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Vector
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VEC-VA Series
Vector VEC-VA Series
649 pages
Manual
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V
A
Motion
Co
ntroller
Programming
Manual
501
situation
1
:
When
Enab
le
changes
from
F
A
LSE
to
TRUE,
V
alid
chan
ges
from
F
A
LSE
to
TRUE,
and
the
next
cycle,
the
analog
quan
tity
o
utput
0V
,
the
modified
vari
able
DAC_V
alue
is
1024,
the
ana
log
output
5
V
.
505
507
Table of Contents
Main Page
Table of Contents
6
Ⅰ Multiprog Overview
13
Features of the Software and Hardware Requirements
15
Basic Knowledge Required
15
MULTIPROG Express5.51 Features
15
Computer Hardware Requirements
15
MULTIPROG Express5.51 Support
15
Plc Working Principle
17
Plc Executing the Program Written by the User
17
Plc Data Access
17
Plc Save Data
19
Data Types
22
Basic Data Types
22
Generic Data Type
23
User-Defined Data Types
23
Constant Data Representation
24
Ⅴ Software Installation and Introduction
26
Multiprog Software Installation and Startup
26
Processor Type Software Installation
29
Programming Model with Standard Iec61131-3
32
Multiprog Programming Interface Presentation
33
Introduction Partition Function
33
Hardware
34
Project
35
Ⅵ Multiprog Programming Language
39
Variable Worksheet
40
Il Instruction List Programming Language
42
Creating an IL Program
42
IL Statement
45
Of IL Operator
45
St Structured Text Programming Language
47
Create Anst Program
47
ST Statement
49
ST Expression
50
Fbd Function Block Diagram Language Programming
52
Create an FBD Program
52
And ENO Description
53
Creating a User Library
55
The Ld Ladder Logic Programming Language
60
Create a LD Program
60
In LD Created in a FB
62
Sfc Sequential Function Chart Programming Language
66
Creating a SFC Program
66
Creating SFC Network
66
SFC Action Qualifier
73
Ⅶ Works to Create and Configure
75
Creating Projects
75
Simulation Communication Parameters
79
Physical Communication Parameters
80
Io Configuration
84
Write Ladder Code
86
Production and Compilation of Projects
91
Program Download to Plc / Simulation
92
Ⅷ Online Debugging and Monitoring Procedures
95
Force and Coverage
95
Variable Monitor Window
96
Cross Reference Window
97
Logic Analyzer
98
Breakpoint Debugging
101
Ⅸ Quick Start
103
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 Instructions
140
Function
141
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 Block
180
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 Fu
193
Conversion of BYTE Type BCD Data
195
Conversion of WORD Type BCD Data
196
Conversion of DWOR D -Type BCD Data
197
Conversion of BCD Type Data
198
Conversion of BOOL Type Data
198
Conversion of BYTE Type Data
200
Conversion of WORD Data
201
Conversion of DWOR D -Type Data
202
Conversion of SINT Data
204
Conversion of INT Data
205
Conversion of DINT Type Data
207
Conversion of USINT Type Data
209
Conversion of UINT Type Data
211
Conversion of UDINT Type Data
212
Conversion of REAL Type Data
214
Conversion of LREAL Type Data
216
TRUNC Decimal Rounding
218
Conversion of TIME Type Data
220
0.4 String Fu
222
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_Util
245
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 Features
257
BUF Type Conversion to Other Types
257
Other Types Are Converted to BUF Type
260
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
Fpid
264
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 Commands
273
Insert FB_FU_LIB (Motion Control Firmware Library)
273
Features
273
Adding Firmware Library
273
Motion Commands
275
Motion Control Library Classification
275
Movement Instruction List
275
Basics of Motion Control Instructions
281
Command Modes of Motion Controller
281
Movement Control
283
MC_AXIS_REF (Axis Parameter Setting)
284
Sports Instruction Constitutes
291
Analog Offset Adjustment
292
State Machine
294
Buffermode Features
295
Uniaxial Instruction
297
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 Instruction
410
Mastervaluesource Description
410
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 Profile
431
Peeling Function of the System Configuration
432
Peeling Process Parameters
433
Peeling Function Control Characteristics
434
Peeling Features
435
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 Instructions
500
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 Instructions
553
G Code Input Format
553
Nc_Groupenable (ENABLE Command Axis Group)
554
Nc_Moveliner (Linear Interpolation)
556
Nc_Movecircula (Circular Interpolation)
562
Nc_Cartesiancoordinate (Cartesian Robot Command)
571
Communication Settings
574
Motion Controller and Hmi Communication
574
Motion Controller and Human-Machine Wiring Shown below
574
HMI and Motion Controller Communication Format
574
Motion Controller and Human-Machine Communication Address Correspondence Address
575
Change the Type of Expansion Module
578
Automatic Recognition of Expansion Types
578
Manual Selection of Expansion Type
578
Appendix I Programming Considerations
579
Appendix II Ascii Code Table
580
Appendix III Homing Mode Description
583
Appendix IV Canopen Instructions
595
Canopen Communication Connection
595
Description Motion Controller Connection Ports
595
Canopen Communication Port Pin Definitions
596
Canopen Communication Port LAN
596
Canopen Protocol Basics
599
Network Management (NMT)
599
Service Data (SDO)
599
Process Data (PDO)
599
Software Features
600
Bus Initialization Configuration Module
600
Motion Control Module
626
Example Configuration
628
Motion Control Shaft Arranged
628
Tension Control Shaft Arranged
634
Key Considerations
635
Appendix V Register Description
636
Appendix VI Error Codes
639
Appendix Ⅶ Difference between Economy and Mp Model Va Controllers
644
The Use of Pulses
644
Use of Analogue Quantities
644
Expanding the Use of Io
645
Difference between Hardware Axis Port Pulse Control
645
The Difference between High Speed Counters
647
Use of Special Function Blocks
647
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