VA Motion Controller Programming Manual
V
10.6.7 DERIVAT ( differential ) ............................................................................................................. 257
10.6.8 EVENT_TASK ( trigger event ).................................................................................................258
10.6.9 FPID ..................................................................................................................................................259
10.6.10 GET_ERROR ( details of errors obtained in the error directory )............................. 261
10.6.11 GET_ERROR_CATALOG ( information about the current content obtained in the error directory )
261
10.6.12 GET_SYM ( search for the symbolic name of the PDD variable ) ............................ 261
10.6.13 HOT_RESTART ( PLC Hot Start ) ..........................................................................................261
10.6.14 IMEMCPY ( data replication )............................................................................................... 261
10.6.15 INTEGRAL ( integration ) ........................................................................................................262
10.6.16 MEMCPY ( Data Copy Instruction) ..................................................................................... 263
10.6.17 MEMSET ( DatADistribution )............................................................................................... 264
10.6.18 PLC_STOP ( PLC stop ) ............................................................................................................264
10.6.19 RD_*_BY_SYM ( Read the value of the PDD variable ) .................................................265
10.6.20 WR_*_BY_SYM (write the value of the PDD variable).................................................. 265
10.6.21 RTC_S ( Read PLC Clock )...................................................................................................... 266
10.6.22 WARM_RESTART ( PLC Warm Start ) .................................................................................267
XI MOTION COMMANDS.............................................................................................................................................. 268
11.1 INSERT FB_FU_LIB (MOTION CONTROL FIRMWARE LIBRARY)............................................................ 268
11.1.1 Features ..........................................................................................................................................268
11.1.2 Adding firmware library............................................................................................................268
11.2 MOTION COMMANDS.............................................................................................................................. 270
11.2.1 Motion Control Library Classification...................................................................................270
11.2.2 Movement instruction list ........................................................................................................ 270
11.3 BASICS OF MOTION CONTROL INSTRUCTIONS......................................................................................276
11.3.1 Command modes of motion controller ..............................................................................276
11.3.2 movement control. .....................................................................................................................278
11.3.3 MC_AXIS_REF (axis parameter setting) ................................................................................279
11.3.4 sports instruction constitutes ..................................................................................................286
11.3.5 Analog offset adjustment .........................................................................................................287
11.3.6 state machine...............................................................................................................................289
11.3.7 BufferMode Features................................................................................................................. 290
11.4 UNIAXIAL INSTRUCTION...........................................................................................................................292
11.4.1 MC_Power (ENABLE command)............................................................................................ 294
11.4.2 MC_MoveVelocity (speed command) ..................................................................................296
11.4.3 MC_MoveRelative (relative displacement instruction) ...................................................301
11.4.4 MC_MoveAdditive (additional displacement instruction).............................................309
11.4.5 MC_MoveAbsolute (absolute displacement instructions)............................................ 316
11.4.6 MC_MoveSuperimposed (additional displacement instruction) ................................ 326
11.4.7 MC_HaltSuperimposed (Pause additional displacement) .............................................333
11.4.8 MC_Home (zero return instruction)..................................................................................... 339
11.4.9 MC_SetOverride (overshoot speed command) ................................................................344
11.4.10 MC_Stop (stop command) .................................................................................................... 349
11.4.11 MC_Halt (pause command) .................................................................................................. 354
11.4.11 MC_SpecialMoveAbsolute (special absolute displacement instructions).............357
11.4.12 MC_ReadActualPosition (real position instruction read) ............................................360
11.4.13 MC_ReadActualVelocity (read real-time speed)........................................................... 365
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