Vector VEC-VA Series, Programming Manual

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VA Motion Controller Programming Manual
285
DA_Inverse
(Analog inversion)
DA reverse BOOL TRUE / FALSE
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;
Special Note: The two modes of DA_Inverse need to be matched with the encoder direction,
otherwise the closed loop control cannot be formed.
For example, in the example of the following instruction, when MC_Power is executed, if the
servo axis can be positioned, the value does not need to be more
If the motor is running at a set compensation speed Offset_Max_V, change the value from the
original 0 to 1 or the original 1 to 0, or change the encoder A/B line to any one. By Encoder_Inverse
Or the register MB3.9654 is set to modify the encoder direction; the special register address
(%MB3.9654) corresponds to the modified axis AXISXX (XX represents 0~4) as follows:
Special register address Numerical (binary) Modified shaft
% MB3.9654 00000001 (decimal 1) AXIS0
% MB3.9654 0000 0010 (decimal 2) AXIS1
% MB3.9654 0000 0100 (decimal 4) AXIS2
% MB3.9654 00001000 (decimal 8) AXIS3
% MB3.9654 0001 0000 (decimal 16) AXIS4
For example: modify the axis AXIS0 feedback encoder counting direction; just fill in the special
register %MB3.9654, you can change from the original increment to the decrement, or from
decrement to increment. If you need to modify multiple axes, write 1 to the corresponding bit.
Filter_Plan_T
(Given filtering)
For a given position
and a given speed filtering
DINT
Filter_Plan_T units of underlying period, a period of 2ms. Enable change invalid.
Filter_Feedback_T
(Feedback filter)
Speed ​ ​ feedback
filter
DINT
Filter_Feedback_T units of underlying period, a period of 2ms. Enable change invalid.
Filter_T_as_Master Spindle speed filtering DINT
Expressed as provided Filter_T_as_Master spindle, it outputs it to the filtering speed of the shaft
from the real axis.
Abs_Encoder
Setting an absolute
encoder
USINT
0-2
(0)
Set the absolute encoder type, only the spindle port 4 can be connected to the absolute encoder
0: not enabled
1: Enable 23-bit absolute encoder
2: Enable 24 is an absolute encoder (this mode is only supported when the absolute encoder
function is enabled, and the 24-bit encoder must be a Nikon encoder)