Vector VEC-VA Series

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VA Motion Controller Programming Manual

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Table of Contents6
Ⅰ Multiprog Overview13
Features of the Software and Hardware Requirements15
Basic Knowledge Required15
MULTIPROG Express5.51 Features15
Computer Hardware Requirements15
MULTIPROG Express5.51 Support15
Plc Working Principle17
Plc Executing the Program Written by the User17
Plc Data Access17
Plc Save Data19
Data Types22
Basic Data Types22
Generic Data Type23
User-Defined Data Types23
Constant Data Representation24
Ⅴ Software Installation and Introduction26
Multiprog Software Installation and Startup26
Processor Type Software Installation29
Programming Model with Standard Iec61131-332
Multiprog Programming Interface Presentation33
Introduction Partition Function33
Hardware34
Project35
Ⅵ Multiprog Programming Language39
Variable Worksheet40
Il Instruction List Programming Language42
Creating an IL Program42
IL Statement45
Of IL Operator45
St Structured Text Programming Language47
Create Anst Program47
ST Statement49
ST Expression50
Fbd Function Block Diagram Language Programming52
Create an FBD Program52
And ENO Description53
Creating a User Library55
The Ld Ladder Logic Programming Language60
Create a LD Program60
In LD Created in a FB62
Sfc Sequential Function Chart Programming Language66
Creating a SFC Program66
Creating SFC Network66
SFC Action Qualifier73
Ⅶ Works to Create and Configure75
Creating Projects75
Simulation Communication Parameters79
Physical Communication Parameters80
Io Configuration84
Write Ladder Code86
Production and Compilation of Projects91
Program Download to Plc / Simulation92
Ⅷ Online Debugging and Monitoring Procedures95
Force and Coverage95
Variable Monitor Window96
Cross Reference Window97
Logic Analyzer98
Breakpoint Debugging101
Ⅸ Quick Start103
Software and Motion Controller Establishes a Connection (Ethernet Port Communication )103
Control Control by Sending the Analog Servo Motion ( Uniaxial Start and Stop )106
Controller Pulsing Motionservo Control ( Encoder Drivenservo Operation)117
Controller Can Open through Inquiry Mode Control Servo Motion ( Two - Axis Motion )126
Ⅹ Logic Instructions140
Function141
ABS (Absolute Value Instruction )141
ACOS ( Anti-Cosine Instruction )142
ADD (Additional Instruction )143
ADD_T_T (Time Addition Instruction )144
AND ( Logic and Instruction )144
ASIN ( Anti-Sinusoidal Command)145
ATAN (Arc Tangent Command )146
COS (Cosine Command )147
DIV (Division Instruction )147
DIV_T_AI ( Division ( Time Divided by an Integer ) Instruction )148
DIV_T_AN ( Division ( Time Divided by an Integer, a Real Number ) Command ) 144 10.1.12 DIV_T_ R ( Division ( Time Divided by Real Number ) Instruction )150
EQ (Equal to the Instruction )151
EXP ( Exponential Function Instruction of Natural Number E )152
EXPT of ( a Power of ( X to y -Th Power ) Instruction )153
GE (Greater than or Equal to the Command )153
GT (Greater than Instruction )154
LE (Less than or Equal to the Instruction )155
LIMIT (Limit Selection Instruction )156
LN (Natural Logarithmic Instruction )157
LOG (Logarithmic Instruction )158
Less than Instruction )158
MAX (Maximum Instruction )159
MIN (Minimum Instruction )160
MOD (Modulo Instruction )161
MOVE (Assignment Command )162
MUL (Multiplication Directive )163
MUL_T_AI ( Multiplication ( Time Multiplied by Integer ) Instruction )164
MUL_T_AN ( Multiplication ( Time Multiplied by Integer, Real ) Instructions )165
MUL_T_R ( Multiplication ( Time Multiplied by Real Number ) Instruction )166
NE (Not Equal to the Instruction )166
NOT ( Logical Non-Instruction )167
OR (Logic or Instruction )168
ROL (Loop Left Shift Instruction )169
ROR (Cyclic Right Shift Instruction )170
SEL (Selection Command )171
SHL (Left Shift Instruction )172
SHR (Right Shift Instruction )173
SIN (Sinusoidal Command )174
SQRT (Square Root Instruction )175
SUB (Subtraction Instruction )176
SUB_T_T (Time Subtraction Instruction )177
TAN (Tangential Command )177
XO R (Logical XOR Instruction )178
0.2 Function Block180
CTD (Decrement Counter Instruction )180
CTU (Incremental Counter Instruction )182
CTUD (Increasing or Decreasing Bidirectional Counter Command )184
F_TRIG (Falling Edge Detection Command )186
R_TRIG (Rising Edge Detection Instruction )186
RS ( RS Trigger Instruction )187
SR ( SR Trigger Instruction )188
TOF (Delayed off Timer Instruction )189
0.2.9 TON (Delay-On Timer Command )190
TP (Pulse Command )192
0.3 Type Conversion Fu193
Conversion of BYTE Type BCD Data195
Conversion of WORD Type BCD Data196
Conversion of DWOR D -Type BCD Data197
Conversion of BCD Type Data198
Conversion of BOOL Type Data198
Conversion of BYTE Type Data200
Conversion of WORD Data201
Conversion of DWOR D -Type Data202
Conversion of SINT Data204
Conversion of INT Data205
Conversion of DINT Type Data207
Conversion of USINT Type Data209
Conversion of UINT Type Data211
Conversion of UDINT Type Data212
Conversion of REAL Type Data214
Conversion of LREAL Type Data216
TRUNC Decimal Rounding218
Conversion of TIME Type Data220
0.4 String Fu222
CONCAT (Merge String)222
INSERT (Insert String)223
DELETE ( Copies Except String)224
REPLACE (Replace String)226
LEN ( String Length )227
LIMIT_STRING (Set String Limit)228
FIND (Finda Character that Appears in a String)229
MAX_STRING ( Take a Larger String )230
MIN_STRING (Take a Smaller String)231
LEFT (Remove the Last few Characters of the String)232
MID (Remove Several Characters in a String)233
RIGHT (Remove the Rightmost Characters of the String)234
SEL_STRING (Binary Selection of Strings)235
GT_STRIN (String Is Greater Than)236
GE_STRING (String Is Greater than or Equal To)236
EQ_STRING (String Equals)237
NE_STRING (String Is Not Equal)238
LE_STRING (String Is Less than or Equal To)239
STRING (String Is Less Than)240
STRING_TO_* (Converts Strings to Other Types)241
TO_STRING (Other Types Are Converted to Strings)242
0.5 Bit Operation Function Bit_Util245
BIT_TEST (Read Bit Value Instruction in Bit String )245
GET_ CHAR (Remove the Character Instruction in the String )246
GET_LSB ( Remove the Lower 8 -Bit Instruction in the Bit String )247
GET_MSB ( Remove the High 8 -Bit Instruction in the Bit String )248
I_BIT_IN* ( Invert the Single Bit in the Bit String)249
PARITY_* (Parity Instruction for Bit String )250
R _BIT_IN_* ( Instruction of a Single Position 0 in a Bit String )251
S_BIT_IN_* ( 1 Instruction in a Single Bit in the Bit String )252
SET_LSB ( Write Instructions to the Lower 8 Bits in the Bit String )253
SET_MSB ( the High Bit String 8 Write Digit Command )254
STRING_TO_BUFFER (Copy String to Buffer Instruction )255
SWAP (Swapping High Byte and Low Byte Instructions )256
Proconos Features257
BUF Type Conversion to Other Types257
Other Types Are Converted to BUF Type260
CLR_ERROR_CATALOG ( Except for the Complete Error Directory )260
CLR_OUT ( Set the Output of the I/O Image to 0 Pointer )261
COLD_RESTART ( PLC Cold Start )261
CONTINUE ( Continue Running the Program )262
DERIVAT ( Differential )262
EVENT_TASK ( Trigger Event )263
Fpid264
GET_ERROR ( Details of Errors Obtained in the Error Directory )266
GET_ERROR_CATALOG ( Information about the Current Content Obtained in the Error Directory )266
GET_SYM ( Search for the Symbolic Name of the PDD Variable )266
HOT_RESTART ( PLC Hot Start )266
IMEMCPY ( Data Replication )266
INTEGRAL ( Integration )267
MEMCPY ( Data Copy Instruction)268
MEMSET ( Datadistribution )269
PLC_STOP ( PLC Stop )269
RD_*_BY_SYM ( Read the Value of the PDD Variable )270
WR_*_BY_SYM (Write the Value of the PDD Variable)270
RTC_S ( Read PLC Clock )271
WARM_RESTART ( PLC Warm Start )272
Motion Commands273
Insert FB_FU_LIB (Motion Control Firmware Library)273
Features273
Adding Firmware Library273
Motion Commands275
Motion Control Library Classification275
Movement Instruction List275
Basics of Motion Control Instructions281
Command Modes of Motion Controller281
Movement Control283
MC_AXIS_REF (Axis Parameter Setting)284
Sports Instruction Constitutes291
Analog Offset Adjustment292
State Machine294
Buffermode Features295
Uniaxial Instruction297
Mc_Power (ENABLE Command)299
Mc_Movevelocity (Speed Command)301
Mc_Moverelative (Relative Displacement Instruction)306
Mc_Moveadditive (Additional Displacement Instruction)314
Mc_Moveabsolute (Absolute Displacement Instructions)321
Mc_Movesuperimposed (Additional Displacement Instruction)331
Mc_Haltsuperimposed (Pause Additional Displacement)338
Mc_Home (Zero Return Instruction)344
Mc_Setoverride (Overshoot Speed Command)349
Mc_Stop (Stop Command)354
Mc_Halt (Pause Command)359
Mc_Specialmoveabsolute (Special Absolute Displacement Instructions)362
Mc_Readactualposition (Real Position Instruction Read)365
Mc_Readactualvelocity (Read Real-Time Speed)370
Mc_Readmotionstate (Read Axis Motion Command)373
Mc_Readstatus (Read Axis State)376
Mc_Setposition (Position Setting Instruction)382
Mc_Phasing (Shift Spindle Command)388
Mc_Touchprobe (Position Capture Command)391
Mc_Aborttrigger (Position Capture Interrupt Instruction)395
Ns_Mc_Jog (Jog Command)397
Ns_Mc_Stopbypos (Position Designated Mode Stop Command)402
Ns_Mc_Readparameter (Read Command Parameter)405
Multiaxial Instruction410
Mastervaluesource Description410
Mc_Gearin (Electronic Gear Coupling Instructions)410
Mc_Gearout (Electronic Gear Disengaged Instruction)418
Mc_Combineaxes (Double Spindle Gears Combined Instruction)422
Peeling Electronic Cam Profile431
Peeling Function of the System Configuration432
Peeling Process Parameters433
Peeling Function Control Characteristics434
Peeling Features435
Ns_Mc_Rotarycutin (Peeling Instruction)438
Ns_Mc_Specialcamin (Special Cam Instruction)446
Ns_Mc_Specialcombineaxes (Special Double Joint Spindle Gear Command)454
Mc_Camin (Electronic Cam Associated Instruction)463
Mc_Camout (Electronic Cam Departing Instruction)482
Mc_Camwritepoint (Cam Point Information Write Command)485
Mc_Camreadpoint (Cam Point Information Reading Instruction)487
Mc_Camset (Changes to Take Effect Cam Point Instructions)490
Mc_Readtappetstatus (Read Status Command Plurality of Lifters Points)492
Mc_Readtappetvalue (Single Read Command Tappet Point Information)495
Mc_Writetappetvalue (Edit Point Information Tappet Instruction)498
Special Instructions500
NS_CC_ADC (AD Instruction)500
NS_CC_DAC (da Instruction)504
EX_ADC (AD Extended Instruction)507
EX_DAC (da Expansion Module)509
Ns_Cc_Nooutput (Prohibition Command Output QXX)511
Ns_Cc_Counter (High-Speed Counter)512
NS_CC_CNTI (High-Speed Counter Interrupt Instruction)523
Ns_Cc_Cnt_Out (Comparison Output Instruction Section)529
Ns_Cc_Di_Counter (DI-Speed Count Instruction)533
NS_CC_EXTI (DI Interrupt Instruction)540
Ns_Cc_Readpulsevelocity (Read-Axis Pulse Rate Controlled)547
MC_PID (PID Instruction)550
RTC_S (Special Register Clock)552
Gcode Instructions553
G Code Input Format553
Nc_Groupenable (ENABLE Command Axis Group)554
Nc_Moveliner (Linear Interpolation)556
Nc_Movecircula (Circular Interpolation)562
Nc_Cartesiancoordinate (Cartesian Robot Command)571
Communication Settings574
Motion Controller and Hmi Communication574
Motion Controller and Human-Machine Wiring Shown below574
HMI and Motion Controller Communication Format574
Motion Controller and Human-Machine Communication Address Correspondence Address575
Change the Type of Expansion Module578
Automatic Recognition of Expansion Types578
Manual Selection of Expansion Type578
Appendix I Programming Considerations579
Appendix II Ascii Code Table580
Appendix III Homing Mode Description583
Appendix IV Canopen Instructions595
Canopen Communication Connection595
Description Motion Controller Connection Ports595
Canopen Communication Port Pin Definitions596
Canopen Communication Port LAN596
Canopen Protocol Basics599
Network Management (NMT)599
Service Data (SDO)599
Process Data (PDO)599
Software Features600
Bus Initialization Configuration Module600
Motion Control Module626
Example Configuration628
Motion Control Shaft Arranged628
Tension Control Shaft Arranged634
Key Considerations635
Appendix V Register Description636
Appendix VI Error Codes639
Appendix Ⅶ Difference between Economy and Mp Model Va Controllers644
The Use of Pulses644
Use of Analogue Quantities644
Expanding the Use of Io645
Difference between Hardware Axis Port Pulse Control645
The Difference between High Speed Counters647
Use of Special Function Blocks647

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