13.6.6 Drive specific blocksThe PLCopen blocks for axis control can be found here:Ä Chap. 13.7‘Blocks for axis control’ page 54213.6.6.1 UDT 886 - VMC_ConfigInverterEC_REF - inverter drive EtherCAT Data structure axis configurationThis is a user-defined data structure that contains information about the configurationdata. The UDT is specially adapted to the use of an inverter drive, which is connected viaEtherCAT.13.6.6.2 FB 886 - VMC_KernelInverter_EC - inverter drive EtherCAT kernelThis block converts the drive commands for an inverter drive via EtherCAT and communi-cates with the drive. For each inverter drive, an instance of this FB is to be cyclicallycalled.Please note that this module calls the SFB 238 internally.In the SPEED7 Studio, this module is automatically inserted into yourproject.In Siemens SIMATIC Manager, you have to copy the SFB 238 from theMotion Control Library into your project.Parameter Declaration Data type DescriptionInit INPUT BOOL The block is internally reset with an edge 0-1. Existing motioncommands are aborted and the block is initialized.Config IN_OUT UDT 886 Data structure for transferring axis-dependent configurationdata to the AxisKernel.Axis IN_OUT UDT 860 Data structure for transferring axis-dependent information tothe AxisKernel and PLCopen blocks.13.6.6.3 FB 887 - VMC_InitInverter_EC - inverter drive EtherCAT initializationThis block is used to configure the axis. The block is specially adapted to the use of aninverter drive, which is connected via EtherCAT.Parameter Declaration Data type DescriptionConfig IN_OUT UDT 886 Data structure for transferring axis-dependent configura-tion data to the AxisKernel.Axis IN_OUT UDT 860 Data structure for transferring axis-dependent informationto the AxisKernel and PLCopen blocks.Enable INPUT BOOL Release of initializationLogicalAddress INPUT INT Start address of the PDO input dataDescriptionDescriptionVIPA SPEED7 Motion control - Simple Motion Control LibraryUsage inverter drive via EtherCAT > Drive specific blocksHB00 | OPL_SP7 | Operation list | en | 18-30 541
