding axis data at
Axis in the axis DB.
Your project now includes the following blocks:
n OB 1 - Main
n OB 57 - DP Manufacturer Alarm
n OB 82 - I/O_FLT1
OB 86 - Rack_FLT
n
FB 860 - VMC_AxisControl with instance DB
n
Motion control - Simple Motion Control Library
Ä Chap. 13.7.2.2 'FB 860 - VMC_AxisControl -
"VMC_AxisControl" , "DI_AxisControl01"
:="AxCtrl1_AxisEnable"
:="AxCtrl1_AxisReset"
:="AxCtrl1_HomeExecute"
:="AxCtrl1_HomePosition"
:="AxCtrl1_StopExecute"
:="AxCtrl1_Velocity"
:="AxCtrl1_Acceleration"
:="AxCtrl1_Deceleration"
:="AxCtrl1_JogPositive"
:="AxCtrl1_JogNegative"
:="AxCtrl1_JogVelocity"
:="AxCtrl1_JogAcceleration"
:="AxCtrl1_JogDeceleration"
:="AxCtrl1_AxisReady"
:="AxCtrl1_AxisEnabled"
:="AxCtrl1_AxisError"
:="AxCtrl1_AxisErrorID"
:="AxCtrl1_DriveWarning"
:="AxCtrl1_DriveError"
:="AxCtrl1_DriveErrorID"
:="AxCtrl1_IsHomed"
:="AxCtrl1_ModeOfOperation"
:="AxCtrl1_PLCopenState"
:="AxCtrl1_ActualPosition"
:="AxCtrl1_ActualVelocity"
:="AxCtrl1_CmdDone"
:="AxCtrl1_CmdBusy"
:="AxCtrl1_CmdAborted"
:="AxCtrl1_CmdError"
:="AxCtrl1_CmdErrorID"
:="Axis01".Axis
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