VA Motion Controller Programming Manual
II
6 .6.1 Creating a SFC program .............................................................................................................. 61
6 .6.2 Creating SFC network................................................................................................................... 61
6 .6.3 SFC action qualifier ........................................................................................................................ 68
Ⅶ WORKS TO CREATE AND CONFIGURE ....................................................................................................................70
7 .1 CREATING PROJECTS ....................................................................................................................................70
7 .2 SIMULATION COMMUNICATION PARAMETERS......................................................................................... 74
7 .3 PHYSICAL COMMUNICATION PARAMETERS.............................................................................................. 75
7 .4 IO CONFIGURATION ....................................................................................................................................79
7 .5 WRITE LADDER CODE ................................................................................................................................. 81
7. 6 PRODUCTION AND COMPILATION OF PROJECTS.................................................................................... 86
7. 7. PROGRAM DOWNLOAD TO PLC / SIMULATION ......................................................................................87
Ⅷ ONLINE DEBUGGING AND MONITORING PROCEDURES ...................................................................................................90
8 .1 FORCE AND COVERAGE ................................................................................................................................90
8 .2 VARIABLE MONITOR WINDOW ....................................................................................................................91
8 .3 CROSS REFERENCE WINDOW...................................................................................................................... 92
8 .4 LOGIC ANALYZER..........................................................................................................................................93
8 .6 BREAKPOINT DEBUGGING ............................................................................................................................ 96
Ⅸ QUICK START ................................................................................................................................................................. 98
9 .1 SOFTWARE AND MOTION CONTROLLER ESTABLISHES A CONNECTION (ETHERNET PORT COMMUNICATION) 98
9 .2 CONTROL CONTROL BY SENDING THE ANALOG SERVO MOTION (UNIAXIAL START AND STOP) 101
9 .3 CONTROLLER PULSING MOTIONSERVO CONTROL ( ENCODER DRIVENSERVO OPERATION).............112
9 .4 CONTROLLER CANOPEN THROUGH INQUIRY MODE CONTROL SERVO MOTION ( TWO -AXIS MOTION) 121
Ⅹ LOGIC INSTRUCTIONS ..................................................................................................................................................135
1 0.1 FUNCTION................................................................................................................................................ 136
10.1.1 ABS (absolute value instruction ) ...........................................................................................136
10.1.2 ACOS ( anti-cosine instruction ) ............................................................................................137
10.1.3 ADD (Additional Instruction )................................................................................................. 138
10.1.4 ADD_T_T (Time Addition Instruction ) .................................................................................139
10.1.5 AND ( Logic and Instruction ).................................................................................................139
10.1.6 ASIN ( anti-sinusoidal command).........................................................................................140
10.1.7 ATAN (Arc Tangent Command )........................................................................................... 141
10.1.8 COS (cosine command ) ...........................................................................................................142
10.1.9 DIV (Division Instruction )........................................................................................................ 142
10.1.10 DIV_T_AI ( division ( time divided by an integer ) instruction )................................143
10.1.11 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 )............................ 145
10.1.13 EQ (equal to the instruction )...............................................................................................146
10.1.14 EXP ( exponential function instruction of natural number e ) .................................. 147
10.1.15 EXPT of ( a power of ( X to Y -th power ) instruction ) ...............................................148
10.1.16 GE (greater than or equal to the command ) .................................................................148
10.1.17 GT (greater than instruction ) ...............................................................................................149
10.1.18 LE (less than or equal to the instruction )........................................................................150
10.1.19 LIMIT (limit selection instruction ).......................................................................................151
10.1.20 LN (Natural Logarithmic Instruction ) ................................................................................152
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