Parameter Declaration Data type DescriptionInputsStartAddressPDO INPUT INT Start address of the input PDOsOutputsStartAddressPDO INPUT INT Start address of the output PDOsMaxVelocityDrive INPUT REAL Maximum application speed [u].MaxOutputFrequency INPUT REAL Maximum output frequency [Hz]. Please transfer thevalue from the software tool Drive Wizard+ here.NumberOfPoles INPUT INT Number of poles. Please transfer the value from the soft-ware tool Drive Wizard+ here.Valid OUTPUT BOOL Initializationn TRUE: Initialization is valid.Error OUTPUT BOOL n Error– TRUE: An error has occurred. Additional errorinformation can be found in the parameterErrorID. The axis is disabled.ErrorID OUTPUT WORD Additional error informationÄ Chap. 13.10 ‘ErrorID - Additional error information’page 637MaxVelocity OUTPUT INT Maximum velocity in [rpm]. This value is determinedautomatically.13.7 Blocks for axis control13.7.1 OverviewAt Axis Control the blocks for programming motion tasks and statusqueries can be found. The following components can only be used tocontrol the following drive systems.– Sigma-5 EtherCAT– Sigma-7S EtherCAT– Sigma-7W EtherCAT– Inverter drive (inverter) via EtherCATPlease note that there are also restrictions here. The supported blockscan be found in the following table.Simple motion tasksSupported blocks Sigma-5/7EtherCATInverterEtherCATPageUDT 860 - MC_AXIS_REF - data structure for axis yes yesÄ 544FB 860 - VMC_AxisControl - control of drive functions and query of drive states yes yesÄ 544VIPA SPEED7Motion control - Simple Motion Control LibraryBlocks for axis control > OverviewHB00 | OPL_SP7 | Operation list | en | 18-30542
