Vector VEC-VA Series, Programming Manual

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