Vector VEC-VA Series Programming Manual
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Vector VEC-VA Series Programming Manual

Motion controller
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  • Page 2 Copyright Statement Shenzhen Vector Technology Co., Ltd. All rights reserved Shenzhen Vector Technology Co., Ltd. (the following referred to Vector company) reserves the right, without prior notice, the right to modify this manual and the product specifications and other documents.
  • Page 3 Foreword Thank you for purchasing VA motion controller! VA motion-controlled PLC is the company developeDA high-performance general-purpose controller with an integrated function motion controller and PLC controller. This programming manual movement control described VA type PLC and motion control software use. Please read carefully before using the user understand the VA motion control PLC type of use.
  • Page 4 This symbol indicates that the operatioNShould be noted. General Safety Summary Please review the following safety precautions to avoid injury and prevent damage to this product or any products connected to it. To avoid potential danger, follow the instructions to use the product in detail. Use a power cord that meets national standards.
  • Page 5 VA motion controller has a wide range of applications in traditional mechanical numerical control industry, but also plays an irreplaceable role in the emerging manufacturing electronics manufacturing and information products.

  • Page 6: Table Of Contents

    VA Motion Controller Programming Manual table of Contents Ⅰ MULTIPROG OVERVIEW ..............................8 II FEATURES OF THE SOFTWARE AND HARDWARE REQUIREMENTS ..............10 2.1 B ........................10 ASIC NOWLEDGE EQUIRED 2.2 MULTIPROG E 5.51 F ..................... 10 XPRESS EATURES 2.3 C ....................10 OMPUTER ARDWARE EQUIREMENTS...
  • Page 7 VA Motion Controller Programming Manual 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 C ............................70 REATING PROJECTS 7 .2 S ..................
  • Page 8 VA Motion Controller Programming Manual 10.1.21 LOG (Logarithmic Instruction ) .................... 153 10.1.22 LT (less than instruction ) .......................153 10.1.23 MAX (Maximum Instruction ) ....................154 10.1.24 MIN (minimum instruction ) ....................155 10.1.25 MOD (modulo instruction ) ....................156 10.1.26 MOVE (Assignment Command ) ..................157 10.1.27 MUL (Multiplication Directive ) ....................
  • Page 9 VA Motion Controller Programming Manual 10.3.13 Conversion of UINT type data ..................... 206 10.3.14 Conversion of UDINT type data ..................207 10.3.15 Conversion of REAL type data ..................... 209 10.3.16 Conversion of LREAL type data ................... 211 10.3.17 TRUNC decimal rounding ......................213 10.3.18 Conversion of TIME type data .....................
  • Page 10 VA Motion Controller Programming Manual 10.6.7 DERIVAT ( differential ) ......................257 10.6.8 EVENT_TASK ( trigger event ) ....................258 10.6.9 FPID ..............................259 10.6.10 GET_ERROR ( details of errors obtained in the error directory ) ......261 10.6.11 GET_ERROR_CATALOG ( information about the current content obtained in the error directory ) 10.6.12 GET_SYM ( search for the symbolic name of the PDD variable ) ......
  • Page 11 VA Motion Controller Programming Manual 11.4.14 MC_ReadMotionState (read axis motion command)..........368 11.4.15 MC_ReadStatus (Read axis state) ..................371 11.4.16 MC_SetPosition (position setting instruction)..............377 11.4.17 MC_Phasing (shift spindle command) ................383 11.4.18 MC_TouchProbe (position capture command)..............386 11.4.19 MC_AbortTrigger (position capture interrupt instruction).........390 11.4.20 NS_MC_Jog (jog command)....................
  • Page 12 VA Motion Controller Programming Manual 11.7.3 NC_MoveCircula (circular interpolation) ................557 11.7.4 NC_CartesianCoordinate (Cartesian robot command) ..........566 XII COMMUNICATION SETTINGS ..........................569 12.1 ................569 MOTION CONTROLLER AND COMMUNICATION 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 12.2 C ..................573...

  • Page 13: Ⅰ Multiprog Overview

    VA Motion Controller Programming Manual Ⅰ MULTIPROG Overview MULTIPROG is universal PLC programming system for control applications in large-scale development, it is widely used in machinery manufacturing, automotive and process automation industry. The tool is based on Microsoft's COM / DCOM technology architecture, Suitable for XP, Vista, win 7, win8 and win10 Windows operating systems.
  • Page 14 VA Motion Controller Programming Manual For special occasions, provided the source code protection and non-stop online download function. For programmers habits of different countries, provids multi-language support, including variable names.

  • Page 15: Features Of The Software And Hardware Requirements

    Requirements The manual describes how to use the programming software--MULTIPROG Express5.51. Users can write your own programs on the Vector motion controller according to this manual. 2.1 Basic Knowledge Required Users who are familiar with this manual need to have general knowledge of automation technology, understand the Windows operating system, and have read the “Vector VA Motion...
  • Page 16 VA Motion Controller Programming Manual Each task program instances Each global variables POU / local variables 1 5000/1 5000 The library contains The number of POU a project (including multiple 2000 A project supported by the I / O count 256 Byte I / O group...

  • Page 17: Plc Working Principle

    VA Motion Controller Programming Manual III PLC Working Principle 3.1 PLC Executing the Program Written by the User Users download the program to the PLC and run PLC. The motion controller can cycle through the user's program. The program is not executed when the CPU is stopped. Each time the PLC executes the user's program, it is calleDA scan cycle, and the following work will be performed in one scan cycle: A] Read Input: digital, analog input signals read into the input mapping area.
  • Page 18 VA Motion Controller Programming Manual Prefix definition Conventions Data Types Input mapping area Location Output mapping area prefix Intermediate variables mapping area Place BOOL Byte (8 bits) BYTE The size Word (16 bits) WORD prefixes Double word (32) DWORD Long (64-bit) LREAL Examples of variable address DI / DO bit input and output opera tions:...

  • Page 19: Plc Save Data

    2#___ 2 # 001 Decimal _____ 16 #__ 16 # AC43 String '___' 'VECTOR' ASCII code ASCII value 16 # 30 Real REAL #___ REAL # 3.1415926 3.3 PLC Save Data 1) First, let's take a look at the approximate workings of the motion controller's internal memory.
  • Page 20 VA Motion Controller Programming Manual under complete power-off. The motion controller loads the downloaded program, the data to be saved (optional), and the resource configuration (optional) into the RAM storage area each time the program is downloaded, and the CPU automatically copies it to the ferroelectric memory. In order to achieve permanent preservation.
  • Page 21 VA Motion Controller Programming Manual NOTE: The difference between the two is the "variable initial value save data", when the motion controller on again, only the initial value of this variable is maintained even when the program is running value of this variable is modified; and "variable set to save data "is data that variable before remain off.

  • Page 22: Data Types

    VA Motion Controller Programming Manual IV Data Types 4.1 Basic Data Types The program includes two parts: code and data. The code can be any one of five programming languages: IL, ST, FBD, LD, SFC, or a combination of several languages. The data is divided into three types: basic data type, derived data.

  • Page 23: Generic Data Type

    VA Motion Controller Programming Manual 0 to 4294967295 (16 # DWORD Double Word 00..16 # FFFFFFFF) 4.2 Generic Data Type The generic data type is to group the basic data types hierarchically, with ANY as the prefix of the data type. For example, ANY_INT indicates that all integer data including SINT, INT, DINT, USINT, UINT, and UDINT are included.

  • Page 24: Constant Data Representation

    VA Motion Controller Programming Manual or nested. An example of declaring a structure is as follows: TYPE machine: STRUCT x_pos: INT; y_pos: INT; depth: INT; rp: INT; END_ STRUCT; END _TYPE  String A string is a finite sequence of multiple characters. Each character occupies one byte. The data type of the string is STRING.
  • Page 25 VA Motion Controller Programming Manual Word STRING String 'VECTOR'...

  • Page 26: Ⅴ Software Installation And Introduction

    VA Motion Controller Programming Manual Ⅴ Software Installation and Introduction Thanks to MULTIPROG excellent man-machine interface, just a few easy steps to create a project. This section describes how to install the software MULTIPROG description, all the software interface to the end-use configuration MULTIPROG introduced. 5.1 MULTIPROG software installation and startup 1) Decompress the installation file of MULTIPROG.
  • Page 27 VA Motion Controller Programming Manual 5) Click the Install, then wait for the completion of the installation, the installation process may take some time, as shown. 6) Click "Finish" to complete the installation of the MULTIPROG programming software as shown.
  • Page 28 VA Motion Controller Programming Manual 7) Double-click the icon to start MULTIPROG. If the icon does not appear on your desktop, you can also use the "Start Menu"  "program"  "PHOENIX CONTACT Software""MULTIPROG 5.51 Express" to start.

  • Page 29: Processor Type Software Installation

    VA Motion Controller Programming Manual 5.2 Processor type software installation 1) After installing the mmmm software, continue to install the processor type software. When the installation dialog appears, click "Next" as shown 2) Select "I accept ..", click on "Next" as shown. 3) Select the installation path, here select the default, display "Version found", click "Next"...
  • Page 30 VA Motion Controller Programming Manual 4) Select "Istall Visual Studio .." click "Next" as shown. 5) Click the "Install" installation, the installation process will take some time, as shown.
  • Page 31 VA Motion Controller Programming Manual 6) After installation is complete, restart the computer, the processor type of software and programming software will builDA relationship.

  • Page 32: Programming Model With Standard Iec61131-3

    VA Motion Controller Programming Manual 5.3 programming model with standard IEC61131-3 1) The MULTIPROG programming software used by the VA motion controller has a programming language and program structure in accordance with the IEC 61131-3 programming system. In IEC 61131-3, the establishment of programs and projects is done in the Program Organization Unit (POU).

  • Page 33: Multiprog Programming Interface Presentation

    VA Motion Controller Programming Manual 5.4 MULTIPROG programming interface presentation After opening MULTIPROG, you caNSee that it has only one main boundary. According to the function, it is divided into different areas, as shown. 5.4.1 Introduction partition function (1) The toolbar area contains commands for code editing and debugging special functions; (2) The engineering tree is used to display the structure of the project and the configuration properties of the hardware;...

  • Page 34: Hardware

    VA Motion Controller Programming Manual (5) Cross reference area, you caNSee the current status anDAddress of the variable; (6) Variable monitoring window, there may be a lot of variables in the large engineering project, you can add the variables you need to monitor, so that you can quickly view the current state of the variables, and facilitate user debugging;...

  • Page 35: Project

    VA Motion Controller Programming Manual 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.
  • Page 36 VA Motion Controller Programming Manual (1) Library 1 ) The library provides function blocks, functions, programs, and data types. After inserting a library, the user can use the functions and function blocks in the library as if they were IEC function blocks. Right click on " Library " to insert " User Library " and " Firmware Library "...
  • Page 37 VA Motion Controller Programming Manual specify the name of the data type worksheet, double-click the generated data type work order, enter the editing area, type the following characters as shown example: Above code defines a containing 100 th the IN T are array variables, array name DATAl . (3) Logical POU 1 ) The program organization unit POU is a language element of the PLC program.
  • Page 38 VA Motion Controller Programming Manual Such as : RIGHT and INSER T String function Time data type function Such as SUB with TIME data type function block " Function block " , abbreviateDAs the FB , is a program with multiple inputs and multiple outputs organizational units the POU, "...

  • Page 39: Ⅵ Multiprog Programming Language

    VA Motion Controller Programming Manual Ⅵ MULTIPROG Programming Language MULTIPROG supports IL, ST , FBD, LD, SFC five programming languages, of which IL and S T belong to the text programming language, FBD, LDAnd SFC belong to the graphic programming language. A program with independent functions is divided into code part and data part.

  • Page 40: Variable Worksheet

    VA Motion Controller Programming Manual 6 .1 Variable Worksheet IL, ST , FBD, LD, SFC Five programming languages ​​need to declare variables in the variable worksheet corresponding to each program organization unit POU . The user selects the program, function or function block in the POU directory in the project tree , clicks the menu. Variable work order on the bar, enter the variable work order, select the first line as follows , select the additional variable, MULTIPROG automatically insert ADefault variable, (you can also create a variable set, fill in the name with the name plus # ;...
  • Page 41 VA Motion Controller Programming Manual  OPC column : indicates variable has written OPC server file, only when the user wishes via OPC only access the variable client check on it. FBD, LDAnd SFC programming language compile time course, the variables may be inserted in the editing area, the variable is inserteDAfter the variable is automatically included in the worksheet.

  • Page 42: Il Instruction List Programming Language

    VA Motion Controller Programming Manual 6 .2 IL Instruction List Programming Language The basic statement of the instruction list programming language is the instruction list, which is an underlying language that uses machine-oriented operators and is relatively easy to convert to machine code of a programmable controller.
  • Page 43 VA Motion Controller Programming Manual 4 > Double-click " logic POU under" of IL _Test , theNSelect Edit Wizard region "all FU and the FB " functions and function blocks all appear as shown . 5> Double-click " the ADD module" , or dragging " the ADD module" into the editor, " the ADD module"...
  • Page 44 VA Motion Controller Programming Manual 9> Click the variable work table, use the mouse to select the three operands, right-select "Add to watch window", the user can debug and online monitoring variables such as drawing shown . 10> are double tap monitoring window A and B variables were assigned 4 and 5 , and then click the cover, as shown .

  • Page 45: Il Statement

    VA Motion Controller Programming Manual 6 .2.2 IL statement In the editing area of ​​the instruction list language IL , the statements of the IL programming language can be written line by line , each statement occupies one line, and the front ( non-editing area ) of each line of the statement is a line number, and each line of the instruction is without a semicolon.
  • Page 46 VA Motion Controller Programming Manual to the subsequent operands BOOL Operand set 1 BOOL Complex operand 0 N, ( ANY _ BIT Logic and & N, ( ANY _ BIT Logic and N, ( ANY _ BIT Logical or N, ( ANY _ BIT Logical XOR ANY_BIT...

  • Page 47: St Structured Text Programming Language

    VA Motion Controller Programming Manual 6 .3 ST structured text programming language Structured text programming language S T is a high level language, similar to the Pascal programming language, it does not use low-level machine-oriented operators, but using a similar date statements often language to describe control commands, sophisticateDAlgorithms can be described.
  • Page 48 VA Motion Controller Programming Manual 3> there is a project tree in the new procedure the POU , as shown. 4> Double -click " logic the POU " under " ST_Text " , theNSelect Edit Wizard region " all FU and the FB " , anDAll functions appears function can block, as shown. 5>...

  • Page 49: St Statement

    VA Motion Controller Programming Manual 8> selected with the mouse are three operands, the right choice to add to the Watch window, the monitor window as shown. 9> Double-click the C and D variables in the watch window , write 5 and 3 respectively , and then click “Overwrite”...

  • Page 50: St Expression

    VA Motion Controller Programming Manual language ST , the statements of the ST programming language can be written line by line , each statement ends with a semicolon, and multiple statements can occupy one line, and the front ( non-editing area ) of each line of statements is one Line number. Such as an assignment statement, which consists of a variable, an assignment keyword, anDAn expression, which is used to assign the result of the expression to the operation.
  • Page 51 VA Motion Controller Programming Manual select IF a<b THEN When expression c:=1; ' a<b ' after IF is TRUE , execute a ELSIF statement after THEN ( with a semicolon THEN c:=2; as the boundary ) , otherwise the statement after THEN is not executed , ELSE c:=3;...

  • Page 52: Fbd Function Block Diagram Language Programming

    VA Motion Controller Programming Manual 6 .4 FBD Function Block Diagram language programming The function block diagram programming language is derived from the field of signal processing. It is the basis of the IEC 61499 standard. A function block diagram programming language prograMConnects various function blocks.

  • Page 53: And Eno Description

    VA Motion Controller Programming Manual 3 ) The function block EXPT completes the square operation of x , the function block MUL completes the multiplication of a and X , the other MUL completes the multiplication of b and x , the function block ADD completes the addition of ax and bx and c , click "...
  • Page 54 VA Motion Controller Programming Manual is FALSE ( 0 ) , the function defined by the instruction will not be executed, and the output value of the output pin of the instruction will not be refreshed. . Conversely, if the EN pin parameter value defined by the instruction is TRUE ( 1 ) , the function defined by the instruction will be executeDAnd the value of the instruction output pin will be refreshed.

  • Page 55: Creating A User Library

    VA Motion Controller Programming Manual - update the FB / FU ( E ), this time with a function block are automatically added ENO EN / pin . As shown below 6 .4.3 Creating a User Library User library function: Generally, the user library is built into a function block by encapsulating it into a function block.
  • Page 56 VA Motion Controller Programming Manual Delete block under logic, only keep function block named My_First_FBDAnd select the block to be deleted -> right click -> delete , as shown below 4. Delete the configuration information under hardware, click -> Hardware -> Select Configuration ->...
  • Page 57 VA Motion Controller Programming Manual After the completion, the "Engineering" and "Hardware" under the project tree are as shown below. 6 . After completing the above operation, start programming and packaging of the function block. Example: Encapsulating a one-on-one function instruction; Call a multiply instruction, an addition instruction, and theNSet the four variable names to K, X, b, Y , and select the data type as INT (in this case, select the INT type) .
  • Page 58 VA Motion Controller Programming Manual function block variables use internal variables as much as possible to improve the use of the package block) 7. Find the user library in the group and find the function block of the above package, as shown in the figure.
  • Page 59 VA Motion Controller Programming Manual At this point a user library package and call has been completed. Special Note: The called user library "double-click" function block can view the internal programming content, but does not allow modification or adding new functions.

  • Page 60: The Ld Ladder Logic Programming Language

    VA Motion Controller Programming Manual 6 .5 the LD Ladder Logic programming language The ladder programming language is one of the oldest programming languages. The ladder diagram is derived from the logic control diagram of the electrical system. The logic diagram uses relays, contacts, coils and logic diagrams to represent the logical relationship between them.
  • Page 61 VA Motion Controller Programming Manual power rail 001 anDA normally open contact C000 . On the right is a coil C001 and the right power rail as shown. 4> Double-click the normally open contacts C000 , contact may / Coil Properties dialog box, the I / O to the address field, enter % IX0.0 , represents PLC of the machine ADigital input channel, click "...

  • Page 62: In Ld Created In A Fb

    VA Motion Controller Programming Manual 6> In LD , there is no need to create additional variables in the variable worksheet. Therefore, after inserting a ladder network and double-clicking the contacts and coils respectively, these two variables appear in the variable worksheet . You can insert a variable by right- clicking in the editing area and selecting "...
  • Page 63 VA Motion Controller Programming Manual Pop up ADialog box, you want to create in this dialog box FB name, and used to develop the type of programming language, here are the MOVE _INT , function blocks and ST , click OK, then enter the ST language programming of Figure Shown .
  • Page 64 VA Motion Controller Programming Manual When finished, click " production " compiled by back LD editing area, in the editor wizard creates MOVE_INT function block drag LD edit area as in FIG illustrated Connection of the following figure made by this MOVE_INT function block is as shown ...
  • Page 65 VA Motion Controller Programming Manual mode (such as different speed operation). Equipment : C000 is started for " TRUE " device and " FALSE " is stopped C002 is " FALSE " operating mode selection " adress2 " C002 is " TRUE " operating mode selection " adress1 " ADress3 is used to monitor the current operating mode;...

  • Page 66: Sfc Sequential Function Chart Programming Language

    VA Motion Controller Programming Manual 6 .6 SFC Sequential Function Chart Programming Language The SFC Sequential Function Chart programming language divides a complex control program into several small tasks, each of which is executed sequentially. In the SFC sequential function chart programming language, each small task is calleDA “ step ” . The relationship between “...
  • Page 67 VA Motion Controller Programming Manual ( 3 ) In the above figure, each“ step ”,“ conversion ”and“ action ”have unique names. Then, click “ convert ” T00 1 in the above figure , and then click “ create step conversioNSequence ” . in the following step adds a " step " S00 2 , as shown. ( 4 ) Click "...
  • Page 68 VA Motion Controller Programming Manual At this point, aNSFC network is created, in which S001 is the initial step , the user can use the initialization data, such as the counter to clear the initial value and other operations, and then according to the requirements of the "step", "conversion"...
  • Page 69 VA Motion Controller Programming Manual and is always 1 . When the global variable C000 is set to 1 , "convert" T0 01 is 1 , and "step" S002 and S003 are activated . 3 ) Double-click " Convert " T00 3 to select the LD programming language. This conversion condition is used for timing.
  • Page 70 VA Motion Controller Programming Manual At this point, the conversion conditions of the SFC are programmed. action The " action " A001 name to initialize; The " action " A 002 name was changed to the north and south _ red light ; The "...
  • Page 71 VA Motion Controller Programming Manual a " step " S003 when activated green light east-west direction. 7 ) Double-click the " stuff _ yellow " enter 'things _ yellow' operation programming, the insertion procedure in the editing area, the coil EW_Y the I / O address : % Q X- 0.2 , represents a "...
  • Page 72 VA Motion Controller Programming Manual 9 ) Double-click the " north-south _ yellow " enter "north-south _ yellow ' operation programming, the insertion procedure in the editing area, the coil SN_Y the I / O address : % Q X- of 0. The . 4 , represents a " step " S00 . 7 activated The north and south lights are yellow.

  • Page 73: Sfc Action Qualifier

    VA Motion Controller Programming Manual downloading to the PLC without error prompt , click the "Cold Start" program to start working. This program is the automatic control of the traffic lights at the simulated traffic intersection, that is, when the red light is bright in the north-south direction, it is kept for 4 1 second;...
  • Page 74 VA Motion Controller Programming Manual Set (save) Execute the action code ontology or set the Boolean variable. This ( set ) state is saved once the ( associated ) step becomes active . This set state can only be explicitly reset by associating the action to ADifferent step by using the ' R ' qualifier.

  • Page 75: Ⅶ Works To Create And Configure

    VA Motion Controller Programming Manual Ⅶ Works to Create and Configure 7 .1 Creating projects 1 ) In this section we provide step-by-step instructions for developing, editing, and running a ladder ( LD ) sample program using MULTIPROG software . The development of the program is divided into several stages.
  • Page 76 VA Motion Controller Programming Manual ( 4 ) The third step of the project wizard is to determine the name and type of the configuration. The dialog box is shown in the figure. Fill in the name of the configuration in the "Name"...
  • Page 77 VA Motion Controller Programming Manual Note: Different type selections represent different hardware platforms, because at the time of engineering, the system generates hardware-specific machine code based on the type of resource. ( 6 ) The fifth step of the wizard is to specify the name and type of the task. The dialog box is as shown.
  • Page 78 VA Motion Controller Programming Manual ( 7 ) The last step, in the dialog box popped up by the wizard , summarizes the previous settings, project name, project path, POU name, PLC type configuration, processor type, task type , as shown. ( 8 ) If no error is prompted , click "Finish", you caNSee the new generation of the project tree in the project tree window.

  • Page 79: Simulation Communication Parameters

    VA Motion Controller Programming Manual 7 .2 Simulation Communication Parameters 1 ) After the installation is complete, open the already completed projects, simulate communicatioNSettings (provided that the "resources" ( Resource ) Select " eCLR_Simulation " ) , under the "Project Tree Window", right-click the "resources" to select "Set " shown in FIG. 2 ) In the pop-up “...

  • Page 80: Physical Communication Parameters

    VA Motion Controller Programming Manual 7 .3 Physical Communication Parameters 1 ) After the motion controller is connected to the power-on communication line, set the communication parameters of the PC and the controller . Under the “Project Tree Window”, right-click “Resources” and select “Properties” as shown in the figure.
  • Page 81 VA Motion Controller Programming Manual (Note ! "In the newly established Project Wizard PLC processor type" is selected, processor type, select the "simulation eCLR_Simulation "; physical PLC processor type selection " ARM_LE_GCC3 "; for this kind of simulation engineering projects and engineering Switch between projects) 2 ) Right-click "Resources"...
  • Page 82 VA Motion Controller Programming Manual Confirm the port of the PC , and set the network attribute of the P C port. The IP address is: “ 1 92 . 168 . 1 . 122 ” , as shown. Establishing Setting Select "version ECLR ( Core.3.0. 8 )" , as shown.
  • Page 83 VA Motion Controller Programming Manual When finished, click "OK" again to re-click "Create" button; the program no error message before downloading to a real PLC in .

  • Page 84: Io Configuration

    VA Motion Controller Programming Manual 7 .4 IO Configuration When the program is executed, the controller receives the signal from the field device through I/O and sends the control command to the field device. Therefore, the user must specify the logical start address. The driver name is the driver that specifies the I/O . Otherwise, the compiler will appear.
  • Page 85 VA Motion Controller Programming Manual 4 , click < driver parameters >, " in the driver name" was changed to " KWIO " shown in FIG. 5 , repeating the above steps for the same output terminal of the set , select " the OUTPUT ", "name"...

  • Page 86: Write Ladder Code

    VA Motion Controller Programming Manual 7 .5 Write Ladder Code 7 .5.1 Insert New Network 1 ) Double-click the project tree " main " project name, A blank editing window; click " network" , the occurrence region editing a ladder FIG network , the left side is a normally open contact, variable The right side of the name C000 is a coil with the variable name C001 .
  • Page 87 VA Motion Controller Programming Manual 2 ) Double-coil ladder C001, contact may / Coil Properties dialog box, the I / O address ( S ) field, the input field % QX0.0 represents , represents PLC a first digital output channel of the machine, Click "OK " as shown 7 .5.3 Insert new contacts 1 ) Click "...
  • Page 88 VA Motion Controller Programming Manual 2 ) Double-click " C002 " Modify contacts its properties shown in FIG. Similarly, the normally closed contact of the thermal relay is inserted: 7 .5.4 inserting a second LD network 1 ) Move the cursor to the bottom of the existing network, a single click Tools "Network" button to insert a new network , as shown.
  • Page 89 VA Motion Controller Programming Manual 7 .5.5 line drawing anDAnnotation connection 1 ) Connect the lines MULTIPROG software, provides a convenient drag and drop feature, click on the toolbar contacts " " , appears a new "normally open contact", double-click the new contact to modify its properties, and then to drag contacts black nodes can occur on the network to be connected , as shown.
  • Page 90 VA Motion Controller Programming Manual...

  • Page 91: Production And Compilation Of Projects

    VA Motion Controller Programming Manual 7. 6 Production and compilation of projects 1 ) click Compile " made after" informatioNStatus area no error prompts carried out under a step simulatioNStage, if prompted , double-click on the "wrong" in the message area prompts, the software automatically jump to the wrong place, modify the finished Then click "Make", until the informatioNStatus area has no error prompt, then "Download"...

  • Page 92: Program Download To Plc / Simulation

    VA Motion Controller Programming Manual 7. 7. Program download to PLC / simulation 1 ) In the communication After setting, click the Toolbar " Project control dialog window " , pop-up to "Resources" panel , click download, the already completed projects downloaded to the emulator on the device , downloading process there download progress , as shown.
  • Page 93 VA Motion Controller Programming Manual panel function introduction  cold start : indicates that the PLC starts executing the program from the initial state, anDAll variables are defined initial values ​​at the start time; Warm start : Indicates that the hold type variable in the program maintains the state at the last stop, and the other variables are the initial state.
  • Page 94 VA Motion Controller Programming Manual Note: When an abnormality occurs during PLC operation (for example, the divisor is zero), the PLC will automatically stop, and the “ Status ” will be displayeDAs “ Error ” and the background color will be red. The "Error Button" becomes available at this time. Clicking this button causes the cause of the error to be displayed in the "...

  • Page 95: Ⅷ Online Debugging And Monitoring Procedures

    VA Motion Controller Programming Manual Ⅷ Online Debugging and Monitoring Procedures 8 .1 force and coverage In online mode, you can " force " or " overwrite " variables. In both cases, a new value is assigned to the corresponding variable. Force: Assign a value to a variable ( usually a contact or coil ) .

  • Page 96: Variable Monitor Window

    VA Motion Controller Programming Manual 8 .2 variable monitor window The Variable Watch window is a powerful tool that allows users to easily insert different variables into a list and observe their runtime behavior. Once a variable is added to the watch window, its current value can be monitored without having to open the corresponding work order.

  • Page 97: Cross Reference Window

    VA Motion Controller Programming Manual 8 .3 Cross reference window 1 ) Cross-reference list contains all the variables used in the current project, power can block, jump, numerals and connectors. This tool for debugging and fault isolation particularly helpful, click on the toolbar " Cross Reference Window " icon to open the cross-reference window as shown below .

  • Page 98: Logic Analyzer

    VA Motion Controller Programming Manual 8 .4 logic analyzer 1 ) The logic analyzer can monitor the trend change of multiple analog quantities (such as temperature, liquid level, pressure, etc.), and caNSet the sampling time, which is convenient for users to debug. Select “Logic Analyzer” on the toolbar and pop up under the software. Logic Analyzer"...
  • Page 99 VA Motion Controller Programming Manual 4 ) In the pop up "trigger Configuration" "check" continuous recording , and click " OK " , shown in FIG. 5 ) After completing the above settings, " right click " the logic analyzer name , click " Start...
  • Page 100 VA Motion Controller Programming Manual Record " as shown 6 ) Note that when you click “ Start Recording ” , try not to perform other operations . Otherwise, the communication will not be smooth or crash . If you want to perform other operations, stop the recorder first and then perform other operations.

  • Page 101: Breakpoint Debugging

    VA Motion Controller Programming Manual 8 .6 breakpoint debugging 1 ) Like other high-level language development tools, MULTIPROG supports setting breakpoints for PLC programs for debugging programs. After setting a breakpoint, there are two ways to debug the program: single step and trace. ...
  • Page 102 VA Motion Controller Programming Manual 2 ) MULTIPROG supports two standard communication methods, one is serial port and the other is Ethernet based on T CP/IP mode. To facilitate programming and debugging by programmers, MULTIPROG has two built-in analog controllers, "Simulation 1 " and "Simulation 2 "...

  • Page 103: Ⅸ Quick Start

    VA Motion Controller Programming Manual Ⅸ Quick Start 9 .1 software and motion controller establishes a connection (Ethernet port communication) 1 : Communication connection diagram 2 : Engineering communication configuration After project created, communication quickly configureDAs follows. (Reference: 7 .1 create projects 7 .3 physical communication parameters 7 .
  • Page 104 VA Motion Controller Programming Manual Step 3: Settings ; Step 4: communication type: select " TCP / IP " ; Step５: IP address " 192.168.1.123-p41100 " (The IP address on the controller is not allowed to be fixed ) ; Step 6: Version establishment: Select eCLR ( Core.3.0.8 ) ;...
  • Page 105 VA Motion Controller Programming Manual Step3: click "OK" ． 3 : Check if the configuration is successful After completing the above steps, click "Project Control Dialog", the "Resources" dialog box will pop up , the status is displayed . Show "Run", indicating successful communicatioNSettings, whether the status display "Timeout", then check the PC port number is consistent with that software, as shown below .

  • Page 106: Control Control By Sending The Analog Servo Motion ( Uniaxial Start And Stop )

    VA Motion Controller Programming Manual control control sending analog servo motion (uniaxial start and stop) 1 : Communication and control connection diagram According to the above system , the servo motor is controlled to start, run and stop by the motion controller.
  • Page 107 VA Motion Controller Programming Manual AGND Analog ground Analog input twenty Servo DI1 input four 1 0 , 2 6 + 24 V External DC24V power supply , for servo DI , DO work 9 , 2 5 use , Remarks: 25 , 26 feet for NPN / PNP Jumper choose to use Wilcoda motion controller AXIS port part pin definition...
  • Page 108 VA Motion Controller Programming Manual to NPN ; 3 , in order to reduce interference, the differential signal ( OA + A + ) and ( OA- A- ), ( the OB + B + ) and ( OB- B - ) are connected with the twisted pair, the total of the housing. 4 : PrograMCreation configuration and debugging known In the PC after a successful communication with the motion controller, set up the system,...
  • Page 109 VA Motion Controller Programming Manual The user caNSimply fill out the default parameters axis parameters can not be set needs to be added, according to the reference function 11.3.3 MC_AXIS_REF ( axis parameter set ) , After completion of the examples herein , as the FIG illustrated ;...
  • Page 110 VA Motion Controller Programming Manual Variable name anDAttribute variable name type of data Initial value MC_AXIS_REF_1 MC_AXIS_REF Axis0 USINT ControlMode Moter_Max_V DINT 3000 Moter_PPC DINT 10000 Reductor_Num LREAL Reductor_Den LREAL Screw_Lead LREAL 60.0 Closed_Loop LREAL Modulo LREAL 3 60.0 Sample_Time WORD Offset_Max_V DINT...
  • Page 111 VA Motion Controller Programming Manual The third step: similarly add the " MC_Power " commanDAs follows , enable the motion controller, and control the enable of the servo drive through Se rv o _ON ( I / O address : %QX0.0 ) output , refer to 1 1.4.1 MC_Power ( enable command ) Variable name anDAttribute...
  • Page 112 VA Motion Controller Programming Manual Vel_Direction Vel_BufferMode InVelocity BOOL Step 5 : Add “ MC_Stop ” (stop command) . After the module is executed, the servo motor starts to decelerate and stop . Refer to 1 1.4.10 MC_Stop ( stop command ) Variable name anDAttribute variable name type of data...
  • Page 113 VA Motion Controller Programming Manual Step 7: Program debugging. Single- click online icon on the toolbar can program debugging and monitoring. Online monitoring as shown below...
  • Page 114 VA Motion Controller Programming Manual Debug Double-click input function Pwr_ En to debug: Resource interface, select value variable Ture , then click overwrite, Pwr_ En will change from False to Ture , as shown in the figure ; WheNServo _ON changes from False to True , it indicates that axis 0 is enabled successfully,...
  • Page 115 VA Motion Controller Programming Manual and the servo is enableDAt the same time through the motion controller output. Debug 2 : Similarly, double-click Vel_ Excute to change its value from False to Ture . The controller starts sending analog commands to the servo. The motor starts to accelerate in the positive direction .
  • Page 116 VA Motion Controller Programming Manual...

  • Page 117: Controller Pulsing Motionservo Control ( Encoder Drivenservo Operation)

    VA Motion Controller Programming Manual 9 .3 controller pulsing motioNServo control ( encoder driveNServo operation) 1 : Communication and control connection diagram According to the above system, the control servo motor runs an electronic gear following the spindle (encoder); 2 : Set the servo drive parameters Wikoda VC type servo drive parameter setting ( Please contact our staff for VB servo drive parameter setting method) Function number...
  • Page 118 VA Motion Controller Programming Manual signal description Pulse signal input Encoder signal amplification output twenty four Servo DI1 input 1 0 , 2 6 External power + 24 V DC24V supply , for DI , DO work 9 , 2 5 use , Remarks: 25 , 26 feet for NPN / PNP Jumper choose to use...
  • Page 119 VA Motion Controller Programming Manual Encoder cable connection Description : 1. In order to control the servo driver enable by controlling the output of the motion controller Q 0 , it is necessary to supply ADC24V power supply to the servo driver to supply power to the servo DI ;...
  • Page 120 VA Motion Controller Programming Manual ( 1 ) Project creation and configuration Reference "on Qi Zhang works of creation and configuration." Follow the steps to complete create projects physical communication  7 parameters 7 . 4 IO configuration , which will not be repeated herein. ( 2 ) Writing a program Step 1: Enter the programming interface, select the “...
  • Page 121 VA Motion Controller Programming Manual The user caNSimply fill in the parameters that are not allowed by the axis parameters. You can add settings according to the function requirements. Refer to 11.3.3 MC_AXIS_REF ( Axis Parameter Setting ) . After the example is added , the following figure is shown ; Variable name anDAttribute variable name type of data...
  • Page 122 VA Motion Controller Programming Manual MC_AXIS_REF_1 MC_AXIS_REF Axis0 USINT ControlMode Moter_Max_V DINT 3000 Moter_PPC DINT 10000 Reductor_Num LREAL Reductor_Den LREAL Screw_Lead LREAL 60.0 Closed_Loop LREAL Modulo LREAL 3 60.0 Sample_Time WORD Offset_Max_V DINT Pid_KP DINT Pid_KI DINT MC_AXIS_REF_2 MC_AXIS_REF Axis4 USINT ControlMode1 Moter_Max_V1...
  • Page 123 VA Motion Controller Programming Manual variable name type of data Initial value address MC_Power_1 MC_Power Axis0 USINT Pwr_En BOOL Servo_ON BOOL %QX0.0 MC_Power_ 2 MC_Power Axis 4 USINT Pwr_En 1 BOOL Step4: similarly add " MC_ GearIn " ( electronic gear coupling command ) , used to control servo follower encoder...
  • Page 124 VA Motion Controller Programming Manual the status is displayeDAs the running status. Step6: debugging. Single- click online icon on the toolbar can program debugging and monitoring , monitoring online as shown below ; Debugging Double-click input function Pwr_ pop-up commissioning: Resource interface, variable values select Ture , then click on the cover, Pwr_ En will False become Ture ;...
  • Page 125 VA Motion Controller Programming Manual WheNServo _ON, the a False becomes Ture , the motion controller describeDAxes is enabled successful, and by Q 0 output while allowing the servo enabled; Debug 2 : Similarly, double-click G In_Ex to change its value from False to True , so that controller A XIS0 anDAXIS 4 establish electronic gear relationship, AXIS 4 is the main axis, AXIS 0 is the slave axis, and the gear ratio is 1 :1 ;...

  • Page 126: Controller Can Open Through Inquiry Mode Control Servo Motion ( Two - Axis Motion )

    VA Motion Controller Programming Manual 9 .4 controller CANopen through inquiry mode control servo motion ( two -axis motion) 1 : Communication and control connection diagram According to the above system, the motion controller controls the operation of the servo motor through the CANopen communication mode , the motor 1 moves the speed command, and the motor 2 takes the relative displacement command .
  • Page 127 VA Motion Controller Programming Manual Wei Keda the CAN Open type servo drive is the CN . 1 part of the pin definitions signal description High signal of CAN bus CANH CANL Low signal of CAN bus Power ground Wikoda motion controller COM 1 port part pin definition signal description CANL...
  • Page 128 VA Motion Controller Programming Manual ( 1 ) Project creation and configuration For the convenience of use, our company has equipped the user with a template project for CANopen communication configuration. Users can go to the official website to downloaDAnd directly program on the basis of the template project. ( The template default configuration of a shaft, can be configured up .
  • Page 129 VA Motion Controller Programming Manual configuration ( M otion_configPDO ), start the bus ( S tartall ) , the detailed steps define the reference CANopen related instructions in Annex IV Step 2: Double-click the " R & lt estnode ", to open the reset node process, there can be seen module after the second package "M otion_NMT_axis "...
  • Page 130 VA Motion Controller Programming Manual “M otion_NMT_axis ” Step 3: In the user-defined library, find the block, hold down the left mouse button and drag it to the programming interface, then let go, then the module's properties will pop up, you need to name the module, generally keep the default. , click "OK" , as shown below;...
  • Page 131 VA Motion Controller Programming Manual pop up to define the variable name and data. Type, usage, the initial value and the like; input pin bit fill in the following FIGS. , Except that ADifferent number axis (axis number of fill at the Axis 1 , the initial value is 1 , the representative node 2 ), the remaining variable fill the axis 0 same ;...
  • Page 132 VA Motion Controller Programming Manual Start bus ( S tartall ): Step 6: After completing all the process configuration, click on the production and confirm that it is correct. At this point, the CANopen communication configuration of node 2 ( Axis 1 ) has been completed ;...
  • Page 133 VA Motion Controller Programming Manual Step 2: Double-click the module input pin (blue dot), then pop up the “Variable Properties” box, define the variable name, data type, usage, initial value, etc. After filling out, click OK , as shown in the figure ; The user caNSimply fill in the parameters that are not allowed by the axis parameters.
  • Page 134 VA Motion Controller Programming Manual Parameter Setting ) . After the example is added , the following figure is shown ; Variable name anDAttribute variable name type of data Initial value MC_AXIS_REF_1 MC_AXIS_REF Axis0 USINT ControlMode Moter_Max_V DINT 3000 Moter_PPC DINT 10000 Reductor_Num...
  • Page 135 VA Motion Controller Programming Manual Modulo 1 LREAL 3 60.0 Sample_Time 1 WORD Offset_Max_V 1 DINT Step3: the manner describeDAbove, were added two " the MC _Power " module, two " MC_ the Stop " module, a " the MC _MoveVelocity " module, a " the MC _MoveRelative " module, variable names and their properties as shown below , the reference 1 1.4.1 MC_Power ( Enable Command...
  • Page 136 VA Motion Controller Programming Manual Stp_Ex BOOL Stp_Dec LREAL 1000.0 Stp_Jer LREAL 1000.0 MC_Stop_2 MC_Stop Stp_Ex1 BOOL MC_MoveVelocity_1 MC_MoveVelocity Vel_Ex BOOL Vel_V LREAL 200.0 Vel_Acc LREAL 1000.0 Vel_Dec LREAL 1000.0 Vel_Jer LREAL 1000.0 MC_MoveRelative_1 MC_MoveRelative Rel_Ex BOOL Rel_Dis LREAL 600.0 Rel_V LREAL 100.0...
  • Page 137 VA Motion Controller Programming Manual Debugging Double-click input function pop-up Pwr_ commissioning: Resource interface, variable values select Ture , then click on the cover, Pwr_ En will False become Ture ; the same token the Pwr_ En1 value becomes Ture ;...
  • Page 138 VA Motion Controller Programming Manual When the Val id is changed from False to Ture , the motion controller axis is successfully enabled, and the servo is enabled simultaneously by communication , as shown in the figure ; Commissioning 2 : Similarly, each double-click Vel of the _ex , Rel _ex , so that the value False becomes Ture , the controller will control the A XIS 0 at the speed of walking speed mode is set, the Axis .
  • Page 139 VA Motion Controller Programming Manual...

  • Page 140: Ⅹ Logic Instructions

    VA Motion Controller Programming Manual Ⅹ Logic Instructions The PLC instruction encapsulates the program block, each instruction can complete certain logic and operation operations, and the instructioNSet is a collection of PLC instructions. In the MULTIPROG programming, for programming convenience, these instructions are assigned to several different functional areas ( or libraries ) .

  • Page 141: Function

    VA Motion Controller Programming Manual 1 0.1 function A function is a program organization unit POU with multiple input parameters and one output parameter . They do not have any internal memory. Calling a function with the same value always returns the same result.

  • Page 142: Acos ( Anti-Cosine Instruction )

    VA Motion Controller Programming Manual ST OUT programming language OUT:=ABS ( IN ) Note : IL, ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet 数据 Data type processed by ABS instruction Input and output Operand type description...

  • Page 143: Add (Additional Instruction )

    VA Motion Controller Programming Manual When the contact C300 is ON , the instruction executed, the address is the value of V472 ; Anti After cosine , save the address V473 in , Execution result: ACOS ( 1.0 ) = Input and output Operand type description...

  • Page 144: Add_T_T (Time Addition Instruction )

    VA Motion Controller Programming Manual When the contact C016 is ON , the instruction is executed, and two 16 -bit integers are added to obtain a 16 -bit integer; Execution result: VO43+V044=V045 10.1.4 ADD_T_T (Time Addition Instruction ) IL programming language LD, FBD programming language Function: ADD_T_T instruction is used to find the sum of two time data LD IN1...

  • Page 145: Asin ( Anti-Sinusoidal Command)

    VA Motion Controller Programming Manual AND IN2 ST OUT programming language OUT:=IN1&IN2 Note : IL, ST language programming needs to insert variables IN1, IN2 and OUT or use constants in the current POU variable worksheet Data type processed by AND instruction Input and output Operand type description...

  • Page 146: Atan (Arc Tangent Command )

    VA Motion Controller Programming Manual  ASIN instruction processing data types Input and output type of data description REAL Input REAL Output, angle in radians program demonstration Find the inverse sine of 1.0 description When the contact C301 is ON when this instruction is executed, the address V474 the value of anti after sine , is stored in address V475 in : Execution result: ASIN ( 1.0 ) =1.570 7 9763 ..

  • Page 147: Cos (Cosine Command )

    VA Motion Controller Programming Manual 10.1.8 COS (cosine command ) programming LD, FBD programming language language Function: OS command is used to find the cosine of the input value LD IN ST OUT programming language OUT:=COS ( IN ) Note : IL, ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet Data type processed by COS instruction Input...

  • Page 148: Div_T_Ai ( Division ( Time Divided By An Integer ) Instruction )

    VA Motion Controller Programming Manual ST programming language OUT:=IN1/IN Note : IL, ST language programming needs to insert variables IN1, IN2 and OUT or use constants in the current POU variable worksheet Data type processed by DIV instruction Input and output Operand type description ANY_NUM...
  • Page 149 VA Motion Controller Programming Manual output TIME Divisor ANY_INT divisor TIME Business program demonstration Find the quotient of time 5s divided by the integer 2 ; description When the contact C000 bit is ON , the instruction is executed, and the value of the address V000 is divided value address V001 and stored in V002 .

  • Page 150: 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 )

    VA Motion Controller Programming Manual Find the quotient of time 2s divided by the description integer 2 ; When the contact C001 to the ON , execution instruction, address V003 value by dividing the address V004 provider, stored the V005 address; Execution result: V003/V004=V005 10.1.12 DIV_T_ R ( division ( time divided by real...

  • Page 151: Eq (Equal To The Instruction )

    VA Motion Controller Programming Manual When the contact C010 to ON to execute instruction, address V027 value is divided by address V028 quotient value, stored in the V029 Execution result: V027/V028=V029 10.1.13 EQ (equal to the instruction ) programming LD, FBD programming language language Function: EQ command is used to judge whether two numbers are equal LD IN1...

  • Page 152: Exp ( Exponential Function Instruction Of Natural Number E )

    VA Motion Controller Programming Manual When the contact C019 is ON , the instruction is executed; the magnitudes of values ​ ​ addresses V051 and V052 are compared , and if they are equal, V053 outputs 1 . 10.1.14 EXP ( exponential function instruction of natural number e ) programming LD, FBD programming language...

  • Page 153: Expt Of ( A Power Of ( X To Y -Th Power ) Instruction )

    VA Motion Controller Programming Manual 10.1.15 EXPT of ( a power of ( X to Y -th power ) instruction ) IL programming language LD, FBD programming language Function: The EXPT instruction is used to calculate the Y power of X , where X is the first input and Y is the second input.

  • Page 154: Gt (Greater Than Instruction )

    VA Motion Controller Programming Manual LD IN1 GE IN2 ST OUT programming language OUT:=IN1>=IN2; Note : IL, ST language programming needs to insert variables IN1, IN2 and OUT or use constants in the current POU variable worksheet 数据 Data type processed by GE instruction Input and output type of data description...

  • Page 155: Le (Less Than Or Equal To The Instruction )

    VA Motion Controller Programming Manual ST OUT programming language OUT:=IN1>IN2 Note : IL, ST language programming needs to insert variables IN1, IN2 and OUT or use constants in the current POU variable worksheet Data type processed by GT instruction Input and output type of data description First input...

  • Page 156: Limit (Limit Selection Instruction )

    VA Motion Controller Programming Manual Second input BOOL result When IN1<=IN2 , OUT is 1 When IN1>IN2 , OUT is 0; program demonstration Compare V480 and V481 in value description When the contact C300 is ON , the instruction is executed; When the address V480 is smaller than the address V481 the value , V482 output is 1 : When the address V480 is a value greater...

  • Page 157: Ln (Natural Logarithmic Instruction )

    VA Motion Controller Programming Manual Funtion and Action examples Selected from selection description number output 5-9 between integer When the contact C300 is ON when performing the instruct ion ; Input value MX between output IN , When IN is greater than equal to MX when the output MX;...

  • Page 158: Log (Logarithmic Instruction )

    VA Motion Controller Programming Manual When the contact C300 is ON when this instruction is executed, where V 487 is the index; Execution of Results : log 6.9314718E-001 10.1.21 LOG (Logarithmic Instruction ) programming LD, FBD programming language language Function: The LOG command is used to calculate the base 10 logarithm of the input . LD IN ST OUT programming...

  • Page 159: Max (Maximum Instruction )

    VA Motion Controller Programming Manual Function: The LT instruction is used to compare the size of two values. When the first input is less than the second, the output is 1 and the others are 0. LD IN1 LT IN2 ST OUT ST programming language...

  • Page 160: Min (Minimum Instruction )

    VA Motion Controller Programming Manual OUT:=MAX ( IN1 , IN2 ) Note : IL, ST language programming needs to insert variables IN1, IN2 and OUT or use constants in the current POU variable worksheet Data type processed by MAX instruction Input and output type of data description...

  • Page 161: Mod (Modulo Instruction )

    VA Motion Controller Programming Manual When IN1 <= IN2 , OUT is IN1; When IN1 >= IN2 , OUT is IN2; Funtion and Action examples An integer of 5 to 10 output the most description small in value When contact instruction executed compare...

  • Page 162: Move (Assignment Command )

    VA Motion Controller Programming Manual When the contact C300 is ON time , the instruction is executed; The address of the V500 is divided by the V501 the value of the remainder is stored in the address V502 in Execution result: 31/5 remainder is 1 10.1.26 MOVE (Assignment Command ) programming LD, FBD programming language...

  • Page 163: Mul (Multiplication Directive )

    VA Motion Controller Programming Manual 10.1.27 MUL (Multiplication Directive ) IL programming LD, FBD programming language language Function: The MUL instruction is used to find the product of two data. LD IN1 MUL IN2 ST OUT ST programming language OUT :=IN1*IN2 Note : IL, ST language programming needs to insert variables IN1, IN2 and OUT or use constants in the current POU variable worksheet The MUL data processing instruction type...

  • Page 164: Mul_T_Ai ( Multiplication ( Time Multiplied By Integer ) Instruction )

    VA Motion Controller Programming Manual 10.1.28 MUL_T_AI ( multiplication ( time multiplied by integer ) instruction ) programming LD, FBD programming language language Function: The MUL_T_AI instruction is used to calculate the product of a time type data anDAn integer type data. LD IN1 MUL_T_AI IN2 ST OUT...

  • Page 165: Mul_T_An ( Multiplication ( Time Multiplied By Integer, Real ) Instructions )

    VA Motion Controller Programming Manual 10.1.29 MUL_T_AN ( multiplication ( time multiplied by integer, real ) instructions ) IL programming language LD, FBD programming language Function: The MUL_T_AN instruction is used to calculate the product of a time type data anDAn integer or floating point number.

  • Page 166: Mul_T_R ( Multiplication ( Time Multiplied By Real Number ) Instruction )

    VA Motion Controller Programming Manual 10.1.30 MUL_T_R ( multiplication ( time multiplied by real number ) instruction ) IL programming language LD, FBD programming language Function: The MUL_T_R instruction is used to calculate the product of a time type data anDA floating point type data.

  • Page 167: Not ( Logical Non-Instruction )

    VA Motion Controller Programming Manual programming language OUT:=IN1<>IN2 Note : IL, ST language programming needs to insert variables IN1, IN2 and OUT or use constants in the current POU variable worksheet Data type processed by NE instruction Input type of data description output First input...

  • Page 168: Or (Logic Or Instruction )

    VA Motion Controller Programming Manual Data type processed by NOT instruction Input type description output data ANY_BIT Input ANY_BIT result Funtion and Action examples Invert value description of address V520 ( BOOL ) When the contact C300 is ON , the instruction is executed to invert the value of the address V5 20 ( BOOL ) : Execution...

  • Page 169: Rol (Loop Left Shift Instruction )

    VA Motion Controller Programming Manual Funtion and Action examples addresses numerical description values or calculation When the contact C300 is ON , the instruction is executed, and the two addresses are OReDAnd output to the address V524 . Execution result: V522^V523=V524 10.1.34 ROL (loop left shift instruction ) programming LD, FBD programming language...

  • Page 170: Ror (Cyclic Right Shift Instruction )

    VA Motion Controller Programming Manual Funtion and Action examples value 16 #01 BYTE description is shifted to the left by three digits When the contact C300 is ON when this instruction is executed, Move all bits of address V525 to the left by 3 bits: Execution result: .

  • Page 171: Sel (Selection Command )

    VA Motion Controller Programming Manual The value before the right movement Funtion and Action examples The value 16 # 01 ( BYTE ) description rightward shift three When the contact C300 is ON when this instruction is executed, The address V528 all the bits to the right 3 bits: Execution results: 1 6#01 Move 3 bits to the right to save to V530 :...

  • Page 172: Shl (Left Shift Instruction )

    VA Motion Controller Programming Manual Choose to output integer 3 or 5 description When the contact C300 is ON when this instruction is executed, When G is . 1 when the output address V533 in value; when G is 0 when the output address V532 the value: Execution result: output is 5 10.1.37 SHL (left shift instruction )

  • Page 173: Shr (Right Shift Instruction )

    VA Motion Controller Programming Manual As a result, when the value of the pin IN or N changes, it ANY_BIT is shifted left. Move left by two, as follows Value before left shift 1 1 1 0 0 0 1 1 Value after left shift 1 0 0 0 1 1 0 0 Funtion and Action examples...

  • Page 174: Sin (Sinusoidal Command )

    VA Motion Controller Programming Manual IN2 ( N ) ANY_INT Number of digits shifted to the right ANY_BIT As a result, when the value of the pin IN or N changes, it is shifted to the right. Move two digits to the right, as follows The value before the right movement Value after moving right Funtion and Action examples...

  • Page 175: Sqrt (Square Root Instruction )

    VA Motion Controller Programming Manual REAL Input, the angle is expressed in radians REAL Output Funtion and Action examples description Seeking the SIN ( the value When the contact C300 is ON when this instruction is executed, Execution result: SIN（π/2）=1 10.1.40 SQRT (square root instruction ) programming LD, FBD programming language...

  • Page 176: Sub (Subtraction Instruction )

    VA Motion Controller Programming Manual When the contact C300 is ON when this instruction executed execution result = 1.4142136E + 000 10.1.41 SUB (Subtraction Instruction ) programming LD, FBD programming language language Function: The SUB instruction is used to find the difference between two input values. LD IN1 SUB IN2 ST OUT...

  • Page 177: Sub_T_T (Time Subtraction Instruction )

    VA Motion Controller Programming Manual 10.1.42 SUB_T_T (Time Subtraction Instruction ) IL programming language LD, FBD programming language Function: The SUB_T_T instruction is used to find the difference between two time input values. LD IN1 SUB IN2 ST OUT ST programming language OUT:=SUB_T_T ( 1N1 , IN2 ) Note : IL, ST language programming needs to insert variables IN1, IN2 and OUT or use constants in the current POU variable worksheet...

  • Page 178: Xo R (Logical Xor Instruction )

    VA Motion Controller Programming Manual ST OUT ST programming language OUT:=TAN ( IN ) Note : IL, ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet Data type processed by TAN instruction Input type of data description...
  • Page 179 VA Motion Controller Programming Manual ANY_BIT Logical exclusive OR operation IN1=0, IN2=0, OUT is 0; IN1=0, IN2=1, OUT is 1; IN1=1, IN2=0, OUT is 1; IN1=1, IN2=1, OUT is 0; Funtion and Action examples Find the value of the exclusive OR of description the address V553 ( BOOL ) and V554 ( BOOL ) When the contact C300 is ON when this...

  • Page 180: 0.2 Function Block

    VA Motion Controller Programming Manual 1 0.2 function block A function block is a program organization unit POU with multiple input and output parameters , which have internal memory, and the return value of the function block depends on the value of its internal storage unit. The abbreviation of the function block is FBD different from the previous function.
  • Page 181 VA Motion Controller Programming Manual LD varl ST CTD_1.CD LD var2 ST CTD_1.L0AD LD var3 ST CTD_1.PV CAL CTD_1 LD CTD_1.Q ST var4 LD CTD_1.CV ST var5 ST programming language CTD_1 ( CD:=var1 , LOAD:=var2, PV:=var3 ) Var4:=CTD_1.Q Vase:=CTD_1.CV Note : IL, ST language programming needs to insert the variable vlar1~var5 constant in the current POU variable worksheet 数据...

  • Page 182: Ctu (Incremental Counter Instruction )

    VA Motion Controller Programming Manual turned from OFF to ON five times This counter function block decrements the count. Assuming a rising edge at the CD input and LOAD = FALSE , the CV is decremented by one. If the final value of the counter ( PV ) is reached , a TRUE signal is sent at the Q output and the function block stops counting.
  • Page 183 VA Motion Controller Programming Manual Var5:=CTU_1.CV Note : IL, ST language programming needs to insert variables var1 ~ var5 or use constants in the current POU variable worksheet Data type processed by CTU instruction Input type of data description BOOL If the CU has a rising edge , CV adds 1 RESET BOOL...

  • Page 184: Ctud (Increasing Or Decreasing Bidirectional Counter Command )

    VA Motion Controller Programming Manual 10.2.3 CTUD (increasing or decreasing bidirectional counter command ) IL programming language LD, FBD programming language Function: The CTUD instruction is used to increment or decrement the input. When the RESET terminal and the LOAD terminal are both FALSE , the counting is allowed : if a rising edge occurs at the CU input terminal, the CV terminal is incremented by one;...
  • Page 185 VA Motion Controller Programming Manual Input type description data If the CU has a rising edge , CV adds 1 BOOL BOOL If the CD has a rising edge , the CV is decremented by 1. RESET BOOL When RESET is FALSE , the count is started. When TRUE , the CV is cleared to zero and the counter is initialized.

  • Page 186: F_Trig (Falling Edge Detection Command )

    VA Motion Controller Programming Manual 10.2.4 F_TRIG (falling edge detection command ) programming LD, FBD programming language language Function: F _TRIG instruction is used to detect the falling edge of the input . If a falling edge is detecteDAt the input CLK , the output Q will change from FALSE to TRUE until the next scan of this command, the Q output will remain is TRUE LD varl ST F_TRIG_1.CLK...

  • Page 187: Rs ( Rs Trigger Instruction )

    VA Motion Controller Programming Manual programming language R_TRIG_1 ( CLK:=var1 ) Var2:=R_TRIG_1.Q Note : IL, ST language programming needs to insert variables varl1~var2 or use constants in the current POU variable worksheet 数据 Data type processed by CTU instruction parameter type of data description BOOL...

  • Page 188: Sr ( Sr Trigger Instruction )

    VA Motion Controller Programming Manual SET=0, RESET1=0, Q1 remains in the last state ; BOOL SET=1, RESET1=0, Q1=1; SET=0, RESET1=1, Q1=0; Funtion and Action examples When the contacts C008 and C010 are ON at description the same time, the reset priority output Q1 0 This bistable function block implements priority...

  • Page 189: Tof (Delayed Off Timer Instruction )

    VA Motion Controller Programming Manual 数据 Data type processed by RS instruction parameter type of data description SET1 BOOL Position RESET BOOL Reset BOOL result SET1=0, RESET=0, Q1 remains in the last state ; SET1=1, RESET=0, Q1=1; SET1=0, RESET=1, Q1=0; SET1=1, RESET=1, Q1=1;...

  • Page 190: 0.2.9 Ton (Delay-On Timer Command )

    VA Motion Controller Programming Manual ST programming language TOF_1 ( IN:=var1 , PT:=var2 ) Var3:=TOF_ 1.Q Var4:=TOF_1.ET Note : IL, ST language programming needs to insert variables valll1~var4 or use constants in the current POU variable worksheet 数据 Data type processed by TOF instruction parameter type description...
  • Page 191 VA Motion Controller Programming Manual LD var1 ST TON_1.IN LD var2 ST TON_1.PT CALTON_1 LD TON_1.Q ST var3 LD TON_1.ET ST var4 ST programming language TON_1 ( 1N:=var1 , PT:=var2 ) Var3:=TON_1.Q Var4:=TON_.ET Note : IL, ST language programming needs to insert variables valll1~var4 or use constants in the current POU variable worksheet 数据...

  • Page 192: Tp (Pulse Command )

    VA Motion Controller Programming Manual 10.2.10 TP (pulse command ) IL programming language LD, FBD programming language Function: The :TP command is used to realize the function of a certain width pulse. If the input terminal IN changes from FALSE to TRUE , the output terminal Q generates a pulse with a time interval of PT .

  • Page 193: 0.3 Type Conversion Fu

    VA Motion Controller Programming Manual 1 0.3 type conversion FU The type conversion function, referred to as type conversion FU , converts one type of data into another type of data, so it has an input parameter anDAn output parameter. During the MULTIPROG programming process, the following types can be used to convert FU ●...
  • Page 194 VA Motion Controller Programming Manual WORD type data WORD_TO_BOOL WORD_TO_BOOL WORD_TO_BOOL conversion WORD_TO_BYTE WORD_TO_BYTE WORD_TO_BYTE WORD_TO_DWORD WORD_TO_DWOR WORD_TO_DWORD DWORD type data DWORD_TO-BOOL DWORD_TO-BOOL DWORD_TO-BOOL conversion DWORD_TO_BYTE DWORD_TO_BYTE DWORD_TO_BYTE DWORD_TO_WORD DWORD_TO_WOR DWORD_TO_WORD SINT type data SINT_TO_B_BCD SINT_TO_D_BCD conversion SINT_TO_W_BCD SINT_TO_BOOL SINT_TO_WORD SINT_TO_BYTE SINT_TO_DWORD SINT_TO_INT...

  • Page 195: Conversion Of Byte Type Bcd Data

    VA Motion Controller Programming Manual conversion LREAL_TO_DWORD LREAL_TO_SINT LREAL_TO_INT LREAL_TO_DINT LREAL_TO_USINT LREAL_TO_UINT LREAL_TO_UDINT LREAL_TO_REAL REAL type data REAL_TO_BOOL REAL_TO_BYTE REAL_TO_WORD conversion REAL_TO_DWORD REAL_TO_SINT REAL_TO_INT REAL_TO_DINT REAL_TO_USINT REAL_TO_UINT REAL_TO_UDINT REAL_TO_LREAL TRUNC type data TRUNC TRUNC_SINT TRUNC_INT conversion TRUNC_DINT 10.3.1 Conversion of BYTE type BCD data Type conversion FU Features BYTE type BCD data...

  • Page 196: Conversion Of Word Type Bcd Data

    VA Motion Controller Programming Manual Note : IL, ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet Funtion and Action examples 16#37 changed to short type description When the contact C003 is ON time , the instruction executed;...

  • Page 197: Conversion Of Dwor D -Type Bcd Data

    VA Motion Controller Programming Manual W BCD TO SINT ST OUT ST programming language OUT:=W_BCD_TO_SINT ( IN ) Note : IL, ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet Funtion and Action examples 16 # 0010 turn into a short integer description...

  • Page 198: Conversion Of Bcd Type Data

    VA Motion Controller Programming Manual value INT is 032,767 , and the output is increased by -1; Input value BCD code 16#00000000~16#9 9999999 , output value DINT 0~99999999 . usage (take D_BCD_TO_SINT as an example) IL programming language LD, FBD programming language LD IN D_BCD_TO_SINT ST OUT...
  • Page 199 VA Motion Controller Programming Manual type data BOOL type data conversion has 11 instructions, which can BOOL conversion convert BOOL type data into BYTE, WORD, DWORD, SINT, INT, DINT, USINT, UINT, UDINT, REAL and LREAL . BOOL type data conversion instruction instruction input value output...

  • Page 200: Conversion Of Byte Type Data

    VA Motion Controller Programming Manual 10.3.6 Conversion of BYTE type data Type conversion FU Features BYTE type data BYTE type data conversion has 11 instructions, which can conversion convert BYTE type data into BOOL, WORD, DWORD, SINT, INT, DINT, USINT, UINT, UDINT, REAL and LREAL . BYTE type data conversion instruction instruction input...

  • Page 201: Conversion Of Word Data

    VA Motion Controller Programming Manual When the contact C031 is ON time ; the instruction is executed; The address V034 in the 16 hex into the number of BOOL , stored in the V035 in ; Execution results: 16#OA to BOOL type Note long number...

  • Page 202: Conversion Of Dwor D -Type Data

    VA Motion Controller Programming Manual Usage (take WORD_TO_BOOL as an example) IL programming language LD, FBD programming language LD IN WORD_TO_BOOL ST OUT St programming language OUT:=WORD_ TO_BOOL ( IN ) Note : IL, ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet Funtion and Action examples 16 #0064 转...
  • Page 203 VA Motion Controller Programming Manual output 0~127 , input 128~255 corresponds to DWORD_TO_USINT DWORD USINT output -128~-1 , input increases, output will DWORD_TO_UINT DWORD UINT repeat 0~127 -128~-1; output DWORD_TO_UDINT DWORD UDINT is USINT , BYTE Type : Input 0~255 corresponds DWORD_TO_REAL DWORD REAL...

  • Page 204: Conversion Of Sint Data

    VA Motion Controller Programming Manual 10.3.9 Conversion of SINT data Type conversion FU Features SINT type data SINT type data conversion has 14 instructions, which can convert SINT type data into B_BCD, W_BCD, D_BCD , BOOL, conversion BYTE , WORD , DWORD, INT, DINT, USINT, UINT, UDINT, REAL and LREAL .

  • Page 205: Conversion Of Int Data

    VA Motion Controller Programming Manual When inputting 0~127 , output 0~127; SINT_TO_UINT SINT UINT input -128~-1 , output 128~255 When inputting 0~127 , output 0~127; SINT _TO_UDINT SINT UDINT input -128~-1 , output 128~255 SINT _TO_REAL SINT REAL When inputting 0~127 , output 0~127; input -128~-1 , output -128~-1 When inputting 0~127 , output 0~127;...
  • Page 206 VA Motion Controller Programming Manual when inputting other values, output 16#FF INT_TO_W_BCD WORD When inputting 0~9999 , output 16#0~9999; when inputting other values, output 16#FFFF INT_TO_D_BCD DWORD When inputting 0~32767 , output 16#0 ~32767 , when inputting other values, input 16#FFFFFFFF INT _TO_BOOL BOOL When input 0 , output FALSE;...

  • Page 207: Conversion Of Dint Type Data

    VA Motion Controller Programming Manual INT_TO_B_BCD ST OUT St programming language OUT:=INT_TO_B_BCD ( IN ) Note : IL, ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet Funtion and Action examples Integer 98 turn as BYTE description When the contact C064 is ON when the...
  • Page 208 VA Motion Controller Programming Manual 255~0; input and then decrease will output repeat 2550 When inputting 0~65535 , the output is 0~65535; DINT _TO_WORD DINT input increased, output repeats 0~65535; input -1~-65536 output 65535~0; if the input is decreased, the output repeats 65535~0 DINT_TO_DWOR DINT...

  • Page 209: Conversion Of Usint Type Data

    VA Motion Controller Programming Manual is 0~2147483.647 seconds ; the input value is -2147483648~-1 seconds, and the output value is 2147483.648~4294967.295 seconds. usage (take DINT_TO_B_BCDAs an example) IL programming language LD, FBD programming language LD IN DINT_TO_B_BCD ST OUT ST programming language OUT:=DINT_TO_B_BCD ( IN ) Note : IL, ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet...
  • Page 210 VA Motion Controller Programming Manual When 0~255 is input , the output USINT_TO_BYTE USINT BYTE is 0~255. When 0~255 is input , the output USINT_TO_WORD USINT WORD is 0~255. USINT_TO_DWORD USINT DWORD When 0~255 is input , the output is 0~255. When inputting USINT_TO_SINT...

  • Page 211: Conversion Of Uint Type Data

    VA Motion Controller Programming Manual When the contact C158 is ON when this instruction is executed, The address V304 in the unsigned short integer of 24 rpm to BYTE , stored in the V 305 In ; Execution of Results : 24 ( DINT ) switch 16 # 18 is ( BYTE ) 10.3.13 Conversion of UINT type data Type conversion FU...

  • Page 212: Conversion Of Udint Type Data

    VA Motion Controller Programming Manual IL programming language LD, FBD programming language LD IN UINT TO BYTE ST OUT St programming language OUT:=UINT_T0_BYTE ( IN ) Note : IL, ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet Funtion and Action examples Unsigned integer 20- turn BYTE...
  • Page 213 VA Motion Controller Programming Manual 0~4,294,967,295 UDINT_TO_SINT UDINT SINT When inputting 0~127 , output 0~127; input 128~255 , output -128~-1; input and then increase output repeat 0~127, -128~-1 UDINT_TO_INT UDINT When inputting 0~32767 , the output is 0~32767; input 32768~65535 output is -32768~-1 , input increased, output...

  • Page 214: Conversion Of Real Type Data

    VA Motion Controller Programming Manual 10.3.15 Conversion of REAL type data Type conversion FU Features Conversion of REAL type REAL type data conversion has 11 instructions, which can data convert REAL type data into BOOL, BYTE, WORD, DWORD , SINT, INT, DINT, USINT, UINT, UDINT and LREAL .
  • Page 215 VA Motion Controller Programming Manual output input 0~127; 128~255 output -128~-1; input and then increase output repeat 0~127, -128~-1; input -1 ~-128 , output input -128; -129~-256 output 127~0; input and then decrease, the output repeats -1~128, 127~0 When inputting 0~32767 , the output REAL _TO_INT DINT is 0~32767;...

  • Page 216: Conversion Of Lreal Type Data

    VA Motion Controller Programming Manual ST programming language OUT:=REAL_TO_BYTE ( IN ) Note : IL, ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet Funtion and Action examples Float 73 is .0 turn BYTE description When the contact C105 is ON , the execution of the instruction...
  • Page 217 VA Motion Controller Programming Manual output repeats 0~65535; input -1~-65536 , output 65535~0 , input and then decrease, the output repeats 65535~0 LREAL_TO_DWOR LREA DWOR When inputting 0~2,147,483,647 , output 0~2,147,483,647 input increase output is 2,147,483,647; input -1~-2,147,483,648 , output 4,294,967,295~2,147,483,648 input then...

  • Page 218: Trunc Decimal Rounding

    VA Motion Controller Programming Manual output input 0~2,147,483,647 increase output is 2,147,483,647; input -1~-2,147,483,648 , output 4,294,967,295~2,147,483,648 input then reduce output still 2,147,483,648; accuracy will decrease LREAL_TO_LREAL LREA REAL Input equals output, accuracy is reduced usage (take LREAL_TO_BYTE as an example) IL programming language LD, FBD programming language LD IN...
  • Page 219 VA Motion Controller Programming Manual instruction input output description value value TRUNC REAL Unsigned Truncating the fractional part of the input value integer to get an integer value TRUNC_SINT REAL SINT When inputting 0~127 output 0~127; input 128~255 , output -128~-1; input then increase output...

  • Page 220: Conversion Of Time Type Data

    VA Motion Controller Programming Manual The implementation of the results : 75.69 turn to 75 (Note: This function is rounded up , the number after the decimal point is rounded off) 10.3.18 Conversion of TIME type data Type conversion FU Features TIME_TO _DINT type The TIME_TO _DINT type conversion function converts...
  • Page 221 VA Motion Controller Programming Manual Funtion and Action examples The T # 10 S converted into bis integer description When the contact C188 is ON when the instruction executed, address V376 time value 10s ) turn to DINT , stored in the V277 in ; Execution of Results : T # 10S ( the TIME ) converted to 10000 ( DINT ) Note...

  • Page 222: 0.4 String Fu

    VA Motion Controller Programming Manual 1 0.4 String FU  string function, referred to as the string FU , is a comparison, conversion, lookup, connection, etc. operation for strings, with multiple input parameters and one output parameter. During the MULTIPROG programming process, you caNSelect " String FU " from the drop-down list in the Edit WizarDAnd use the following command.

  • Page 223: Insert (Insert String)

    V378 in the string + address V379 in the string , stored in the V 380 In ; Execution of the results : the VECTOR + company = VECTOR Company 10.4.2 INSERT (insert string) programming LD, FBD programming language...

  • Page 224: Delete ( Copies Except String)

    VA Motion Controller Programming Manual Note : IL, ST language programming needs to insert variables IN1, IN2, P and OUT or use constants in the current POU variable worksheet 数据 Data type processed by INSERT instruction Input and output type of data description STRING The first input string, when using a variable, the...
  • Page 225 VA Motion Controller Programming Manual DELETE L, P ST OUT ST programming language OUT:=DELETE ( IN, L, P ) Note : IL, ST language programming needs to insert variables IN, L, P and OUT or use constants in the variable worksheet of the current POU 数据...

  • Page 226: Replace (Replace String)

    Same name REPLACE function anDAction example Replace the string "PLC" with the string "VECTOR" description...

  • Page 227: Len ( String Length )

    V 390 string, where P is the number of strings is replaced by the first few Start being replaced, L is the number of characters to be replaced. Execution result: PLC-----VECTOR 10.4.5 LEN ( string length ) IL programming LD, FBD programming language language Function: LEN determines the length of a string.

  • Page 228: Limit_String (Set String Limit)

    VA Motion Controller Programming Manual 10.4.6 LIMIT_STRING (set string limit) IL programming language LD, FBD programming language Function: The LIMIT_STRING instruction is used to limit the range of characters or strings entered by the upper and lower limits. LD IN1 LIMIT_ STRING IN, IN2 ST OUT ST programming language...

  • Page 229: Find (Finda Character That Appears In A String)

    When the character string in the address V 400 is equal to the character string of the address 4 01A , the address V 402 outputs 1 ; The result of the execution: V ECTOR = VECTOR output 1 ;...

  • Page 230: Max_String ( Take A Larger String )

    When the contact is O N when the instruction is executed, the address comparator V 403 string address V 404 length of the string, there is a string of the maximum output V 405 of: Implementation results: V Ector company - --- VECTOR Output : V Ector company...

  • Page 231: Min_String (Take A Smaller String)

    When the contact is O N when the instruction is executed, the address comparator V 406 string address V 407 length of the string, there is a minimum string output V 408 of Execution results: V ECTOR - VECTOR Output : V ECTOR...

  • Page 232: Left (Remove The Last Few Characters Of The String)

    IN Funtion and Action examples Extract the first three characters of description the string "VECTOR" When the contact is O N when the instruction executed, address V 409 string extracted first three...

  • Page 233: Mid (Remove Several Characters In A String)

    VA Motion Controller Programming Manual 10.4.11 MID (Remove several characters in a string) programming LD, FBD programming language language Function: The MID instruction is used to retrieve the last few consecutive characters in the input string. LD IN MID L, P ST OUT programming language...

  • Page 234: Right (Remove The Rightmost Characters Of The String)

    VA Motion Controller Programming Manual 10.4.12 RIGHT (remove the rightmost characters of the string) IL programming LD, FBD programming language language Function: The RIGHT command is used to retrieve the rightmost few consecutive characters in the input string. LD IN RIGHT L ST OUT programming...

  • Page 235: Sel_String (Binary Selection Of Strings)

    VA Motion Controller Programming Manual 10.4.13 SEL_STRING (binary selection of strings) IL programming language LD, FBD programming language Function: The SEL_STRING instruction is used to retrieve the last few consecutive characters in the input string. LD IN SEL_STRING IN1 , IN2 ST OUT ST programming language OUT:=SEL_STRING ( IN, IN1 , IN2 )

  • Page 236: Gt_Strin (String Is Greater Than)

    VA Motion Controller Programming Manual 10.4.14 GT_STRIN (string is greater than) IL programming language LD, FBD programming language Function: The GT_STRING directive is used to determine if the first string is greater than the second string. LD IN1 GT_STRING IN2 ST OUT ST programming language OUT:=GT_ STRING ( IN1 , IN2 )

  • Page 237: Eq_String (String Equals)

    VA Motion Controller Programming Manual Funtion and Action examples Comparison V42 . 6 and V427 two description character strings When the contact C 203 is O N time , the instruction execution, when the address of V42 . 6 is a string length greater than equal to the address V42 .

  • Page 238: Ne_String (String Is Not Equal)

    VA Motion Controller Programming Manual When the contact C 204 is O N time , the instruction execution, when the address of V42 . string length equal address string length of time; address V4 31 is the output 1 ; No's output 0 Execution of results ;...

  • Page 239: Le_String (String Is Less Than Or Equal To)

    VA Motion Controller Programming Manual When the contact C 207 is O N time , the instruction executed, when address V4 32 the string length is not equal to the address V4 33 is the string length of time; address V4 34 is the output 1 ; No's output 0 Execution results...

  • Page 240: String (String Is Less Than)

    VA Motion Controller Programming Manual When the contact C 206 is O N time , the instruction executed, when address V4 35 of the string address length less than or equal V4 36 the string length of time; address V4 37 [ output 1 ; No's output 0 Execution results...

  • Page 241: String_To_* (Converts Strings To Other Types)

    VA Motion Controller Programming Manual When the contact C 206 is O N time , the instruction is executed, when the address V4 38 is a string of length less than the address V4 39 the string length of time; address V4 40 outputs 1 ; No's output 0 Execution results...

  • Page 242: To_String (Other Types Are Converted To Strings)

    VA Motion Controller Programming Manual *: In additioNSTRING_TO_TIME external command, can bring the corresponding BYTE #, WORD # other type prefix, and " 16 # " prefix, the prefix may not ; input character valid values sign and decimal numerals 0 to 9; the numbers appear The other characters and the recurring numbers are invalid.
  • Page 243 VA Motion Controller Programming Manual Valid format : %c, %x, %u, default %x FORMAT STRING STRING Output, when the format is %c , the output is the input ASCII code ; when the format is %x , the output is the input hexadecimal number ;...
  • Page 244 VA Motion Controller Programming Manual number  USINT_TO_STRING data processing instruction type Input and output type of data description USINT Input range 0~255 Valid format : %u, default %u FORMAT String STRING Output, output as the input symbol decimal number ...

  • Page 245: 0.5 Bit Operation Function Bit_Util

    VA Motion Controller Programming Manual range T#O~T#4,294,967,295 " milliseconds, such as T#1 MS IN1 ( FORMAT ) Valid format : %u, default %u String STRING Output, when the format is %u , the output is the TIME type that represents the input as unprefixed , in milliseconds, such as input T#1 S , output 1000;...

  • Page 246: Get_ Char (Remove The Character Instruction In The String )

    VA Motion Controller Programming Manual BIT_TEST IN1 ST OUT programming language OUT:=BIT_T0_EST ( IN, IN1 ) Note : IL, ST language programming needs to insert variables IN, IN1 and OUT or use constants in the variable worksheet of the current POU ...

  • Page 247: Get_Lsb ( Remove The Lower 8 -Bit Instruction In The Bit String )

    VA Motion Controller Programming Manual GET_CHAR IN1 ST OUT ST programming language OUT:=GET_CHAR IN1 ) Note : IL, ST language programming needs to insert variables IN, IN1 and OUT or use constants in the variable worksheet of the current POU ...

  • Page 248: Get_Msb ( Remove The High 8 -Bit Instruction In The Bit String )

    VA Motion Controller Programming Manual A reaDAddress V444 low . description 8 -bit value When the contact C 209 is O N time , the instruction is executed , the address of V444 is low . 8 bit of the value of the state taken out , stored in the address V445 in ;...

  • Page 249: I_Bit_In* ( Invert The Single Bit In The Bit String)

    VA Motion Controller Programming Manual 10.5.5 I_BIT_IN* ( Invert the single bit in the bit string) IL programming language LD, FBD programming language Function: The I_BIT_IN* instruction is used to invert a single bit in the input bit string, including the I_BIT_IN_WORDAnd I_BIT_IN_DWORD instructions, and can handle input bit strings of BYTE, WORDAnd DWORD types.

  • Page 250: Parity_* (Parity Instruction For Bit String )

    VA Motion Controller Programming Manual When the contact C 211 is O N time , the instruction is executed , and when the ENAB is ON , the inverted V449 in the second 2 bit , outputs; if ENAB is FALSE when , without inverted output self itself;...

  • Page 251: R _Bit_In_* ( Instruction Of A Single Position 0 In A Bit String )

    VA Motion Controller Programming Manual When the contact C 212 is O N time , the instruction is executed , the address V4 52 is in is one of the number removed , when is 1 is an odd number , the address V453 output is 0 ;...

  • Page 252: S_Bit_In_* ( 1 Instruction In A Single Bit In The Bit String )

    VA Motion Controller Programming Manual output input the NO position 0 value of Funtion and Action examples Reset the status of the 4th bit description in address V455 When the contact C 213 is O N time , the instruction executed when the ENAB is ON time , reset address V455 in the first...

  • Page 253: Set_Lsb ( Write Instructions To The Lower 8 Bits In The Bit String )

    VA Motion Controller Programming Manual be operated , the value range is 0~7 for BYTE , 0~15 for WORD , 0~31 for DWORD ( other values ​​are invalid ) BYTE Output, when IN1 is FALSE , the output equal input IN; when IN1 is TRUE , the output input IN of NO position 1 value of Funtion and Action examples...

  • Page 254: Set_Msb ( The High Bit String 8 Write Digit Command )

    VA Motion Controller Programming Manual Input type description output data IN1 ( LSB ) The value to be written, range 0~255 BYTE IN ( DATA ) WORD Input bit string, 0~65535 WORD Output, change the lower byte ( lower 8 bits ) of the input bit string to IN1 Funtion and Action examples...

  • Page 255: String_To_Buffer (Copy String To Buffer Instruction )

    VA Motion Controller Programming Manual Funtion and Action examples Change value description upper 8 bits of address V466 to 16 #35 When the contact C 216 is O N time , the instruction executed address of V466 high . 8 bit values to 16 # 35 , and then output : result the execution : 16 #0000-----16#3500...

  • Page 256: Swap (Swapping High Byte And Low Byte Instructions )

    VA Motion Controller Programming Manual 10.5.12 SWAP (swapping high byte and low byte instructions ) programming LD, FBD programming language language Function: The SWAP instruction is used to swap the position of the highest byte ( MSB ) and lower byte ( LSB ) of the input bit string . LD IN SWAP ST OUT...

  • Page 257: Proconos Features

    VA Motion Controller Programming Manual 10.6 ProConOS Features FILE_OPEN, FILE_CLOSE , FILE_SEEK , FILE_TELL , FILE_READ , FILE_WRITE, FILE_REMOVE instructions in ProConOS are not available. 10.6 .1 BUF type conversion to other types BUF type data can be divided into 12 function blocks, which can copy basic data types from byte stream to variables, arrays or elements of user-defined structure, that is, convert to BYTE, WORD, DWORD, SINT, INT, DINT, respectively.
  • Page 258 VA Motion Controller Programming Manual code of IEEE 754 the buffer is MOTOROLA floating point number. The number of bytes converted can be 4 BUF _ TO _ STRING STRING data Enter the ASCI I code as format a character. The buffer number of bytes to be is MOTOROLA or I...
  • Page 259 VA Motion Controller Programming Manual Note : The data storage order of MOTOROLA and INTEL microprocessor is different. The INTEL format is high and low byte array, and the MOTOROLA format is low and high byte array. error code description The conversion process is completed normally BUFFER and DST output-output type error Exceeding the length of the buffer, the number of bytes to be...

  • Page 260: Other Types Are Converted To Buf Type

    VA Motion Controller Programming Manual the current POU variable worksheet 10.6.2 Other types are converted to BUF type Other types can be converted to BUF type data, and the basic data types in the variables, arrays or elements of the user-defined structure can be copied into the byte stream. There are 12 instructions, respectively BYTE, WORD, DWORD, SINT , INT , Data such as DINT, USINT, UINT, UDINT, REAL, STRING, TIME are converted into BUF type data, which is mainly used for data transfer or communication in applications on different hardware platforms.

  • Page 261: Clr_Out ( Set The Output Of The I/O Image To 0 Pointer )

    VA Motion Controller Programming Manual 1: The error directory was successfully deleted. 10.6.4 CLR_OUT ( Set the output of the I/O image to 0 pointer ) IL programming language LD, FBD programming language Function: The CLR_OUT instruction is used to set the output of the I/O image area to 0. LD IN ST INCLR_OUT_1.EN CAL CLR_OUT_1...

  • Page 262: Continue ( Continue Running The Program )

    VA Motion Controller Programming Manual COLD_RESTART data processing instruction type Input and output type of data description IN ( COND ) If TRUE , perform a cold restart BOOL BOOL OUT is TRUE if COND=TRUE and can be cold started Note : The COLD_RESTART instruction is temporarily unavailable.

  • Page 263: Event_Task ( Trigger Event )

    VA Motion Controller Programming Manual scan ( CYCLIC ) , and the scan period, task type setting and scan perioDAre set according to their own needs. See the programming model in this manual  Hardware  Tasks. LD ENABLE ST DERIVAT_1.ENABLE LD RUN ST DERIVAT_1.RUN LD XIN...

  • Page 264: Fpid

    VA Motion Controller Programming Manual CAL EVENT_TASK_1 LD EVENT_TASK_1.Erroe ST OUT ST programming language EVENT_TASK_1 ( Execute:=START, Event_No:=IN ) ; OUT:=EVENT_TASK_1.Error; Note : IL, ST language programming need to insert variables START , IN and OUT or use constants in the current POU variable worksheet ...
  • Page 265 VA Motion Controller Programming Manual When the FPID instruction is in the automatic working mode, its output value is the result of the calculation after the PID operation, as follows Output = = kp � � + � � + � �...

  • Page 266: Get_Error ( Details Of Errors Obtained In The Error Directory )

    VA Motion Controller Programming Manual 10.6.10 GET_ERROR ( details of errors obtained in the error directory ) Note : The GET_ERROR instruction is temporarily unavailable. 10.6.11 GET_ERROR_CATALOG ( information about the current content obtained in the error directory ) Note : The GET_ERROR_CATALOG instruction is temporarily unavailable. 10.6.12 GET_SYM ( search for the symbolic name of the PDD variable ) Note : The GET_SYM instruction is temporarily unavailable.

  • Page 267: Integral ( Integration )

    VA Motion Controller Programming Manual Note : IL, ST language programming needs to insert variables CNT , SRC, etc. in the current POU variable worksheet or use constants  IMEMCPY data processing instruction type Input and output type of data description CNT ( CNT ) The number of bytes to be copied...

  • Page 268: Memcpy ( Data Copy Instruction)

    VA Motion Controller Programming Manual  the INTEGRAL data processing instruction type Input and output type of data description ENABLE BOOL Execution function block when TRUE BOOL When TRUE , the integratioNStarts, when FALSE , the integration is paused, and the output keeps the last integral value.

  • Page 269: Memset ( Datadistribution )

    VA Motion Controller Programming Manual OUT ( IMEMCPY ) WORD The first byte of the target data area , written as SRC[0] when the data type is ARRAY 10.6.17 MEMSET ( DatADistribution ) IL programming language LD, FBD programming language Function: The MEMSE T instruction is used to distribute source data to the target data area.

  • Page 270: Rd_*_By_Sym ( Read The Value Of The Pdd Variable )

    VA Motion Controller Programming Manual data. If the program has a stack overflow, a string error, or ADivide by 0 , you can call this command to automatically restart the execution of the program. LD IN ST PLC_STOP_1.IN CAL PLC_STOP_1 programming language PLC_ STOP_ 1 ( IN )

  • Page 271: Rtc_S ( Read Plc Clock )

    VA Motion Controller Programming Manual writing variables of different data types of PDD WR_BOOL_BY_ WR_BYTE_BY_SY WR_WORD_BY_ WR_DWORD_BY_ WR_SINT_BY_S WR_INT_BY_SYM WR_DINT_BY_SY WR_USINT_BY_SY WR_UINT_BY_S WR_UDINT_BY_S WR_REAL_BY_SY WR_STRING_BY_S WR_TIME_BY_S WR_OUTPUT_GR PDD is a method that can access the value of a variable by the name of the variable. It is a method used when the controller kernel layer accesses the value of the PLC variable defined by MULTIPROG .

  • Page 272: Warm_Restart ( Plc Warm Start )

    VA Motion Controller Programming Manual as DT#2011-08-15-10:08:55.19 10.6.22 WARM_RESTART ( PLC Warm Start ) Note : The WARM_RESTART instruction is temporarily unavailable.

  • Page 273: Motion Commands

    VA Motion Controller Programming Manual V A motion controller programming manual XI Motion Commands 11.1 Insert FB_FU_LIB (motion control firmware library) 11.1.1 Features FB_FU_LIB firmware library is provided for motion control and is used as a library function for the user. The user does not need complicated programming, just call and set some simple parameters to use.
  • Page 274 VA Motion Controller Programming Manual...

  • Page 275: Motion Commands

    VA Motion Controller Programming Manual 11.2 motion commands 11.2.1 Motion Control Library Classification 11.2.2 Movement instruction list Instruction Instruction code Features page number MC_Power Enable 11.4.1 MC_Power command (ENABLE command) MC_MoveVelocity Speed 11.4.2 MC_MoveVelocity ​ ​ command (speed command) MC_MoveRelative Relative 11.4.3 MC_MoveRelative displacement...
  • Page 276 VA Motion Controller Programming Manual instruction return instruction) MC_SetOverride Speed ​ ​ 11.4.9 MC_SetOverride overshoot (overshoot speed command) command MC_Stop Stop 11.4.10 MC_Stop (stop command command) MC_Halt Pause 11.4.11 MC_Halt command (pause command) MC_SpecialMoveAbsolute Special 11.4.11 instructions MC_SpecialMoveAbsolute absolute (special absolute displacement displacement instructions)
  • Page 277 VA Motion Controller Programming Manual command stop command) NS_MC_ReadParameter read 11.4.22 parameter NS_MC_ReadParameter command (read command parameter) MC_GearIn Electronic 11.5.1 MC_GearIn gear coupling (electronic gear coupling instruction instructions) MC_GearOut Instruction 11.5.2 MC_GearOut from (electronic gear disengaged electronic instruction) gear MC_CombineAxes Combined 11.5.3 dual-spindle...
  • Page 278 VA Motion Controller Programming Manual MC_CamSet Change 11.5.16 MC_CamSet entry into (changes to take effect cam force of the point instructions) point instruction MC_ReadTappetStatus A plurality of 11.5.17 read status MC_ReadTappetStatus (read command status command plurality of tappet points lifters points) MC_ReadTappetValue A plurality of 11.5.18...
  • Page 279 VA Motion Controller Programming Manual count NS_CC_DI_Counter instruction (DI-speed count instruction) NS_CC_EXTI DI interrupt 11.6.10 NS_CC_EXTI instruction (DI interrupt instruction) NS_CC_ReadPulseVelocity Read pulse 11.6.11 rate NS_CC_ReadPulseVelocity command (read-axis pulse rate controlled) RTC_S Clock special 11.6.12 RTC_S (special register register clock) NC_GroupEnable Group enable 11.7.1...
  • Page 280 VA Motion Controller Programming Manual parameters) NS_CC_CANopen_RPDO data 3.1.5 mapping area NS_CC_CANopen_RPDO read (PDO data mapping area command read command) NS_CC_CANopen_TPDO data 3.1.6 mapping area NS_CC_CANopen_TPDO assignment (PDO data mapping area instruction assignment instruction) NS_CC_CANopen_SDO_Read Service data 3.1.7 reading NS_CC_CANopen_SDO_R instruction ead (service data reading instruction)

  • Page 281: Basics Of Motion Control Instructions

    VA Motion Controller Programming Manual 11.3 Basics of motion control instructions 11.3.1 Command modes of motion controller Digital pulse: This method is similar to the control method of the stepping motor. The motion controller sends the pulse signal of the pulse/direction or CW/CCW type to the servo driver.
  • Page 282 VA Motion Controller Programming Manual (4) inhibition zero drift In the closed-loop control process, the existence of zero drift will have a certain influence on the control effect, and it is best to suppress it. With the command module on the motion controller or adjusting the zero drift value on the servo to suppress the zero drift phenomenon, it can be realized (refer to the analog zero drift adjustment), so that the motor speed approaches zero.

  • Page 283: Movement Control

    VA Motion Controller Programming Manual 11.3.2 movement control. VEC-VA-MP-005-MA analog motion controller controlling the servo drive ± operating velocity mode, the servo drive encoder signal divided output fed back to the motion controller, the position loop is completed by a motion controller, as shown below shown; Analog speed command±10V Add and...

  • Page 284: Mc_Axis_Ref (Axis Parameter Setting)

    VA Motion Controller Programming Manual 11.3.3 MC_AXIS_REF (axis parameter setting) FB / FU Explanation Applicable model This command is used to configure the VEC-VA-MP-005-MA parameters of the controlled servo axis AXISXXX...
  • Page 285 VA Motion Controller Programming Manual Input parameters  type of Range setting name Features data (default value) Analog / Pulse: 0-4 (real axis) 5 to 11 (imaginary Setting instruction to Axis_Num (axis number) USINT axis) be controlled axes CANopen mode: 0-15 (real axis...
  • Page 286 VA Motion Controller Programming Manual denominator) shaft to actuator Lead lead, the distance Screw_Lead traveled by the lead screw LREAL A positive number (Screw lead) Unit: per unit When Disc_Circumference is 0, the default is the transmission terminal screw. Set the lead of the terminal drive screw. When the reduction ratio numerator/reduction ratio denominator = 1/2, it indicates the distance that the servo motor rotates two turns of the screw sub-assembly.
  • Page 287 VA Motion Controller Programming Manual Setting the controlled Revolving_Axes axis type 0: Linear axis BOOL (Controlled axis type) 0: Linear axis 1: rotation shaft 1: rotation shaft Linear axis: Linear axis model Note: P1: positive limit P2: Anti limit Origin: Origin The rotary shaft: Notes axis of rotation model: P1: positive limit...
  • Page 288 VA Motion Controller Programming Manual (Soft limit maximum of the software limit. If the negative, zero value) maximum position exceeds this value, Soft_Limit_Max outputs TRUE. The soft limit is the minimum value. If the Soft_Limit_Min_Position Positive, minimum position is lower (Soft limit the minimum LREAL negative, zero...
  • Page 289 VA Motion Controller Programming Manual This parameter is valid when the control mode is selected as analog control, ie ControlMode=0. The proportional gain is similar to the position loop proportional gain of the servo drive. When the position closed loop control is completed on the motion controller, increasing the value shortens the positioning time;...
  • Page 290 VA Motion Controller Programming Manual DA_Inverse DA reverse BOOL TRUE / FALSE (Analog inversion) DA_Inverse has two modes 0 and 1 1) When DA_Inverse=0, the controller controls the servo motor counterclockwise, that is, the analog output is positive voltage; 2) When DA_Inverse=1, the controller controls the servo motor clockwise, that is, the analog output is a negative voltage;...

  • Page 291: Sports Instruction Constitutes

    VA Motion Controller Programming Manual Module Description: When using the servo axis to control the servo motor, the AXIS_REF module of the  controlled servo axis must be correctly configured according to the mechanical parameters. Otherwise, the servo axis cannot correctly control the servo motor operation; In the following single-axis instruction and multi-axis instruction program ...

  • Page 292: Analog Offset Adjustment

    The motion controller instruction module zero drift adjustment step; (here, respectively to servo drive Vector VB and VC will be described servo drive) Vector VB servo drives: ...
  • Page 293 VA Motion Controller Programming Manual 1) After the zero drift adjustment is completed, it is determined that the Enable state on the module is False, and the state of the parameter Enable is not allowed to be "TRUE" during the execution of the program by the "NS_CC_DAC module"...

  • Page 294: State Machine

    VA Motion Controller Programming Manual 11.3.6 state machine When the VEC-VA-MP-005-MA motion controller controls each axis using motion control commands, each axis has an internal operating state. The state switching of the controlled axes follows the state machine shown in the figure below. The state machine defines the motion commands that can be executed in each state and the state after the motion command is executed.

  • Page 295: Buffermode Features

    VA Motion Controller Programming Manual 11.3.7 BufferMode Features For the same axis, when there is a motion command control axis during the motion, other motion commands can be started. When the two motion commands are handed over, there are two options for the handover mode.
  • Page 296 VA Motion Controller Programming Manual 3, the deceleration phase of the current instruction 4, the instruction transfer direction opposite to the interrupt current instruction Note: When the controlled axis current instruction and the transfer instruction transfer acceleration / deceleration handover command acceleration / deceleration When BufferMode = 1, the following will be described for two cases: ...

  • Page 297: Uniaxial Instruction

    VA Motion Controller Programming Manual 11.4 Uniaxial Instruction Precautions: non-moving command, MC_ReadActualVelocity,  MC_ReadActualPosition, MC_SetOverride, MC_ReadMotionState, MC_ReadStatus, NS_MC_ReadParameter, MC_SetPosition, can be used in any state of the shaft. Each instruction in the same number of works on the same axis using the ...
  • Page 298 VA Motion Controller Programming Manual NS_MC_CamSet Up to 1 module per axis for the entire project NS_MC_CamWritePoint Up to 1 module per axis for the entire project NS_MC_CamWriteTappetValue Up to 1 module per axis for the entire project MC_ReadActualPosition Any number MC_ReadActualVelocity Any number MC_ReadMotionState...

  • Page 299: Mc_Power (Enable Command)

    VA Motion Controller Programming Manual 11.4.1 MC_Power (ENABLE command) FB / FC Explanation Applicable model This command is used to enable the respective VEC-VA-MP-005-MA servo axis or enable release Input parameters  Range setting name Features type of data timing of the (default value) entry into force Analog / Pulse:...
  • Page 300 VA Motion Controller Programming Manual represents the effective output command is TRUE This parameter indicates TRUE or Error the instruction execution error BOOL FALSE to TRUE Instruction execution ErrorID WORD error code error FIG timing variation output parameter  Function Description ...

  • Page 301: Mc_Movevelocity (Speed Command)

    VA Motion Controller Programming Manual 11.4.2 MC_MoveVelocity (speed command) FB / Applicable Explanation model This instruction is used to set the control shaft in VEC-VA-MP-0 accordance with the deceleration to the movement at a 05-MA uniform speed and the set speed Input parameters ...
  • Page 302 VA Motion Controller Programming Manual The rate of Jerk change of the set (The rate of Positive Execute from target acceleration / LREAL change of (non-default) FALSE to TRUE deceleration acceleration) (Unit: unit / S3) 1:positive Set the operation direction direction 3:Negative Direction...
  • Page 303 VA Motion Controller Programming Manual output instruction is TRUE Error Error code when ErrorID (error code) WORD execution instruction FIG timing variation output parameter  Case 1: When the Execute FALSE to TRUE, after a period, Busy, Active becomes TRUE. When the speed of arrival, Invelocity becomes TRUE, while still Busy and Active remains TRUE state.
  • Page 304 VA Motion Controller Programming Manual In the example below MC_MoveVelocity instruction execution time of the individual. 1、Variables and procedures variable name type of data The initial value MC_MoveVelocity1 MC_MoveVelocity AXIF0 USINT Vel1_Ex BOOL FALSE Vel1_Dir Vel1_BM Vel1_Invel BOOL Vel1_Bsy BOOL Vel1_Act BOOL Vel_Abt...
  • Page 305 VA Motion Controller Programming Manual 2、Timing and motion profiles of FIG. When Vel1_Ex a FALSE to TRUE, Vel1_Bsy, Vel_Act simultaneously become  TRUE, starts instruction execution speed; when the speed reaches, Vel1_Invel becomes TRUE, and at the same time Vel1_Bsy Vel1_Act remains to TRUE. When Stop_Ex1 a FALSE to TRUE, after a period, CommandAborted a FALSE to ...

  • Page 306: Mc_Moverelative (Relative Displacement Instruction)

    VA Motion Controller Programming Manual 11.4.3 MC_MoveRelative (relative displacement instruction) FB / Applicable Explanation model This instruction is used to control axis current position as a starting point, according to the set speed, acceleration and VEC-VA-M deceleration, rate of change of acceleration of the moving P-005-MA distance setting Input parameters...
  • Page 307 VA Motion Controller Programming Manual Velocity Set target speed Positive Exexcute from LREAL (speed) (Unit: unit / S) (non-default) FALSE to TRUE Goal setting Acceleration Positive Exexcute from acceleration LREAL (Acceleration) (non-default) FALSE to TRUE (Unit: unit / S2) Deceleration Set target Positive Exexcute from...
  • Page 308 VA Motion Controller Programming Manual output instruction is TRUE ErrorID (error Error Error code when WORD code) execution instruction FIG timing variation output parameter  Case 1:When the Execute FALSE to TRUE, Busy and Active simultaneously become TRUE. When the positioning is completed, Done becomes TRUE, and the Busy Active becomes FALSE, if after the completion of the positioning, Execute a TRUE to FALSE, after a period, Done becomes FALSE.
  • Page 309 VA Motion Controller Programming Manual Examples of a program In the example below MC_MoveRelative instruction execution time of the individual. 1, variables, and procedures variable name type of data The initial value MC_MoveRelativey1 MC_MoveRelative AXIF0 USINT Rel_Ex BOOL FALSE Rel_BM BOOL Rel_Done BOOL...
  • Page 310 VA Motion Controller Programming Manual 2, Motion curve and timing diagram When the Rel_Ex FALSE to TRUE, a period, while the Busy and Active is TRUE,  starts executing the instruction in accordance with the relative displacement of the parameter setting, the current position of the axis at this time is 0, the target location is 100,000.
  • Page 311 VA Motion Controller Programming Manual MC_MoveRelativey1 MC_MoveRelative AXIF0 USINT Rel_Ex BOOL FALSE Rel_BM BOOL Rel_Done BOOL Rel_Bsy BOOL Rel_Act BOOL Rel_Abort BOOL MC_MoveRelativey2 MC_MoveRelative AXIF0 USINT Rel2_Ex BOOL FALSE Rel2_BM BOOL Rel2_Done BOOL Rel2_Bsy BOOL Rel2_Act BOOL Rel2_Abort BOOL...
  • Page 312 VA Motion Controller Programming Manual 2, Motion curve and timing diagram When Rel1_Ex a FALSE to TRUE, the first MC_MoveRelative instruction starts  execution, the current position of the axis at this time is 360 000, the position of the target...
  • Page 313 VA Motion Controller Programming Manual (46,000 + 10,000 = 36,000). When the shaft position is reached 40000, Rel2_Ex a FALSE to TRUE,  MC_MoveRelative second instruction begins execution, and the execution of the first instruction MC_MoveRelative is interrupted, the output parameter Rel1_Abt becomes TRUE.

  • Page 314: Mc_Moveadditive (Additional Displacement Instruction)

    VA Motion Controller Programming Manual 11.4.4 MC_MoveAdditive (additional displacement instruction) FB / Applicable Explanation model This instruction from the control shaft in accordance with VEC-VA-M the set speed, acceleration and deceleration moved a additional P-005-MA Input parameters  Range type of The timing of name Features...
  • Page 315 VA Motion Controller Programming Manual (Unit: unit) Velocity Set target speed Positive Exexcute from LREAL (speed) (Unit: unit / S) (non-default) FALSE to TRUE Goal setting Acceleration Positive Exexcute from acceleration LREAL (Acceleration) (non-default) FALSE to TRUE (Unit: unit / S2) Deceleration Set target Positive...
  • Page 316 VA Motion Controller Programming Manual the faulting instruction when the FALSE output instruction is TRUE ErrorID (error Error Error code when WORD code) execution instruction FIG timing variation output parameter  Case 1:When the Execute FALSE to TRUE, after a period Buys Active and simultaneously become TRUE;...
  • Page 317 VA Motion Controller Programming Manual 1、Variables and procedures variable name type of data The initial value MC_MoveAdditive1 MC_MoveAdditive AXIF0 USINT Addt_Ex BOOL FALSE Addt_BM Addt_Done BOOL Addt_Bsy BOOL Addt_Active BOOL Addt_Abort BOOL 2、Timing and motion profiles of FIG.
  • Page 318 VA Motion Controller Programming Manual When Addt_Ex a FALSE to TRUE, the motion controller controls the operation of  the servo motor to the current position as a reference point, after a period Addt_Bsy, Addt_Act becomes TRUE. After the completion of the servo motor set distance, a done bit Addt_Done FALSE to TRUE, and at the same time Addt_Bsy Addt_Act a TRUE to FALSE.
  • Page 319 VA Motion Controller Programming Manual Addt_Active BOOL Addt_Abort BOOL 2, Motion curve and timing diagram...
  • Page 320 VA Motion Controller Programming Manual When Rel1_Ex a FALSE to TRUE, the motion controller controls the operation of  the servo motor to the current position as a reference point, the position of the shaft at Position = 40,000, additional displacement instruction execution, Addt_Ex a FALSE to TRUE, after one cycle, interrupt bit Rel1_Abt from FALSE becomes TRUE.

  • Page 321: Mc_Moveabsolute (Absolute Displacement Instructions)

    VA Motion Controller Programming Manual 11.4.5 MC_MoveAbsolute (absolute displacement instructions) Applicable FB / FC Explanation model This instruction is used to set speed control axes, VEC-VA-M acceleration and deceleration to move relative to the target zero P-005-MA position Input parameters ...
  • Page 322 VA Motion Controller Programming Manual Continuous Retention Updata Set the target position Rotary shaft: 0≤ Positive, Position Position <mold Exexcute from LREAL negative, zero (position) Linear axis: FALSE to TRUE Unlimited (Unit: unit) Velocity Set target speed Positive Exexcute from LREAL (speed) (Unit: unit / S)
  • Page 323 VA Motion Controller Programming Manual absolute value is greater than or equal to the parameter Position mode, this instruction execution error; when the shaft linear axis, parameter Position and regardless of the size of the mold can be set to an arbitrary constant. 4. Direction parameter is valid only when the shaft rotation axis, a detailed description of the parameters, refer to the instruction described in the function section Direction.
  • Page 324 VA Motion Controller Programming Manual When the positioning is completed, Done becomes TRUE, and the Busy Active becomes FALSE, it is the Execute TRUE to FALSE after a period, Done becomes FALSE. Case 2: When the Execute is TRUE, the instruction is interrupted after the other instructions, CommandAborted becomes TRUE, and the Busy Active becomes FALSE;...
  • Page 325 VA Motion Controller Programming Manual Direction: 2 (minimum) Direction: 2 (minimum) Location: 315 Location: 315 Destination: 90 Destination: 270 Movement angle: 135 ° Movement angle: 45 ° Direction: 4 (continuation of the direction Direction: 4 (continuation of the direction of the current) of the current) Before the execution, the state of the Before the function block execution state...
  • Page 326 VA Motion Controller Programming Manual Examples of a program The controlled axis is a linear axis, while examples of single instruction is executed as follows MC_MoveAbsolute 1, variables, and procedures variable name type of data The initial value MC_MoveAbsolue_1 MC_MoveAbsolute AXIF0 USINT Abs_Ex...
  • Page 327 VA Motion Controller Programming Manual 2, Motion curve and timing diagram When the Abs_Ex MC_MoveAbsolute FALSE to TRUE to start the instruction  execution, the current position of the axis at this time is 1.7 million, 1.5 million target position. When the shaft moves to the 1500000, the instruction execution is completed.
  • Page 328 VA Motion Controller Programming Manual Program Example Two The controlled axis is a linear axis, MC_MoveAbsolute instruction interrupt instruction MC_MoveAbsolute examples are as follows: 1, variables, and procedures variable name type of data The initial value MC_MoveAbsolue_2 MC_MoveAbsolute Abs_Ex0 BOOL FALSE ABS_Position LREAL...
  • Page 329 VA Motion Controller Programming Manual...
  • Page 330 VA Motion Controller Programming Manual When Abs_Ex0 a FALSE to TRUE, the first MC_MoveAbsolute instruction starts  execution, the current position of the axis at this time is 1000, the target location 3000. When the shaft position is reached 20000, Abs_Ex1 a FALSE to TRUE, ...

  • Page 331: Mc_Movesuperimposed (Additional Displacement Instruction)

    VA Motion Controller Programming Manual 11.4.6 MC_MoveSuperimposed (additional displacement instruction) Applicable FB / FC Explanation model This instruction is used to control movement of the shaft in VEC-VA-M the current state of the set speed, acceleration and deceleration P-005-MA some additional independent set distance. Input parameters ...
  • Page 332 VA Motion Controller Programming Manual Goal setting Acceleration Positive Exexcute from acceleration LREAL (Acceleration) (non-default) FALSE to TRUE (Unit: unit / S2) Deceleration Set target Positive Exexcute from (decrease deceleration LREAL (non-default) FALSE to TRUE speed) (Unit: unit / S2) Jerk The rate of change (The rate of...
  • Page 333 VA Motion Controller Programming Manual Case 1:When the Execute FALSE to TRUE, after a period Buys Active and simultaneously become TRUE; When the completion of the additional displacement, Done becomes TRUE, and the Busy Active becomes FALSE, it is the Execute TRUE to FALSE after a period, Done becomes FALSE. Case 2: When the Execute is TRUE, the instruction is interrupted after the other instructions, CommandAborted becomes TRUE, and the Busy Active becomes FALSE;...
  • Page 334 VA Motion Controller Programming Manual MC_MoveSuperimposed instruction is executed, and then execution  MC_HaltSuperimposed instruction, MC_MoveSuperimposed instruction was interrupted. This instruction does not affect the current state of the machine  Examples of a program Examples when a separate instruction is executed as follows MC_MoveSuperimposed 1, variables, and procedures variable name type of data...
  • Page 335 VA Motion Controller Programming Manual When Sup_Ex becomes TRUE, after a period, Sup_Bsy, Sup_Act becomes TRUE,  the motion controller controls the operation of the servo motor to the current position as a reference point. After the completion of the servo motor set distance, Sup_Done becomes TRUE, ...
  • Page 336 VA Motion Controller Programming Manual MC_MoveSuperimposed MC_MoveSuperimposed Sup_Ex BOOL FALSE Sup_Done BOOL Sup_Bsy BOOL Sup_Act BOOL Sup_Abort BOOL 2、Timing and motion profiles of FIG.
  • Page 337 VA Motion Controller Programming Manual When Rel_Ex becomes TRUE, after a period Rel_Act, Rel_BsyBecomes TRUE, the motion ● controller controls the operation of the servo motor to the current position as a reference point. When Sup_Ex becomes TRUE, after a period, Sup_Act, Sup_BsyBecomes TRUE, ●...

  • Page 338: Mc_Haltsuperimposed (Pause Additional Displacement)

    VA Motion Controller Programming Manual 11.4.7 MC_HaltSuperimposed (Pause additional displacement) Applicable FB / FC Explanation model This instruction is used to suspend the additional VEC-VA-M displacement command P-005-MA Input parameters  Range setting The timing of name Features type of data (default value) the entry into force Analog...
  • Page 339 VA Motion Controller Programming Manual Deceleration Set target Positive Exexcute from (decrease deceleration LREAL (non-default) FALSE to TRUE speed) (Unit: unit / S2) Jerk The rate of change (The rate of of the target acceleration Positive, zero Exexcute from LREAL change or deceleration setting FALSE to TRUE...
  • Page 340 VA Motion Controller Programming Manual Case 1:When the Execute FALSE to TRUE, after a period Buys Active and simultaneously become TRUE; When the suspension is added to complete the displacement, Done becomes TRUE, and the Busy Active becomes FALSE, it is the Execute TRUE to FALSE after a period, Done becomes FALSE.
  • Page 341 VA Motion Controller Programming Manual Rel_Bsy BOOL FALSE Rel_Act BOOL FALSE Rel_Abort BOOL FALSE MC_MoveSuperimposed_5 MC_MoveSuperimposed Sup_Ex BOOL FALSE Sup_Done BOOL FALSE Sup_Bsy BOOL FALSE Sup_Act BOOL FALSE Sup_Abort BOOL FALSE MC_HaltSuperimposed_3 MC_HaltSuperimposed HaltSup_Ex BOOL FALSE HaltSup_Done BOOL FALSE HaltSup_Bsy BOOL FALSE HaltSup_Act...
  • Page 342 VA Motion Controller Programming Manual 2, Motion curve and timing diagram...
  • Page 343 VA Motion Controller Programming Manual When Rel_Ex becomes TRUE, after a period, Rel_Bsy and Rel_Act becomes  TRUE, the motion controller controls the operation of the servo motor to the current position as a reference point. Sup_Ex becomes TRUE when, after a period, Sup_Bsy and Sup_Act becomes TRUE, MC_MoveSuperimposed instruction starts execution, and an acceleration of the servo motor speed will (in this case acceleration is 0 axis) is superimposed.

  • Page 344: Mc_Home (Zero Return Instruction)

    VA Motion Controller Programming Manual 11.4.8 MC_Home (zero return instruction) Applicable FB / FC Explanation model This instruction is used according to the mode and the VEC-VA-M control shaft speed parameter setting operation is performed P-005-MA homing Input parameters  Range setting The timing of...
  • Page 345 VA Motion Controller Programming Manual Second_Veloc 2nd speed shaft charged Positive Determined by LREAL OPR, Unit: r / min (non-default) the Mode (2nd speed) Home_DI DI designated as a Exexcute from (Origin 0 to 63 home switch FALSE to TRUE switch) Min_Limit_ Specify a limit...
  • Page 346 VA Motion Controller Programming Manual Case 1:When the Execute FALSE to TRUE, after a period Buys Active and simultaneously  become TRUE; When the positioning is completed, Done becomes TRUE, and the Busy Active becomes FALSE, it is the Execute TRUE to FALSE after a period, Done becomes FALSE. Case 2: When the Execute is TRUE, the instruction is interrupted after the other instructions, ...
  • Page 347 VA Motion Controller Programming Manual First_V LREAL 120.0 Second_V LREAL 60.0 Home_DI Min_Limit Max_Limit Home_Mode Home_BM 2、 Timing and motion profiles of FIG.
  • Page 348 VA Motion Controller Programming Manual Mode = 17, when the Home_Ex becomes FALSE TRUE, the motion controller  controls the operation of the servo motor, means starts reverse rotation, after reaching the reverse limit switch is turned forward, and then leaving the stop position of the reverse limit switch, so as to drive institutions back to the mechanical origin position A.

  • Page 349: Mc_Setoverride (Overshoot Speed Command)

    VA Motion Controller Programming Manual 11.4.9 MC_SetOverride (overshoot speed command) FB / Applicable Explanation model This instruction is used to change the current as a VEC-VA-M percentage of the controlled target speed shaft P-005-MA Input parameters  type of Range setting The timing of name...
  • Page 350 VA Motion Controller Programming Manual When this parameter is TRUE or Enabled (control) TRUE indicates output BOOL FALSE command under the control shaft This parameter indicates to TRUE or Busy (execution) TRUE output instruction is BOOL FALSE executed It represents execution of TRUE or Error (error) the faulting instruction when the...
  • Page 351 VA Motion Controller Programming Manual according to Acceleration (or with Deceleration) the currently executing instruction *VelFactor2To the target speed after the change. When VelFactor set to "0", the target speed becomes "0", the performance of the operation  shaft is decelerated at a rate of "0" operation. He wants to keep state action, but want to temporarily stop the axis movement, the VelFactor ...
  • Page 352 VA Motion Controller Programming Manual 2 Motion curve and timing diagram...
  • Page 353 VA Motion Controller Programming Manual When Vel_Ex0Becomes TRUEAfter time, a period Vel_BsyAnd Vel_Act  becomes TRUEAfter axis starts forward rotation, the output reaches the set speed Invelocity TRUEAnd then SetOv_EnSet TRUEWhile Enbaled, SetOv_BsyBecomes TRUE, MC_SetOverride effective date of the controlled axis according VelFactorThe value of re-generate the target speed.

  • Page 354: Mc_Stop (Stop Command)

    VA Motion Controller Programming Manual 11.4.10 MC_Stop (stop command) FB / FC Explanation Applicable model This instruction is used to control VEC-VA-MP-005-MA deceleration of the axes of the set deceleration until it stops. Stopping state machine enters the shaft Input parameters ...
  • Page 355 VA Motion Controller Programming Manual Description: 1,The instruction to execute upon the Execute FALSE to TRUE. The instruction is being executed, ExecuteWhen the TRUE to FALSE, this instruction performs no effect. 2, when the instruction is being executed, the Execute again by the FALSE to TRUE, the instructions may be re-executed, the parameters can be revalidated The pin comprises Deceleration, Jerk.
  • Page 356 VA Motion Controller Programming Manual Case 2: When the Execute is TRUE, the instruction is interrupted after the other instructions,  CommandAborted becomes TRUE, and the Busy Active becomes FALSE; Execute when a TRUE to FALSE, after a period CommandAborted becomes FALSE. Case 3: After during instruction execution, Execute a TRUE to FALSE, when positioning is ...
  • Page 357 VA Motion Controller Programming Manual 2, Motion curve and timing diagram...
  • Page 358 VA Motion Controller Programming Manual When Vel_Ex becomes TRUE, after a period Vel_Bsy, Vel_Act becomes TRUE,  the servo motor begins to move forward. When the servo motor reaches the target speed, Invelocity becomes TRUE. When STOP_ex becomes TRUE, after a period STOP_Busy, STOP_Act becomes ...

  • Page 359: Mc_Halt (Pause Command)

    VA Motion Controller Programming Manual 11.4.11 MC_Halt (pause command) FB / FC Explanation Applicable model This instruction is used to control deceleration of the VEC-VA-MP-005 axes of the set deceleration until it stops. Input parameters  Range name Features type of data setting (default timing of the value)
  • Page 360 VA Motion Controller Programming Manual Setting transfer mode immediately between the two Execute BufferMode interrupted instructions TRUE when the (Transfer mode) 1: Wait 0:immediatelyint FALSE to errupted 1: Wait Description: 1,The instruction to execute upon the Execute FALSE to TRUE. The instruction is being executed, ExecuteWhen the TRUE to FALSE, this instruction performs no effect.
  • Page 361 VA Motion Controller Programming Manual Case 1:When the Execute FALSE to TRUE, after a period Buys Active and simultaneously  become TRUE; When the position is reached, Done becomes TRUE, and the Busy Active becomes FALSE, it is the Execute TRUE to FALSE after a period, Done becomes FALSE. Case 2: When the Execute is TRUE, the instruction is interrupted after the other instructions, ...

  • Page 362: Mc_Specialmoveabsolute (Special Absolute Displacement Instructions)

    VA Motion Controller Programming Manual 11.4.11 MC_SpecialMoveAbsolute (special absolute displacement instructions) FB / FC Explanation Applicable model This instruction is used to set speed control axes, VEC-VA-MP-005 acceleration and deceleration to move relative to the target zero position Input parameters ...
  • Page 363 VA Motion Controller Programming Manual DecTime The set target Positive Exexcute from (deceleration deceleration time LREAL (non-default) FALSE to TRUE time) (Unit: S) The set minimum Positive Exexcute from Min_Velocity target rotational speed LREAL (non-default) FALSE to TRUE (Unit: unit / S) Setting the transfer mode between the two BufferMode...
  • Page 364 VA Motion Controller Programming Manual FIG timing variation output parameter  Case 1:When the Execute FALSE to TRUE, after a period at the same time  becomes TRUE and the Active Buys; When the positioning is completed, Done becomes TRUE, and the Busy Active becomes FALSE, it is the Execute TRUE to FALSE after a period, Done becomes FALSE.

  • Page 365: Mc_Readactualposition (Real Position Instruction Read)

    VA Motion Controller Programming Manual 11.4.12 MC_ReadActualPosition (real position instruction read) FB / FC Explanation Applicable model This instruction is used to read the actual position of VEC-VA-MP-005 the axis Input parameters  Range type of The timing of name Features setting (default data...
  • Page 366 VA Motion Controller Programming Manual TRUE output instruction is FALSE executed It represents execution of TRUE or Error (error) the faulting instruction when the BOOL FALSE output instruction is TRUE ErrorID (error Error Error code when WORD code) execution instruction Position (actual The actual position of the LREAL...
  • Page 367 VA Motion Controller Programming Manual The actual position of influence MC_SetPosition  After MC_SetPosition instruction executed, the actual position of the read command MC_ReadActualPosition shall be added is MC_SetPosition position shift amount caused by the instruction, as shown in the following formula in terms of the relationship: ActualPosition = MC SetPosition +...
  • Page 368 VA Motion Controller Programming Manual 2. Motion curve and timing diagram MC_ReadActualPosition execution instruction fetch real-time position, the  MC_MoveRelative performed, charged at a set speed to the target shaft position 10000...
  • Page 369 VA Motion Controller Programming Manual movement. ActualPosition is 3000, MC_SetPosition instruction execution, since instructions  MC_SetPosition selected as the absolute position, therefore, performed after the completion of ActualPosition = 0, ActualPosition MC_MoveRelativel instruction is complete when the 7,000. As can be seen by the speed command MC_SetPosition curve image above does ...

  • Page 370: Mc_Readactualvelocity (Read Real-Time Speed)

    VA Motion Controller Programming Manual 11.4.13 MC_ReadActualVelocity (read real-time speed) FB / FC Explanation Applicable model This instruction is used to read the actual speed of VEC-VA-MP-005-MA the shaft Input parameters  Range type of The timing of name Features setting (default data the entry into force...
  • Page 371 VA Motion Controller Programming Manual It represents execution of Error (error) the faulting instruction when the BOOL TRUE or FALSE output instruction is TRUE ErrorID Error Error code when WORD (error code) execution instruction Velocity Axis actual speed REAL Real (actual speed) Unit: unit / S FIG output change timing...
  • Page 372 VA Motion Controller Programming Manual 2、 Timing and motion profiles of FIG.

  • Page 373: Mc_Readmotionstate (Read Axis Motion Command)

    VA Motion Controller Programming Manual 11.4.14 MC_ReadMotionState (read axis motion command) FB / Explanation Applicable model This instruction is used to read the state of motion VEC-VA-MP-005 controlled axes Input parameters  Range type of The timing of name Features setting (default data the entry into force...
  • Page 374 VA Motion Controller Programming Manual The parameter output outputs Valid (output valid) BOOL TRUE a valid instruction is TRUE This parameter indicates to TRUE or Busy (execution) TRUE output instruction BOOL FALSE executed It represents execution of TRUE or Error (error) the faulting instruction when the BOOL FALSE...
  • Page 375 VA Motion Controller Programming Manual Case 1: In the controlled axis is Standstill state, when the Enable from FALSE to TRUE, and Busy vaild simultaneously become TRUE, ConstantVelocity, Accelerating, Decelerating, DirectionPositive, according to the output pin axis DirectionNegative state to TRUE or FALSE. Case 2: the instruction execution speed, the controlled-axis accelerometer, Accelerating output is TRUE, ConstantVelocity output becomes FALSE, when the current position of the controlled axis is increased DirectionPositive output to TRUE.

  • Page 376: Mc_Readstatus (Read Axis State)

    VA Motion Controller Programming Manual 11.4.15 MC_ReadStatus (Read axis state) FB / Explanation Applicable model This instruction is used to read the state information VEC-VA-MP-005 of the controlled axes Input parameters  Range type of The timing of name Features setting (default data the entry into force...
  • Page 377 VA Motion Controller Programming Manual parameter output Valid (output valid) outputs a valid instruction is BOOL TRUE TRUE This parameter indicates to TRUE or Busy (execution) TRUE output instruction is BOOL FALSE executed It represents execution of TRUE or Error (error) the faulting instruction when the BOOL FALSE...
  • Page 378 VA Motion Controller Programming Manual Case 1: When the Enable FALSE to TRUE, Vaild Busy and simultaneously become TRUE, ErrorStop, Disabled, Stopping, Homing, Standstill, DiscreteMotion, ContinuousMotion The shaft and SyncMotion state to TRUE or FALSE. Case 2: When the Enable TRUE to FALSE, Vaild Busy and simultaneously become FALSE, the output Disabled, Stopping, Homing, Standstill, DiscreteMotion, ContinuousMotion and SyncMotion Enable pin remains unchanged state of TRUE.
  • Page 379 VA Motion Controller Programming Manual MC_ReadStatus_2 MC_ReadStatus AXIFxx USINT ReadStatus_En BOOL FALSE ReadStatus_Valid BOOL FALSE ReadStatus_Bsy BOOL FALSE Disabled BOOL FALSE Stopping BOOL FALSE Standstill BOOL FALSE DiscreteMotion BOOL FALSE ContinuousMotion BOOL FALSE...
  • Page 380 VA Motion Controller Programming Manual 2, the motion profile and timing Enable MC_Power from FALSE to TRUE instruction, the latter instruction cycle  Disabled MC_ReadStatus by TRUE to FALSE, while Standstill MC_ReadStatus instruction from FALSE to TRUE (i.e., the state machine changes from the Disabled Standstill) Execute the speed command from FALSE to TRUE, after a period MC_ReadStatus ...
  • Page 381 VA Motion Controller Programming Manual Execute the instruction MC_Stop FALSE to TRUE, ContinuousMotion after a  period MC_ReadStatus instruction from TRUE to FALSE, Stopping while MC_ReadStatus instruction from FALSE to TRUE (i.e., the state machine changes from the ContinuousMotion Stopping)

  • Page 382: Mc_Setposition (Position Setting Instruction)

    VA Motion Controller Programming Manual 11.4.16 MC_SetPosition (position setting instruction) FB / FC Explanation Applicable model This instruction is used to set the position value of VEC-VA-MP-005- the axis to a predetermined value, and does not cause the shaft to produce the actual motion. Input parameters ...
  • Page 383 VA Motion Controller Programming Manual absolute mode Mode ReferenceType 0: command Execute Reference (Type reference position 0 (0) from FALSE to position set type position) 1: The actual TRUE position Output parameters  type of name Features Output range data The output parameter to TRUE Done BOOL...
  • Page 384 VA Motion Controller Programming Manual Relative to the input parameters define the relationship between the input parameter Position reference position. When Relative = TRUE, Position relative relationship with the reference position, the reference position setting position = + Position; when Relative = FALSE, Position absolute relationship with the reference position, the position setting value = Position.
  • Page 385 VA Motion Controller Programming Manual the shaft 6000 is changed, the command position becomes 6700 (6700 = 6000 + △ P), as shown below right: Program Example Effects This example describes the effect of execution of the instruction MC_SetPosition MC_MoveAbsolute executed being executed: no effect on the actual implementation of the results MC_SetPosition MC_MoveAbsolute instruction being executed.
  • Page 386 VA Motion Controller Programming Manual 2, the motion profile and timing...
  • Page 387 VA Motion Controller Programming Manual When Abs_Ex0 a FALSE to TRUE, MC_MoveAbsolute instruction starts  execution, MC_SetPosition instruction execution when the current position is greater than 30,000. MC_SetPosition command position when the instruction to start execution of  30,000, a command execution completion position which is 60,000, when the position of the instruction execution is completed MC_MoveAbsolute 100,000.

  • Page 388: Mc_Phasing (Shift Spindle Command)

    VA Motion Controller Programming Manual 11.4.17 MC_Phasing (shift spindle command) FB / FC Explanation Applicable model This instruction is used to position the additional VEC-VA-MP-005- main section shift does not affect the movement of the spindle Input parameters  Range The timing type of name...
  • Page 389 VA Motion Controller Programming Manual is executed Setting spindle Positive, Exexcute PhaseShift position offset LREAL negative, zero from FALSE to (Offset) (Unit: unit) TRUE A positive Exexcute Velocity Spindle speed LREAL number from FALSE to (speed) offset is set (Non-default) TRUE A positive Exexcute...
  • Page 390 VA Motion Controller Programming Manual Case 1:When the Execute FALSE to TRUE, after a period Buys Active and simultaneously become TRUE; After completion of the offset spindle, Done becomes TRUE, and the Busy Active becomes FALSE, it is the Execute TRUE to FALSE after a period, Done becomes FALSE. Case 2: When the Execute is TRUE, the instruction is interrupted after the other instructions, CommandAborted becomes TRUE, and the Busy Active becomes FALSE;...

  • Page 391: Mc_Touchprobe (Position Capture Command)

    VA Motion Controller Programming Manual 11.4.18 MC_TouchProbe (position capture command) FB / FC Explanation Applicable model This position of the capture command for the shaft VEC-VA-MP-005- Input parameters  Predetermin type of ed area timing of the name Features data (Default entry into value)
  • Page 392 VA Motion Controller Programming Manual value of 0 to 7 inputs I0 ~ I7,8 ~ 15 corresponding to the input point I10 ~ I17. The pin mode (Mode) is equal to 2 active. FALSE, the selection signal Execute ExecuteEdge is a falling edge input DI, TRUE, TRUE BOOL from FALSE...
  • Page 393 VA Motion Controller Programming Manual The output parameter is CommandAborted TRUE representing instructions BOOL TRUE or FALSE (interruption) is interrupted It represents execution of Error (error) the faulting instruction when the BOOL TRUE or FALSE output instruction is TRUE Error Error code when ErrorID (error code) WORD execution instruction...
  • Page 394 VA Motion Controller Programming Manual order: TriggerInput only effective in the first trigger. ○ Axis number register latch axis position, Active_Axis axis actual pulse ○ source encoder. Mode = 4 This mode is a continuous encoder latch. In this mode, performs location capturing order: Each trigger TriggerInput updated once a latched position.

  • Page 395: Mc_Aborttrigger (Position Capture Interrupt Instruction)

    VA Motion Controller Programming Manual 11.4.19 MC_AbortTrigger (position capture interrupt instruction) FB / FC Explanation Applicable model This instruction is used to interrupt the position of VEC-VA-MP-005- the capture shaft Input parameters  Predetermin type of ed area timing of the name Features data...
  • Page 396 VA Motion Controller Programming Manual TRUE indicates instructions are executed This parameter indicates to Busy (execution) TRUE output instruction is BOOL TRUE or FALSE executed The output parameter is CommandAborted TRUE representing instructions BOOL TRUE or FALSE (interruption) is interrupted It represents execution of Error (error) the faulting instruction when the...

  • Page 397: Ns_Mc_Jog (Jog Command)

    VA Motion Controller Programming Manual 11.4.20 NS_MC_Jog (jog command) FB / FC Explanation Applicable model This instruction can be used to move the function, VEC-VA-MP-005-MA also can be superimposed on the speed. Input parameters  Range type of The timing of name Features setting (default...
  • Page 398 VA Motion Controller Programming Manual A positive JogForward or Velocity Set target speed number LREAL JogBackward to (speed) (Unit: unit / S) (Non-default TRUE A positive Goal setting JogForward or Acceleration number acceleration LREAL JogBackward to (Acceleration) (Non-default (Unit: unit / S2) TRUE A positive Deceleration...
  • Page 399 VA Motion Controller Programming Manual FIG timing variation output parameter  Case 1:When JogForward or JogBackward a FALSE to TRUE, Busy becomes TRUE. When the movable stop point, the shaft speed is reduced to 0, Busy becomes FALSE, and at the same time maintaining a Done period becomes TRUE.
  • Page 400 VA Motion Controller Programming Manual 2 . The motion profile and timing diagrams When the Jog_Forward NS_MC_Jog FALSE to TRUE to start execution instruction, after a  period of Jog_Bsy FALSE to TRUE, the axis movement in positive direction; FALSE to TRUE to the Jog_Forward, the shaft begins to decelerate, when the deceleration is 0,...
  • Page 401 VA Motion Controller Programming Manual Jog_Bsy becomes It is FALSE, while the rear Jog_Done a period from FALSE to TRUE becomes FALSE. When Jog_Backward a FALSE to TRUE, NS_MC_Jog instruction starts execution,  after a period of Jog_Bsy FALSE to TRUE, start the reverse operation of the shaft; and a TRUE to FALSE Jog_Backward, the shaft begins to slow when the velocity is reduced to zero, Jog_Bsy after the bit is set to FALSE, FALSE to TRUE while the Jog_Done one cycle becomes FALSE.

  • Page 402: Ns_Mc_Stopbypos (Position Designated Mode Stop Command)

    VA Motion Controller Programming Manual 11.4.21 NS_MC_StopByPos (position designated mode stop command) FB / FC Explanation Applicable model It stopped at the specified position specified axis VEC-VA-MP-005- mode command for this operation Input parameters  Range type of The timing of name Features setting (default...
  • Page 403 VA Motion Controller Programming Manual Position 0≤Position Exexcute from Die set location LREAL (position) <mold FALSE to TRUE A positive Goal setting Acceleration number Exexcute from acceleration LREAL (Acceleration) (Non-default FALSE to TRUE (Unit: unit / S2) A positive Deceleration Set target number Exexcute from...
  • Page 404 VA Motion Controller Programming Manual FIG timing variation output parameter  Case 1:When the Execute FALSE to TRUE, after a period Buys Active and simultaneously  become TRUE; When the position is reached, Done becomes TRUE, and the Busy Active becomes FALSE, it is the Execute TRUE to FALSE after a period, Done becomes FALSE.

  • Page 405: Ns_Mc_Readparameter (Read Command Parameter)

    VA Motion Controller Programming Manual 11.4.22 NS_MC_ReadParameter (read command parameter) FB / FC Explanation Applicable model This instruction is used to read the relevant VEC-VA-MP-005-MA parameters of the controlled axis Input parameters  The timing type Range setting name Features of the entry into of data (default value)
  • Page 406 VA Motion Controller Programming Manual data The parameter outputs a TRUE or Valid BOOL TRUE output instruction is valid FALSE The output parameter is TRUE Table TRUE or Busy BOOL Illustrates the instruction FALSE being executed This parameter indicates TRUE or Error the output command execution BOOL...
  • Page 407 VA Motion Controller Programming Manual (Unit: Pulse) execution Uniaxial / Multiaxial Real-time error (Unit: Pulse) command instruction execution Uniaxial / Multiaxial Real-time analog output command instruction execution Uniaxial / Multiaxial Given the current position of the command instruction mold execution Given the current pulses Uniaxial / Multiaxial corresponding to the position of the...
  • Page 408 VA Motion Controller Programming Manual Reading module that Active_Axis MC_TouchProbe actual Uniaxial instruction command real time axis of the latch pulse execution control error (unit: pulse) Latching the shaft when the Uniaxial / Multiaxial instant error trigger DI0 command instruction (Unit: Pulse) execution Latching the shaft when the...
  • Page 409 VA Motion Controller Programming Manual each scan) Expanding IO Types Type of the first expansion Run command execution...

  • Page 410: Multiaxial Instruction

    VA Motion Controller Programming Manual 11.5 Multiaxial instruction MasterValueSource Description: When MasterValueSource = 0, the following spindle axis from a position command. When MasterValueSource = 1, follows from the actual position of the spindle axis, the actual position of a number of pulses detected by the hardware to the axis of the opening decision. 11.5.1 MC_GearIn (electronic gear coupling instructions) FB / FC Explanation...
  • Page 411 VA Motion Controller Programming Manual mode: 0-15 (real axis / imaginary axis) Analog Pulse: 0-4 (real axis) Exexcut Setting instruction Slave (imaginary axis) e from from the shaft to be USINT CANopen (Slave axis) FALSE to controlled mode: 0-15 (real TRUE axis / imaginary axis)
  • Page 412 VA Motion Controller Programming Manual The rate of change of Exexcut Jerk the target acceleration or Positive, zero e from (The rate of change of LREAL deceleration setting FALSE to acceleration) (Unit: unit / S3) TRUE Setting the transfer mode between the two Exexcut immediately BufferMode...
  • Page 413 VA Motion Controller Programming Manual Case 1:When the Execute FALSE to TRUE, and after a period, Busy, Active becomes TRUE. When the synchronous state has been reached, InGear becomes TRUE, while Busy Active and remains to TRUE. Case 2: When the Execute is TRUE, the shaft is controlled from other instructions, the instruction is interrupted by another instruction, CommandAborted becomes TRUE, the Busy and Active to FALSE;...
  • Page 414 VA Motion Controller Programming Manual ���������� ���� ��������� ����� ����� ����� = ������ ����� ����� ∗ ���������� ���� ����������� ���������� ���� ��������� Electronic gear ratio  ���������� ���� ����� = ���������� ���� ����������� When the ratio is positive, the same direction of movement of electrons from the gear shaft and the spindle.
  • Page 415 VA Motion Controller Programming Manual GearIn_Ex1 BOOL FALSE Gear_RatioNumerator1 LREAL 2000.0 Gear_RatioDenominator1 LREAL 1000.0 InGear1 BOOL GearIn_Bsy1 BOOL GearIn_Act1 BOOL GearIn_Abt1 BOOL...
  • Page 416 VA Motion Controller Programming Manual 2, Motion curve and timing diagram MC_GearIn1 electronic gear ratio of the numerator and denominator are both 1, GearIn_Ex a  FALSE to TRUE, after a period, Gear_Bsy, Gear_Act, InGear becomes TRUE, the spindle and the establishment of the gear shaft from the relationship. Electronic gear spindle and the establishment of the shaft from the relationship, Vel_Ex ...
  • Page 417 VA Motion Controller Programming Manual electronic gear ratio of 2 and 1, respectively, so that the target speed of the shaft is twice the speed of the spindle. When InGear1 becomes TRUE, the speed of the shaft is twice the speed of the spindle.

  • Page 418: Mc_Gearout (Electronic Gear Disengaged Instruction)

    VA Motion Controller Programming Manual 11.5.2 MC_GearOut (electronic gear disengaged instruction) FB / FC Explanation Applicable model This instruction for releasing the electronic gear VEC-VA-MP-005-MA relationship between the two axes established Input parameters  Predetermine The timing type of d area name Features of the entry...
  • Page 419 VA Motion Controller Programming Manual executed The output parameter is CommandAborted TRUE or TRUE representing instructions BOOL (interruption) FALSE is interrupted It represents execution of TRUE or Error (error) the faulting instruction when the BOOL FALSE output instruction is TRUE Error Error code when ErrorID (error code) WORD...
  • Page 420 VA Motion Controller Programming Manual Vel_Act BOOL Vel_Abt BOOL MC_GearIn_1 MC_GearIn AXIF_M USINT AXIF_S USINT GearIn_Ex BOOL FALSE Gear_RatioNumerator LREAL 1000.0 Gear_RatioDenominator LREAL 1000.0 MasterValueSource Gear_acc LREAL 1000.0 Gear_dec LREAL 1000.0 Gear_Jerk LREAL 1000.0 InGear BOOL GearIn_Bsy BOOL GearIn_Act BOOL GearIn_Abt BOOL MC_GearOut_1...
  • Page 421 VA Motion Controller Programming Manual 2, Motion curve and timing diagram MC_GearIn1 electronic gear ratio of the numerator and denominator are both 1, GearIn_Ex a  FALSE to TRUE, after a period, Gear_Bsy, Gear_Act, InGear becomes TRUE, the spindle and the establishment of the gear shaft from the relationship. Electronic gear spindle and the establishment of the shaft from the relationship, Vel_Ex ...

  • Page 422: Mc_Combineaxes (Double Spindle Gears Combined Instruction)

    VA Motion Controller Programming Manual 11.5.3 MC_CombineAxes (double spindle gears combined instruction) FB / FC Explanation Applicable model The positions of the two spindles adding or VEC-VA-MP-005-MA subtracting a value from the output shaft position Input parameters  Predetermined The timing type name Features...
  • Page 423 VA Motion Controller Programming Manual 0-4 the real axis 5 to 11 virtual When controlling axis Exexcute Master2 the second shaft USINT (CANopen from FALSE to (Spindle 2) Location sources. Mode: 0 ~ 15, can TRUE be real or imaginary axis) 0-4 the real axis 5 to 11 virtual...
  • Page 424 VA Motion Controller Programming Manual GearRatioDenominator Positive or Exexcute Setting spindle gear LREAL negative from FALSE to spindle gear denominator (Non-default) TRUE denominator) Setting spindle MasterValueSourceM1 synchronization source 1 Exexcute (Spindle 0: command position 0 or 1 from FALSE to synchronization source 1: The actual TRUE...
  • Page 425 VA Motion Controller Programming Manual data This parameter is TRUE TRUE or InSync (synchronized state) output shaft from the BOOL FALSE synchronized state represents This parameter indicates to TRUE or Busy (execution) TRUE output instruction is BOOL FALSE executed When this parameter is TRUE or The Active (control) TRUE indicates output...
  • Page 426 VA Motion Controller Programming Manual Function Description  This instruction is used to position two spindles adding or subtracting a value as the output from the shaft position.Here is the location of the unit pulse. This instruction synthetically divided into two: the addition or subtraction ...
  • Page 427 VA Motion Controller Programming Manual position, a position to confirm the source of the amount of change. Is set to 0 for the amount of change of the spindle position command addition or subtraction, it is set to 1 when the amount of change in the actual position of the spindle addition or subtraction. Acceleration, deceleration and acceleration of the rate of change represented before ...
  • Page 428 VA Motion Controller Programming Manual GearRatioNumeratorM2 LREAL 1000.0 GearRatioDenominatorM2 LREAL 1000.0 MasterValueSourceM1 MasterValueSourceM2 Combine_acc LREAL 5000.0 Combine_dec LREAL 5000.0 Combine_jerk LREAL 5000.0 Combine_BM Combine_Sync BOOL Combine_Bsy BOOL Combine_Act BOOL Combine_Abt BOOL...
  • Page 429 VA Motion Controller Programming Manual 2, Motion curve and timing diagram When the Combine_ex FALSE to TRUE, MC_CombineAxes instruction starts execution,  after some time, the instruction is executed successfully, Combine_InSync becomes TRUE, the three axes in accordance with the instruction required to achieve synchronous movement...
  • Page 430 VA Motion Controller Programming Manual state. At this time, the two spindles Excute MC_MoveVelocity instruction becomes TRUE, two spindle starts moving, when the movement of the shaft also starts according to a change amount of a position and two spindles, the position change amount per unit time Slave axis is two spindle position and the amount of change.

  • Page 431: Peeling Electronic Cam Profile

    VA Motion Controller Programming Manual 11.5.4 peeling electronic cam Profile Brief introduction Electronic cam is fundamentally a function of the cam computer-implemented, the entire system generally consists of two parts, hardware and software. The system hardware includes a microprocessor, a memory device, D / A converter, a controller and actuators. The encoder signals the microprocessor to obtain from the storage device corresponding to the displacement signal calculated from the formula or a displacement value, then the input of the cam displacement value D / A converter, the converted signal processing to achieve the corresponding actuator is driven by...

  • Page 432: Peeling Function Of The System Configuration

    VA Motion Controller Programming Manual 11.5.5 peeling function of the system configuration An essential part of functions including peeling knife roll shaft and the axis, detecting element, and a motor control unit. Other Depending on the processed products you may also need color. As shown, each blade roll rotation of the complete system configuration in FIG 11.5.9 first shearing, measuring the length measuring roll material, according to pre-designed control unit controlling the movement of the knife roller cam curve, so that blade into engagement with the material by the length of the...

  • Page 433: Peeling Process Parameters

    VA Motion Controller Programming Manual 11.5.6 Peeling process parameters FIG parameters The actual meaning Command name Setting the cut length Cut_Length (cutting length) (unit: unit (means)) Material feed roller FeedAxisRadius (feed shaft radius) radius (unit: unit (means)) Peeling axis radius; Cutter_Cir (cutter perimeter) = 2 * R2 * 3.1415 Sync area...

  • Page 434: Peeling Function Control Characteristics

    VA Motion Controller Programming Manual 11.5.7 peeling function control characteristics Rotary Cut function is a special electronic cam function. Continuous cutting, peeling schematic curve which follows: Features 1, The user can freely set the cutting length according to process requirements, can be less than or greater than the cut length equal to the circumference of the cutter.

  • Page 435: Peeling Features

    VA Motion Controller Programming Manual 11.5.8 peeling Features Peeling area and curve into synchronous adjustment zone. Sync area:At this time, the peeling axis feed shaft at a fixed speed ratio operation (linear velocity of the tip of the cutting face generally equal), and the cut material occurs in the synchronization area.
  • Page 436 VA Motion Controller Programming Manual 2: Isometric cutting When peeling a length equal to the circumference of the knife roll, peeling curve of any one of the following cycle: In this case, sync area with the non-synchronous zone peeling axis and the feed axis speed synchronization has been maintained, no adjustment peeling axis.
  • Page 437 VA Motion Controller Programming Manual synchronous speed. If the length is much greater than peeling knife roll circumference, the cutter roll may have decelerated to zero, stay for some time, and then accelerated to synchronous speed. The longer the cutting length, the longer the time spent.

  • Page 438: Ns_Mc_Rotarycutin (Peeling Instruction)

    VA Motion Controller Programming Manual 11.5.9 NS_MC_RotaryCutIn (peeling instruction) FB / FC Explanation Applicable model This instruction is used to establish a relationship VEC-VA-MP-005- between two axes peeling Input parameters  Predetermine The timing type of d area name Features of the entry data (Default...
  • Page 439 VA Motion Controller Programming Manual Analog Pulse: 0-4 (real axis) Exexcute Master Setting instruction to (imaginary axis) USINT from FALSE to CANopen (Spindle) be controlled spindle TRUE mode: 0-15 (real axis / imaginary axis) 0-4 the real axis 5 to 11 virtual Setting instruction axis Exexcute...
  • Page 440 VA Motion Controller Programming Manual when the bit number is greater than 1, the knife needs to try to ensure consistent distance between the two knives. Range sync area Exexcute SyncAngle (peeling angle refers to the LREA 0`360 from FALSE to (Synchronous angle) axis) TRUE...
  • Page 441 VA Motion Controller Programming Manual Value of 0 to 7 corresponding to the input point I0.0 ~ I0.7,8 ~ 15 corresponding to the input I1.0 ~ I1.7 Punctuation set color Mark_DI_Edge signal trigger edge Exexcute TRUE or (Color signal along BOOL from FALSE to FALSE...
  • Page 442 VA Motion Controller Programming Manual synchronized state represents This parameter indicates EndOfProfile (peeling TRUE or the output end of the cam is BOOL end of the cam execution flag) FALSE TRUE is performed This parameter indicates CutOut_Done (complete the output shaft is released from TRUE or BOOL lifting peeling)
  • Page 443 VA Motion Controller Programming Manual triggered from a rotary axis will be compensated, can ensure that the next sets of standard. The real axis of the spindle must be in this mode, Cut_DI_Valid Mark_DI_Valid and are set to Ture Function Description ...
  • Page 444 VA Motion Controller Programming Manual...
  • Page 445 VA Motion Controller Programming Manual 2, Motion curve and timing diagram  To StartMode =3Executing instructions, Execute becomes TRUEAfter a period, InSync, Busy, Active becomes TRUE,From the shaft reaches the soft-start sync area, a trigger signal is tangent point, the cam next cycle. Then cut each time the trigger point signal, output EndOfProfile signal TRUEA cycle, if the cut point signal has not been triggered, the slave axis has been running at a line speed synchronization.

  • Page 446: Ns_Mc_Specialcamin (Special Cam Instruction)

    VA Motion Controller Programming Manual 11.5.10 NS_MC_SpecialCamin (special cam instruction) FB / FC Explanation Applicable model Establishing a special instruction is used for two cam VEC-VA-MP-005-MA shafts relationship between Input parameters  Predetermined The timing type name Features area entry data (Default value) into force...
  • Page 447 VA Motion Controller Programming Manual axis (CANopen Mode: 0 ~ 15, can be real or imaginary axis) When the Execute Execute TRUE or FALSE to TRUE, the BOOL (Execute bit) FALSE instruction execution starts When the master is released soon Enable_CamOut Enable_CamOut is TRUE, TRUE or...
  • Page 448 VA Motion Controller Programming Manual 30/16 + DistanceSync + DistanceDec * 30/16 Effective Mode 0 Source selection command from the shaft, when selected when Mode = 1,2, MasterValueSource MasterValueSource must be 1. Exexcute (Select location 0: Follow the spindle from FALSE to source) axis from a position TRUE...
  • Page 449 VA Motion Controller Programming Manual type of name Features Output range data This parameter is TRUE InSync (synchronized TRUE or output shaft from BOOL state) FALSE synchronized state represents This parameter indicates EndOfProfile (end of the TRUE or the output end of the cam is BOOL cam execution flag) FALSE...
  • Page 450 VA Motion Controller Programming Manual When the instruction is being executed may be modified DistanceOffset_Master,  DistanceAdd, DistanceSync DistanceDec, the value of the retrigger Periodic_Master_Units Execute, the modified parameters to take effect in the next cycle after the trigger cam Execute. After modifying Mark_DI_Valid, Mark_DI_Num, Mark_DI_Edge value of the modified parameter re-trigger Execute effective immediately.
  • Page 451 VA Motion Controller Programming Manual 1, procedures, and variables variable name type of data The initial value MC_MoveVelocity_7 MC_MoveVelocity Master USINT Vel_Dir Vel_BM NS_MC_SpecialCamIn_3 NS_MC_SpecialCamIn AXIF_M USINT AXIF_S2 USINT SpecialCam_Ex2 BOOL FALSE Enable_Camout BOOL FALSE Distanceoffset LREAL DistanceAdd1 LREAL 1600.0 DistanceSync1 LREAL 3000.0...
  • Page 452 VA Motion Controller Programming Manual 2, the motion profile and timing diagrams Mode = 1 NS_MC_SpecialCamIn to execute instructions, the Execute becomes TRUE, after  a period, Busy, Active becomes TRUE, in this case as a starting point, when the spindle reaches the Activation, the distance Slave axis in accordance with the acceleration set to sync area in the sync area inner, InSync output TRUE, and then completes the synchronization deceleration distance from the end of the first synchronization period.
  • Page 453 VA Motion Controller Programming Manual After the completion of the first cam cycle, the trigger signal color, synchronized motion  from a cam shaft in accordance with the table set immediately generated parameters. Enable_Camout set to TRUE, the time of arrival of a next color signal, released from the ...

  • Page 454: Ns_Mc_Specialcombineaxes (Special Double Joint Spindle Gear Command)

    VA Motion Controller Programming Manual 11.5.11 NS_MC_SpecialCombineAxes (special double joint spindle gear command) FB / FC Explanation Applicable model This instruction is used to establish a special VEC-VA-MP-005-MA relationship between the gear joint between two two-spindle axes Input parameters  Predetermined The timing type...
  • Page 455 VA Motion Controller Programming Manual Analog Pulse: 0-4 (real axis) Exexcute Master Setting instruction to (imaginary axis) USINT from FALSE to CANopen (Spindle) be controlled spindle TRUE mode: 0-15 (real axis / imaginary axis) 0-4 the real axis 5 to 11 virtual Setting instruction axis Exexcute...
  • Page 456 VA Motion Controller Programming Manual RatioNumerator Positive or Exexcute Setting spindle 2 Gear LREAL negative from FALSE to Ratio (2 spindle Gear Ratio) (Non-default) TRUE RatioDenominator Positive or Exexcute Setting spindle gear LREAL negative from FALSE to (2 spindle gear denominator (Non-default) TRUE...
  • Page 457 VA Motion Controller Programming Manual 30/16 + DistanceSync + DistanceDec * 30/16 Source selection command from the shaft 0: Follow the spindle axis from a position MasterValueSource Exexcute command (Select location from FALSE to 1: the actual position source) TRUE of the shaft from the spindle to follow (Mode 1 this value...
  • Page 458 VA Motion Controller Programming Manual Function Description:  When the instruction is being executed may be modified RatioNumeratorM1,  RatioDenominatorM1, RatioNumeratorM2, RatioDenominatorM2, Gear_RatioNumerator, Gear_RatioDenominator, Cam_DistanceOffset_Master, Cam_DistanceAdd, Cam_DistanceSync, Cam_DistanceDec, Cam_Pulse_Per_Unit_M, Periodic_Master_Units Execute the retrigger value modified parameter effect at the next cycle after the trigger cam Execute.
  • Page 459 VA Motion Controller Programming Manual performed starting from Unit: Unit Within one execution cycle, the execution cycle from the Pos_Max (maximum starting point Slave axis of the LREAL position) maximum position Unit: Unit Program Example In mode 0 instructions execute NS_MC_SpecialCamIn 1, procedures, and variables variable name type of data...
  • Page 460 VA Motion Controller Programming Manual...
  • Page 461 VA Motion Controller Programming Manual 2, a timing graph and...
  • Page 462 VA Motion Controller Programming Manual Spindle speed 1000, execution NS_MC_SpecialCombineAxes, made in accordance with the  motion from the shaft of the cam follower shaft position change table.

  • Page 463: Mc_Camin (Electronic Cam Associated Instruction)

    VA Motion Controller Programming Manual 11.5.12 MC_CamIn (electronic cam associated instruction) FB / FC Explanation Applicable model This relationship established instructions for VEC-VA-MP-005- electronic cam shaft between two Input parameters  Predetermine The timing type of d area Name Features of the entry data (Default...
  • Page 464 VA Motion Controller Programming Manual mode: 0-15 (real axis / imaginary axis) 0-4 the real axis 5 to 11 virtual axis Exexcute Slvae Set from the USINT (CANopen from FALSE to (Slave axis) electronic cam shaft Mode: 0 ~ 15, can TRUE be real or imaginary axis)
  • Page 465 VA Motion Controller Programming Manual SlaveOffset Setting a position Exexcute Positive, (Offset Slave axis offset Slave axis LREAL from FALSE to negative, 0 (0) position) (Unit: unit) TRUE MasterScaling A positive Exexcute Set the scale of the (Spindle position LREAL number from FALSE to spindle position...
  • Page 466 VA Motion Controller Programming Manual the acceleration from the shaft to allow superimposition (Unit: unit / S2) Setting execution during the engagement operation of the maximum A positive Exexcute Deceleration allowed deceleration is LREAL number from FALSE to (decrease speed) superimposed from the (Non-default) TRUE...
  • Page 467 VA Motion Controller Programming Manual This parameter indicates to TRUE or Busy (execution) TRUE output instruction is BOOL FALSE executed When this parameter is TRUE or Active TRUE indicates output BOOL FALSE command under the control shaft This parameter indicates TRUE or CommandAborted the output instruction execution...
  • Page 468 VA Motion Controller Programming Manual from the engagement start wait state. note:If ActivationPosition ActivationMode is 0 and is 0 (location relative to the shaft), the current speed from the shaft will be moving toward the synchronous speed, in addition, from immediately moving axis stops! The MC_CamIn instruction input parameters at the moment is read and locked instruction, the instruction for use during execution.
  • Page 469 VA Motion Controller Programming Manual ActivationPosition relative axial position  When time parameters ActivationMode = 0, ActivationPosition axis position, and the position of the spindle MC_CamIn instruction starts execution time relative relationship, i.e. the actual position of engagement of the spindle at the start position of the spindle MC_CamIn instruction starts execution time plus ActivationPosition.
  • Page 470 VA Motion Controller Programming Manual stage○ : Trigger MC_CamIn instruction is executed, this time to the absolute position of the spindle 100 stage○ : Wait engagement start stage○ : Engaging the spindle reaches the start position (1000), engagement operation started from the shaft stage○...
  • Page 471 VA Motion Controller Programming Manual stage○ : Trigger MC_CamIn instruction execution, the absolute position of the spindle at this time is 1000 (the absolute phase of the shaft 200) stage○ : Wait engagement start stage○ : Engaging the spindle reaches the start position (1300 case 1, case 2 to 900), the shaft engagement operation started stage○...
  • Page 472 VA Motion Controller Programming Manual stage○ : Wait engagement start stage○ : Engaging the spindle reaches the start position (position 1180 of the spindle case 1, case 2 spindle position 820), the shaft engagement operation started stage○ : During engagement stage○...
  • Page 473 VA Motion Controller Programming Manual When MasterAbsolute axis position parameter is FALSE, between the axis position of the spindle relative to its cam phase relationship, i.e., start time of the spindle engaging a corresponding cam phase thereof is 0, and thereafter, the spindle cam phase is calculated, in accordance with the correspondence relation will be.
  • Page 474 VA Motion Controller Programming Manual Absolute Mode  When the cam shaft position relationship MasterAbsolute parameter is TRUE, the position of the spindle shaft between the cam phase and its absolute relationship, at any time, the cam phase of the spindle is equal to the time the main shaft spindle maximum range value The result of the modulo operation.
  • Page 475 VA Motion Controller Programming Manual with the parameter "Offset" and "Scaling" position or scale, for example: the same processing products are several different sizes, the only one kind of cam planning relation, and by changing the parameters "Offset" and "Scaling" to accommodate the processing of switching between different sized products.
  • Page 476 VA Motion Controller Programming Manual Case 1:When the main shaft from the zoom ratio is 1, the offset is zero, consistent with the actual relationship between the cam and the pre-planned. Case 2:When the spindle is a scale, zoom ratio from the shaft 2, from the primary offset of 0, corresponding to the position of the spindle axis from the position to the pre-planned times.
  • Page 477 VA Motion Controller Programming Manual the pre-planned times. If from the perspective of the cam phase, the cam is twice the original phase of the spindle, i.e., the cam shaft 360 goes from 720 cycles (720 * 2 = 360), Slave axis of the cam phase constant. Scaling from affecting the main axis ratio of 1, the relationship between the main cam ...
  • Page 478 VA Motion Controller Programming Manual stage○ : Trigger MC_CamIn instruction execution stage○ : Wait engagement start stage○ : Engaging the spindle reaches the start position, the shaft engagement operation started stage○ : During engagement stage○ : Complete engagement, the main shaft from the synchronization stage○...
  • Page 479 VA Motion Controller Programming Manual StartMode = 0 (the shortest distance gradient)  If the parameter StartMode = 0, the engagement operation is executed, and the synchronization position Slave axis in the direction of the shortest distance, this time from the motion axis parameters Velocity, Acceleration, Deceleration affected by.
  • Page 480 VA Motion Controller Programming Manual cycles of the cam until the cam releasing relationship; When the parameter Periodic = FALSE, from the cam shaft and the spindle synchronization, performed when the end point of the cam cycle, the relationship between the cam shaft and is released from the spindle, and immediately stop the movement from the shaft.
  • Page 481 VA Motion Controller Programming Manual...

  • Page 482: Mc_Camout (Electronic Cam Departing Instruction)

    VA Motion Controller Programming Manual 11.5.13 MC_CamOut (electronic cam departing instruction) FB / FC Explanation Applicable model This instruction is used to release a relationship VEC-VA-MP-005-MA between two electronic cam shafts established Input parameters  Predetermine The timing type of d area name Features...
  • Page 483 VA Motion Controller Programming Manual data The output parameter to Done TRUE indicates instructions are BOOL TRUE or FALSE executed This parameter indicates to Busy (execution) TRUE output instruction BOOL TRUE or FALSE executed The output parameter is CommandAborted TRUE representing instructions BOOL TRUE or FALSE (interruption)
  • Page 484 VA Motion Controller Programming Manual TRUE to FALSE, when reaching a cycle, the Done becomes TRUE, and Busy remains to TRUE.

  • Page 485: Mc_Camwritepoint (Cam Point Information Write Command)

    VA Motion Controller Programming Manual 11.5.14 MC_CamWritePoint (cam point information write command) FB / FC Explanation Applicable model This instruction is used to write the cam point VEC-VA-MP-005- information Input parameters  Predeter The timing type of mined area name Features of the entry data...
  • Page 486 VA Motion Controller Programming Manual Set read command Positive, SlaveVel from the electronic cam LREAL SlaveVel negative, 0 shaft speed point Set read command Positive, SlaveAcc from the electronic cam LREAL SlaveAcc negative, 0 shaft acceleration point Output parameters  type of name Features...

  • Page 487: Mc_Camreadpoint (Cam Point Information Reading Instruction)

    VA Motion Controller Programming Manual 11.5.15 MC_CamReadPoint (cam point information reading instruction) FB / FC Explanation Applicable model This instruction is used to read the cam point VEC-VA-MP-005- information Input parameters  Predeter The timing type of mined area name Features of the entry data...
  • Page 488 VA Motion Controller Programming Manual Exexcute CamPointNum Select the read point UINT from FALSE to (Cam point number) of the cam TRUE Output parameters  type of name Features Output range data The output parameter to Done TRUE indicates instructions are BOOL TRUE or FALSE executed...
  • Page 489 VA Motion Controller Programming Manual CamChangedPoint is FALSE, the read information before the cam point instruction MC_CamSet changes, when CamChangedPoint is TRUE, the read point of the cam changes MC_CamSet instruction information.

  • Page 490: Mc_Camset (Changes To Take Effect Cam Point Instructions)

    VA Motion Controller Programming Manual 11.5.16 MC_CamSet (changes to take effect cam point instructions) FB / FC Explanation Applicable model This instruction is used to change the point of entry VEC-VA-MP-005- into force of the cam Input parameters  Predeter The timing type of mined area...
  • Page 491 VA Motion Controller Programming Manual FIG output timing parameters  Case 1: When the Execute FALSE to TRUE, while Done becomes TRUE, and if the time Execute to FALSE, FALSE becomes Done Function Description:  This instruction is used to change the point of entry into force of the cam. First instruction using MC_CamWritePoint electronic cam cam point information table corresponding write, and execute instructions MC_CamSet, the change takes effect cam point information.

  • Page 492: Mc_Readtappetstatus (Read Status Command Plurality Of Lifters Points)

    VA Motion Controller Programming Manual 11.5.17 MC_ReadTappetStatus (read status command plurality of lifters points) FB / FC Explanation Applicable model This instruction is used to read the state of a plurality VEC-VA-MP-005- of points tappets Input parameters  Predetermined The timing name Features type of data...
  • Page 493 VA Motion Controller Programming Manual TappetNum4 Tappet set point Exexcute from UINT (Non-default) (Tappet point number) number FALSE to TRUE TappetNum5 Tappet set point Exexcute from UINT (Non-default) (Tappet point number) number FALSE to TRUE TappetNum6 Tappet set point Exexcute from UINT (Non-default)
  • Page 494 VA Motion Controller Programming Manual tappet State TappetNum7 Status7 specified number points BOOL TRUE or FALSE (Tappet state point 7) tappet State TappetNum8 Status8 specified number points BOOL TRUE or FALSE (8 tappet point state) tappet Function Description  This instruction is used to read the state of eight points of the tappet. Each tappet point state spindle through the forward or reverse state point of the tappet, the tappet of each state point is determined by the setting of each lifter point.

  • Page 495: Mc_Readtappetvalue (Single Read Command Tappet Point Information)

    VA Motion Controller Programming Manual 11.5.18 MC_ReadTappetValue (single read command tappet point information) FB / FC Explanation Applicable model This instruction is a single instruction for reading VEC-VA-MP-005- information tappet point Input parameters  Predeter The timing type of mined area name Features of the entry...
  • Page 496 VA Motion Controller Programming Manual It represents execution of Error (error) the faulting instruction when the BOOL TRUE or FALSE output instruction is TRUE Error Error code when ErrorID (error code) WORD execution instruction MasterPos Display spindle position LREAL (Spindle position) PositiveMode When the tappet axis PositiveDisable...
  • Page 497 VA Motion Controller Programming Manual NegativeInvert Negate The spindle back up through the point, after the reverse state before the set point, then the read state when the tappet point reset state; the state before the reverse point after a reset, the read state when the tappet point set state.

  • Page 498: Mc_Writetappetvalue (Edit Point Information Tappet Instruction)

    VA Motion Controller Programming Manual 11.5.19 MC_WriteTappetValue (edit point information tappet instruction) FB / FC Explanation Applicable model This command is used to write, add, delete VEC-VA-MP-005- information tappet point instruction Input parameters  Predeter The timing type of mined area name Features of the entry...
  • Page 499 VA Motion Controller Programming Manual Mode setting tappet axis inversion point NegativeMode Exexcute 0:Close (After reverse from FALSE to 1: Set mode) TRUE 2: Reset 3: Inversion Output parameters  type of name Features Output range data The output parameter to Done (done bit) TRUE indicates instructions are BOOL...

  • Page 500: Special Instructions

    VA Motion Controller Programming Manual 11.6 special instructions 11.6.1 NS_CC_ADC (AD instruction) FB / FC Explanation Applicable model This instruction is used to convert analog to digital VEC-VA-MP-005- and outputs Input parameters  Predeter The timing type of mined area name Features of the entry...
  • Page 501 VA Motion Controller Programming Manual name Numerical Analog input voltage (V) 0 ~ -10 ~ + 10 Digital 0 ~ 2048 ~ 4096 (2)The experimental results (due to the presence of an error, there will be fluctuations in the corresponding digital value for reference) Input voltage(V) Digital 2028...
  • Page 502 VA Motion Controller Programming Manual Output parameters  type of name Features Output range data output parameter Status TRUE BOOL TRUE or FALSE (Status bit) Representing instructions being executed in When the output parameter Valid is TRUE. Indicates that the BOOL TRUE or FALSE (Significant Bit Enable)
  • Page 503 VA Motion Controller Programming Manual Case 1: When the Enable FALSE to TRUE, the external input AI0 DC5V, the controller converts the 5V voltage into a digital output displays ADC_Vable 3070 (there may be errors to the actual subject)

  • Page 504: Ns_Cc_Dac (Da Instruction)

    VA Motion Controller Programming Manual 11.6.2 NS_CC_DAC (DA instruction) FB / FC Explanation Applicable model The instructions for converting the data amount into VEC-VA-MP-005-MA an analog output (Output voltage range of ± 10V) Input parameters  Predeter The timing type of mined area name Features...
  • Page 505 VA Motion Controller Programming Manual Output parameters  type of name Features Output range data The output parameter is Status TRUE TRUE or BOOL (Status bit) Representing instructions FALSE being executed in The output parameter is Valid TRUE TRUE or BOOL (Significant Bit Enable) Is a command indicating...
  • Page 506 VA Motion Controller Programming Manual situation1: When Enable changes from FALSE to TRUE, Valid changes from FALSE to TRUE, and the next cycle, the analog quantity output 0V, the modified variable DAC_Value is 1024, the analog output 5V.

  • Page 507: Ex_Adc (Ad Extended Instruction)

    VA Motion Controller Programming Manual 11.6.3 EX_ADC (AD extended instruction) FB / FC Explanation Applicable model This instruction is used to convert the analog input VEC-VA-MP-005-MA expansion module into AD and outputs the data amount Input parameters  Predeter The timing name Features type of data...
  • Page 508 VA Motion Controller Programming Manual Output parameters  name Features type of data Output range The output parameter is Status TRUE. Representing BOOL TRUE or FALSE (Status bit) instructions being executed in The output parameter is Valid TRUE. Is a command indicating BOOL TRUE or FALSE (Significant Bit Enable)

  • Page 509: Ex_Dac (Da Expansion Module)

    VA Motion Controller Programming Manual 11.6.4 EX_DAC (DA expansion module) FB / FC Explanation Applicable model The instructions for converting the data amount DA VEC-VA-MP-005-MA expansion module into analog outputs Input parameters  Predeter The timing name Features type of data mined area entry (Default value)
  • Page 510 VA Motion Controller Programming Manual Output parameters  type of name Features Output range data output parameter Status TRUE BOOL TRUE or FALSE (Status bit) Representing instructions being executed in output parameter Valid TRUE BOOL TRUE or FALSE (Significant Bit Enable) Is a command indicating the control shaft It represents execution of...

  • Page 511: Ns_Cc_Nooutput (Prohibition Command Output Qxx)

    VA Motion Controller Programming Manual 11.6.5 NS_CC_NOoutput (prohibition command output QXX) FB / FC Explanation Applicable model This command prohibits all QX output (X: represents VEC-VA-MP-005-MA 0 to 128) Input parameters  Setting range The timing of name Features type of data (Non-default) the entry into force TRUE prohibit...

  • Page 512: Ns_Cc_Counter (High-Speed Counter)

    VA Motion Controller Programming Manual 11.6.6 NS_CC_Counter (High-Speed ​ ​ Counter) FB / FC Explanation Applicable model For counting the number of pulses, the counting VEC-VA-MP-005- method is not affected by a hardware counter scanning period, the maximum count frequency is 1MHz Input parameters ...
  • Page 513 VA Motion Controller Programming Manual When Enable Enable FALSE Changes toTRUE BOOL TRUE or FALSE When the instruction is (Execute bit) executed. When the DI_Start_Valid When becomes FALSE TRUE, it allows you to DI_Start_Valid specify the external DI TRUE or FALSE (External DI start BOOL active, high-speed counter...
  • Page 514 VA Motion Controller Programming Manual _Min limit signal DI is cleared (External DI cleared range floor) DI_Reset_Len _Max The upper limit is set (External DI valid interval signal DI is WORD cleared range cleared ceiling) When Reset is TRUE, Reset TRUE or FALSE clears the counter current BOOL...
  • Page 515 VA Motion Controller Programming Manual Set_Count (Set High-speed counter Positive, DINT current count of current value setting negative, 0 pulses) Description: (1) 5-way motion controller integrated with hardware high speed counter respectively port AXIS0 ~ AXIS4 (currently only supports the AB phase signal), the counting is not affected by a pure hardware scan cycle, the maximum count frequency is 1MHz.
  • Page 516 VA Motion Controller Programming Manual name Features type of data Output range AXIF_no_out No current count output WORD (Output axis number) shaft The output parameter is Status TRUE. Representing BOOL TRUE or FALSE (Status bit) instructions being executed in The output parameter is Valid TRUE.
  • Page 517 VA Motion Controller Programming Manual Case 1:When counter_enable from FALSE to TRUE, and held, counter_start from FALSE to TRUE starts allows high-speed counter, Count_out display the current count of pulses. When the RESET FALSE to TRUE, Count_out display the current pulse count is 0, then the number of the input pulse, Count_out display the current pulse count remains at 0 when the RESET TRUE to FALSE, allowed to continue to start counting.
  • Page 518 VA Motion Controller Programming Manual Case 1:When counter_enable FALSE to TRUE grounds, and maintained. di_start_Valid becomes TRUE, and if the external signal DI3 signal is valid, the counter 3 starts counting the number of high, Count_out display the current pulse when the rising edge DI0 di_reset_no specified, the current value of the high-speed counter is cleared.
  • Page 519 VA Motion Controller Programming Manual DI_Rest_Len_Min WORD 5000 DI_Rest_Len_Max WORD 10000 Case 1:When counter_enable FALSE to TRUE grounds, and maintained. di_start_Valid becomes TRUE when the external signal DI3 signal is valid, the counter 3 starts counting the number of high, Count_out display the current pulse, when the designated DI0 di_reset_no from FALSE to TRUE again until DI0 becomes FALSE, the controlled axis through this period...
  • Page 520 VA Motion Controller Programming Manual displacement (pulse) 8000 (11000-3000), DI_Rest_Len_Min ~ DI_Rest_Len_Max within the set range, so again when DI0 to FALSE, the operation of Count_out cleared. Case 2:When counter_enable FALSE to TRUE grounds, and maintained. di_start_Valid becomes TRUE when the external signal DI3 signal is valid, the counter 3 starts counting the number of high, Count_out display the current pulse, when the designated DI0 di_reset_no from FALSE to TRUE again until DI0 becomes FALSE, the controlled axis through this period displacement (pulse) 4000 (19000-15000), is not within DI_Rest_Len_Min ~ DI_Rest_Len_Max...
  • Page 521 VA Motion Controller Programming Manual Case 1:When counter_enable from FALSE to TRUE, and held, counter_start from FALSE to TRUE starts allows high-speed counter, Count_out display the current count of pulses. When the high-speed counter current value of 5000, the counter is automatically cleared recount, constant cycle.
  • Page 522 VA Motion Controller Programming Manual Case 1:When counter_enable a FALSE to TRUE, counter_start from FALSE to TRUE starts allows high-speed counter, Count_out display the current count of pulses. When Set_Count_Valid variable from FALSE becomes TRUE, high-speed counter Count_out current value is modified 10,000, and kept 10,000, when Set_Count_Valid variable by TRUE becomes FALSE, when a pulse comes in, counts the number of pulses will continue to increment the basis of 10,000 or on decremented.

  • Page 523: Ns_Cc_Cnti (High-Speed Counter Interrupt Instruction)

    VA Motion Controller Programming Manual 11.6.7 NS_CC_CNTI (high-speed counter interrupt instruction) FB / FC Explanation Applicable model This instruction is used to generate an interrupt when VEC-VA-MP-005-MA the pulse number reaches the set current value of the high-speed counter, interrupt routine is entered Input parameters ...
  • Page 524 VA Motion Controller Programming Manual number. Compare_Count Set interrupt DINT A positive number Execute from (Set pulse number) pulse number (Non-default) FALSE to TRUE Output parameters  name Features type of data Output range This parameter The Status (Status indicates when the output BOOL TRUE or FALSE bits)
  • Page 525 VA Motion Controller Programming Manual Step 3: The establishment of an interrupt routine in the "Project Tree Window" right "logic POU" select "Insert" and then select "Programs" in the window that pops up to interrupt program named "EN1" (no user name), and choose to write an interrupt routine language "LD language" below 10-10.
  • Page 526 VA Motion Controller Programming Manual Step 6:Select under "Project Tree Window", "Hardware", under Resources "task", right-delete "EN1" program and click "OK" we need another new "task type", as shownure 10-14 Step 7: New "Task Type" right "Tasks" click "insert", and then select the "Tasks" shown in Figure 10-15 Step 8: In the pop-up to "Insert"...
  • Page 527 VA Motion Controller Programming Manual Step 9:In the pop up "ZD task settings" Pick selection event number "0 Event" "Event_ID" is determined by the value on the interrupt module fill, Pick 0 (exemplary program "Event_ID = 0") 10-17 in FIG. as shown in (special attention not interrupt priority and the priority of the main program as whether those compiled by not downloading or 97% reported error) Step 10:After the insertion procedure of example, the right task, "the EVENT", select "insert"...
  • Page 528 VA Motion Controller Programming Manual Step 12: "Project" Return "Project Tree Window" in the window, double-EN1 at POU join a summing module (purpose is to verify whether the interrupt routine is executed correctly) variable name type of data The initial value Nunble1 Nunble2 Interrupt this program to create and association has been completed, the following is the...

  • Page 529: Ns_Cc_Cnt_Out (Comparison Output Instruction Section)

    VA Motion Controller Programming Manual 11.6.8 NS_CC_CNT_Out (comparison output instruction section) FB / FC Explanation Applicable model The instructions for the high-speed counter current VEC-VA-MP-005- value reaches the set interval immediately output, DO outputted from the scan cycle Effect Input parameters ...
  • Page 530 VA Motion Controller Programming Manual counter shaft) filled with the high-speed counter AXIF_no (counts axis number) can be consistent. (3) comparing the output section of the scan signal is not QXX cycle impact, using the internal FPAG satisfy the condition after the count output. (4) DO_ID output number counter section, inside of which has specified, the specified relationship is as follows (designated DO_ID, when allowed to use a common DO) CNT_ID (counter associated axis number)
  • Page 531 VA Motion Controller Programming Manual Case 1:When the Enable FALSE to TRUE, Status Valid and becomes TRUE after a period and, FALSE when Enable changed from TRUE, Status Valid and from FALSE to TRUE and after a cycle. 2. When the case DO_Valid FALSE to TRUE, the conditions are satisfied by the Out FALSE to TRUE, while the output Q0.0, when the condition is not met by the automatically Out TRUE to FALSE while Q0.0 no output.
  • Page 532 VA Motion Controller Programming Manual Case 1:Start NS_CC_Counter_1 (high-speed counter module), when the Enable FALSE to TRUE, the execution instruction module, when the current value of the pulse high-speed counter at 1000 and 5000, Q0.0 will output, OUT will be FALSE to TRUE, the current pulse values ​ ​ outside 1000 and 5000, Q0.0 is not output, OUT by TRUE to FALSE.

  • Page 533: Ns_Cc_Di_Counter (Di-Speed Count Instruction)

    VA Motion Controller Programming Manual 11.6.9 NS_CC_DI_Counter (DI-speed count instruction) FB / FC Explanation Applicable model This instruction for counting high-speed pulse port VEC-VA-MP-005-MA Input parameters  Predetermined The timing name Features type of data area entry (Default value) into force AXIF_no Set number counter shaft WORD...
  • Page 534 VA Motion Controller Programming Manual valid bit level) DI_Reset_Valid_ When DI_Reset_Valid_ DEdge TRUE or Dedge is TRUE, DI cleared BOOL (External falling FALSE the falling edge clear edge bit is cleared) DI_Reset_Valid_ When DI_Reset_Valid_ UEdge TRUE or Uedge is TRUE, DI cleared BOOL (External DI clearing FALSE...
  • Page 535 VA Motion Controller Programming Manual When the Set_Count_Valid Set_Count_Valid is TRUE, the High-speed TRUE or (Set the current BOOL counter current value is set FALSE count valid bit DI) to Set_Count value Set_Count High-speed counter Positive, (Set the current DINT current value setting negative, 0 count value DI)
  • Page 536 VA Motion Controller Programming Manual NS_CC_DI_Counter_1 NS_CC_DI_Counter AXIF_0 WORD enbale_counter BOOL FALSE AXIF_DI WORD start_di_counter BOOL FALSE reset_di_counter BOOL FALSE DINT DI_Count_out DINT Case 1:When enable_counter from FALSE to TRUE, and held, start_di_counter start permission from FALSE to TRUE DI-speed counter, DI_Count_out display the current count of pulses.
  • Page 537 VA Motion Controller Programming Manual DINT DI_Count_out DINT Case 1:When enable_counter from FALSE to TRUE, and held, start_di_counter start permission from FALSE to TRUE DI-speed counter, DI_Count_out display the current count of pulses. When the rising edge of DI di_reset_no specified, Count_out current pulse count value is cleared.
  • Page 538 VA Motion Controller Programming Manual DI_Count_out DINT Case 1:When enable_counter from FALSE to TRUE, and held, start_di_counter start permission from FALSE to TRUE DI-speed counter, a pulse to DI11, DI_Count_out display the current pulse count is incremented, up to 1000 when DI_Count_out recounting is automatically cleared.
  • Page 539 VA Motion Controller Programming Manual Case 1:When counter_enable a FALSE to TRUE, start_di_counter start permission from FALSE to TRUE DI-speed counter, DI_Count_out display the current count of pulses. When the change from FALSE to TRUE Set_Count_Valid variable, high-speed counter current value be modified Count_out 1000, and 1000 remain, a TRUE when Set_Count_Valid variable becomes FALSE when DI11 pulse is received, will continue to count the number of pulses on the basis of 1000 increments.

  • Page 540: Ns_Cc_Exti (Di Interrupt Instruction)

    VA Motion Controller Programming Manual 11.6.10 NS_CC_EXTI (DI interrupt instruction) FB / FC Explanation Applicable model An interrupt is generated when the specified effective VEC-VA-MP-005- DI, correlate events program will be executed once Input parameters  name Features type of data Setting range (Non-default) timing of...
  • Page 541 VA Motion Controller Programming Manual Description: (1)Currently only supports two interrupt DI, respectively external terminals DI0 and DI1 (2) NS_CC_EXTI instruction belongs to an interrupt instruction, when an interrupt is opened, designated DI0 or DI1 effective when an interrupt occurs, the program will branch to the interrupt to the program execution returns to the main program after the completion of the cycle continues to run.
  • Page 542 VA Motion Controller Programming Manual Step 2: Interrupt program established in the "Project Tree Window" right "logic POU" select "Insert" and then select "Programs" in the window that pops up to interrupt program named "EN1" (no user name), and choose to write an interrupt routine language "LD language" as shown below. Step 3: When finished, click OK, will automatically add the "logic the POU"...
  • Page 543 VA Motion Controller Programming Manual...
  • Page 544 VA Motion Controller Programming Manual Step 6: New "Task Type" right "Tasks" click "insert", and then select the "Tasks" as shown. Step 7:In the pop-up to "Insert" dialog box, fill in "ZD" in the name (no user name) Task Type Select "EVENT" are finished, click "OK." As shown below Step 8: In the pop up "ZD task settings"...
  • Page 545 VA Motion Controller Programming Manual Step 10: In the pop-up to "insert box", for the example program named "ZD1 is", select the new program type "EN1" Click "OK" in the final results are shown in FIG. Step 11: "Project" Return "Project Tree Window" in the window, double-EN1 at POU join a summing module (purpose is to verify whether the interrupt routine is executed correctly) variable name type of data...
  • Page 546 VA Motion Controller Programming Manual Case 1:When there is a NS_CC_EXTI Enable module FALSE to TRUE, the interrupt allowed to open, when the external DI0 effective when: interrupt routine is executed once, when the variable value is 1 Nunble1, out after the completion of the interrupt routine returns to the main routine.

  • Page 547: Ns_Cc_Readpulsevelocity (Read-Axis Pulse Rate Controlled)

    VA Motion Controller Programming Manual 11.6.11 NS_CC_ReadPulseVelocity (read-axis pulse rate controlled) FB / FC Explanation Applicable model This instruction is used to read the number of VEC-VA-MP-005-MA motor encoder pulses at the set sampling period Input parameters  name Features type of data Setting range The timing of...
  • Page 548 VA Motion Controller Programming Manual setting axis) coincides Sample_Time. Description: (1) when the instruction starts execution Enable changes from FALSE to TRUE. Unit reading speed is controlled axis Pulse / s, the sampling period is Sample_Time parameter, calculated from the current shaft speed: Assumptions: display means of the terminal speed n units / s, the read pulses per second Velocity = 10000 Pulse / s, the number of pulses per motor revolution (moter_PPC) = 10000 Pulse / rad, the terminal mechanism Screw_Lead lead of 1000units the reduction gear ratio of 1: 2...
  • Page 549 VA Motion Controller Programming Manual Case 1:In the servo axis operation when the Enable FALSE to TRUE, the output module Velocity servo axis current operating speed, if you want to interrupt the conversion speed consistent actuator need to be converted according to the above formula.

  • Page 550: Mc_Pid (Pid Instruction)

    VA Motion Controller Programming Manual 11.6.12 MC_PID (PID instruction) FB / FC Explanation Applicable models This command is used to specify the PID VEC-VA-MP-005-MA control variable Input parameters  The timing type of Setting range name Features of the entry data (Non-default) into force...
  • Page 551 VA Motion Controller Programming Manual dead band) represents a set value in the operation performed; MaxError (maximum The maximum cumulative LREAL Real cumulative error error) CycleTime PID sampling cycle unit (PID sampling LREAL Real (ms) period) Description: 1) PID control principle PID regulation is Proportional (ratio), Integral (Integral), abbreviation Differential (differential) of the three, is the most widely used system of continuous adjustment method.

  • Page 552: Rtc_S (Special Register Clock)

    VA Motion Controller Programming Manual 11.6.13 RTC_S (special register clock) address Explanation Applicable models Special register And reading the motion controller VEC-VA-MP-005-MA for modifying an internal clock Write clock address Special register address Write Functions Value range % MB3.9543 year 0 to 255 % MB3.9544 month...

  • Page 553: Gcode Instructions

    VA Motion Controller Programming Manual 11.7 G code instructions G code input format Our VA motion controller supports input format of the G code and the following table: Support code Functional Description Support axes Rapid positioning 3-axis Linear interpolation 3-axis Clockwise circular 3-axis...

  • Page 554: Nc_Groupenable (Enable Command Axis Group)

    VA Motion Controller Programming Manual 11.7.1 NC_GroupEnable (ENABLE command axis group) FB / FC Explanation Applicable model This instruction is used to enable the shaft group VEC-VA-MP-005-MA Input parameters  Range setting The timing of name Features type of data (default value) the entry into force AxesGroup...
  • Page 555 VA Motion Controller Programming Manual The output parameter TRUE or Valid represents the effective output BOOL FALSE command is TRUE This parameter indicates TRUE or Error the instruction execution error to BOOL FALSE TRUE Instruction execution error ErrorID WORD code error FIG timing variation output parameter ...

  • Page 556: Nc_Moveliner (Linear Interpolation)

    VA Motion Controller Programming Manual 11.7.2 NC_MoveLiner (linear interpolation) FB / FC Explanation Applicable model This instruction is used to control axis linear VEC-VA-MP-005- interpolation function Input parameters  Predetermin The timing ed area Name Features type of data of the entry (Default into force value)
  • Page 557 VA Motion Controller Programming Manual pattern) position X / Y / Z-axis of the from absolute position FALSE to When FALSE, the TRUE target position X / Y / Z-axis relative position When Pos_Dis_X X axis target position the Execute Positive, (X-axis target setting...
  • Page 558 VA Motion Controller Programming Manual Output parameters  type of Output name Features data range The output parameter to TRUE or Done TRUE indicates instructions are BOOL FALSE executed This parameter indicates to TRUE or Busy (execution) TRUE output instruction is BOOL FALSE executed...
  • Page 559 VA Motion Controller Programming Manual Case 2:When the Execute FALSE to TRUE, after a period, Busy becomes TRUE and Active Meanwhile, during the execution of instructions, Stop by the FALSE to TRUE, the end of the execution of instructions, but Busy and Active remains TRUE until the controlled axes stop, Busy and Active becomes FALSE, while Done becomes TRUE.
  • Page 560 VA Motion Controller Programming Manual 2, after the instruction is executed, the entire movement as shown below:...
  • Page 561 VA Motion Controller Programming Manual...

  • Page 562: Nc_Movecircula (Circular Interpolation)

    VA Motion Controller Programming Manual 11.7.3 NC_MoveCircula (circular interpolation) FB / FC Explanation Applicable model This instruction is used to control axis linear VEC-VA-MP-005-MA interpolation function Input parameters  Predeter mined area timing of name Features type of data (Default the entry value) into force...
  • Page 563 VA Motion Controller Programming Manual Stop When a Stop FALSE to TRUE or BOOL (Stop Bit) TRUE, the command to stop. FALSE Pause When Pause is TRUE, TRUE or (Pause suspend execution of the BOOL FALSE position) instruction When is MoveMode When TRUE, the target When position X / Y / Z-axis of the...
  • Page 564 VA Motion Controller Programming Manual Method selected radius center circle is 0:00 When setting method Param_I Positive, center circle, the center shift (X-axis center LREAL negative, 0 amount in the X-axis current offset) position When the circle center Param_J Positive, setting method, the current (Y-axis offset LREAL...
  • Page 565 VA Motion Controller Programming Manual Command transfer BufferMode mode can only be set to 1 TransitionMo Retentio Retenti Retention Retention TransitionPar Retentio Retenti Retention Retention ameter Output parameters  type of Output name Features data range The output parameter to TRUE or Done TRUE indicates instructions are...
  • Page 566 VA Motion Controller Programming Manual Case 1:When the Execute FALSE to TRUE, after a period, and Busy Active simultaneously become TRUE, during execution of instructions, a Pause FALSE to TRUE, the operation of the pause instruction is executed, but still Busy Active TRUE and, when changed from TRUE Pause after it is FALSE, the controlled shaft work to finish the operation.
  • Page 567 VA Motion Controller Programming Manual Figure above, center coordinates I = X1 + Param_I, J = Y1 + Param_J, K = Z1 End point coordinates X = Pos_Dis_X, Y = Pos_Dis_Y, Z = Pos_Dis_Z. CirMode = 1, Method ZX plane center circle. When using this method, Param_I Param_R = 0 representative of the center position with respect to the X axis offset of the Param_I = A, A ≠...
  • Page 568 VA Motion Controller Programming Manual Param_I = 0 Figure above, the circle center, I = X1, J = Y1 + Param_J, K = Z1 + Param_K End point coordinates X = Pos_Dis_X, Y = Pos_Dis_Y, Z = Pos_Dis_Z. CirMode = 0, XY plane circle radius method.
  • Page 569 VA Motion Controller Programming Manual The radii of the above figure R. End point coordinates X = Pos_Dis_X, Y = Pos_Dis_Y, Z = Pos_Dis_Z. CirMode = 2, YZ plane circle radius method. When using this method, the value Param_R = R, R ≠ 0 represents the radius of the circle Param_R the YZ plane, this time Param_R greater than 0, the minor arc of the circular arc;...
  • Page 570 VA Motion Controller Programming Manual Group shaft counterclockwise circular interpolation on the specified plane and a circular arc. Radius method as an example, a circular arc trajectory as shown below:...

  • Page 571: Nc_Cartesiancoordinate (Cartesian Robot Command)

    VA Motion Controller Programming Manual 11.7.4 NC_CartesianCoordinate (Cartesian robot command) FB / FC Explanation Applicable model This instruction is used to control the motion VEC-VA-MP-005- interpolated Cartesian axes according to G code Input parameters  Predeter mined area timing of name Features type of data...
  • Page 572 VA Motion Controller Programming Manual stop speed setting 2 0 NCFile NC file selection UINT (NC file) AxesGroup Axis Group number USINT (Axis groups) must be set to 0 Maximum speed setting G0_Velocity command G0 LREAL (G0 speed) Unit: unit / min Acceleration_ Setting the maximum X-axis acceleration...
  • Page 573 VA Motion Controller Programming Manual type of name Features Output range data The output parameter to TRUE or Done TRUE indicates instructions are BOOL FALSE executed This parameter indicates to TRUE or Busy (execution) TRUE output instruction is BOOL FALSE executed When this parameter is TRUE or...

  • Page 574: Communication Settings

    VA Motion Controller Programming Manual XII Communication Settings 12.1 motion controller and HMI communication 12.1.1 motion controller and human-machine wiring shown below Terminals definition RS-485 signals SG + RS485-2 are being RS-485 signals negative 12.1.2 HMI and motion controller communication format function name format Factory settings...

  • Page 575: Motion Controller And Human-Machine Communication Address Correspondence Address

    VA Motion Controller Programming Manual For example: the station number 10 to 19200 baud other formats remain unchanged. Programming the following initial value% MB3.4010 filler 10;% MB3.4011 initial value fill 4; download compiled, after power controller station number and baud rate modification after successful completion.
  • Page 576 VA Motion Controller Programming Manual Such as: a hexadecimal number stored in 16% MW3.0 # 1234 in the presence of 16% MB3.0 # 34, the # 12 is stored in 16% MB3.1 in. If the procedure for bit operations, it will affect the place where the byte, word and double-word and vice versa.
  • Page 577 VA Motion Controller Programming Manual Example: PLC address type %MW3.14 corresponds to HMI address : Type 4(3)X Address 8 Double operation PLC Address Type HMI Address Type % ID0.0 % QD0.0 % MD3.0.0 4 (3) X Example: PLC address type %MD.20 corresponds to HMI address : Type 4(3)X Address 11...

  • Page 578: Change The Type Of Expansion Module

    VA Motion Controller Programming Manual 12.2 Change the type of expansion module 12.2.1 Automatic recognition of expansion types Address type Assignment %MB3.9800 12.2.2 Manual selection of expansion type Address type Assignment %MB3.9800 %MB3.9801 （The first expansion type of Set 3 for 8DI8DO , expansion）...

  • Page 579: Appendix I Programming Considerations

    VA Motion Controller Programming Manual Appendix I Programming Considerations When using the ladder programming language, to avoid many of the same variable operation with the same instruction. Scan sequence ladder program, the program is from top to bottom, left to right. When programming, do not copy and paste commands in the editing area (function blocks), or compiler errors, you can drag the editing area from the right side of the Edit wizard, or type the command (function blocks) name directly in the editing area.

  • Page 580: Appendix Ii Ascii Code Table

    VA Motion Controller Programming Manual Appendix II ASCII Code Table ASCII stands for American Standard Code for Information Interchange, is the American Standard Code for Information Interchange acronym, letters or numbers or symbols ASCII code definitions from one hundred twenty-eight numbers 0-127 of the representatives of all computers use the ASCII between each other in the same document can be read without the different results and significance.
  • Page 581 VA Motion Controller Programming Manual made table NP form control Control Control control feed, new page Group Separator / packet identifier system characters characters system / feed word word Carriage Record Separator / record symbol symbol Return / Enter separators (Space) Shift Out / twenty...
  • Page 582 VA Motion Controller Programming Manual Table 2 printable characters (Table Hx hexadecimal, Dec decimal)

  • Page 583: Appendix Iii Homing Mode Description

    VA Motion Controller Programming Manual Appendix III Homing Mode Description Our motion controllerThere are many back homeReturnmode. The user can select the appropriate mode depending on the origin of the reset to zero field conditions and process requirements . Homing mode operated in reverse limit switch 17 depending on the origin regression ...
  • Page 584 VA Motion Controller Programming Manual Homing mode switch 19 depending on the origin of the OPR  Case 1: When performed at a low MC_Home home switch command axis starts forward motion to first speed, when it comes at a high origin switch, changing the direction of motion and starts to move to 2nd speed, when faced origin switch is in the low position is the home position.
  • Page 585 VA Motion Controller Programming Manual Homing mode switch 21 depending on the origin of homing  Case 1: When the instruction execution MC_Home home switch is low, the shaft starts to first speed reverse movement, when the switch is in the home encounters high, changing the direction of motion and starts to move to 2nd speed, when faced origin switch is in the low position is the home position.
  • Page 586 VA Motion Controller Programming Manual Case 2: When the instruction execution MC_Home home switch is low, starts moving shaft is the first speed reverse, when the home switch is encountered when a high position is the home position. Homing mode Homing 23 depending on the origin switch, Forward limit switch ...
  • Page 587 VA Motion Controller Programming Manual Homing mode Homing 24 depending on the origin switch, Forward limit switch  Case 1: When performed at a low MC_Home home switch command, the shaft starts first speed forward motion, when faced with the origin position is the home position switch is high. Case 2: When performed in a high MC_Home home switch command, the shaft directly in 2nd speed reverse movement begins, the home switch changes encountered when the movement direction and are low in 2nd speed starts to move.
  • Page 588 VA Motion Controller Programming Manual Homing mode Homing 25 depending on the origin switch, Forward limit switch  Case 1: When performed at a low MC_Home home switch command axis starts forward motion to first speed, when it comes at a high origin switch, start 2nd speed forward motion, when the home switch is encountered when low, changing the direction of motion and starts to move to 2nd speed, when it comes to the home switch in the high position is the home position.
  • Page 589 VA Motion Controller Programming Manual Homing mode Homing 26 depending on the origin switch, Forward limit switch  Case 1: When the instruction execution MC_Home home switch is low, the shaft starts moving forward first speed, when it comes to the home switch is high, starts to move to 2nd speed when it encounters the home switch in the low the position is the home position.
  • Page 590 VA Motion Controller Programming Manual Homing mode switch 27 depending on the origin and reverse operation of the limit  switch Homing Case 1: When the instruction execution MC_Home home switch is low, the shaft speed begins to reverse movement of the first segment, when faced with the home switch is high, the direction of motion and changes in motion in 2nd speed, the home switch position of the origin is in the low position.
  • Page 591 VA Motion Controller Programming Manual Homing mode switch 28 depending on the origin and reverse operation of the limit  switch Homing Case 1: When the instruction execution MC_Home home switch is low, the shaft starts to first speed reverse movement, when the switch is in the home position encounters the origin position is high.
  • Page 592 VA Motion Controller Programming Manual Homing mode switch 29 depending on the origin and reverse operation of the limit  switch Homing Case 1: When the instruction execution MC_Home the home switch in the low to first speed reverse movement, when the home switch is high encounter, 2nd speed starts to move, when the shaft begin to encounter the home switch in the low changing the direction of movement and runs in 2nd speed, when the switch is again encountered in the home position when the home position is high.
  • Page 593 VA Motion Controller Programming Manual Homing mode switch 30 depending on the origin and reverse operation of the limit  switch Homing Case 1: When the instruction execution MC_Home the home switch in the low to first speed reverse movement, when the home switch is high encounter, 2nd speed starts to move, when the shaft begin to encounter the home switch in the low the position is the home position.
  • Page 594 VA Motion Controller Programming Manual The current position of the origin return mode, the shaft 35 is considered a position  In mode 35, the instruction execution MC_Home, the shaft is not moving, the current position of the axis is considered to be the position of the OPR.

  • Page 595: Appendix Iv Canopen Instructions

    VA Motion Controller Programming Manual Appendix IV CANopen Instructions 1. CANopen communication connection 1.1 Description Motion Controller Connection Ports As the picture shows: ① CANopen communication port, through this interface the data exchange with the slave node, and a transceiver transmitting a synchronization signal sync packet; ②...

  • Page 596: Canopen Communication Port Pin Definitions

    VA Motion Controller Programming Manual 1.2 CANopen communication port pin definitions CANL signal corresponding to the negative (-); CANH signal corresponding to the positive (+); GND signal, the signal needs to be connected in common with the device, please note that the boss pins and the bonding wire direction.
  • Page 597 VA Motion Controller Programming Manual...
  • Page 598 VA Motion Controller Programming Manual 1.4 CANopen communication port communication speed and communication distance Supported CANopen communication speed: 20K, 50K, 125K, 250K, 500K, the maximum transmission 1Mbps, the communication rate of each frequency band with a communication distance, the distance corresponding to FIG. Transmission speed (bits per second) 125K 250K...

  • Page 599: Canopen Protocol Basics

    VA Motion Controller Programming Manual 2. CANopen protocol basics 2.1 Network management (NMT) Support NMT (Network Management Object: Network Management Objects) Master services, including resetting the network, stop, pre-operation, start and so on. Support NMT error control, NMT error control station for monitoring whether from dropped. NMT Error Control Heartbeat and NodeGuarding into two types, native support Heartbeat.

  • Page 600: Software Features

    VA Motion Controller Programming Manual 3. Software Features 3.1 Bus Initialization Configuration Module 3.1.1. NS_CC_CANopen_NMT_Read(Network status read instruction) FB / FC Explanation Applicable model Network state This instruction is used to read the current network device is located Input parameters ...
  • Page 601 VA Motion Controller Programming Manual Output parameters  Output name Features type of data range AXIF_no_out This parameter is the (node ​ ​ number output node number of WORD output) instructions executed The output parameter to TRUE or Done TRUE indicates instructions BOOL FALSE are executed...
  • Page 602 VA Motion Controller Programming Manual current status of the network in which the network master device, the read module will be reflected on the output terminal when the corresponding state successfully read, the output bits Done becomes Ture, the current status of the corresponding output BOOL variable becomes TRUE.
  • Page 603 VA Motion Controller Programming Manual...
  • Page 604 VA Motion Controller Programming Manual 3.1.2. NS_CC_CANopen_NMT_Write(Network state write command) FB / FC Explanation Applicable model This instruction is used to write the current status of network devices in which the respective network node in the network Input parameters  Range name Features...
  • Page 605 VA Motion Controller Programming Manual network entry TRUE, into the mode of operation) pre-operational state of the network When this parameter is NMT_Reset_ TRUE or TRUE, the BOOL Node (reset node) FALSE (FALSE) reset network node When this NMT_Reset_ parameter is Communication TRUE or TRUE, the...
  • Page 606 VA Motion Controller Programming Manual (pre network entry mode operation), NMT_Reset_Node (reset node), NMT_Reset_Communication (reset communication), any two or more inputs can not trigger; 3, the instruction must trigger the triggering edge module, it is not always Excute TURE; Done when the output signal indicating write completion status of the selected network. Program Example In the example below when NS_CC_CANopen_NMT_Read instruction execution alone.
  • Page 607 VA Motion Controller Programming Manual...
  • Page 608 VA Motion Controller Programming Manual 3.1.3 NS_CC_CANopen_PDO_Comm(PDO process data communication configuration parameters) FB / FC Explanation Applicable model This command is used to configure the communication parameters PDO process data Input parameters  Range name Features type of data setting (default timing of the value) entry into force...
  • Page 609 VA Motion Controller Programming Manual 0X18FF "," CommPara "structure as the data structure, protocol defines fixed format do not make changes. Program Example NS_CC_CANopen_PDO_Comm as shown in the example of instruction execution when alone. 1, variables, and procedures The initial variable name type of data value...
  • Page 610 VA Motion Controller Programming Manual...
  • Page 611 VA Motion Controller Programming Manual 3.1.4 NS_CC_CANopen_PDO_Map(PDO process data configuration parameter map) FB / FC Explanation Applicable model This instruction is used to process data PDO configuration parameter map Input parameters  Range name Features type of data setting (default timing of the value) entry into force...
  • Page 612 VA Motion Controller Programming Manual Program Example In the example below when NS_CC_CANopen_PDO_Map instruction execution alone. 1, variables, and procedures The initial variable name type of data value Config_Map_1 Config_Map Motion_assignments_1 Motion_assignments R_TRIG_1 R_TRIG NS_CC_CANopen_PDO_Map_1 NS_CC_CANopen_PDO_Map MSTCom VAR_OUTPUT MapPara VAR_INPUT Config_Map_1 configuration is as follows: Motion_assignments_1 configuration is as follows:...
  • Page 613 VA Motion Controller Programming Manual...
  • Page 614 VA Motion Controller Programming Manual 3.1.5 NS_CC_CANopen_RPDO(PDO data mapping area read command) FB / FC Explanation Applicable model This command is used to map the data area read command PDO Input parameters  Range name Features type of data setting (default timing of the value) entry into force...
  • Page 615 VA Motion Controller Programming Manual is complete) TRUE indicates instructions FALSE are executed This parameter indicates TRUE or Busy (execution) to TRUE output instruction is BOOL FALSE executed When this parameter is The Active TRUE indicates output TRUE or BOOL (control) command under the control FALSE...
  • Page 616 VA Motion Controller Programming Manual 2. A timing diagram As shown, 0X60FF TPDO mapping data mapping area, the index 0x5001 (master defined), then the "Index = 16 # 5001", Type "DataType" is defined as follows: Because 0X60FF to DINT type, the "DataType = 16 # 04", the trigger module reads the corresponding profile of the velocity set value.
  • Page 617 VA Motion Controller Programming Manual 3.1.6 NS_CC_CANopen_TPDO(PDO data mapping area assignment instruction) FB / FC Explanation Applicable model This command is used to map the data area assigned PDO Input parameters  Range name Features type of data setting (default timing of the value) entry into force...
  • Page 618 VA Motion Controller Programming Manual AXIF_no_out This parameter is the (node ​ ​ number output node number of WORD 1 to 16 output) instructions executed The output parameter to Done (execution TRUE or TRUE indicates instructions BOOL is complete) FALSE are executed This parameter indicates TRUE or...
  • Page 619 VA Motion Controller Programming Manual 2. A timing diagram As shown, 0X60FF RPDO mapping data mapping area, index 0X5005 (custom master station), then the "Index = 16 # 5005", due to DINT 0X60FF type, the "DataType = 16 # 04", "Data = 1000 "1000 will be assigned to the trigger module node address 0X60FF, it indicates that the current node profile speed setting value is set to 1000.
  • Page 620 VA Motion Controller Programming Manual 3.1.7 NS_CC_CANopen_SDO_Read(Service data reading instruction) FB / FC Explanation Applicable model This instruction is used to read the data service Input parameters  Range name Features type of data setting (default timing of the value) entry into force AXIF_no To control...
  • Page 621 VA Motion Controller Programming Manual output) instructions executed The output parameter to TRUE represents the first First_Done (first TRUE or instruction execution is BOOL execution is complete) FALSE complete, the trigger again, the parameter is still Ture This parameter indicates TRUE or Busy (execution) to TRUE output instruction is...
  • Page 622 2. A timing diagram As shown, the servo read parameter P04.21 Vector (the current rotation speed, the unit r / min), the corresponding index: 2000 + # 16 # 16 16 # 4 = 2004, corresponding to the sub-index 21...
  • Page 623 VA Motion Controller Programming Manual 3.1.8 NS_CC_CANopen_SDO_Write(Service Data assignment instruction) FB / FC Explanation Applicable model This command is used to assign data service Input parameters  Range name Features type of data setting (default timing of the value) entry into force AXIF_no To control Excute to...
  • Page 624 VA Motion Controller Programming Manual The output parameter to Done (execution TRUE or TRUE indicates instructions BOOL is complete) FALSE are executed This parameter indicates TRUE or Busy (execution) to TRUE output instruction is BOOL FALSE executed When this parameter is The Active TRUE indicates output TRUE or...
  • Page 625 USINT 2. A timing diagram When the above, the servo parameter assignment Vector P03.19 (position error value is too large), the corresponding index: 2000 + # 16 # 16 16 # 3 = 2004, corresponding to the sub-index 19 16 # 13, a length of 4 bytes , the current No. 1 trigger module assignment node position is too...

  • Page 626: Motion Control Module

    VA Motion Controller Programming Manual 3.2 Motion Control Module . A module when the servo parameters P08.42 = 0, the default of the servo motion controller bus VEC support for Vector brand: MC_AXIS_REF MC_Power MC_CamIn MC_CamOut MC_CombineAxes MC_GearIn MC_GearOut MC_Halt...
  • Page 627 VA Motion Controller Programming Manual MC_Reset 39 related to the motion control module, the maximum control shaft 16. Bus motion controller first edition is to increase the CANopen protocol layers based on the analog version of the launch of an upgraded version of the product, the product uses the motion control function module is consistent with the analog products, the description does not function module then repeat, please refer to the "VA series motion controller programming Manual,"...

  • Page 628: Example Configuration

    4. Example Configuration Process describes the software configuration of the bus when the motion controller using the Vector CANopen servo, configuration process is as follows: 4.1 Motion Control Shaft Arranged The main job is to process the configuration data PDO, network synchronization period, following the second package module through the gradual movement of the shaft describes the configuration process, the process of configuring a servo, the node number is 1.
  • Page 629 18 is reset, one pair of the station 1 is reset from the node number, the condition "C000" trigger time delay waiting for approximately 1s and then go to the next step. (See detailed configuration template "Vector CANopen Configuration")
  • Page 630 2, the internal module functions NS_CC_CANopen_NMT_Write two modules, one master station 18 is pre-operation, operation from one pair of pre-node station No. 1, the condition "C001" trigger delay waiting for the same time is probably 1s, then go Next. (See detailed configuration template "Vector CANopen Configuration")
  • Page 631 3, setting the reference standard isochronous period 1006H: Periodtime = (0.114 * 1.3 * Number of PDO * 1000 / * baud +1+ axes 0.125), the number of templates configured for PDO 4; (See detailed configuration template "Vector CANopen Configuration")
  • Page 632 (See detailed configuration template "Vector CANopen Configuration")
  • Page 633 18 and the start node number 1, the condition "C004" trigger the bus run mode, then using the motion control module can be controlled from the shaft. (See detailed configuration template "Vector CANopen Configuration") If you are interested in more detail the configuration process understanding, please refer to...

  • Page 634: Tension Control Shaft Arranged

    VA Motion Controller Programming Manual 4.2 tension control shaft arranged 4.2.1 Communication configuration------same as: 4.1.1 Communication configuration 4.2.2 Reset the master-slave node ------- same as: 4.1.2 Reset the master-slave node 4.2.3 Master-slave node Enters the pre-main operation ------- same as: 4.1.3 Master-slave node Enters the pre-main operation 4.2.4 Configure the synchronizing cycle of master-slave node---------------- same as: 4.1.4 Configure the synchronizing cycle of master-slave node...

  • Page 635: Key Considerations

    VA Motion Controller Programming Manual 5. Key Considerations . A set of reference standards 1006H synchronization cycle: synchronization period = (0.114 * 1.3 * Number of PDO * 1000 / baud +1+ axes * 0.125) ms; . B setup software CYCLETIME, scan cycle = (+1 synchronization period or 2) ms; .

  • Page 636: Appendix V Register Description

    VA Motion Controller Programming Manual Appendix V Register Description Register Category: 1, 0-1999 power-down does not save; 2, 2000-3999 power-down save; 3, 4000-4095 power-down save of special registers; 4, 4096-9499 power-down does not save; 5, 9500-9999 down does not save special registers; 6, 10000-19999 down without saving.
  • Page 637 VA Motion Controller Programming Manual DI 8-12 provided source (16 represented by point Z Edge edge 13 disposed DI bit to 0 indicates an invalid by the external signal becomes active % MW3.9692 Bits 0-4 provided 8-12 source encoder disposed DI sources (Z 16 represents a point) 13 is disposed rim edge bit 0 indicates invalid DI by the external signal becomes active % MD3.9694...
  • Page 638 VA Motion Controller Programming Manual corresponding bit is 1 means 4~7 axis sending pulse. (Example: change the value of %MB3.9809 to 0, i.e. "0000", 4~7 axes receive pulses; change the value of %MB3.9809 to 15, i.e. "1111", 4~7 axes send pulses) % MW3.9995 ARM version number % MW3.9997...

  • Page 639: Appendix Vi Error Codes

    VA Motion Controller Programming Manual Appendix VI Error Codes 0x1001 Axis axis number is set beyond the permitted range 0x1002 Acceleration Acceleration setting beyond the permitted range 0x1003 Deceleration deceleration setting beyond the permitted range 0x1004 Jerk Jerk is set outside the permitted range 0x1005 Velocity speed setting beyond the permitted range 0x1006...
  • Page 640 VA Motion Controller Programming Manual When the mode is equal to 2/3/4 NS_MC_RotaryCutIn, MaterValueSource not be 0 0x1046 MC_AXIS_REF, Sample_Time set beyond the permitted range 0x1047 MC_AXIS_REF, Closed_Loop_Scaling set beyond the permitted range 0x1048 MC_AXIS_REF, Reductor_Den set beyond the permitted range (>...
  • Page 641 VA Motion Controller Programming Manual 0x1071 NC_MoveCircular, PathChoice set out of the allowable range (0 to 1) 0x1072 NC_MoveCircular module, Param_R, Param_I, Param_J, Param_K all 0 0x1073 NC_GroupEnable, the current state of the shaft when the shaft is not present 0/1/2 as Standstill, the shaft can not enable the group 0x1074 NC_MoveLinear / NC_MoveCircular/ NC_CartesianCoordinate...
  • Page 642 VA Motion Controller Programming Manual 0x2007 NS_CC_CANopen_SDO_Read, NS_CC_CANopen_SDO_Write slave reply timeout 0x2008 NS_CC_CANopen_TPDO, NS_CC_CANopen_RPDO index out of bounds 0x2009 NS_CC_CANopen_TPDO, NS_CC_CANopen_RPDO type of error, normal range of 2,3,4,5,6,7 0x2401 Axis_no sets the function block out of the allowable range (0-6) 0x2402 Active_Axis sets the function block beyond the permitted range...
  • Page 643 VA Motion Controller Programming Manual perform MC_Phasing instruction 0x4202 Axis current state of the Stopping, M can not be performedC_Phasing instruction 0x4203 This shaft MC_CamIFollowing spindle, M n next instructionC_PMaster hasing spindle specified instructions follow the master axis according to the present non- 0x4205 This shaft MC_GeanIFollowing spindle, M n next instructionC_PMaster hasing spindle specified instructions...

  • Page 644: Appendix Ⅶ Difference Between Economy And Mp Model Va Controllers

    VA Motion Controller Programming Manual Appendix Ⅶ Difference between economy and MP model VA controllers 1. The use of pulses MP model VA controller SP Economy VA Controller Register %MB3.9809 controls the sending and Sending receiving pulses from 0 to 4 axes. receiving of pulses from the 0 to 3 axis ports：...

  • Page 645: Expanding The Use Of Io

    VA Motion Controller Programming Manual Digital input -2048~0 0~2047 cannot be performed through analog quantities. corresponds analog output -10V~0V (2) The correspondence between the 0V~10V analogue and digital outputs of one of the axis ports is -10V~0V and 0V~10V corresponding to the digital quantities -32768~0 and 0~32767 respectively.
  • Page 646 VA Motion Controller Programming Manual (1) AXIS0~3 send and receive pulses, AXIS4 only receives pulses. (2) AXIS0~AXIS3 all send pulses on pins 1~4 and receive pulses on pins 6~9; AXIS4 receives pulses on pins 6~9 and pins 1~4 are empty pins. (3) AXIS0~4 correspond to axes 0~4 on the software respectively.

  • Page 647: The Difference Between High Speed Counters

    VA Motion Controller Programming Manual 5. The difference between high-speed counters MP model VA controller SP Economy VA Controller NS_CC_Counter ： Counting axis NS_CC_Counter： number 0~6, counting axis Counting axes numbered 0 to 3. Counting axes： AXIS0~AXIS4 NS_CC_DI_Counter： Counting axis AXIS4 can always be used as a counting number 0 to 6, with 16 counting DIs axis.
  • Page 648 VA Motion Controller Programming Manual Mode 1 is not available.
  • Page 649 VA Motion Controller Programming Manual Welcome your valuable feedback! We would like to wholeheartedly serve you, and strive to improve the already white. As the editor is limited, mistakes are inevitable urge readers to hesitate to correct me. We hope that you read this book, when using the product, such as an error is found, discusses the use of unknown or can not find the appropriate interpretation, please call us or fill in the feedback form send it to us, we sincerely look forward to your comments.

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