Vector VEC-VA Series

VA Motion Controller Programming Manual
30
or cycled. If the inserted task is For periodic scans, different scan cycles and priorities can be set ,
which is the multi-tasking feature of
MULTIPROG
.
2
) When creating a project,
MULTIPROG
automatically declares a "
Tasks
" and the first task
in this directory. Users can right-click "
Tasks
" to insert a new task, or copy a task from another
project, insert The task type defaults to “ DEFAULT ” , which is a cyclic scan. You can also
select“ CYCLIC ”, which is a periodic scan. After selecting“ CYCLIC ”, you need to set the time
interval, priority and monitoring timing. Right-click " Task " and
select " Properties " and " Settings " in the pop-up dialog box to view the type and scan period of
the modified task .
3
) After inserting the new " task " , right-click the newly inserted task name,
select " Program Instance " to specify the program instance name and instance type, and the
instance type is the program inserted in the
POU
(
PROGRAM
).
In a project, only one task of type
DEFAULT
is allowed . Others default to
CYCLIC
type tasks;
under one task, multiple program instances can be inserted, and the execution order of multiple
program instances is executed in the order in which they appear under the task
. .
(5) Global_Variables - global variables
“ Global_Variables ” is the third layer in the software model. In the next layer
of “ Resources ” , it is juxtaposed with “ Tasks ” . Global_Variables cannot be copieDAnd
pasted. The global variable is a variable table, including system variables provided
by
MULTIPROG
and user-created variables. User-created variables will only appear in this table if
they are specifieDAs
VAR_GLOBAL
.
(6) IO_Configuration - IO configuration
“ IO_Configuration ” is the third layer in the software model. Next to “ Resources ” ,
alongside
“ Tasks ”
and
“ Globa
.
l_Variables ”
,
IO_Configuration
cannot be copied or pasted.
Double-click "
IO_Configuration
" open the
I / O
configuration dialog, which is used to edit
I /
O
configuration worksheet, including
the INPUT
(input),
the OUTPUT
(output) ,
VARCONF
property settings, the user simply set
the INPUT
,
the OUTPUT
to In
INPUT
, there is the
name of
INPUT
, the default "
IN
" , the task to which it belongs, the logical start address, the driver
parameters of the board
/IO
module. In the driver parameters, the user needs to specify the driver
name. The default is
DUMMYIO.
, the user needs to be changed to "
KWIO
" .
For the configuration procedure, see "
7 .4 IO
configuration."
5 . 4 .3 Project
The project consists of three parts: library, data type, and logical POU , which form a
complete and powerful program.