Vector VEC-VA Series, Programming Manual

Page: 458 / 649

VA Motion Controller Programming Manual
453
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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. Execute and do not re-trigger CommandAborted set to TRUE;

Under CANopen mode, colored punctuation function can not be used;

NS_MC_SpecialCombineAxes instruction can be regarded as the superposition of two parts:
○
1
By following the movement of the spindle axis from the instruction MC_GearIn, herein
referred to as the spindle 1
○
2
By following the movement of the spindle axis from the instruction
NS_MC_SpecialCamIn, herein referred to as the spindle 2
therefore,
SlavePositionChange
= 1#MasterPositionChange ∗
GearRatioNumerator M1
GearRatioDenominator M1
+ 2#MasterPositionChange ∗
GearRatioNumerator M2
GearRatioDenominator M2

Output parameters
name Features
type of
data
Output range
InSync (synchronized
state)
This parameter is TRUE
output shaft from the
synchronized state represents
BOOL
TRUE or
FALSE
Busy (execution)
This parameter indicates to
TRUE output instruction is
executed
BOOL
TRUE or
FALSE
The Active (control)
When this parameter is
TRUE indicates output
command under the control shaft
BOOL
TRUE or
FALSE
CommandAborted
(interruption)
The output parameter is
TRUE representing instructions
is interrupted
BOOL
TRUE or
FALSE
Error (error)
It represents execution of
the faulting instruction when the
output instruction is TRUE
BOOL
TRUE or
FALSE
ErrorID (error code)
Error Error code when
execution instruction
WORD -
Pos_Min (minimum
position)
Within one execution cycle,
the position of minimum
distance Slave axis of the cycles
LREAL