VA Motion Controller Programming Manual
VII
11.7.3 NC_MoveCircula (circular interpolation).............................................................................557
11.7.4 NC_CartesianCoordinate (Cartesian robot command) ..................................................566
XII COMMUNICATION SETTINGS ................................................................................................................................569
12.1 MOTION CONTROLLER AND HMI COMMUNICATION ...........................................................................569
12.1.1 motion controller and human-machine wiring shown below....................................569
12.1.2 HMI and motion controller communication format.......................................................569
12.1.3 motion controller and human-machine communication address correspondence address 570
12.2 CHANGE THE TYPE OF EXPANSION MODULE.........................................................................................573
12.2.1 Automatic recognition of expansion types .................................................................... 573
12.2.2 Manual selection of expansion type ................................................................................. 573
APPENDIX I PROGRAMMING CONSIDERATIONS ...................................................................................................574
APPENDIX II ASCII CODE TABLE .................................................................................................................................. 575
APPENDIX III HOMING MODE DESCRIPTION .......................................................................................................... 578
APPENDIX IV CANOPEN INSTRUCTIONS .................................................................................................................. 590
1. CANOPEN COMMUNICATION CONNECTION.............................................................................................590
1.1 Description Motion Controller Connection Ports ..................................................................590
1.2 CANopen communication port pin definitions......................................................................591
1.3 CANopen communication port LAN..........................................................................................591
1.4 CANopen communication port communication speed and communication distance593
2. CANOPEN PROTOCOL BASICS .....................................................................................................................594
2.1 Network management (NMT) ...................................................................................................... 594
2.2 Service data (SDO) ............................................................................................................................594
2.3 Process data (PDO) .......................................................................................................................... 594
3. SOFTWARE FEATURES ................................................................................................................................... 595
3.1 Bus Initialization Configuration Module................................................................................... 595
3.2 Motion Control Module ..................................................................................................................621
4. EXAMPLE CONFIGURATION ..........................................................................................................................623
4.1 Motion Control Shaft Arranged ...................................................................................................623
4.2 tension control shaft arranged .....................................................................................................629
5. KEY CONSIDERATIONS ..................................................................................................................................630
APPENDIX V REGISTER DESCRIPTION ........................................................................................................................631
APPENDIX VI ERROR CODES ........................................................................................................................................ 634
APPENDIX Ⅶ DIFFERENCE BETWEEN ECONOMY AND MP MODEL VA CONTROLLERS ............................ 639
1. THE USE OF PULSES.......................................................................................................................................639
2. USE OF ANALOGUE QUANTITIES ..................................................................................................................639
3. EXPANDING THE USE OF IO.........................................................................................................................640
4. DIFFERENCE BETWEEN HARDWARE AXIS PORT PULSE CONTROL..............................................................640
5. THE DIFFERENCE BETWEEN HIGH-SPEED COUNTERS................................................................................. 642
6. USE OF SPECIAL FUNCTION BLOCKS ............................................................................................................642
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