Vector VEC-VA Series Programming Manual Download Page 642

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VA Motion Controller Programming Manual

637

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

0x2403

Outside the permitted range set CNT_ID

0x2404

Outside the permitted range set Event_ID

0x2405

Outside the permitted range set DI_ID

0X4000

The same axis with the same module exceeds a predetermined

number, please refer to allowed number range

Precautions:

0X4001

NS_NC_ReadParameterP modulearameterNoutside the permitted

range set umber

0x4101

The current operating state of the shaft to ErrorStop or

Disabled, can not perform any movement instruction.

0x4102

Axis current operating state of the Stopping, can not be

performed in addition to MC_Any movement commands other than
Stopping.

0x4103

Execution MC_Home instruction requires the axis to

StandStill state

0x4104

MC_CamOutOnly modules in the currently running

instructionMC_CamIn when to run

0x4105

MC_GearOut module only if the current command is runMC_GYou

can run the earIn

0x4106

Current operating status of the shaftHoming, can not be

performed in addition to MC_SAny motion command other than
topping

0x4107

Current BufferMode cache beyond the permitted range, please

read

BufferMode cache description

0x4108

RunCommandUnder no pointer command, the bottom part of the

error

0x4150

Error current state of the shaftStop state, can not be

executed NS_MC_Jog

0x4151

Disabled axis current state of the state, not performing

NS_MC_Jog

0x4152

Homing axis current state of the state, not performing

NS_MC_Jog

0x4153

Axis current state of the Stopping state, can not be executed

NS_MC_Jog

0x4201

Error current state of the shaftStop/ Disabled, can not

Summary of Contents for VEC-VA Series

Page 1: ......

Page 2: ...fications and other documents Vector company does not assume any direct indirect incidental or consequential damages or liabilities resulting from the use of this manual or the improper use of this product Vector company has patents copyrights and other intellectual property rights in this product and its software This product and its related parts may not be copied manufactured processed or used ...

Page 3: ...tand the VA motion control PLC type of use safety warning Note of warning in order to avoid injury to the operator and other personnel to prevent damage to the machine The following Danger and Warning symbol is in accordance with the degree of risk that the accident marked Danger It Indicates a potentially hazardous situation that if not avoided will result in death or serious injury warning It in...

Page 4: ...otion controller off refer to VADetails motion controller hardware specification Chapter IX of this manual or quick start wiring instructions When a suspected fault do not operate and if you suspect the product is damaged Please have a qualified service person check it Do not operate in a wet moist environment Do not operate in an explosive atmosphere Keep the products surface clean and dry Preven...

Page 5: ...ontroller 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: ... PROCESSOR TYPE SOFTWARE INSTALLATION 24 5 3 PROGRAMMING MODEL WITH STANDARD IEC61131 3 27 5 4 MULTIPROG PROGRAMMING INTERFACE PRESENTATION 28 5 4 1 Introduction partition function 28 5 4 2 hardware 29 5 4 3 Project 30 Ⅵ MULTIPROG PROGRAMMING LANGUAGE 34 6 1 VARIABLE WORKSHEET 35 6 2 IL INSTRUCTION LIST PROGRAMMING LANGUAGE 37 6 2 1 Creating an IL program 37 6 2 2 IL statement 40 6 2 3 of IL opera...

Page 7: ...R CANOPEN THROUGH INQUIRY MODE CONTROL SERVO MOTION TWO AXIS MOTION 121 Ⅹ LOGIC INSTRUCTIONS 135 1 0 1 FUNCTION 136 10 1 1 ABS absolute value instruction 136 10 1 2 ACOS anti cosine instruction 137 10 1 3 ADD Additional Instruction 138 10 1 4 ADD_T_T Time Addition Instruction 139 10 1 5 AND Logic and Instruction 139 10 1 6 ASIN anti sinusoidal command 140 10 1 7 ATAN Arc Tangent Command 141 10 1 8...

Page 8: ...1 SUB Subtraction Instruction 171 10 1 42 SUB_T_T Time Subtraction Instruction 172 10 1 43 TAN tangential command 172 10 1 44 XO R Logical XOR instruction 173 1 0 2 FUNCTION BLOCK 175 10 2 1 CTD Decrement Counter Instruction 175 10 2 2 CTU Incremental Counter Instruction 177 10 2 3 CTUD increasing or decreasing bidirectional counter command 179 10 2 4 F_TRIG falling edge detection command 181 10 2...

Page 9: ...19 LT_STRING string is less than 235 10 4 20 STRING_TO_ converts strings to other types 236 10 4 21 _TO_STRING other types are converted to strings 237 1 0 5 BIT OPERATION FUNCTION BIT_UTIL 240 10 5 1 BIT_TEST Read bit value instruction in bit string 240 10 5 2 GET_ CHAR Remove the character instruction in the string 241 10 5 3 GET_LSB Remove the lower 8 bit instruction in the bit string 242 10 5 ...

Page 10: ...Control Library Classification 270 11 2 2 Movement instruction list 270 11 3 BASICS OF MOTION CONTROL INSTRUCTIONS 276 11 3 1 Command modes of motion controller 276 11 3 2 movement control 278 11 3 3 MC_AXIS_REF axis parameter setting 279 11 3 4 sports instruction constitutes 286 11 3 5 Analog offset adjustment 287 11 3 6 state machine 289 11 3 7 BufferMode Features 290 11 4 UNIAXIAL INSTRUCTION 2...

Page 11: ...nd 449 11 5 12 MC_CamIn electronic cam associated instruction 458 11 5 13 MC_CamOut electronic cam departing instruction 477 11 5 14 MC_CamWritePoint cam point information write command 480 11 5 15 MC_CamReadPoint cam point information reading instruction 482 11 5 16 MC_CamSet changes to take effect cam point instructions 485 11 5 17 MC_ReadTappetStatus read status command plurality of lifters poi...

Page 12: ...UNICATION CONNECTION 590 1 1 Description Motion Controller Connection Ports 590 1 2 CANopen communication port pin definitions 591 1 3 CANopen communication port LAN 591 1 4 CANopen communication port communication speed and communication distance593 2 CANOPEN PROTOCOL BASICS 594 2 1 Network management NMT 594 2 2 Service data SDO 594 2 3 Process data PDO 594 3 SOFTWARE FEATURES 595 3 1 Bus Initia...

Page 13: ...ws users to customize database and data structures and supports third party development tools System ProConOS eCLR running the programming tool and KW Software can be launched either supporting the use can also be applied to existing control systems and can be unified configuration programmeDAnd downloaded programs to multiple distributed controllers PLC MULTIPROG provides a wealth of operational ...

Page 14: ...r Programming Manual 9 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: ...programming languages FBD LD IL ST and SFC Clear project structure intuitive programming language Support cross compilation between FBD LDAnd IL Support mixed programming Multi user programming shorten the project programming time Guide cross references and other resources can be efficiently programmed Compatible version can be centrally managed 2 3 Computer Hardware Requirements device lowest rec...

Page 16: ... Manual 11 Each task program instances 500 Each global variables POU local variables 1 5000 1 5000 The library contains 32 The number of POU a project including multiple 2000 A project supported by the I O count 256 Byte I O group 200 ...

Page 17: ...t of the mapping area Note If you want to implement a periodic task when you execute a program at regular intervals instead of using a timer to trigger a periodic pulse in the cyclic scan task the former should be accurate 3 2 PLC Data Access 1 The users data can be stored in different memory cells of the PLC each cell has a unique address The following table lists the different sizes of data that...

Page 18: ...put mapping area indicating the definition of the input terminal DO10 in the motion controller DI DO input and output byte operations IB0 represents the 8 bit status in the 0th byte of the digital input mapping area indicating the input terminals DI0 DI7 in the motion controller 3 Relationship between the motion controller address In order to facilitate data exchange with peripherals such as human...

Page 19: ... 1 0 The PLC supports the input of constant values The constants can be binary numbers decimal numbers hexadecimal numbers strings ASCII codes or real numbers The input format is shown in the table below Number System Format For example Binary 2 ___ 2 001 Decimal _____ 67 Hex 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 t...

Page 20: ...rogramming fill in the corresponding initial value under the variable initial value When the motion controller is powered on again the variable saves the initial value data as shown in the figure below 2 Variable is set to save the data When programming users caNSelect the variable that needs to keep the data after power off Under the variable attribute Usage check RETAIN to indicate that the vari...

Page 21: ... modified and variable set to save data is data that variable before remain off 3 Special power dowNSave data address In order to facilitate data exchange with peripherals the MB3 2000 MB3 3000 data address is saved by power down The user does not neeDAny settings just fill in the address to achieve especially pay attention to the variable hook RETAIN otherwise the compiler can t pass For more det...

Page 22: ...lues Declared in the basic data type type of data description Bit length range The default initial value BOOL Boolean 1 0 or 1 ture falase 0 SINT Short integer 8 128 to 127 0 INT Integer 16 32768 to 32767 0 DINT DINT 32 2147483648 to 2147483647 0 USINT Unsigned short 8 0 to 255 0 UINT Unsigned int 16 0 65535 0 UDINT Unsigned double integer 32 0 4294967295 0 REAL Real 32 3 402823466 E 38 to 1 17549...

Page 23: ...T INT UINT DINT UDINT 4 3 User defined data types User defined data types must be inserted into the user defined data type in the project data type which must be done with the TYPE END_TYPE declaration block The middle part of the declaration block is the defined derivative data and the derived data type can be the structure or an array Array An array is a collection of single data type objects Li...

Page 24: ... is a string containing 10 characters 1 is the shortest string length the longest string length of 32 766 4 4 constant data representation type of data description Bit length Examples representation BOOL Boolean 1 BOOL 0 SINT Short integer 8 SINT 128 INT Integer 16 INT 32768 DINT DINT 32 DINT 2147483648 USINT Unsigned short 8 US INT 255 UINT Unsigned int 16 UINT 65535 UDINT Unsigned double integer...

Page 25: ...VA Motion Controller Programming Manual 20 Word STRING String VECTOR ...

Page 26: ...OG introduced 5 1 MULTIPROG software installation and startup 1 Decompress the installation file of MULTIPROG The X and Y in the folder name are numbers After decompression a file named MULTIPROGX XXBuiIdYYY will be generated indicating the version number of the installation package Open the folder which will appear as shown 2 Double click to open 双击我自动安装 as shown 3 In the pop up dialog box check ...

Page 27: ...mming Manual 22 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: ...ntroller Programming Manual 23 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: ...re select the default display Version found click Next as shown in the figure special attention the processor type software must be consistent with the installation path of the MULTIPROG programming software the processor type software defaults with the installation The installation path of MULTIPROG programming software is the same no need to change If Version not found is displayed the installat...

Page 30: ...VA Motion Controller Programming Manual 25 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 26 6 After installation is complete restart the computer the processor type of software and programming software will builDA relationship ...

Page 32: ...cks OB PB DB SB and FB of the traditional PLC programming language More efficient and more concise as shown 2 IEC 61131 3 programming software model is represented by a hierarchical structure as shown below the software model describes the relationship between the various parts including the configuration resource task program organization unit global variables I O configuration etc Programming pr...

Page 33: ...ee is used to display the structure of the project and the configuration properties of the hardware the project tree includes two parts hardware and engineering which respectively correspond to the hardware and software parts of the established project 3 The code graphic editing area is used to edit text or graphic code in the editing state and is used to display the value of the variable and the ...

Page 34: ...equivalent to the programmable controller system and is responsible for managing its next layer of resources Currently the MULTIPROG Express version only supports one Resources you cannot insert multiple resources but you can delete resources or copy a resource from another project The type of programmable controller can be viewed by right clicking Configuration to select the attribute It is eCLR ...

Page 35: ...ecuted 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 onl...

Page 36: ...unction is a special function function block requires the user to insert a separate work process firmware library file name extension fwl The following example shows how to insert a firmware library 1 Right click on the Library in the project tree window select Insert and select Firmware Library as shown 2 In the pop up Include Library window open the FB_FU_LIB folder you need to copy the folder t...

Page 37: ...L is an instruction list programming language Instruction List ST is a structured text programming language Structured the Text FBD is a functional block diagram programming language function block Diagram the LD is the ladder programming language Relay ladder Logic Diagram the SFC is a sequential function programming language the sequential function the Chart function Function abbreviateDAs FU is...

Page 38: ...nd TOF program A program is a combination of prograMCode that contains functions and function blocks The behavior and use of a program is similar to a function block It can have input and output parameters can have internal storage but does not allow recursive calls When creating a project MULTIPROG automatically declares a program When a new program is declared MULTIPROG also generates a variable...

Page 39: ...ed in the variable work order This chapter describes how to declare variables and how to program them in these five programming languages 1 IL is an abbreviation of the Instruction List 2 ST is an abbreviation of Structured Text structured text 3 FBD is an abbreviation of Function Block Diagram function chart 4 LD is an abbreviation of Ladder Diagram ladder diagram 5 SFC is SequentialFunction Char...

Page 40: ...e bar which indicates the scope of the inserted variable 1 insertion procedure only VAR and VAR the EXTERNAL two options VAR represents the internal variables var_ EX T ERNAL represents an external variable 2 For the inserted function there are only two options VA R and VAR_INPUT VAR for internal variables and VAR_INPUT for input variables 3 For inserted function blocks there are VAR VAR_EXTERNAL ...

Page 41: ...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 VAR_INPU T represents the input variable and VAR_OUTPUT represents the output variable ...

Page 42: ...not suitable for large and complex control tasks 6 2 1 Creating an IL program Using IL programming the user can type code in the editing area to the instruction input directly or in the Edit Wizard in drag refers to the editing area The following is an example of writing an A B OUT addition program to illustrate the creation of an IL programming project 1 Create a project 2 Right click the Logical...

Page 43: ...odule function can occur in the editing area as shown 6 The figures were changed to the green portion of the font A B and OUT the user himself caNSelect the variable name not necessarily the IN and OUT as shown 7 Click Variable Work Order on the menu bar to declare three variables A B and OUT with type INT After the usage is VA R local variable return to IL programming interface as shown 8 click C...

Page 44: ...ands 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 11 in the editing area can be displayed on the left view window state variable values as shown ...

Page 45: ...d the suMCode of IN and IN2 as follows LD IN IN1 as ANY_ NUM ADD IN2 IN2 as ANY_NUM ST OUT result as ANY_ NUM LD is an operator The variable IN after LD is an operand The function of LD is to load the following operand IN into the accumulator ADD is the addition instruction After adding the value the result is loaded into the accumulator behind ST The variable OUT is also an operand which is used ...

Page 46: ...equal to EQ ANY_NUM ANY_BIT Compare equal NE ANY_N UM ANY_BIT Comparison not equal LE ANY_NUM ANY_BIT Comparison less than or equal to LT ANY_NUM ANY_BIT Comparison less than JMP C N LABAL Jump to the instruction at the label CAL C N NAME Call function block RET C N Return from the called function function block End of delay Note 1 The modifier N indicates that the inverse operation is performed s...

Page 47: ...nt the branch of the program Each statement ends with a semicolon with add comments to the program comments can not be nested such as Need to declare input output internal external global variables in the variable worksheet corresponding to the POU 6 3 1 create aNST program Using ST language programming the user can type a statement in the editing area or drag and drop the command directly into th...

Page 48: ...ions appears function can block as shown 5 Double click MUL or dragging MUL into the editor MUL function appears in the editing area as shown 6 The figures were changed to green font part OUT and C and D user himself caNSelect the variable name not necessarily the IN and OUT as shown 7 Click Make and Download then click Debug Switch you caNSee the current result on the left side of the edit interf...

Page 49: ... watch window write 5 and 3 respectively and then click Overwrite as shown 10 in the editor window can be displayeDAnd the monitor variable state value as shown At this point a complete simple ST program is completed 6 3 2 ST statement In the ST programming language a prograMConsists of statements and statements consist of expressions and keywords In the editing area of the structured text program...

Page 50: ...s of an operanDAnDAn operator and the operand can be ADirect quantity a variable or a function name The operators that can be useDAre as follows The operators that can be useDAre as follows Operator Example Example value description priority 2 3 4 5 45 brackets Most high 3 0 4 81 0 Power operation 10 10 Find the opposite NOT NOT TRUE False Bitwise negation 10 3 30 Multiplication 6 2 3 Division ope...

Page 51: ...atements of FOR and END_FOR are executed repeatedly For each execution a increases by 3 and ends with 10 All values must have an ANY_INT data type WHILE WHILE b 1 DO b b 2 END_WHILE When the value of the expression b 1 is TRUE the statements of WHILE and END_WHILE are executed repeatedly until the value of b 1 is FALSE REPEAT REPEAT a a b UNTIL a 10000 END_REPEAT The statements of REPEAT and END_R...

Page 52: ...gramming language are functions function blocks and connectioNSymbols 6 4 1 Create an FBD program 1 creates a Ge new post project right project tree logic of the POU choose Insert program the pop up dialog box type the program name FBD_Test select the type and programming languages as shownure 2 Create a tree project FBD_Test in editing wizard were founDADD MUL and EXPT function blocks will they d...

Page 53: ...spectively the program automatically calculates the result of ax 2 bx c y as shown In FBD there is no need to create additional variables in the variable worksheet so after inserting the variables and double clicking the variables they appear in the variable worksheet The FBD function block diagram programming language is similar to the LD ladder diagram programming language At this point the comp...

Page 54: ...ALSE the function block FB continues to execute but the value of the output block of the function block FB does not Was refreshed 2 How to set logic instructions with EN and ENO without EN and ENO 1 Put the mouse under the programming interface the menu bar will automatically add the Object menu click Object Select Insert Block with EN ENO and later from the Edit Wizard The function module that is...

Page 55: ...ged function block without rewriting it Shorten the program development cycle and facilitate the modular management of the program Create user library and call steps 1 Creating a Project User Reference Chapter 3 3 3 Creating a Project will not be repeated here 2 In the project tree select Logic POU Right insert Function Block E then pop up a Insert dialog box name will be inserted into the block T...

Page 56: ...c only keep the 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 Right Check Delete to retain only the physical hardware as shown below ...

Page 57: ... 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 Three variables in the K X b usage Select the variable of type VAR_INPUT and Y to select VAR_OUTPUT Click Make after completion without error warning Click Save and close the project At this point programming and p...

Page 58: ...o the main program and set the variable name for it The data type is INT type and the usage is internal variable VAR Click Make after compiling without error message click Download then click Cold Start select to open Debug Switch online assignment variable K_Value 9 X _Value 3 b _Value 10 final output result Y _Value 37 As shown in the following figure from the color can distinguish the user libr...

Page 59: ...anual 54 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: ... may be employed there ladder chart network power rail connecting wires contacts coils function and other function blocks the data type can be BOOL BYTE WORD and DWORD 6 5 1 Create a LD Program 1 After creating a project right project tree logic of the POU choose Insert program the pop up dialog box type the program name LD_Test select the type and programming languages as Figure 8 25 shown 2 Clic...

Page 61: ...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 OK shown in FIG 5 double click ladder coil C001 contact may Coil Properties dialog box the I O address field enter QX0 0 represents PLC a first digital output channels of the machine click OK as in FIG FIG ...

Page 62: ...and C001 is set to VAR GLOBAL indicating that these two variables are global variables and can be used in other programs in this project At this point a complete LD program is completed When the contact connected to the first digital input channel I X 0 0 is closed the coil connected to the first digital output channel Q X 0 0 is turned on 6 5 2 in LD created in a FB Use LD programming sometimes n...

Page 63: ...ogramming of Figure Shown The MOVE function block created by has input pins EN IN INT1 INT2 with output pins ENO and INT3 This function block is used in the LD prograMCreated earlier Using ST create the same program to establish a first variable worksheet MOVE_INT variables used in the function block comprises a variable name data type pin functions return after completing ST programming interface...

Page 64: ...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 Example Controlling the start and stop of ADevice it has two working modes the contact C000 controls the start stop and the contact C002 controls the operation ...

Page 65: ...ent 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 The final ladder diagram is shown ...

Page 66: ...ents the case where processing continues through the next step If a transition becomes TRUE the previous step is executeDAgain and the next step becomes active The conversion can be either a Boolean variable or ADirectly connected Boolean expression written in FBD or LD You can also edit the code to be executed in another prograMCalled Detail The collection of connected objects is calleDANSFC netw...

Page 67: ...1 in the above figure and then click create step conversioNSequence in the following step adds a step S00 2 as shown 4 Click Step S002 then click Insert SFC Branch then insert a branch on the right side of Step S002 the branch has a Step S002 as shown Repeat the operation described on the final traffic light SFC function diagram as shown ...

Page 68: ...ts of the step conversion to write code and The setting of the property 1 Conversion condition Double click Convert T 001 and select LD programming language in the pop up dialog box 2 Click OK to enter the programming of T001 insert a network in the editing area and double click the variable name of C001 The variable name of the coil is changed to T001 as shown below This conversion condition is t...

Page 69: ...s conversion condition is used for timing When Step S00 3 is activated it starts timing When the timing reaches 39 seconds Convert T00 2 is set to 1 and Step is activated S004 insert the following program 5 Double click Convert T004 select the LD programming language insert the following program this conversion condition is used for timing When Step S00 5 is activated for 3 9 seconds Convert T0 04...

Page 70: ...p up select Details initialize the A001 name 3 After the completion the action name at this time is initialization The color changes from pink to green Double click initialize again In the pop up insert box select the programming language Select the LD language here click OK a blank LD programming interface pops up The user can write the initial action code here select blank here 4 Repeat steps 2 ...

Page 71: ... in the editing area the coil EW_Y the I O address Q X 0 2 represents a step S004 activation things Directional Brightness Yellow light 8 Double click North South _ Green Light to enter the programming of North South _ Green Light action Insert the program in the editing area The I O address of the coil SN_G is Q X 0 3 which means Step S005 is activated when the north south direction is green Ligh...

Page 72: ... X of 0 The 4 represents a step S00 7 activated The north and south lights are yellow 10 Double click the stuff _ red enter things _ red action programmed the following procedure is inserted in the edit area wherein the coil EW_R the I O address Q X 0 5 represents a step S00 6 is activated The east and west lights are red At this point a complete traffic light control program is completed click Ma...

Page 73: ...then the yellow light is on for 2 seconds The entire period is 41 seconds The final simulation effect is shown in the figure 6 6 3 SFC action qualifier The SFC action includes an action qualifier anDAn action body The action qualifier describes how the action is associated with the step The following action qualifiers are available Qualifier description Features N do not save As long as the step i...

Page 74: ...ep one becomes active the action code body executes an operation cycle or a Boolean variable sets an operation cycle SD Save and delay After the step is activated when the set delay time elapses the action code body is executed or the Boolean variable is saveDAnd set even if the step becomes inactive again This action will remain active until it is reset If the time when the step is active is shor...

Page 75: ... type 1 Click File New Project 2 Enter My_first_Project in the Project Name box of the wizard window as shownure 6 1 according to the project naming rules the project name and path must not contaiNSpaces or special characters Project Path input The box indicates the path saved by the project In the initial state the default path is set by the user After completion click the 下一步 button Note Special...

Page 76: ...lect the PLC type as eCLR and click Next Note The software selects eCLR by default so when you create a new project it automatically jumps to the fourth step of the next project wizard 5 The fourth step of the project wizard is to select the resources to be used The dialog box is as shown in the figure Name to keep the default resource Resource list box select the Type ARM_LE_GCC3 real PLC if it i...

Page 77: ...forms 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 Here still keep the default name task Task type selection for the CYCLIC click Next ...

Page 78: ...t 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 as the picture shows The Logical POU node is part of the algorithm implementation and the physical hardware is associated with the actual controller type and settings ...

Page 79: ...s Resource Select eCLR_Simulation under the Project Tree Window right click the resources to select Set shown in FIG 2 In the pop up eCLR_Simulation Resource Settings window select Simulation 1 or Simulation 2 under Type under Create Settings select the emulation processor version model here select eCLR_3 0 2 click OK again re click Create button no error program will prompt to download the simula...

Page 80: ...mmunication 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: ...LC processor type selection ARM_LE_GCC3 for this kind of simulation engineering projects and engineering Switch between projects 2 Right click Resources under Project Tree Window and select Settings in the pop up ARM_LE_GCC3 Resource Settings window to set Select TCP IP under the communication Type Set the IP address under the Parameter of the communication to 1 92 168 1 123 p41100 ...

Page 82: ...n Controller Programming Manual 77 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 78 When finished click OK again to re click Create button the program no error message before downloading to a real PLC in ...

Page 84: ...le xxx does not match any of the I O groups error message The following I O driver settings are made 1 double click IO_Configuration open the I O configuration dialog which is used to edit I O configuration of the worksheet as shown 2 Double emergence the I O Configuration dialog box select the INPUT click Add shown in FIG 3 In the name fill the IN according to the actual needs of the I O edit the...

Page 85: ...IG 5 repeating the above steps for the same output terminal of the set select the OUTPUT name click Add to the output OUT the logical address length was changed to 16 and the driver name Modify to KWIO and click OK to complete the I O driver setup Note I O settings are required each time the user creates a new project ...

Page 86: ...g 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 7 5 2 modify variables of the property 1 Double click the normally open contact C000 appears contacts Coil Properties dialog box the I O address S field enter IX0 0 represents PLC a first digital input channel of the machine a single click OK as in FIG illu...

Page 87: ...s 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 SBl iNSelected cases the contact click on the toolbar as shown i e SBl inserted normally open contact C02 as shown ...

Page 88: ...y 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: ...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 2 ladder diagraMComments Double click the left busbar label of the network and fill in the prograMComments in the pop up Comment dialog box so that you can understand it later ...

Page 90: ...VA Motion Controller Programming Manual 85 ...

Page 91: ...ror 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 as shown The engineering project created so far is basically completed ...

Page 92: ...eted projects downloaded to the emulator on the device downloading process there download progress as shown 2 After the program Download is completed click the Cold Start program on the resource panel to run and the status display Run indicates that the user program is continuously looping the user can debug online monitor the status of the variable click Debugging on on the toolbar Screen effect ...

Page 93: ...this time the warm start button is available Click this button to continue the program run It is used to choose whether to save the program downloaded by the user after the VA motion controller is powered off Before the user program is installed you need to click the More pop up window to check the box as Guided Project Permanent Station Leave and then click Close as shown in the figure Note If un...

Page 94: ...ample 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 PLC Error tab of the MULTIPROG message window ...

Page 95: ...e value with the original value in the next program loop The necessary steps to force and override a variable are almost identical When the PLC is running be careful to force or override the variables Forcing and overriding variables means executing the PLC program with forced or overwritten variable values Use force and override 1 To ensure that work orders in online mode Otherwise press the tool...

Page 96: ...having to open the corresponding work order Users can focus on debugging and observing the variables that need to change If this is not the case please work Single switch to the online mode by pressing it to Debug on off FIG subscript to Right click inside the work order and select Open Watch Window from the upper and lower menus or click the watch window button on the toolbar in the ladder diagra...

Page 97: ...w and right click on the window background to open its context menu Select the establishment of cross reference menu item will create a cross reference list as shown 3 Double clicking on a variable in the cross reference window will open the worksheet that uses this variable and highlight it Also if you mark a variable in the work order the corresponding variable in the cross reference window will...

Page 98: ...using the logic analyzer the user needs to change the attribute names of configuration resource and task under the physical hardware of the project tree to English name or pinyin No Chinese characters can be used The analyzer is set as shown below as shown 3 In the Debug On Off opeNState right click to add the variables to be monitoreDAnd select Add to Logic Analyzer At this time the Logic Analyze...

Page 99: ... Controller Programming Manual 94 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: ...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 The final monitoring result is as follows The figure shows To stop monitoring repeat the fifth operation and select Stop Recording ...

Page 101: ...l process to get the result Tracking The PLC executes the next instruction If it encounters a user defined function or a function block call it will open the corresponding code body The tracking process executes only one instruction at a time 1 Turn on the debug mode 2 Double click the SB1 variable in the code worksheet and click the Settings button in the Debug Resources dialog box in the online ...

Page 102: ...tem is non real time the simulation can only be used for functional verification prograMCan not be used to test real time to establish the setting is used to define the IEC code is compiled downloaded to the controller The set of library definition files of the machine code executed in the machine may have different machine code generated by different versions so it is generally necessary to selec...

Page 103: ...ication connection diagram 2 Engineering communication configuration After the project is created the communication is quickly configureDAs follows Reference 7 1 create projects 7 3 physical communication parameters 7 4 IO configuration Step 1 After the project is created select Hardware in the project tree Step 2 Select Resource ARM_LEGCC3 right click ...

Page 104: ... be fixed Step 6 Version establishment Select eCLR Core 3 0 8 Step7 Click OK PC computer settings as shown below Settings on your computer Step1 Click Start ControlPanel Network and Internet Network Connection Local Area Connection Properties Double click Internet Protocol Version 4 TCP IPV4 Step 2 Select Use the following IP address S Enter IP be 192 168 1 122 Subnet Mask 255 255 255 0 ...

Page 105: ...cessful 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: ...servo drive parameter setting Please contact our staff for VB servo drive parameter setting method Function number Numerical value description P0 2 01 1 Speed control mode P 04 01 0 Speed is derived from the maiNSpeeDA P 04 02 1 The maiNSpeeDA is derived from the analog AI 1 P 06 01 1 The DI 1 function register function is set to enable drive 3 control wire connection method Wei Keda VC type servo...

Page 107: ...t pin definition Pin signal description 6 A Encoder signal input 7 A 8 B 9 B 5 AO Modulus output 10 AGND Analog ground Control line connections are as follows Description 1 in order to pass control of the motion controller Q 0 output to control the servo drive is enabled need to servo drive external DC24V power to servo DI power if the servo internal selection is enabled there is no need then Q 0 ...

Page 108: ...sics and 1 1 4 uniaxially instructions 1 Project creation and configuration Reference on Qi Zhang works of creation and configuration Follow the steps to complete 7 1 create projects 7 3 physical communication parameters 7 4 IO configuration which will not be repeated herein 2 Writing a program Step 1 Enter the programming interface select the MC _ AXIS_REF block in the FB_FU_LI motion control lib...

Page 109: ... 104 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: ...a Initial value MC_AXIS_REF_1 MC_AXIS_REF Axis0 USINT 0 ControlMode INT 0 Moter_Max_V DINT 3000 Moter_PPC DINT 10000 Reductor_Num LREAL 1 0 Reductor_Den LREAL 1 0 Screw_Lead LREAL 60 0 Closed_Loop LREAL 1 0 Modulo LREAL 3 60 0 Sample_Time WORD 20 Offset_Max_V DINT 200 Pid_KP DINT 80 Pid_KI DINT 0 ...

Page 111: ... of data Initial value address MC_Power_1 MC_Power Axis0 USINT 0 Pwr_En BOOL Servo_ON BOOL QX0 0 The fourth step similarly add MC_MoveVelocity speed command module used to control the servo motor to run at the set speed refer to 1 1 4 2 MC_ MoveVelocity speed command Variable name anDAttribute variable name type of data Initial value MC_MoveVelocity_1 MC_MoveVelocity Axis0 USINT 0 Vel_Excute BOOL ...

Page 112: ...mand Variable name anDAttribute variable name type of data Initial value MC_Stop_1 MC_Stop Stp_Excute BOOL Stp_Deceleration LREAL 1000 0 Stp_Jerk LREAL 1000 0 Stp_Done BOOL At this point the programming is complete Step 6 Make a bottom loading project In the toolbar click on the make the confirmation process is correct click download programs then click on cold start after a cold start is successf...

Page 113: ...VA Motion Controller Programming Manual 108 Step 7 Program debugging Single click online icon on the toolbar can program debugging and monitoring Online monitoring as shown below ...

Page 114: ...ut function bit Pwr_ En to pop up the debug Resource interface select the value of the 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: ...ocity changes from False to True the speed reaches the preset Value 5 00 0 Commissioning 3 Double click Vel_Velocity in the pop up debug window reassigned 1 000 0 click on the cover and then re trigger a Vel_Excute the update rate the motor speed will follow the preset acceleration and deceleration of 5 00 0 accelerated to 1 000 0 Debug 4 Double click Stp _Excute to change its value from False to ...

Page 116: ...VA Motion Controller Programming Manual 111 ...

Page 117: ...vo drive parameters Wikoda VC type servo drive parameter setting Please contact our staff for VB servo drive parameter setting method Function number Numerical value description P0 2 01 0 Position control mode P 03 01 0 Position command is derived from external pulse P 03 02 2 Command pulse form is AB pulse P 06 01 1 The DI 1 function register function is set to enable drive 3 Control line and enc...

Page 118: ...C24V power supply for DI DO work use Remarks 25 26 feet for NPN PNP Jumper choose to use 9 2 5 COM Wilcoda motion controller AXIS port part pin definition Pin signal description 1 X Pulse signal output 2 X 3 Y 4 Y 6 A Encoder signal input 7 A 8 B 9 B 13 5 DC 5V output 15 GND GND Encoder piNSection definition Pin signal description 1 AO Encoder signal outputs an 2 AO 3 BO 4 BO 5 5V 5V input 6 GND G...

Page 119: ...ntial signals OA A and OA A OB B and OB B and XY pulse signals are respectively connected by twisted pairs and the outer casing is grounded 4 PrograMCreation and debugging Notice After the above PC and the motion controller communicate successfully the system is set up the servo parameter setting is completed the next step is to start programming to control the servo motor to run and stop before t...

Page 120: ...nter the programming interface select the MC _ AXIS_REF block in the FB_FU_LIB motion control library hold down the left mouse button and drag to the programming interface then let go the module s properties will pop up you need to name the module in general keep the default click OK as shown insert two FIG the MC _ AXIS_REF block Step 2 Double click the module input pin blue dot and the Variable ...

Page 121: ...ers 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 Initial value ...

Page 122: ...MC_AXIS_REF Axis4 USINT 4 ControlMode1 INT 1 Moter_Max_V1 DINT 3000 Moter_PPC1 DINT 10000 Reductor_Num1 LREAL 1 0 Reductor_Den1 LREAL 1 0 Screw_Lead1 LREAL 60 0 Closed_Loop1 LREAL 1 0 Modulo1 LREAL 3 60 0 Sample_Time1 WORD 20 Offset_Max_V1 DINT 200 Pid_KP1 DINT 80 Pid_KI1 DINT 0 Step3 Add Similarly two the MC_Power instruction as to enable the motion controller while servo axis the AXIS 0 by Se RV...

Page 123: ...nt reference 1 1 4 2 MC_ GearIn electronic gear coupling command Variable name anDAttribute variable name type of data Initial value MC_GearIn_1 MC_GearIn A xis4 U SINT 4 A xis0 U SINT 0 GIn_Ex BOOL GIn_Num LREAL 1 0 GIn_Den LREAL 1 0 Val_Source INT 1 GIn_Acc LREAL 1000 0 GIn_Dec LREAL 1000 0 GIn_Jerk LREAL 1000 0 At this point the programming is complete Step5 making Bottoms project Click on the ...

Page 124: ... online icon on the toolbar can program debugging and monitoring monitoring online as shown below Debugging 1 Double click input function bit Pwr_ En pop up 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 125: ...led 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 Commissioning 3 At this point turn the spindle encoder and the slave axis servo axis will follow the spindle in accordance with the 1 1 electronic gear ratio ...

Page 126: ...the CANopen communication mode the motor 1 moves the speed command and the motor 2 takes the relative displacement command 2 Set the servo drive parameters Wikota CANopeNServo drive 1 parameter setting Function number Numerical value description P0 8 40 80 0 CAN baud rate P 08 41 1 CAN node number Servo drive 2 parameter setting Function number Numerical value description P0 8 40 80 0 CAN baud rat...

Page 127: ...ime to the module via the communication will enable the servo driver so no additional access points to control the servo drive output enable 2 In order to enhance CANopeNStability of communication CANopen terminal needs to access the network bus 120 Omega terminal resistor 4 PrograMCreation and debugging Notice After the above PC and the motion controller communicate successfully the system is set...

Page 128: ... repeated herein Note The template default CANopen master station number is 1 8 and the CAN bus baud rate is 8 00 corresponding to the CAN bus baud rate set by the servo driver P 08 40 which can be modified by modifying the initial value of the BaudRate 2 node configuration Step 1 Since the template configures one axis by default node number is 1 and two axes are used in this case we need to manua...

Page 129: ...pen the reset node process there can be seen through the process module after the second package M otion_NMT_axis as shown below which defines the reference position input function Annex IV 4 1 2 Main Reset from the node the initial value of axis number Axis 0 is 0 which is used to reset the master station under CAN open network and node 1 node number axis number 1 Therefore we need to adDAnother ...

Page 130: ...axis 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 Step 4 Double click the module input pin blue dot and the Variable Properties box will ...

Page 131: ...save it select Yes as shown below the reset node configuration r esetnode process of node 2 has been completed Step 5 After completing the reset node process return to Main _initialconfig and repeat steps 2 3 and 4 to complete the remaining configuration for node 2 including master slave node enters pre operation mode Motion 402 _ assignment configuration Master slave node synchronization cycle an...

Page 132: ...ick the project tree logic POU under the main return to the main program interface you can write a program to start the movement 3 Writing a program Step1 entering the main programming interface in FB_FU_LI selected motion control library the MC _ AXIS_REF die block hold the left mouse drag to the programming interface and then let go the module will pop The properties requires the module name gen...

Page 133: ...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 You can add settings according to the function requirements Refer to 11 3 3 MC_AXIS_REF Axis ...

Page 134: ...INT 0 ControlMode INT 2 Moter_Max_V DINT 3000 Moter_PPC DINT 10000 Reductor_Num LREAL 1 0 Reductor_Den LREAL 1 0 Screw_Lead LREAL 60 0 Closed_Loop LREAL 1 0 Modulo LREAL 3 60 0 Sample_Time WORD 20 Offset_Max_V DINT 200 MC_AXIS_REF_2 MC_AXIS_REF Axis 1 USINT 1 ControlMode 1 INT 2 Moter_Max_V 1 DINT 3000 Moter_PPC 1 DINT 10000 Reductor_Num1 LREAL 1 0 Reductor_Den1 LREAL 1 0 Screw_Lead 1 LREAL 60 0 C...

Page 135: ...veVelocity module a the MC _MoveRelative module variable names and their properties as shown below the reference 1 1 4 1 MC_Power Enable Command 1 1 4 2 MC_ MoveVelocity speed command 1 1 4 3 MC_MoveRelative relative displacement command 1 1 4 10 MC_Stop stop command Variable name anDAttribute variable name type of data Initial value MC_Power_1 MC_Power Pwr_En BOOL MC_Power_2 MC_Power Pwr_En1 BOOL...

Page 136: ...el_Dis LREAL 600 0 Rel_V LREAL 100 0 Rel_Acc LREAL 1000 0 Rel_Dec LREAL 1000 0 Rel_Jer LREAL 1000 0 At this point the programming is complete Step4 making the bottom loading project Click on the toolbar to make sure the program is correct click on the download program and then click on the cold start After the cold start is successful the status is displayeDAs the running status Step5 program debu...

Page 137: ... Manual 132 Debugging 1 Double click input function bit Pwr_ En pop up 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: ...k 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 1 will be set according to the displacement amount and speed of Take the relative displacement mode as shown Debug 3 At this point double click Stp _Ex to change its value from False to True and the controller will control Axis 0 anDAxis 1 to dece...

Page 139: ...VA Motion Controller Programming Manual 134 ...

Page 140: ...se differences The division of the functional area or library the following instructions are introduced 1 Function 2 Function block 3 Type conversion FU 4 String FU 5 Bit manipulation function BIT_UTIL 6 P roConO S function Note In the instruction description of the IL programming language the LDAnd ST operators are often used and their use is as follows The LD IN the LD represents the variable IN...

Page 141: ... computing function Comparative computing function string function Instructions contained in the function in the Edit Wizard select Features from the drop down list name name name name ABS DIV_T_R MAX ROL ACOS EQ MIN ROR ADD EXP MOD SEL ADD_T_T EXPT MOVE SHL AND GE MUL SHR ASIN GT MUL_T_AI SIN ATAN LE MUL_T_AN SORT COS LIMIT MUL_T_R SUB DIV LN NE SUB_T_T DIV_T_AI LOG NOT TAN DIV_T_AN LT OR XOR In ...

Page 142: ...he absolute value of 5 0 description When the contact C000 bit is ON Put the value of V000 in absolute value and install it in V001 10 1 2 ACOS anti cosine instruction IL programming language LD FBD programming language Function ACOS instruction is used to find the inverse cosine of the input value LD IN ACOS ST OUT ST programming language OUT ACOS IN Note IL ST language programming needs to inser...

Page 143: ...tional Instruction IL programming language LD FBD programming language Function ADD instruction is used to find the sum of two data LD IN1 ADD 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 Data type processed by ADD instruction Input and output Operand type description ...

Page 144: ...2 Note IL ST language programming needs to insert variables IN1 IN2 and OUT or use constants in the current POU variable worksheet ADD_T _T instruction processing data types Input and output type of data description IN1 TIME Addend IN2 TIME Addend OUT TIME And OUT IN1 IN2 program demonstration Find the value of T 1s T 50ms description When C001 is ON the instruction is executed and the time data t...

Page 145: ... OUT 0 IN1 0 IN2 1 OUT 0 IN1 1 IN2 0 OUT 0 IN1 1 IN2 1 OUT 1 program demonstration Find the result of the logical AND of two data description When the contact C008 bit is ON the instruction is executed to phase the two operands Execution result V021 V022 V023 10 1 6 ASIN anti sinusoidal command IL programming language LD FBD programming language Function ASIN instruction for seeking inverse sine L...

Page 146: ...g language LD FBD programming language Function ATAN instruction is used to find the inverse tangent LD IN ATAN ST OUT ST programming language OUT ATAN IN Note IL ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet ATAN instruction processing data type Input and output type of data description IN REAL Input OUT REAL Output angle in ra...

Page 147: ...rent POU variable worksheet Data type processed by COS instruction Input and output type of data description IN REAL Input the angle is expressed in radians OUT REAL Output Funtion and Action examples Find the cosine of 0 0 description When the contact C300 is ON time execution of the instruction address V478 the value the cosine deposit to V479 of Execution result COS 0 0 1 000 00 10 1 9 DIV Divi...

Page 148: ... s description When C009 is ON when the instruction is executed V024 divided by V025 quotient on V026 of Execution result V024 V025 V026 10 1 10 DIV_T_AI division time divided by an integer instruction IL programming language LD FBD programming language Function DIV_T_AI instruction is used to divide time by integer operation LD IN1 DIV_T_AI IN2 ST OUT ST programming language OUT DIV_T_AI IN1 IN2 ...

Page 149: ...1 V002 10 1 11 DIV_T_AN division time divided by an integer a real number command IL programming language LD FBD programming language Function DIV_T_AN instruction is used to divide time by integer or real operation LD IN1 DIV_T_AN IN2 ST OUT ST programming language OUT DIV_T_AN IN1 IN2 Note IL ST language programming needs to insert variables IN1 IN2 and OUT or use constants in the current POU va...

Page 150: ...mming language LD FBD programming language Function The DIV_T_R instruction is used to divide the time by the real number operation LD IN1 DIV TR IN2 ST OUT ST programming language OUT DIV_T_R IN1 IN2 Note IL ST language programming needs to insert variables IN1 IN2 and OUT or use constants in the current POU variable worksheet div_t _R instruction processing data types Input and output Operand ty...

Page 151: ...is used to judge whether two numbers are equal LD IN1 EO 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 Data type processed by EQ instruction Input and output Operand type description IN1 ELEMENTARY Data 1 IN2 ELEMENTARY Data 2 OUT BOOL Output The two numbers are equal a...

Page 152: ... natural constant e where x is the input where e 2 718281828 LD IN EXP ST OUT ST programming language OUT EXP 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 the EXP instruction Input and output Operand type description IN REAL index OUT REAL The results E of IN power Funtion and action examples F...

Page 153: ...f instruction processing data types Input and output Operand type description IN1 ANY_REAL Cardinal number IN2 ANY_NUM index OUT REAL As a result the IN2 power of IN1 Funtion and action examples Find the value of the 2nd power of 3 description When the contact C020 is ON the instruction is executed with V076 as the base V077 is the index and the result of the operation exists V056 Result of execut...

Page 154: ...OUT is 1 program demonstration Compare the size of the two V010 and V011 addresses description When the contact C004 is 0N the instruction is executed the value of the V010 value and the V011 value are compared when the value in the V010 address is greater than or equal to V011 the output V012 is 1 Execution result V010 V011 V012 1 10 1 17 GT greater than instruction IL programming language LD FBD...

Page 155: ...02 is ON the instruction is executed When the value of the address V006 is greater than the value of the address V007 V008 is V 006 10 1 18 LE less than or equal to the instruction IL programming language LD FBD programming language Function The LE instruction is used to compare the size of two values When the first input is less than or equal to the second one the output is 1 and the others are 0...

Page 156: ...1 19 LIMIT limit selection instruction IL programming language LD FBD programming language Function The LIMIT instruction is used to limit the input value to the interval determined by the maximum and minimum values LD IN1 LIMIT IN IN2 ST OUT ST programming language OUT LIMIT IN1 IN IN2 Note IL ST language programming needs to insert variables IN IN1 IN2 and OUT or use constants in the current POU...

Page 157: ... 7 9 output 1 10 1 20 LN Natural Logarithmic Instruction IL programming language LD FBD programming language Function The LN instruction is used to calculate the natural logarithm of the input LD IN LN ST OUT ST programming language OUT LN 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 LN instruc...

Page 158: ... language OUT LOG 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 LOG instruction Input and output Type of data description IN REAL input value OUT REAL As a result OUT LOG10IN Ig IN Funtion and Action examples On the logging log 10 100 Value description When the contact C300 is ON when performing...

Page 159: ...and output Operand type description IN1 ANY First input IN2 ANY Second input OU T BOOL Result When IN1 IN2 OUT is 1 When IN1 IN2 OUT is 0 Funtion and Action examples Comparative V491 10 0 and V492 100 0 of the value description When the contact is ON when the instruction is executed when the address V491 is a value smaller than V492 the value the address V493 the output 1 Execution result 10 0 100...

Page 160: ...contact is ON the execution of the instruction comparing the address V494 and V495 the value the greater the output there is an address V496 in Execution result 10 7 output 10 10 1 24 MIN minimum instruction IL programming language LD FBD programming language Function The instruction is used to determine the minimum of two values LD IN1 MIN IN2 ST OUT ST programming language OUT MIN IN1 IN2 Note I...

Page 161: ...ming language LD FBD programming language Function The MOD instruction is used to determine the remainder of the division of two values LD IN1 MOD IN2 ST OUT ST programming language OUT MOD 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 MOD instruction Input and output type of data desc...

Page 162: ...lue to the output value LD IN MOVE ST OUT ST programming language OUT MOVE 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 MOVE instruction Input and output type of data description IN ANY_NUM input value OUT ANY_NUM Output value OUT IN Funtion and Action examples Address V503 is the value transmi...

Page 163: ...rt variables IN1 IN2 and OUT or use constants in the current POU variable worksheet The MUL data processing instruction type Input and output type of data description IN1 ANY_NUM First input IN2 ANY_NUM Second input OUT ANY_NUM Product OUT IN1 IN2 Funtion and Action examples Find the value of the integer 4 5 description When the contact C300 is ON when this instruction is executed the address of t...

Page 164: ...gramming needs to insert variables IN1 IN2 and OUT or use constants in the current POU variable worksheet MUL_T_AI data processing instruction type Input and output type of data description IN1 TIME First input time IN2 ANY_INT Second input integer OUT TIME Product OUT IN1 IN2 Funtion and Action examples Find the time T 5s multiplied by the value of the integer 3 description When the contact C300 ...

Page 165: ...ing needs to insert variables IN1 IN2 and OUT or use constants in the current POU variable worksheet MUL_T_AN instruction processing data types Input and output type of data description IN1 TIME First input time IN2 ANY_NUM Second input integer or floating point number OUT TIME Product OU T IN1 IN2 Funtion and Action examples Find the time T 5s multiplied by the value of the integer 2 description ...

Page 166: ...ut type of data description IN1 T_IN TIME First input time IN2 R_IN ANY_NUM Second input floating point number OUT MUL_T_R TIME Product OUT IN1 IN2 Funtion and Action examples Find the time T 5s multiplied by the value of floating point 6 0 description When the contact C300 is ON the instruction is executed and the value of the address V5 14 is multiplied by the value product in the address V5 15 ...

Page 167: ...f addresses V517 and V518 description When the contact C300 is ON when this instruction is executed the address V5 17 values of the address V5 18 is the value of the comparison the output is not equal to 1 Execution result V517 V5 18 V5 19 10 1 32 NOT logical non instruction IL programming language LD FBD programming language Function The NOT instruction is used to invert the input value by bit su...

Page 168: ... OR Logic or Instruction IL programming language LD FBD programming language Function The OR instruction is used to logically OR the input value by bit LD IN1 OR IN2 ST OUT ST programming language OUT 1N1 OR 1N2 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 the OR instruction Input and output ...

Page 169: ...struction is used to rotate the input value to the left by bit LD IN1 ROL IN2 ST OUT ST programming language OUT ROL 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 ROL instruction processing data types Input and output type of data description IN1 ANY_BIT Input IN2 ANY_INT Number of bits shifted left OUT ...

Page 170: ...uage Function The ROR instruction is used to cyclically shift the input value to the right LD IN1 ROR IN2 ST OUT ST programming language OUT ROR 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 ROR instruction Input and output type of data description IN1 IN ANY_BIT Input IN2 N ANY_INT Nu...

Page 171: ...mming language LD FBD programming language Function The SEL instruction is used to select different input values based on two states of a Boolean quantity LD IN SEL IN1 IN2 ST OUT ST programming language OUT SEL IN IN1 IN2 Note IL ST language programming needs to insert variables IN IN1 IN2 and OUT or use constants in the current POU variable worksheet Data type processed by SEL instruction Input ...

Page 172: ... language LD FBD programming language Function The SHL instruction is used to shift the input value to the left the left end of the data is shifted out and the right end is filled with 0 LD IN1 SHL IN2 ST OUT ST programming language OUT SHL 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...

Page 173: ...ll bits to the left 3 bits Execution result 1 6 01 moves left 3 bits output 16 80 10 1 38 SHR right shift instruction IL programming language LD FBD programming language Function The instruction is used to shift the input value to the right the right end of the data is shifted out and the left end is filled with 0 LD IN1 SHR IN2 ST OUT ST programming language OUT SHR IN1 IN2 Note IL ST language pr...

Page 174: ...cription When the contact C300 is ON when this instruction is executed The address V538 all the bits to the right 3 bits Execution result 1 6 50 moves 3 bit output to the right 16 0A 10 1 39 SIN sinusoidal command IL programming language LD FBD programming language Function The SIN instruction is used to find the sine of the input value LD IN SIN ST OUT ST programming language OUT SIN IN Note IL S...

Page 175: ... instruction IL programming language LD FBD programming language Function The SQRT instruction is used to find the square root of the input value LD IN SORT ST OUT ST programming language OUT SORT IN Note IL ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet SQRT data processing instruction type Input and output type of data descript...

Page 176: ...ote 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 SUB instruction Input and output type of data description IN1 ANY_NUM First input IN2 ANY_NUM Second input OUT ANY_NUM Output OUT IN1 IN2 Funtion and Action examples Find the value of floating point number 8 0 minus 5 0 description When the contact ...

Page 177: ...nt POU variable worksheet SUB_T_ data processing instruction type Input and output type of data description IN1 TIME First input IN2 TIME Second input OUT TIME Output OUT IN1 IN2 Funtion and Action examples Time T T 5S 3S s value description When the contact C300 is ON the instruction is executed the value of the address V548 is subtracted from the value of V549 and stored in the address of the V5...

Page 178: ...scription When the contact C300 is ON when this instruction is executed perform result 1 10 1 44 XO R Logical XOR instruction IL programming language LD FBD programming language Function The XOR instruction is used to logically perform an exclusive OR operation on the input value LD IN1 XOR IN2 ST OUT ST programming language OUT IN1 XOR IN2 Note IL ST language programming needs to insert variables...

Page 179: ...N2 0 OUT is 1 IN1 1 IN2 1 OUT is 0 Funtion and Action examples Find the value of the exclusive OR of the address V553 BOOL and V554 BOOL description When the contact C300 is ON when this instruction is executed When the V553 BOOL and V554 BOOL values of different time the output is 1 Execution result V553 and V554 are different output 1 ...

Page 180: ...tion function block counter function block timer function block Command functions included in the block in the editor wizard from the drop down list function block name description CTD Down counter CTU Increment counter CTUD Up down counter F_TRIG Falling edge detection R_TRIG Rising edge detection RS Reset priority SR Set priority TOF Disconnect delay timer TON On delay timer T P pulse 10 2 1 CTD...

Page 181: ...variable vlar1 var5 constant in the current POU variable worksheet 数据 Data type processed by CTD instruction Input type of data description CD BOOL If the CD has a rising edge the CV is decremented by 1 LOAD BOOL When LOAD is FALSE the count is started it is TRUE the PV is assigned to CV and the counter is initialized PV INT Count dowNStart value Output type of data description Q BOOL When CV 0 O ...

Page 182: ...l be reinitialized 10 2 2 CTU Incremental Counter Instruction IL programming language LD FBD programming language Function The CTU instruction is used to count the input terminal When the RESET terminal is FLSE if there is a rising edge at the CU input the CV terminal is incremented by 1 If the count value CV reaches the upper limit value PV of the counter a TRUE signal is issueDAt the Q output an...

Page 183: ...t PV INT Incremental count upper limit Output type of data description Q BOOL When CV PV Q 1 CV INT Count value Funtion and Action examples Q output 1 when contact C002 is turned from OFF to ON five times description This counter function block counts up Assuming a rising edge at the CU input and RESET FALSE the CV is incremented by one If the final value of the counter PV is reached a TRUE signal...

Page 184: ...n QD 1 the CTUD function block stops counting down When the RESET terminal is TRUE the counter stops incrementing and counting down and the CV terminal is cleared When the LOAD terminal is TRUE the counter stops incrementing and counting down and the PV value is assigned to the CV terminal LD varl ST CTUD_1 CU LD var2 ST CTUD_1 CD LD var3 ST CTUD_1 RESET LD var4 ST CTUD_1 LOAD LD var5 ST CTUD_1 PV...

Page 185: ... BOOL When CV PV QU 1 QD BOOL When CV 0 QD 1 CV INT Count value Funtion and Action examples When the CU has a rising edge the value is incremented by 1 when the CD has a falling edge current value minus 1 description This counter function block increments or decrements the count Assuming a rising edge at the CU input the CV is incremented by one Assuming a rising edge at the CD input the CV is dec...

Page 186: ...nguage programming needs to insert variables varl1 var2 or use constants in the current POU variable worksheet the F_TRIG data processing instruction type parameter type of data description CLK BOOL Falling edge is valid Q BOOL When CLK has a falling edge Q changes from 0 to 1 until the next scan to this instruction 10 2 5 R_TRIG rising edge detection instruction IL programming language LD FBD pro...

Page 187: ...tion The RS instruction is used to implement the function of the RS trigger If the SET terminal is TRUE and the RESET terminal is FALSE the output terminal Q1 is set Even if SET becomes FALSE Q1 remains set If RESET1 TRUE Q1 is reset regardless of whether the SET terminal is TRUE or FALSE Even if RESET1 changes to FALSE Q1 remains in the reset state LD var1 ST RS_1 SET LD var2 ST RS_1 RESETI AL RS...

Page 188: ...R SR Trigger Instruction IL programming language LD FBD programming language Function The RS instruction is used to implement the function of the RS trigger If the SET1 terminal is TRUE the output terminal Q1 is set regardless of whether the RESET terminal is TRUE or FALSE Even if SET1 becomes FALSE Q1 remains set If the RESET terminal is TRUE and the SET1 terminal is FALSE the Q1 terminal is rese...

Page 189: ...ins set If RESET TRUE the Q1 output is reset If both inputs are TRUE the Q1 output is set to TRUE by SET1 10 2 8 TOF Delayed Off Timer Instruction IL programming language LD FBD programming language Function The TOF instruction is used to implement the delay disconnect function If the input terminal IN is TRUE the output terminal Q immediately becomes TRUE if the input terminal IN is changed from ...

Page 190: ... from ON to OFF Q delays PV set value and outputs 0 description If the input IN changes from TRUE to FALSE it is turned off after delaying the length of time in the input PT After the length of the PT value the Q value is set to FALSE The process time interval is displayed on the output ET 1 0 2 9 TON delay on timer command IL programming language LD FBD programming language Function The TON instr...

Page 191: ...parameter type of data description IN BOOL Enable input PT TIME To Q delay turned end Q such as T 5S Q BOOL Result If IN 0 then Q 0 if IN 1 after delaying PT Q changes from 0 to 1 ET TIME Timing time from when IN changes to TRUE to when the Q end changes to TRUE Funtion and Action examples Start when contact C020 is ON Q delay PV set value output 1 description If the input IN changes from TRUE to ...

Page 192: ...to FALSE and the time when the Q end changes to TRUE LD var1 ST TP_1 IN LD var2 ST TP_1 PT CAL TP_1 LD TP_1 Q ST var3 LD TP_1 ET ST var4 ST programming language TP_1 IN varl PT var2 Var3 TP_1 Q Var4 TP_1 ET Note IL ST language programming needs to insert variables valll1 var4 or use constants in the current POU variable worksheet Data type processed by TON instruction parameter type of data descri...

Page 193: ...n Conversion of UDINT type data Conversion of LREAL type data Conversion of REAL type data TRUNC decimal rounding The instructions contained in the function in the Edit Wizard select from the drop down list Type Conversion FU Sort Funtions BYTE type BCD data conversion B_BCD_TO_SINT B_BCD_TO_INT B_BCD_TO_DINT WORD type BCD data conversion W_BCD_TO_SINT W_BCD_TO_INT W_BCD_TO_DINT DWORD type BCD dat...

Page 194: ...NT_TO_USINT INT_TO_UINT INT_TO_UDINT INT_TO_REAL INT_TO_LREAL DINT type data conversion DINT_TO_B_BCD DINT_TO_W_BCD DINT_TO_D_BCD DINT_TO_BOOL DINT_TO_BYTE DINT_TO_WORD DINT_TO_DWORD DINT_TO_SINT DINT_TO _INT DINT_TO_USINT DINT_TO_UINT DINT_TO_UDINT DINT_TO_REAL DINT_TO_LREAL DINT_TO_BCD DINT_TO_TIME USINT type data conversion USINT_TO_BOOL USINT_TO_BYTE USINT_TO_WORD USINT_TO_DWORD USINT_TO_SINT ...

Page 195: ... type BCD data includes the following three instructions B_BCD_TO_SINT B_BCD_TO_INT and B_BCD_TO_DINT These three instructions convert a BCD binary encoded decimal input value of a BYTE data type into an output value of the SINT INT and DINT data types respectively BYTE type BCD data conversion instruction instruction input value output value description B_BCD_TO_SINT BYTE type BCD code SINT Input...

Page 196: ... the following three instructions W_BCD_TO_SINT W_BCD_TO_INT and W_BCD_TO_DINT These three instructions convert a BCD binary encoded decimal input value of a WORD data type into an output value of the SINT INT and DINT data types respectively WORD Type BCD conversion instruction data instruction input value output value description W_BCD_TO_SINT WORD type BCD code SINT Input value BCD code 16 0127...

Page 197: ...data Type conversion FU Features DWORD type BCD data conversion The conversion of DWORD type BCD data includes the following three instructions D_BCD_TO_SINT D_BCD_TO_INT and D_BCD_TO_DINT These three instructions convert a BCD binary encoded decimal input value of ADWORD data type into an output value of the SINT INT and DINT data types respectively DWORD type BCD data conversion instruction inst...

Page 198: ...tion and Action examples 16 00000044 turns into a short integer description When the contact C057 is ON time execute the instruction address as V060 in the 16 hexadecimal into numbers short integer stored in the V061 in Execution result 16 0000127 converted to short integer 127 10 3 4 Conversion of BCD type data Type conversion FU Features Conversion of CD type data The BCD type data conversion in...

Page 199: ...OL SINT BOOL_TO_INT BOOL INT BOOL_TO_DINT BOOL DINT BOOL_TO_USINT BOOL USINT BOOL_TO_UINT BOOL UINT BOOL_TO_UDINT BOOL UDINT BOOL_TO_REAL BOOL REAL BOOL_TO_LREAL BOOL LREAL usage take BOOL_TO_BYTE as an example IL programming language LD FBD programming language LD IN BOOL_TO_BYTE ST OUT ST programming language OUT BOOL_TO_BYTE IN Note IL ST language programming needs to insert variables IN and OU...

Page 200: ... input 0 127 corresponds to output 0 127 input 128 255 corresponds to output 128 1 when output is WORD DWORDAnd other types the output is equal to input BYTE _O_WORD BYTE WORD BYTE_TO_DWORD BYTE DWORD BYTE_TO_SINT BYTE SINT BYTE_TO_INT BYTE INT BYTE_TO_DINT BYTE DINT BYTE_TO_USINT BYTE USINT BYTE_TO_UINT BYTE UINT BYTE_TO_UDINT BYTE UDINT BYTE_TO_REAL BYTE REAL BYTE_TO_LREAL BYTE LREAL usage take ...

Page 201: ...s from 0 to 65 535 The output is BOOL type the output is FALSE only when the input is 0 and the output is TRUE in other cases The output is SINT type input 0 127 corresponds to output 0 127 input 128 255 corresponds to output 128 1 input increases and output will repeat 0 127 128 1 Output USINT BYTE Type Input 0 to 255 corresponding to the output of 0 to 255 the input further increasing the output...

Page 202: ...转 BOOL Note When the V334 the value is not zero V335 output is TRUE 1 10 3 8 Conversion of DWOR D type data Type conversion FU Features DWORD type data conversion DWORD type data conversion has 11 instructions which can convert DWORD type data into BOOL BYTE WORD SINT INT DINT USINT UINT UDINT REAL and LREAL DWORD type data conversion instruction instruction input value output value description DW...

Page 203: ...ype the output is equal to Enter the lower 8 bits and lower 16 bits of data DWORD_TO_USINT DWORD USINT DWORD_TO_UINT DWORD UINT DWORD_TO_UDINT DWORD UDINT DWORD_TO_REAL DWORD REAL DWORD_TO_LREAL DWORD LREAL usage take DWORD_TO_BOOL as an example IL programming language LD FBD programming language LD IN DWORD_TO_BOOL ST OUT ST programming language OUT DWORD_TO_BOOL IN Note IL ST language programmin...

Page 204: ...7 output 16 0 127 when inputting other values output 16 FFFF SINT_TO_D_BCD SINT DWORD When inputting 0 127 output 16 0 127 when inputting other values output 16 FFFFFFFF SINT_TO_BOOL SINT BOOL When input 0 output FALSE when other values are input output TRUE SINT_TO_BYTE SINT BYTE When inputting 0 127 output 0 127 input 128 1 output 128 255 SINT_TO_WORD SINT WORD When inputting 0 127 output 0 127 ...

Page 205: ...eeds to insert variables IN and OUT or use constants in the current POU variable worksheet Funtion and Action examples Short Integer 5 turn to BCD16 05 description This type conversion function converts the input value of the data type SINT into the BCD output value binary code decimal number of the data type BYTE 10 3 10 Conversion of INT data Type conversion FU Features INT type data conversion ...

Page 206: ...nput 32768 to 1 the output shown from 32768 to 65535 INT_TO_SINT INT SINT When inputting 0 127 output 0 127 input 128 255 output 128 1 input and then increase output repeat 0 127 128 1 input 1 128 output 1 128 input 129 256 output 127 input and then decrease the output repeat 1 128 127 0 INT_TO_DINT INT DINT When inputting 32768 32767 output 32768 32767 INT_TO_USINT INT USINT When 0 255 is input t...

Page 207: ...onvert DINT type data into B_BCD W_BCD D_BCD BOOL BYTE WORD DWORD SINT INT USINT UINT UDINT REAL LREAL BCDAnd TIME etc Types of DINT type data conversion instruction instruction inpu t value output value Description The input value ranges from 2 147 483 648 2 147 483 647 DINT_TO_B_BCD DINT BYTE When inputting 0 99 output 16 0 99 when inputting other values output 16 FF DINT_TO_W_BCD DINT WOR D Whe...

Page 208: ...t is less than 32768 the output repeats 32767 32768 DINT_TO_USINT DINT USINT When 0 255 is input the output is 0 255 if the input is increased the output repeats 0 255 DINT_TO_UINT DINT UINT When inputting 0 65535 the output is 0 65535 if the input is increased the output repeats 0 65535 input 65536 1 output 0 65535 if the input is reduced the output repeats 65535 0 DINT TO_UDINT DINT UDINT When i...

Page 209: ...0 rpm BYTE description When the contact C059 is ON when this instruction is executed the address of V062 in the double integer of 60 revolutions of BYTE stored in V063 in Execution of Results 60 DINT switch 16 60 BYTE 10 3 12 Conversion of USINT type data Type conversion FU Features USINT type data conversion USINT conversion type data there 11 instructions can be USINT respectively converted to d...

Page 210: ...put the output is 0 255 USINT_TO_UINT USINT UINT When 0 255 is input the output is 0 255 USINT_TO_UDINT USINT UDINT When 0 255 is input the output is 0 255 USINT_TO_REAL USINT REAL When 0 255 is input the output is 0 255 USINT_TO_LREAL USINT LREAL When 0 255 is input the output is 0 255 usage using USINT_TO_BYTE as an example IL programming language LD IN LD FBD programming language USINT_TO_BYTE ...

Page 211: ...T BYTE When 0 255 is input the output will be 0 255 if the input is increased the output will repeat 0 255 UINT _TO_WORD UINT WORD When 0 65535 is input the output is 0 65535 UINT _TO_DWORD UINT DWORD When 0 65535 is input the output is 0 65535 UINT _TO_SINT UINT SINT When inputting 0 127 output 0 127 input 128 255 output 128 1 input and then increase output repeat 0 127 128 1 UINT _TO_INT UINT IN...

Page 212: ...4 Conversion of UDINT type data Type conversion FU Features UDINT type data conversion UDINT type data conversion has 11 instructions which can convert UDINT type data into BOOL BYTE WORD DWORD SINT INT DINT USINT UINT REAL and LREAL UDINT type data conversion instruction instruction input value output value Description Input value range 04 294 967 295 UDINT_TO_BOOL UDINT BOOL When input 0 output ...

Page 213: ...5 the output is 0 65535 if the input is increased the output repeats 0 65535 UDINT_TO_REAL UDINT REAL When 0 4 294 967 295 is input the output is 0 4 294 967 295 the accuracy will be reduced UDINT _TO_LREAL UDINT LREAL When 0 4 294 967 295 is input the output is 0 4 294 967 295 the accuracy will be reduced usage take UDINT_TO_BYTE as an example IL programming language LD FBD programming language L...

Page 214: ...ues are input output TRUE REAL_TO_BYTE REA L BYTE When inputting 0 255 the output will be 0 255 if the input is increased the output will repeat 0 255 input 1 255 output 255 0 input and then decrease will repeat 255 0 REAL_TO_WOR D REA L WORD When inputting 0 65535 the output is 0 65535 If the input is increased the output repeats 0 65535 input 1 65536 output 65535 0 input and then decrease the ou...

Page 215: ...nput is reduceDAnd the output is still 2 147 483 648 REAL_TO_USINT REA L USINT When inputting 0 255 the output is 0 255 If the input is increased the output repeats 0 255 input 1 256 output 255 0 output decreases and the output repeats 255 0 REAL_TO_UINT REA L UINT When inputting 0 65535 the output is 0 65535 If the input is increased the output repeats 0 65535 input 1 65536 output 65535 0 input a...

Page 216: ...ype data conversion LREAL conversion type data there 11 instructions can be LREAL respectively converted to data type BOOL BYTE WORD DWORD SINT INT DINT USINT UINT UDINT and REAL types LREAL type data conversion instruction instruction input value output value Describe the REAL type of input value whose fractional part is discardeDAt the time of conversion LREAL_TO_BOOL LREA L BOOL When input 0 ou...

Page 217: ... is 0 32767 input 32768 65535 output is 32768 1 if the input is increased the output repeats 0 32767 32768 1 input 1 32768 output 1 32768 input 32769 65536 outputs 32767 0 input the output decreases again repeated 1 to 32768 32767 0 LREAL_TO_DINT LREA L DINT When inputting 0 2 147 483 647 the output is 0 2 147 483647 and the output is still 2 147 483 647 input 1 2 147 483 64 8 output 1 2 147 483 6...

Page 218: ...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 Long floating point number 10 0 rpm BYTE description When the contact C095 is ON the execution of the instruction the address of V182 in the long floating point number 10 0 revolut ions of BYTE stored in the V183 in Execution of res...

Page 219: ...69 65536 output 32767 0 input and then decrease the output repeats 1 32768 32767 0 TRUNC _DINT REAL DINT When 0 2 147 483 647 is input the output is 0 2 147 483 647 Input and then increase the output is still 2 147 483 647 input 1 2 147 483 648 output 1 2 147 483 648 input and then reduce the output is still 2 147 483 648 usage take TRUNC_SINT as an example IL programming language LD FBD programmi...

Page 220: ... 2147483647 will be negative because the DINT type is a signed number and its maximum value is 2 147 483 647 For example the input value T 4294967295 A millisecond will result in an output value of 1 TIME_TO_DINT data type conversion instruction processing instruction input value output value description TIME_TO_DINT TIME DINT Input value range T 0 2147483647M S equal to T 0 2147483 647S converted...

Page 221: ... bis integer description When the contact C188 is ON when the instruction is executed the address of V376 in the time value T 10s turn to DINT stored in the V277 in Execution of Results T 10S the TIME converted to 10000 DINT Note that time units into DINT between the turn into 1000 Example lS 1000 ...

Page 222: ...G LEFT MID RIGHT SEL_STRING Comparison GT_STRING GE_STRING EQ_STRING NE_STRING LE STRING LT_STRING Convert string to other STRING_TO_BYTE STRING_TO_WORD STRING_TO_DWORD STRING_TO_SINT STRING_TO_INT STRING_TO_DINT STRING_TO_USINT STRING_TO_UINT STRING_TO_UDINT STRING_TO_LREAL STRING_TO_REAL STRING_TO_TIME Other conversion to string BYTE_TO_STRING WORD_TO_STRING DWORD_TO_STRING SINT_TO_STRING INT_TO...

Page 223: ...st input the output is not allowed to have the same name as the input Funtion and Action examples VECTOR Company description When the contact C189 is ON when the instruction is executed the address of 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 IL programming language LD FBD programming ...

Page 224: ...greater than 0 the first character position in the string is 1 and the following characters are 2 3 OUT STRING The output second input is inserteDAfter the P character of the first input and the output is not allowed to have the same name as the input Funtion and Action examples The string operation control into the string Win System run syllable description When the contact C190 is ON when this i...

Page 225: ...acter to be deleted P must be an integer greater than 0 the first character position in the string is 1 and the following characters are 2 3 OUT STRING The output input string is not affected by the deletion In fact this instructioNSelects several strings in the input string to form a new string The output does not allow the same name as the input Funtion and Action examples Delete the third chara...

Page 226: ...TRING First input string IN2 STRING The second input string will replace some characters in the first input string L ANY_NT The number of characters to be replaced L can be 0 1 2 P ANY_INT In the first input string the position of the first character to be replaced P must be an integer greater than 0 the first character position in the string is 1 and the following characters are 2 3 OUT STRING Ou...

Page 227: ...es the length of a string LD IN LEN ST OUT ST programming language OUT LEN 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 LEN instruction Input and output type of data description IN STRING Input string OUT INT Output the length of one character is 1 Funtion and Action examples Determine the l...

Page 228: ...characters IN STRING Enter a character or string IN2 MX STRING Upper limit of characters OUT STRING Output the upper and lower limits of the input value will be equal to the upper and lower limits respectively the size of the characters will be judgeDAccording to the size of the ASCII code value when the string is input only the first character participates in the comparison that is if When a char...

Page 229: ...e Input and output type of data description IN1 STRING The first input character or string the position of the first character from the left in the string is 1 IN2 STRING The second input character or string the position of the first character from the left in the string is 1 OUT STRING The output of the second string of the first character string appears in the first position if the character is ...

Page 230: ...ription IN1 STRING The first input character or string IN2 STRING The second input character or string OUT STRING Output the larger of two characters or a string the size of the character is calculateDAccording to its ASCII code when the string is input only the first character participates in the comparison that is if the first character of a string is larger then all the output of this string Fu...

Page 231: ...pe of data description IN1 STRING The first input character or string IN2 STRING The second input character or string OUT STRING Output the smaller of two characters or a string the size of the character is calculateDAccording to its ASCII code when the string is input only the first character participates in the comparison that is if the first character of a string is smaller then all the output ...

Page 232: ...e worksheet of the current POU 数据 Data type processed by LEFT instruction Input and output type of data description IN STRING Input string L ANY_INT The number of characters to be fetched OUT STRING Output take out L consecutive characters from the leftmost side of the input string L must be greater than 0 and less than or equal to the number of characters of the input string IN Funtion and Action...

Page 233: ... be fetched P ANY_INT The starting position of the character to be fetched that is the character is taken from the Pth character of the input string OUT STRING Output take out the P from the Pth to P L consecutive characters in the input string Note L must be greater than 0 the first P L characters must be in the input string P must be greater than 0 and less than or equal to the maximum number of...

Page 234: ...ksheet of the current POU 数据 RIGHT command processing data type Input and output type of data description IN STRING Input string L ANY_INT The number of characters to be fetched OUT STRING Output take out L consecutive characters from the rightmost side of the input string L must be greater than 0 and less than or equal to the number of characters of the input string IN Funtion and Action examples...

Page 235: ...es IN IN1 IN2 and OUT or use constants in the current POU variable worksheet SEL_STRING instruction processing data types Input and output type of data description IN G BOOL Select input IN1 INO STRING First input IN2 IN1 STRING Second input OUT STRING Output If IN 0 OUT IN1 if IN 1 OUT IN2 Funtion and Action examples String for selecting output by the value of variable V 419 description When the ...

Page 236: ...ramming language Function The GE_STRING directive is used to determine if the first string is greater than or equal to the second string LD IN1 GE_STRING IN2 ST OUT ST programming language OUT GE_STRING IN1 IN2 Note IL ST language programming needs to insert variables IN1 IN2 and OUT or use constants in the current POU variable worksheet GE_STRING data processing instruction type Input and output ...

Page 237: ...guage Function The EQ_STRING instruction is used to determine if the first string is equal to the second string LD IN1 EO_STRING IN2 ST OUT ST programming language OUT EQ_STRING IN1 IN2 Note IL ST language programming needs to insert variables IN1 IN2 and OUT or use constants in the current POU variable worksheet EQ_STRING instruction processing data types Input and output type of data description...

Page 238: ...mine if the first string is not equal to the second string LD IN1 NE_STRING IN2 ST OUT ST programming language OUT NE_STRING IN1 IN2 Note IL ST language programming needs to insert variables IN1 IN2 and OUT or use constants in the current POU variable worksheet NE_STRING data processing instruction type Input and output type of data description IN1 STRING First input IN2 STRING Second input OUT BO...

Page 239: ... equal to the second string LD IN1 LE_STRING IN2 ST OUT ST programming language OUT LE_STRING IN1 IN2 Note IL ST language programming needs to insert variables IN1 IN2 and OUT or use constants in the current POU variable worksheet LE_STRING instruction processing data types Input and output type of data description IN1 STRING First input IN2 STRING Second input OUT BOOL Output if the first charact...

Page 240: ... second string LD IN1 LT_STRING IN2 ST OUT ST programming language OUT LT_STRING IN1 IN2 Note IL ST language programming needs to insert variables IN1 IN2 and OUT or use constants in the current POU variable worksheet LT_STRING instruction processing data types Input and output type of data description IN1 STRING First input IN2 STRING Second input OUT BOOL Output if the first character of the fir...

Page 241: ...ription STRING_TO_BYTE STRING BYTE Input format 0 255 output is BYTE type STRING_TO_WORD STRING WORD Input format 0 65535 the output is WORD type STRING_TO_DWORD STRING DWORD Input format 0 4 294 967 295 output as DWORD type STRING_TO_SINT STRING SINT Input format 128 127 output is SINT type STRING_TO_INT STRING INT Input format 32768 32767 output is INT type STRING_TO_DINT STRING DINT Input forma...

Page 242: ...rror may occur input has an illegal prefix such as INT 123 INT is an illegal prefix input value exceeds the range of the output data type such as the input value of 1024 of STRING_TO_BYTE instruction 1024 is greater than the range of 0 255 of BYTE type 10 4 21 _TO_STRING other types are converted to strings IL programming language LD FBD programming language Function _TO_STRING is divided into 12 ...

Page 243: ...IN DWORD Input range 0 4 294 967 295 IN1 FORMAT String Valid format x u default x OUT STRING Output when the format is X the output is the input hexadecimal number when the format is U the output is the input unsigned decimal number SINT_TO_STRING instruction processing data types Input and output type of data description IN SINT Input range 128 127 IN1 FORMAT String Valid format d default d OUT S...

Page 244: ... 0 4 294 967 295 IN1 FORMAT String Valid format u default u OUT STRING Output output as input unsigned decimal number REAL_TO_STRING instruction processing data types Input and output type of data description IN REAL Input range 3 402823466 E 38 1 175494351 E 38 and 1 175494351 E 38 3 402823466 E 38 IN1 FORMAT String Valid format e f default e OUT STRING Output when the format is e the output is t...

Page 245: ... can reaDAnd write the input bit string The bit operation function is abbreviateDAs BIT_UTIL The bit manipulation function needs to be inserted separately into the firmware library The instruction contained in the bit manipulation function in the editing wizard select from the drop down list BIT_UTIL BIT_UTIL function block BIT_TEST GET_CHAR GET_LSB GET_MSB I_BIT_IN_BYTE I_BIT_IN_WOR D I_BIT_IN_DW...

Page 246: ... 31 is DWORD0 OUT BOOL Output enter the value of the NOth bit in the bit string Funtion and Action examples Read the value of the 4th bit in the address V441 byte description When the contact C 208 is O N time the instruction is executed the reaDAddress V441 in the first 4 bit value V442 address output of the corresponding bit status Note the first of several from 0 to start calculation 10 5 2 GET...

Page 247: ...r in the string Note This command is not supported by the current software version 10 5 3 GET_LSB Remove the lower 8 bit instruction in the bit string IL programming language LD FBD programming language Function The GET_LSB instruction is used to read the value of the lower byte the Less Significant BYTE in the input bit string LD IN GET_LSB ST OUT ST programming language OUT GET_LSB IN Note IL ST...

Page 248: ... string The Most Significant BYTE values LD IN GET_MSB ST OUT ST programming language OUT GET_MSB IN Note IL ST language programming needs to insert variables IN and OUT or use constants in the variable worksheet of the current POU GET_MSB instruction processing data types Input and output type of data description IN WORD Input bit string OUT BYTE Output the value of the highest byte higher 8 bits...

Page 249: ...uage programming needs to insert variables IN1 IN IN2 and OUT or use constants in the current POU variable worksheet I_BIT_IN_BYTE data processing instruction type Input and output type of data description IN1 ENAB BOOL Enable IN BYTE WORD DWORD Input bit string IN2 BIT_N O SINT The NO bit in the bit string to be operated the value range is 0 7 for BYTE 0 15 for WORD 0 31 for DWORD other values ar...

Page 250: ...s TRUE PARITY_ instructions comprise team RITY_BYTE PARITY_WORDAnd PARITY _DWORD directive capable of handling input bit strings of BYTE WORDAnd DWORD types LD IN PARITY_BYTE ST OUT ST programming language OUT PARITY_BYTE IN Note IL ST language programming needs to insert variables IN and OUT or use constants in the current POU variable worksheet PARITY_BYTE data processing instruction type Input ...

Page 251: ...0 in the input bit string including the R_BIT_IN_BYTE and R_BIT_IN_DWORD instructions to handle input bit strings of BYTE WORDAnd DWORD types LD ENAB R_BIT_IN_ BYTE IN BIT_NO ST OUT ST programming language OUT R_BIT_IN_ BYTE IN Note IL ST language programming needs to insert variables IN1 IN IN2 and OUT or use constants in the current POU variable worksheet R_BIT_IN_BYTE instruction processing dat...

Page 252: ...string IL programming language LD FBD programming language Function SBIT_IN_ instruction is used to position a single input bit string 1 comprising S_BIT_IN_BYTE S_BIT_IN_WORDAnd S_BIT _IN_DWORD instructions capable of handling BYTE WORD and DWORD types of input bit sequence LD ENAB S_BIT_IN_BYTE IN BIT_NO ST OUT ST programming language OUT S_BIT_IN_BYTE IN Note IL ST language programming needs to...

Page 253: ... ON time set address V45 8 in the first of five of the state when ENAB is FALSE when the output address V455 current value Execution result 16 00 BYTE 16 20 B YTE 10 5 9 SET_LSB Write instructions to the lower 8 bits in the bit string IL programming language LD FBD programming language Function The SET_LSB instruction is used to write a value to the lower byte the Less Significant BYTE in the inpu...

Page 254: ...on 16 0021 16 0052 10 5 10 SET_MSB the high bit string 8 write digit command IL programming language LD FBD programming language Function SET_MSB instruction being for the most significant byte string input bit The Most Significant BYTE Write value LD IN1 SET_MSB IN ST OUT ST programming language OUT SET_MSB IN1 IN Note IL ST language programming needs to insert variables IN1 IN and OUT or use con...

Page 255: ...g into a buffer which is a byte array LD IN STRING_TO_BUFFER IN1 IN2 ST OUT ST programming language OUT STRING_TO_ BUFFER IN1 IN Note IL ST language programming needs to insert variables IN IN1 IN2 and OUT or use constants in the current POU variable worksheet STRING_TO_BUFFER instruction processing data types Input and output type of data description IN STR_IN STRING Input string IN1 0 BUFFER BYT...

Page 256: ...rt variables IN and OUT or use constants in the current POU variable worksheet 数据 Data type processed by SWAP instruction Input and output type of data description IN IN WORD Input bit string OUT STRING_TO_BUFFER WORD Output bit string exchange the high and low bytes of the input bit string and output Funtion and Action examples The address V556 16 9900 is high 8 bits of the low 8 bit swap descrip...

Page 257: ...e an array of bytes data type BYTE but also of ANY_BIT BOOL excluding or ANY_INT type number of bytes is converted to data type stored can not exceed the target BUF type data conversion instruction instruction source data Converted data description BUF _ TO _BYTE BUF BYTE The data format of the buffer is MOTOROLA or I NTEL The source data can also be ANY_BIT BOOL Except or A NY_INT The number of b...

Page 258: ...lid on rising edge BUF_FORMAT Input BOOL TRUE indicates that the buffer data is in MOTOROLA format FALSE indicates INTEL format BUF_OFFS Input DINT The starting byte number of the buffer being converted 0 is the first byte of the buffer BUF_CNT Input DINT The number of bytes converted in the buffer BUFFER Input output ARRAY Buffer a byte array DST Input output Array or ANT The storage area the con...

Page 259: ... data type is not supported 5 The length of the byte to be converted does not correspond to the byte length of the storage area The former number of bytes must be divisible by the latter number of bytes 6 Conversion of INTEL MOTOROLA failed 7 The length of the string is not appropriate For the data type string it is necessary to do additional checks 8 Storage areAData type error 9 BUF_OFFS value i...

Page 260: ...the drop down list in the Edit Wizard The storage area must be a byte array data type is BYTE or ANY_BIT except BOOL or ANY_INT The usage of these instructions is similar to the above BUF type conversion to other types and will not be described here 10 6 3 CLR_ERROR_CATALOG except for the complete error directory IL programming language LD FBD programming language Function The CLR_ERROR_CATALOG in...

Page 261: ...ruction type Input and output type of data description IN Execute BOOL If TRUE set all outputs of the I O image to zero Note The CLR_OUT instruction is temporarily unavailable 10 6 5 COLD_RESTART PLC cold start IL programming language LD FBD programming language Function The COLD_RESTART instruction is used to cold start the PLC Initialize all datADuring a cold restart If the program has a stack o...

Page 262: ... for exception events such as divide by 0 stack overflow bus errors and boundary errors LD IN CONTINUE ST OUT ST programming language CONTINUE 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 CONTINUE instruction Input and output type of data description IN COND BOOL If TRUE the execution of the...

Page 263: ...se constants DERIVAT data processing instruction type Input and output type of data description ENABLE BOOL Execution function block when TRUE RUN BOOL FALSE the function block is pauseDAnd the output is set to 0 XIN REAL input value CYCLEX TIME When Q constant iNSeconds this instruction is actually the XIN n XIN n 1 CYCLE differential OUT REAL Output value differential result 10 6 8 EVENT_TASK tr...

Page 264: ...red The event number is not within the valid range of the value 10 6 9 FPID ProConOS function Features FPID The FPID commanDAutomatically calculates the control value according to the deviation between the set value and the detected value so that the detected value can track the set value and the set value is a value that is expected to be maintained by the controlled device and the detected value...

Page 265: ...n the set value control value decreases INTLCK BOOL TRUE when FPID output Yout is forced by a force values FPID input INTLCKV set FALSE output does not force output Yout via a proportional integral derivative Calcd value or manually Tscan REAL Time constant iNSeconds can generally be set to REAL 0 1 o The larger the Tscan value the stronger the control effect Yman REAL FPID output value in manual ...

Page 266: ...available 10 6 12 GET_SYM search for the symbolic name of the PDD variable Note The GET_SYM instruction is temporarily unavailable 10 6 13 HOT_RESTART PLC Hot Start Note The HOT_RESTART instruction is temporarily unavailable 10 6 14 IMEMCPY data replication IL programming language LD FBD programming language Function The IMEMCPY instruction is used to copy data from the source data area to the tar...

Page 267: ...l number of the target data area the sequence number of the first byte is 0 OUT IMEMCPY INT Error code 0 copied data no error occurred 14 buffers exceed the data segment 15 target area is an input group 10 6 15 INTEGRAL integration IL programming language LD FBD programming language Function IN T EG RAL instruction is used to calculate the integral time of data When using integral instruction it i...

Page 268: ...ng language LD FBD programming language Function The MEMCPY instruction is used to copy data from the source data area to the target data area LD ERR MEMCPY CNT SRC 0 DST 0 ST OUT ST programming language OUT MEMCPY ERR CNT SRC 0 DST 0 Note IL ST language programming need to insert variables ERR CNT SRC 0 etc or use constants in the current POU variable worksheet the MEMCPY data processing instruct...

Page 269: ... type Input and output type of data description ERR ERR INT Error code 0 to 1 correctly copied The 14 one buffer exceeds the data segment 15 the target area is an input array Note This is the output parameter placed on the left VAL VAL BYTE Source data CNT CNT DINT The number of copies to be distributed one source data can be distributed to N bytes in the target data area one byte per copy DST 0 D...

Page 270: ...ction overview RD_ _BY_SYM includes the following instructions for reading variables of different data types of PDD RD_BOOL_BY_SYM RD_BYTE _BY_SYM RD_WORD_BY_SYM RD_DWORD_BY_SYM RD_SINT_BY_SYM RD_INT_BY_SYM RD_DINT_BY_SYM RD_USINT_BY_SYM RD_UINT_BY_SYM RD_UDINT_BY_SYM RD_REAL_BY_SYM RD_STRING_BY_SYM RD_TIME_BY_SYM RD_INPUT_GROUP PDD is a method that can access the value of a variable by the name o...

Page 271: ...ine 10 6 21 RTC_S Read PLC Clock IL programming language LD FBD programming language Function The RTC_S instruction is used to read the PLC clock in a string variable and the read clock is in GMT format The format of the oral and time output string specified in IEC61131 3 is DT 1998 11 21 15 27 56 46 LD IN ST RTC_S_1 EN CAL RTC_S_1 LD RTC_S_1 Q ST Q LD RTC_S_1 CDT ST OUT ST programming language RT...

Page 272: ...VA Motion Controller Programming Manual 267 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: ...o use The motion control library contains a wealth of motion commands such as absolute point for single axis motion relative point function electronic cam for multi axis motion electronic gear and overlay function 11 1 2 Adding firmware library 1 Right click Library in the project tree window select Insert and select Firmware Library as shown 2 Find the location of the stored FB_FU_LIB file find t...

Page 274: ...VA Motion Controller Programming Manual 269 ...

Page 275: ...ve displacement instruction 11 4 3 MC_MoveRelative relative displacement instruction MC_MoveAdditive Additional displacement instruction 11 4 4 MC_MoveAdditive additional displacement instruction MC_MoveAbsolute Absolute displacement instructions 11 4 5 MC_MoveAbsolute absolute displacement instructions MC_MoveSuperimposed Additional Motion commands 11 4 6 MC_MoveSuperimposed additional displaceme...

Page 276: ...ng instruction 11 4 13 MC_ReadActualVelocity read real time speed MC_ReadMotionState Read axis motion command 11 4 14 MC_ReadMotionState read axis motion command MC_ReadStatus Read status command axis 11 4 15 MC_ReadStatus Read axis state MC_SetPosition Position setting command 11 4 16 MC_SetPosition position setting instruction MC_Phasing Spindle command offset 11 4 17 MC_Phasing shift spindle co...

Page 277: ...tructions 11 5 9 NS_MC_RotaryCutIn peeling instruction NS_MC_SpecialCamIn Special instructions cam 11 5 10 NS_MC_SpecialCamin special cam instruction NS_MC_SpecialCombineAxes Special double joint gear shaft instruction 11 5 11 NS_MC_SpecialCombineAx es special double joint spindle gear command MC_CamIn Electronic cam associated instruction 11 5 12 MC_CamIn electronic cam associated instruction MC_...

Page 278: ...e edit point information tappet instruction Special instructions NS_CC_ADC AD instruction 11 6 1 NS_CC_ADC AD instruction NS_CC_DAC DA nstruction 11 6 2 NS_CC_DAC DA instruction EX_ADC Extended instruction AD 11 6 3 EX_ADC AD extended instruction EX_DAC DA extended instruction 11 6 4 EX_DAC DA expansion module NS_CC_NOoutput Output instruction is prohibited QXX 11 6 5 NS_CC_NOoutput prohibition co...

Page 279: ...eCircula Circular interpolation command 11 7 3 NC_MoveCircula circular interpolation NC_CartesianCoordinate Cartesian coordinate system command 11 7 4 NC_CartesianCoordinate Cartesian robot command CANopen code instructions NS_CC_CANopen_NMT_Read Network status read command 3 1 1 NS_CC_CANopen_NMT_R ead network status read instruction NS_CC_CANopen_NMT_Write Network status write instruction 3 1 2 ...

Page 280: ...C_CANopen_TPDO PDO data mapping area assignment instruction 3 1 6 NS_CC_CANopen_TPDO PDO data mapping area assignment instruction NS_CC_CANopen_SDO_Read Service data reading instruction 3 1 7 NS_CC_CANopen_SDO_R ead service data reading instruction NS_CC_CANopen_SDO_Write Service Data assignment instruction 3 1 8 NS_CC_CANopen_SDO_W rite service data assignment instruction ...

Page 281: ...e servo axis with analog signals 1 initialization parameters After confirming that the servo driver wiring is correct first initialize the parameters of the servo drive restore the factory settings After the servo drive completes the factory setting set the control mode set the enable by external control the gear ratio of the encoder signal output set the proportional relationship between the cont...

Page 282: ... 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 Since the zero drift itself also has a certain randomness it is not necessary to require the motor speed to be absolutely zero ...

Page 283: ...2 movement control VEC VA MP 005 MA analog motion controller controlling the servo drive 10V 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 The VEC VA MP 005 MA motion controller uses the pulse amount control servo driver to operate in the position mode The servo driv...

Page 284: ...ntroller Programming Manual 279 11 3 3 MC_AXIS_REF axis parameter setting FB FU Explanation Applicable model FB This command is used to configure the parameters of the controlled servo axis AXISXXX VEC VA MP 005 MA ...

Page 285: ...control commands 0 analog control 1 Pulse Control 2 CANopen control INT 0 analog control 1 Pulse Control 2 CANOPEN control 0 Motor_Max_V maximum speed Servo drive allows maximum motor speed Unit r min DINT A positive number The motion controller outputs 10V analog it corresponds to the maximum forward and reverse speed of the servo drive that is the servo speed corresponding to each volt For examp...

Page 286: ...bly Disc_Circumference Disc perimeter Disk perimeter terminal Unit unit LREAL A positive number When Disc_Circumference not zero Screw_Lead invalid a disk drive default terminal Set the circumference of the terminal transmission disc When the deceleration ratio numerator reduction ratio denominator 1 2 it indicates that the arc length of the servo motor rotating two turns is its circumference Clos...

Page 287: ...e between the linear axis and the rotary axis is mainly that the rotary axis is cycled by the die If the position of the linear axis terminal actuator is 500 the position of the corresponding rotary axis is 140 when the mode is 360 and the calculation method is the remainder obtained by dividing 500 by the die Modulo mold Mode setting rotational shaft Unit unit LREAL A positive number The actual p...

Page 288: ...ero drift value is 0 the analog output is 0V When ControlMode 0 is selected this value needs to be the same as the value of DAC_Value in 11 3 5 Analog Zero Drift Adjustment DA_Gain Analog gain Analog gain setting DINT Positive negative 0 0 Set the analog gain which is normally set to zero The analog offset is adjusted to adjust the linearity of the output analog to ensure that the analog output of...

Page 289: ...e differential is not enabled Pid_MaxError PID maximum error DINT A positive number 0 0 When the number of error pulses exceeds this value the integral gain is useless and is generally set to zero Pid_Deadband PID dead zone DINT A positive number 0 0 PID error deadband follower means the number of error pulses is within this value no adjustment of the PID FeedForward_KP Feedforward gain DINT A pos...

Page 290: ...d 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...

Page 291: ...rwise the servo axis cannot correctly control the servo motor operation In the following single axis instruction and multi axis instruction program examples the AXIS_REF module needs to be called and the relevant information is correctly configured the following program demonstration will not be repeated Use up to one module per axis for the entire project 11 3 4 sports instruction constitutes Mot...

Page 292: ... user name is not duplicated without having to complete the actual physical address the software automatically assigned an address Be downloaded after clicking Create no error when finished 4 the online debugging mode when the Enable becomes FALSE TRUE by the already in ensuring the servo enabled state if the motor is running at the speed of zero drift DAC_Value adjustment value at this time to en...

Page 293: ...of the parameter Enable is not allowed to be TRUE during the execution of the program by the NS_CC_DAC module and the MC_Power module otherwise the function module is run The motor will run on a meal 2 The examples described below will all be the default example after the zero drift has been adjusted The following program demonstration will not repeat the description ...

Page 294: ... be used in the current state The state machine of the VEC VA MP 005 MA motion controller is shown in the figure below and the arrow indicates that the part is the state of the axis Note1 Enable with MC_Power command and MC_Power Status is True Note2 MC_Stop Done is True and MC_Stop Execute is False The state of the shaft can be determined based MC_ReadStatus read status command axis output pin re...

Page 295: ...uction execution and delivery instructions 1 mcBuffered wait Wait for the current instruction execution after the normal action and execute the handover command immediate action note The same axis only supports the first level BufferMode buffer For the motion instruction with BufferMode if the motion instruction 2 with BufferMode 1 is used to transfer the motion instruction 1 and the motion instru...

Page 296: ...ction 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 1 the transfer instruction to the current instruction in the same direction 2 the instruction transfer direction opposite to the current instruction ...

Page 297: ... Up to 3 module per axis for the entire project MC_MoveVelocity Up to 3 module per axis for the entire project MC_Stop Up to 3 module per axis for the entire project NS_MC_StopByPos Up to 3 module per axis for the entire project MC_SpecialMoveAbsolute Up to 3 module per axis for the entire project NS_MC_RotaryCutIn Up to 1 module per axis for the entire project NS_MC_SpecialCamIn Up to 1 module pe...

Page 298: ...roject 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 Any number MC_ReadStatus Any number NS_MC_ReadParameter Any number ...

Page 299: ...olled axes USINT Analog Pulse 0 4 real axis 5 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Enable is TRUE Enable execute bit When Enable is True the instruction is executed BOOL TRUE or FALSE FALSE Enable is TRUE EnablePositi ve forward rotation Retention BOOL Retention Retention EnableNega tive allowing inversion Retention BOOL Retention Retention Output parameters name Features...

Page 300: ...atus Valid while is FALSE This instruction is for causing the controlled release servo axis or enabled When the analog or pulsed mode it just the motion controller corresponding to the control servo axes enabled not servo drive enable itself can servo drive enable it needs to be set depending on the servo manufacturer down CANopen mode directly enabled servo itself Only one the MC_Power a shaft En...

Page 301: ... be controlled axes USINT Analog Pulse 0 4 real axis 5 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Execute from FALSE to TRUE Execute execution position When the Execute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE ContinuousUpdata Retention Velocity speed Set target speed Unit unit S LREAL Positive non default Execute from FALSE to TRUE Accleration Ac...

Page 302: ...on is being executed When Execute is changed from TRUE to FALSE there is no effect on the execution of this instruction 2 When the instruction is being executed and Execute is changed from FALSE to TRUE again the instruction can be re executed The pin parameters that can be re validated include Velocity Acceleration Deceleration Jerk Direction and BufferMode Output parameters name Features type of...

Page 303: ...e Busy remains to TRUE and the Active state Function Description The instruction to execute upon the Execute FALSE to TRUE If the instruction is no transfer of command regardless of whether the instruction is executed the Execute again when the FALSE to TRUE the command can be executed again this time to re pin the parameters in force include Velocity Acceleration Deceleration Jerk Direction Buffe...

Page 304: ... execution time of the individual 1 Variables and procedures variable name type of data The initial value MC_MoveVelocity1 MC_MoveVelocity AXIF0 USINT 1 Vel1_Ex BOOL FALSE Vel1_Dir INT 1 Vel1_BM INT 0 Vel1_Invel BOOL Vel1_Bsy BOOL Vel1_Act BOOL Vel_Abt BOOL MC_Stop1 MC_Stop Stop_Ex BOOL FALSE ...

Page 305: ...y 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 TRUE in this case if Vel1_Ex FALSE then after a period CommandAborted becomes FALSE while Busy and Active becomes FALSE ...

Page 306: ...A M P 005 MA Input parameters name Features type of data Range setting default value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE Execute When the Exexcute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE ...

Page 307: ...ction to execute upon the Execute FALSE to TRUE The instruction is being executed when the Execute TRUE to FALSE no effect on the implementation of the directive 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 a Distance Velocity Acceleration Deceleration Jerk BufferMode Output p...

Page 308: ...s TRUE and the Busy Active becomes FALSE and after a period the Done becomes FALSE Function Description This instruction is used to set speed control shaft deceleration and acceleration rate of change moving distance setting with reference to the starting point of the distance of the axis position when the instruction to start execution Distance starting point with the reference axis together dete...

Page 309: ...mple 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 1 Rel_Ex BOOL FALSE Rel_BM BOOL 0 Rel_Done BOOL Rel_Bsy BOOL Rel_Act BOOL Rel_Abort BOOL ...

Page 310: ...th the relative displacement of the parameter setting the current position of the axis at this time is 0 the target location is 100 000 When the shaft reaches the position 100 000 the instruction execution is completed the output Done to TRUE Program Example Two MC_MoveRelative interrupted MC_MoveRelative example is shown below 1 variables and procedures variable name type of data The initial valu...

Page 311: ...y1 MC_MoveRelative AXIF0 USINT 1 Rel_Ex BOOL FALSE Rel_BM BOOL 0 Rel_Done BOOL Rel_Bsy BOOL Rel_Act BOOL Rel_Abort BOOL MC_MoveRelativey2 MC_MoveRelative AXIF0 USINT 1 Rel2_Ex BOOL FALSE Rel2_BM BOOL 0 Rel2_Done BOOL Rel2_Bsy BOOL Rel2_Act BOOL Rel2_Abort BOOL ...

Page 312: ...rogramming Manual 307 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: ...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 Position when the shaft reaches 50 000 50 000 10 000 40 000 the second MC_MoveRelative execution is completed the output parameter Rel2_Done becomes TRUE ...

Page 314: ...name Features type of data Range setting default value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE Execute When the Exexcute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE Continuous Updata Retent...

Page 315: ...E Description 1 the instruction to execute upon the Execute FALSE to TRUE The instruction is being executed when the Execute TRUE to FALSE no effect on the implementation of the directive 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 a Distance Velocity Acceleration Deceleratio...

Page 316: ...becomes TRUE and the Busy Active becomes FALSE and after a period Done becomes FALSE Function Description This instruction means for controlling the terminal to perform the set rate of acceleration of the mobile some additional distance The current command is a command related to the displacement if not complete then the instruction is executed in the mobile terminal from the remaining actuator to...

Page 317: ...Variables and procedures variable name type of data The initial value MC_MoveAdditive1 MC_MoveAdditive AXIF0 USINT 1 Addt_Ex BOOL FALSE Addt_BM INT 0 Addt_Done BOOL Addt_Bsy BOOL Addt_Active BOOL Addt_Abort BOOL 2 Timing and motion profiles of FIG ...

Page 318: ...ter completion of the servo motor set distance Addt_Ex again by the FALSE to TRUE the motion controller controls the operation of the servo motor the servo motor after completion of the set distance again by the complete bit Addt_Done FALSE to TRUE Program Example Two MC_MoveAdditive interrupt instruction examples below MC_MoveRelative 1 Variables and procedures Variable name type of data The init...

Page 319: ...VA Motion Controller Programming Manual 314 Addt_Active BOOL Addt_Abort BOOL 2 Motion curve and timing diagram ...

Page 320: ...onal displacement instruction execution Addt_Ex a FALSE to TRUE after one cycle interrupt bit Rel1_Abt from FALSE becomes TRUE Meanwhile the servo motor movement to position the second additional command parameters When the servo motor reaches a set distance set this time from the sum of the distances to two instructions completed by a bit Addt_Done FALSE to TRUE When Addt_Ex a TRUE to FALSE a bit...

Page 321: ... to the target zero position VEC VA M P 005 MA Input parameters name Features type of data Range setting default value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE Execute When the Exexcute FALSE to TRUE the instruction ex...

Page 322: ...tion axis only when the parameter is effective 1 Forward 2 The shortest distance 3 Reverse 4 Current direction INT 1 Forward 2 The shortest distance 3 Reverse 4 Current direction Non default Exexcute from FALSE to TRUE and the axis as a rotation axis mode BufferMode Transfer mode Setting the transfer mode between the two instructions 0 immediately interrupted 1 Wait INT 0 immediately interrupted 1...

Page 323: ...rameter to TRUE indicates instructions are executed 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 CommandAborte d interruption The output parameter is TRUE representing instructions is interrupted BOOL TRUE or FALS...

Page 324: ...ontrol shaft and a deceleration jerk to move relative to the target zero position Axis position command execution starting absolute displacement 10 000 when Position 0 5000 the axis will reverse movement the target position 5000 shown below as left when Position 0 5000 the reaction shaft turn the target position 5000 as shown in the lower right in FIG note Once this instruction is terminated other...

Page 325: ...gle 45 Direction 4 continuation of the direction of the current Before the execution the state of the function block rotating shaft being inverted Location 315 Destination 90 Movement angle 225 Direction 4 continuation of the direction of the current Before the function block execution state of the shaft still being forward Location 315 Destination 90 Movement angle 135 ...

Page 326: ... 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 1 Abs_Ex BOOL FALSE Abs_Dir INT 1 Abs_BM INT 0 Abs_Done BOOL Abs_Bsy BOOL Abs_Act BOOL Abs_Done BOOL ...

Page 327: ...nd 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: ...variable name type of data The initial value MC_MoveAbsolue_2 MC_MoveAbsolute Abs_Ex0 BOOL FALSE ABS_Position LREAL 30000 0 Abs_Dir0 INT Abs_BM0 INT 0 Abs_Done0 BOOL FALSE Abs_Bsy0 BOOL FALSE Abs_Act0 BOOL FALSE Abs_Abt0 BOOL FALSE MC_MoveAbsolue_3 MC_MoveAbsolute Abs_Ex1 BOOL FALSE ABS_Position1 LREAL 60000 0 Abs_Dir1 INT Abs_BM1 INT 0 Abs_Done0 BOOL FALSE Abs_Bsy0 BOOL FALSE Abs_Act0 BOOL FALSE ...

Page 329: ...VA Motion Controller Programming Manual 324 ...

Page 330: ...arget location 3000 When the shaft position is reached 20000 Abs_Ex1 a FALSE to TRUE MC_MoveAbsolute second instruction begins execution and the execution of the first instruction MC_MoveAbsolute is interrupted the output parameter Abs1_Abt becomes TRUE Position when the shaft reaches 60 000 the second MC_MoveAbsolute instructions are executed the output parameter Abs2_Done becomes TRUE ...

Page 331: ...ing default value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE Execute Execute bit When the Exexcute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE Continuous Updata Retention Distance distance Goa...

Page 332: ...uted again this time can be revalidated pin parameters include Distance Velocity Acceleration Deceleration Jerk Output parameters name Features type of data Output range Done The output parameter to TRUE indicates instructions are executed 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 T...

Page 333: ...sly executed distance speed acceleration and deceleration in real time superimposed when an instruction reaches the set speed its acceleration 0 A current instruction execution is completed will not be superimposed on its speed acceleration and deceleration MC_MoveSuperImposed instruction still operate independently State when the shaft is Standstill MC_MoveSuperImposed instruction execution MC_Mo...

Page 334: ...struction 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 The initial value MC_MoveSuperimposed _1 MC_MoveSuperimposed AXIF0 USINT 1 Sup_Ex BOOL FALSE Sup_Done BOOL Sup_Bsy BOOL Sup_Act BOOL Sup_Abort BOOL 2 Motion curve and timing diagram ...

Page 335: ...ervo motor set distance Sup_Done becomes TRUE and at the same time Sup_Bsy Sup_Act becomes FALSE When Sup_Ex becomes FALSE Sup_Done becomes FALSE Program Example Two MC_MoveSuperimposed MC_MoveRelative and instructions with the example below 1 Variables and procedures variable name type of data The initial value MC_MoveRelative_1 MC_MoveRelative AXIF0 USINT 1 Rel1_Ex BOOL FALSE Rel1_BM INT 0 Rel1_...

Page 336: ...VA Motion Controller Programming Manual 331 MC_MoveSuperimposed _1 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: ...l in this case acceleration is 0 is superimposed When a position command is completed MC_MoveRelative Rel_Done becomes TRUE Rel_Bsy and Rel_Act becomes FALSE The final position of the shaft of the total two command and processing initial position set position When the additional distance MC_MoveSuperimposed instruction completion Sup_Done becomes TRUE Sup_Bsy and Sup_Act becomes FALSE The final po...

Page 338: ...Range setting default value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE Execute Execute bit When the Execute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE Accelera tion Acceler ation Goal setting accel...

Page 339: ...ructions may be re executed the parameters can be revalidated The pin comprises Deceleration Jerk Output parameters name Features type of data Output range Done The output parameter to TRUE indicates instructions are executed 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 ...

Page 340: ...instructions are executed Done becomes TRUE and the Busy Active becomes FALSE and after a period Done becomes FALSE Function Description MC_HaltSuperimposed instruction execution can only be interrupted for MC_MoveSuperimposed instructions When MC_MoveSuperimposed and other motion control instructions common axis and then execute MC_HaltSuperimposed instructions instruction MC_HaltSuperimposed MC_...

Page 341: ...ALSE 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 BOOL FALSE HaltSup_Abt BOOL FALSE ...

Page 342: ...VA Motion Controller Programming Manual 337 2 Motion curve and timing diagram ...

Page 343: ... the servo motor speed will in this case acceleration is 0 axis is superimposed When Hltsup_Ex becomes TRUE after a period Hltsup_Bsy and Hltsup_Act becomes TRUE MC_HaltSuperimposed instruction starts execution MC_MoveSuperimposed instruction was interrupted Sup_Bsy Sup_Act becomes FALSE while Sup_Abt becomes TRUE MC_HaltSuperimposed instruction interrupt MC_MoveSuperimposed instruction execution ...

Page 344: ...f the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE Execute Execute bit When the Execute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE Position position The controlled axis origin offset unit unit LREAL Negative positive ...

Page 345: ...UE BufferMode Transfer mode Retention Output parameters name Features type of data Output range Done The output parameter to TRUE indicates instructions are executed 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 Co...

Page 346: ...iption This instruction according to the selected homing mode and the home switch to forward or reverse limit switchMotion ControllerofDigitalThe entry point to achieve homing function It provided a two stage real axis speed mode and OPR OPR axis parameters in the software section Describe homing mode see Appendix A This instruction only when the shaft is in a state StandStill may perform when exe...

Page 347: ...VA Motion Controller Programming Manual 342 First_V LREAL 120 0 Second_V LREAL 60 0 Home_DI INT 1 Min_Limit INT 0 Max_Limit INT 2 Home_Mode INT 17 Home_BM INT 0 2 Timing and motion profiles of FIG ...

Page 348: ...UE 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: ...Range setting default value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Enable is TRUE Enable When Enable is TRUE this AD BOOL TRUE or FALSE VelFactor Speed overshoot value unit LREAL 0 to 500 0 Enable is TRUE AccFactor Retention LREAL Retention Jer...

Page 350: ...et speed as follows MC_MoveAbsolute Absolute displacement instructions MC_MoveAdditive Additional displacement instruction MC_MoveRelative Relative displacement instruction MC_SpecialMoveAbsolute Special absolute displacement instructions MC_MoveVelocity Speed command The new target speed as follows The target speed after the change in the target speed instruction execution current VelFactor VelFa...

Page 351: ...tOverride given instruction it returns the target speed 100 When Enable becomes FALSE in order to accelerate VelFactor 100 or reduced to a target When MC_MoveVelocity instruction execution using MC_SetOverride instruction when the instruction becomes TRUE MC_MoveVelocity InVelocity is even when changing the target speed the TRUE state InVelocity is maintained You can use a same axis of the module ...

Page 352: ...VA Motion Controller Programming Manual 347 2 Motion curve and timing diagram ...

Page 353: ...t TRUEWhile Enbaled SetOv_BsyBecomes TRUE MC_SetOverride effective date of the controlled axis according VelFactorThe value of re generate the target speed When SetOv_EnBecomes FALSEWhen VelFactor 100 corresponds to the deceleration target speed MC_SetOverride modified during execution of instructions VelFactorValues VelFactorValue takes effect immediately the target speed command MC_MoveVelocity ...

Page 354: ...ures type of data Range setting default value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Execute TRUE when the FALSE to Execute When the Execute FALSE to TRUE the instruction is executed BOOL TRUE or FALSE Deceleration decrease speed Unit unit S2 L...

Page 355: ...er 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 CommandAborte d 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 T...

Page 356: ...instruction MC_Stop lock shaft the controller can not perform another movement instruction instruction not included MC_Stop MC_Stop during execution of instructions After MC_Stop instruction has completed the shaft has stopped the controller can not execute other instruction motion only when the MC_Stop Excute by TRUE to FALSE in order to execute other instruction motion Program Example MC_Stop ex...

Page 357: ...VA Motion Controller Programming Manual 352 2 Motion curve and timing diagram ...

Page 358: ...aches the target speed Invelocity becomes TRUE When STOP_ex becomes TRUE after a period STOP_Busy STOP_Act becomes TRUE while Invelocity becomes FALSE Vel_Abt becomes TRUE the servo motor starts to decelerate When the shaft speed is reduced to zero STOP_Done becomes TRUE while STOP_Busy STOP_Act becomes FALSE When STOP_ex becomes FALSE after a period STOP_Done becomes FALSE ...

Page 359: ...e Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Execute TRUE when the FALSE to Execute Execute bit When the Execute FALSE to TRUE the instruction is executed BOOL TRUE or FALSE Deceleration decrease speed decrease speed Unit unit S2 LREAL Positive non default Execute TRUE when the FALS...

Page 360: ...ated The pin comprises Deceleration Jerk BufferMode Output parameters name Features type of data Output range Done The output parameter to TRUE indicates instructions are executed 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 TR...

Page 361: ...ecute a TRUE to FALSE when positioning is completed Done becomes TRUE and the Busy Active becomes FALSE and after a period Done becomes FALSE Function Description MC_Halt instruction starts execution the state machine enters DiscreteMotion when the shaft speed is reduced to 0 Done becomes TRUE while the state machine changes to Standstill MC_Stop instructions and comparison the MC_Halt instruction...

Page 362: ...ry into force Axis axis number Setting instruction to be controlled axes USINT Pulse mode 0 4 real axis 5 to 11 imaginary axis 0 Exexcute from FALSE to TRUE Execute Execute bit When the Exexcute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE Position position Set the target position Unit unit LREAL Positive negative zero 0 Exexcute from FALSE to TRUE Velocity speed Set tar...

Page 363: ...ut parameters on the module a programming corresponding to a given position and a given speed table runtime the current feedback pulse determined at a given speed Thus the present non reciprocal adjustment module configured to control relatively large inertia would be more stable Output parameters name Features type of data Output range Done The output parameter to TRUE indicates instructions are ...

Page 364: ... 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 Execute when a TRUE to FALSE after a period CommandAborted becomes FALSE Case 3 After during instruction execution Execute a TRUE to FALSE when the instructions are executed Done become...

Page 365: ...The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Enable made to TRUE Enable Execute bit When Enable is TRUE the instruction execution BOOL TRUE or FALSE Output parameters name Features type of data Output range Valid output valid The parameter output out...

Page 366: ...ck pulses position servo drive after conversion use the axis parameter in the conversion of Motor_PPC Reductor_Num Reductor_Den means lead perimeter Screw_Lead Disc_Circumference Conversion relation shown in the following formula ActualPosition _ _ Position output performed when a linear axis the command axis ActualPosition If the axis of the rotary shaft the output of the instruction execution Po...

Page 367: ...e following formula in terms of the relationship ActualPosition MC SetPosition Program Example Effects of the present embodiment described MC_SetPosition MC_ReadActualPosition instruction command the example procedure is as follows 1 variables and procedures variable name type of data The initial value MC_MoveRelative_4 MC_MoveRelative AXIF0 USINT 0 Rel_Ex0 BOOL MC_SetPosition_2 MC_SetPosition Set...

Page 368: ...ller Programming Manual 363 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: ...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 not affect the movement is performed but it reflects MC_RealActualPosition ActualPosition curve value read ActualPosition affected MC_SetPosition instructions ...

Page 370: ...o force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Enable made to TRUE Enable Execute bit When Enable is TRUE the instruction execution BOOL TRUE or FALSE Output parameters name Features type of data Output range Valid output valid The parameter output outputs a valid instruction is...

Page 371: ... Function Description Speed of the moving speed of the read command Velocity actuator terminal in units of cells S converted to revolutions per minute of the motor r min Velocity Screw_Lead 或 Disc_Circumference _ _ 60 Program Example Performing MC_MoveRelative MC_ReadActualVelocity controlled axis realtime speed is read 1 Variables and procedures variable name type of data The initial value MC_Mov...

Page 372: ...VA Motion Controller Programming Manual 367 2 Timing and motion profiles of FIG ...

Page 373: ... name Features type of data Range setting default value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Enable is TRUE Enable Execute bit When Enable is TRUE the instruction execution BOOL TRUE or FALSE Source Reserved Retention INT Output parameters na...

Page 374: ... parameter is TRUE axis represents doing uniform motion BOOL TRUE or FALSE Accelerating Acceleration state This parameter indicates the output shaft speed increases the absolute value is TRUE BOOL TRUE or FALSE Declerating Decelerating state This parameter indicates the output shaft speed to reduce the absolute value is TRUE BOOL TRUE or FALSE DirectionPositive Forward axis This parameter indicate...

Page 375: ...Accelerating output is TRUE ConstantVelocity output becomes FALSE when the current position of the controlled axis is increased DirectionPositive output to TRUE Case 3 When the Enable TRUE to FALSE Vaild Busy and simultaneously become FALSE ConstantVelocity Accelerating Decelerating DirectionPositive DirectionNegative output pin state remains unchanged when the Enable TRUE Function Description Thi...

Page 376: ...ut parameters name Features type of data Range setting default value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Enable is TRUE Enable Execute bit When Enable is TRUE the instruction execution BOOL TRUE or FALSE Output parameters name Features type ...

Page 377: ... 3 6 state machine BOOL TRUE or FALSE Disabled Not performed BOOL TRUE or FALSE Stopping Normal stop BOOL TRUE or FALSE Homing OPR BOOL TRUE or FALSE Standstill Ready to execute BOOL TRUE or FALSE DiscreteMotion Discrete motion BOOL TRUE or FALSE ContinousMotion Continuous motion BOOL TRUE or FALSE SyncMotion Synchronous motion BOOL TRUE or FALSE Description 1 The instruction is executed when the ...

Page 378: ...te of TRUE Function Description This instruction is used to read the state information of the controlled axis of the shaft a detailed description about an axis refer to the status of the state machine described Program Example MC_ReadStatus instruction execution example as follows 1 Variables and procedures variable name type of data The initial value MC_Power_1 MC_Power AXIF0 USINT 0 Power_en BOO...

Page 379: ...74 MC_ReadStatus_2 MC_ReadStatus AXIFxx USINT 0 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: ...E 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 Standstill instruction from TRUE to FALSE ContinuousMotion while MC_ReadStatus instruction from FALSE to TRUE i e the state machine changes from the Standstill ContinuousMotion ...

Page 381: ...xecute 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: ... into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Execute from FALSE to TRUE Execute Execute bit When the Execute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE Position position Set the target position Unit unit LREAL Positive negative zero 0 Execute f...

Page 383: ... output instruction is TRUE BOOL TRUE or FALSE ErrorID error code Error Error code when execution instruction WORD Function Description This instruction is used to set the position value of the axis to a predetermined value and does not cause the shaft to produce the actual motion The implementation of this directive will not have a real impact on the movement in progress but this instruction is e...

Page 384: ...en the command position and the actual position in the instruction execution time and the start time of the instruction execution is completed unchanged Mode selecting process when the reference position is the actual position and the reference position when the mode selection process for the same reason commanded position If the instruction execution MC_SetPosition the axes are stationary the ref...

Page 385: ...the actual implementation of the results MC_SetPosition MC_MoveAbsolute instruction being executed 2 Variables and procedures variable name type of data The initial value MC_MoveAbsolute_2 MC_MoveAbsolute AXIF_abs USINT 0 Abs_Ex0 BOOL FALSE Abs_Position LREAL 70 000 Abs_BM0 INT Abs_Done0 BOOL Abs_Bsy0 BOOL Abs_Act0 BOOL Abs_Abt0 BOOL MC_SetPosition_2 MC_SetPosition AXIFxx USINT 0 SetPos_ex BOOL FA...

Page 386: ...VA Motion Controller Programming Manual 381 2 the motion profile and timing ...

Page 387: ... 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 Of speed variations can be seen in the figure above MC_SetPosition instruction does not affect the practical implementation of the results of executing MC_MoveAbsolute ...

Page 388: ...e setting default value The timing of the entry into force Master spindle Setting instruction to be controlled spindle USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE Slave Slave axis Setting instruction from the shaft to be controlled USINT 0 4 the real axis 5 to 11 virtual axis 0 Exexcute from FALSE to TRUE Execute ...

Page 389: ...eration deceleration LREAL A positive number Non default Exexcute from FALSE to TRUE BufferMode Transfer mode Retention Output parameters name Features type of data Output range Done The output parameter to TRUE indicates instructions are executed BOOL TRUE or FALSE Busy execution This parameter indicates to TRUE output instruction is executed BOOL TRUE or FALSE The Active control When this parame...

Page 390: ...xecute a TRUE to FALSE when the instructions are executed Done becomes TRUE and the Busy Active becomes FALSE and after a period Done becomes FALSE Function Description This command is used to overlay a virtual displacement of the spindle motion by some set distance velocity acceleration deceleration of the rate of change of deceleration it does not affect the actual movement of the spindle the sp...

Page 391: ...3 4 mode as the count number of the shaft USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Execute from FALSE to TRUE Active_Axis Hardware axis number Set position to capture the source hardware axis number USINT 0 4 the real axis Execute from FALSE to TRUE Execute Execute bit When the Execute FASLE becomes TRUE the instruction is executed BOOL T...

Page 392: ...5 0 Execute from FALSE to TRUE InputEdge Signal edge Setting signal trigger edge 0 Falling 1 Rising BOOL TRUE or FALSE Execute from FALSE to TRUE Windowly Retention FirstPosition Retention LastPosition Retention Mode mode Position capture mode selection see below Mode Description INT 0 6 0 Execute from FALSE to TRUE Mask Retention Output parameters name Features type of data Output range Done The ...

Page 393: ...uction executed in this mode 1 TriggerInput only effective in the first trigger 2 NS_CC_Counter needs a high count number of instructions used in conjunction Active_Axis ineffective requires input parameter Axis AXIF_no same input parameters NS_CC_Counter instruction Mode 1 The continuous mode is a high speed counter is latched position capture instruction executed in this mode 1 Each trigger Trig...

Page 394: ...ses This high speed position capture command belonging to the instruction the count of the underlying hardware the scan cycle is not affected In mode 0 the instruction requires complex NS_CC_Counter High Speed Counter used the position is captured servo encoder feedback value A B pulse alone does not make sense When you have finished using continuous latch mode the need to replace re trigger input...

Page 395: ... of the entry into force Axis Axis No The value is set to the same value MC_TouchProbe Axis command Directed shaft for counting numbers need to be interrupted USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Execute from FALSE to TRUE Execute Execute bit When the Execute from FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE Trigg...

Page 396: ...struction is executed 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 ...

Page 397: ... setting default value The timing of the entry into force The Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 JogForward or JogBackward to TRUE JogFoward JOG When JogFoward changed from FALSE TRUE the instruction is executed BOOL TRUE or FALSE JogBackward Jog Reverse When JogBackward cha...

Page 398: ...orward or JogBackward to TRUE Mode Mode Jog mode selection 0 Jog jog speed the process of change need to re trigger Excute take effect 1 Jog jog speed the process of change takes effect immediately INT 0 or 1 JogForward or JogBackward to TRUE Output parameters name Features type of data Output range Done The output parameter to TRUE indicates instructions are executed BOOL TRUE or FALSE Busy execu...

Page 399: ... FALSE Function Description This instruction is used to specify a given axis overlay jog speed JogForward is TRUE controlled axis overlay a forward jog speed JogBackward is TRUE controlled axis overlay a reverse jogging speed When superposed jog speed reduced speed 0 Done after a period TRUE to FALSE This instruction does not affect the current state machine Program Example When the instruction fo...

Page 400: ...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: ...en 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: ...MA Input parameters name Features type of data Range setting default value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE Execute execution position When the Execute FALSE to TRUE the instruction execution starts BOOL TRUE o...

Page 403: ...g the transfer mode between the two instructions 0 immediately interrupted 1 Wait INT A positive number Non default Exexcute from FALSE to TRUE Output parameters name Features type of data Output range Done The output parameter to TRUE indicates instructions are executed BOOL TRUE or FALSE Busy execution This parameter indicates to TRUE output instruction is executed BOOL TRUE or FALSE The Active ...

Page 404: ...tion This instruction is used to specify the axes of the addition the set deceleration jerk is stopped at a specified position on the mold Position mode is specified in a position which value is less than the value of the parameter setting Modulo MC_AXIS_REF axis of the Execute instruction from FALSE to TRUE the controlled axis according to the set acceleration deceleration the acceleration rate o...

Page 405: ...value The timing of the entry into force Axis axis number Setting instruction to be controlled axes USIN T Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Enable is TRUE Enable Execute bit When Enable is TRUE the instruction execution BOOL TRUE or FALSE ParameterNumber Monitoring function number Monitor the corresponding function of the control shaft ...

Page 406: ... entry into force 3 Uniaxial Multiaxial instruction Feedback encoder position unit pulse Run command execution 4 Uniaxial Multiaxial instruction A given position unit pulse Run command execution 5 Uniaxial Multiaxial instruction The encoder position feedback setposition Run command execution 6 Uniaxial Multiaxial instruction After a given position setposition Run command execution 7 Uniaxial Multi...

Page 407: ...n of the mold Run command execution 20 Uniaxial Multiaxial instruction Sampling time to the number of pulses collected Sample_Time Run command execution 24 Multiaxial instruction Absolute encoder reads the absolute position of the lap Run command execution 40 Multiaxial instruction After filtering the speed of the spindle Run command execution 41 Multiaxial instruction The position of the spindle ...

Page 408: ...sition the unit is a subscriber unit Run command execution 180 Expanding IO Types Number of times the expansion type is scanned if an expansion is read this parameter will be stacked after each scan Run command execution 181 Expanding IO Types Type of the first expansion Run command execution 182 Expanding IO Types Type of the second expansion Run command execution 183 Expanding IO Types Type of t...

Page 409: ...VA Motion Controller Programming Manual 404 each scan 181 Expanding IO Types Type of the first expansion Run command execution ...

Page 410: ...by the hardware to the axis of the opening decision 11 5 1 MC_GearIn electronic gear coupling instructions FB FC Explanation Applicable model FB This relationship established instructions for electronic gear shaft between two VEC VA MP 005 MA Input parameters Name Features Type of data Predetermin ed area Default value The timing of the entry into force Master Spindle Setting instruction to be con...

Page 411: ...e negative Non default Exexcut e from FALSE to TRUE RatioDenominat or Electronic gear denominator The denominator of electronic gear LREAL A positive number Non default Exexcut e from FALSE to TRUE MasterValueSource Select location source Source selection command from the shaft 0 Follow the spindle axis from a position command 1 the actual position of the shaft from the spindle to follow INT 0 or ...

Page 412: ...nstruction from the shaft as the other motion instructions can be interrupted MC_MoveVelocity this instruction the spindle and gear will be released from the relationship between the axes MC_Halt may be performed or stopped from MC_Stop axis 3 the instruction is followed by the pulse change spindle Output parameters name Features type of data Output range InGear synchronized state This parameter i...

Page 413: ...jerk the transfer mode of operation and the spindle gear Spindle axis may be real imaginary axis or shaft encoder the shaft may be a real axis or an imaginary axis When this instruction is executed the shaft need enabled state the spindle enable or are the lower energy state When two electronic gear shaft is not established relationship i e InGear FALSE when the instruction execute the instruction...

Page 414: ...type of data The initial value MC_MoveVelocity_7 MC_MoveVelocity AXIF_vel USINT 1 Vel_ex BOOL FALSE Vel_v LREAL 2000 0 Vel_acc LREAL 5000 0 Vel_dec LREAL 5000 0 Vel_jerk LREAL 5000 0 Vel_Dir INT 1 Vel_BM INT 0 Invelocity BOOL Vel_Bsy BOOL Vel_Act BOOL Vel_Abt BOOL MC_GearIn_1 MC_GearIn AXIF_M USINT 1 AXIF_S USINT 0 GearIn_Ex BOOL FALSE Gear_RatioNumerator LREAL 1000 0 Gear_RatioDenominator LREAL 1...

Page 415: ...VA Motion Controller Programming Manual 410 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: ...Vel_Ex changes from FALSE to TRUE and after a period Vel_Bsy Vel_Act becomes TRUE the instruction execution speed of the spindle the spindle operation shaft follows MC_GearIn2 electronic gear ratio of the numerator and denominator are 2 and 1 GearIn_Ex1 a FALSE to TRUE and after a period GearIn_Bsy1 GearIn_Act1 and GearIn_Abt1 becomes TRUE the electronic gear set Slave axis than in accordance with...

Page 417: ...Programming Manual 412 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: ...RUE the instruction execution starts BOOL TRUE or FALSE Description After establishing the relationship between electronic gear MC_GearIn 1 two axes from electronic gear from the shaft by the relationship If MC_GearOut command the speed will remain disengaged from the shaft to continue to run 2 The instructions are executed the instruction can be executed from the other motion axes 3 After the two...

Page 419: ...one becomes TRUE After Execute a TRUE to FALSE Busy and Done remains to TRUE Case 2 When the Execute is TRUE if the instruction is interrupted by another instruction CommandAborted becomes TRUE the Busy and Done becomes FALSE Execute when a TRUE to FALSE after a period CommandAborted becomes FALSE Program Example MC_GearOut program of instructions in the example below 1 variables and procedures va...

Page 420: ...Ex BOOL FALSE Gear_RatioNumerator LREAL 1000 0 Gear_RatioDenominator LREAL 1000 0 MasterValueSource INT 0 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 MC_GearOut GearOut_Ex BOOL FALSE GearOut_Done BOOL GearOut_Bsy BOOL GearOut_Abt BOOL ...

Page 421: ...shaft from the relationship Vel_Ex changes from FALSE to TRUE and after a period Vel_Bsy Vel_Act becomes TRUE the instruction execution speed of the spindle the spindle operation shaft follows When the spindle speed command is executed GearOut_Ex a FALSE to TRUE after a period GearOut_Bsy GearOut_Done and GearIn_Abt becomes TRUE the current from the shaft speed continues to operate Velocity spindl...

Page 422: ...ding or subtracting a value from the output shaft position VEC VA MP 005 MA Input parameters name Features type of data Predetermined area Default value The timing of the entry into force Master1 Spindle 1 When controlling the first shaft Location sources USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE ...

Page 423: ...UE or FALSE ContinuousUpdate Retention CombineMode Synthesis Mode Select the synthesis mode 0 adding the change in the position of each of the two spindles 1 change in the position of each of the two spindles subtraction INT 0 or 1 Exexcute from FALSE to TRUE GearRatioNumerator M1 Spindle 1 Gear Ratio Setting spindle 1 Gear Ratio LREAL Positive or negative Non default Exexcute from FALSE to TRUE G...

Page 424: ...ration Setting a rate of change of acceleration Slave axis Unit unit S3 LREAL A positive number Non default Exexcute from FALSE to TRUE BufferMode Transfer mode Setting the transfer mode between the two instructions 0 interrupted 1 Wait INT 0 or 1 Exexcute from FALSE to TRUE Description 1 This instruction starts execution when the Execute FALSE to TRUE Whether the command has been executed is comp...

Page 425: ...ion instruction WORD FIG timing variation output parameter Case 1 When the Execute FALSE to TRUE after a period Busy Active becomes TRUE When you have two spindles and synchronous slave axis InSync becomes TRUE while Busy Active and remains to TRUE Case 2 When the Execute is TRUE the Busy is TRUE Active is TRUE and when the two spindle synchronization has been Slave axis InSync is TRUE this time i...

Page 426: ...from a position change amount When the value is 0 CombineMode SlavePositionChange 1 MasterPositionChange GearRatioNumerator M1 GearRatioDenominator M1 2 MasterPositionChange GearRatioNumerator M2 GearRatioDenominator M2 When the value is 1 CombineMode SlavePositionChange 1 MasterPositionChange GearRatioNumerator M1 GearRatioDenominator M1 2 MasterPositionChange GearRatioNumerator M2 GearRatioDenom...

Page 427: ...ns are executed To this end of the main shaft from the instruction relationship use a motion command from the control shaft e g MC_Stop BufferMode 0 input pin fill to interrupt this instruction is released from the relationship between the master axis Program Example Example MC_CombineAxes instructions of the program are as follows 1 variables and procedures variable name type of data The initial ...

Page 428: ...2 LREAL 1000 0 GearRatioDenominatorM2 LREAL 1000 0 MasterValueSourceM1 INT 0 MasterValueSourceM2 INT 0 Combine_acc LREAL 5000 0 Combine_dec LREAL 5000 0 Combine_jerk LREAL 5000 0 Combine_BM INT 0 Combine_Sync BOOL Combine_Bsy BOOL Combine_Act BOOL Combine_Abt BOOL ...

Page 429: ...ming 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: ...mount of a position and two spindles the position change amount per unit time Slave axis is two spindle position and the amount of change When the instructions are executed spindle three axes remain synchronized To interrupt the synchronization state of the three axes are available Slave axis to lift the synchronization state using the corresponding interrupt instruction converter according to the...

Page 431: ... cut the material in the material transport direction cutting length is generally fixed 1 Peeling In this mechanism mounted on a roller or the number of the shearing blades driven by movement of the shearing blades rotating roll the roll motion of the severing one week once or several times 2 Flying Shear And peeling in the same definitions section but in some special shear for example shear plate...

Page 432: ... 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 material it is exactly desired length thu...

Page 433: ... means Cut_Length cutting length R1 Material feed roller radius unit unit means FeedAxisRadius feed shaft radius R2 Peeling axis radius Cutter_Cir cutter perimeter 2 R2 3 1415 P1 Sync area Sync_Angle synchronous zone P2 N Bit number peeling axis RotaryAxisKnifeNum Special Note Please refer to the name of instruction11 5 9 NS_MC_RotaryCutIn peeling instruction ...

Page 434: ... equal to the circumference of the cutter 2 In the synchronization area the peeling axis feed shaft according to a certain operation speed ratio speed generally equal and the cut material occurs in the synchronization area 3 The peeling function is activated the feed peeling axis to follow the phase of the operation shaft the shaft can therefore feed a constant speed acceleration deceleration irre...

Page 435: ...erial occurs in the synchronization area Adjustment zone Due to the different cutting lengths corresponding displacement adjustment needs to be done The cutting length adjustment region can be divided into the following three cases 1 Short material cutting When the cut length is less than the circumference of the roller peeling peeling cycle follows a curve of any When feeding short cut peeling ax...

Page 436: ... sync area with the non synchronous zone peeling axis and the feed axis speed synchronization has been maintained no adjustment peeling axis 3 Long cutting material When the peeling length is greater than the circumference of the roller cutter a peeling profile according to any of the following cycle In this case peeling axis adjustment should first deceleration zone and then accelerated to ...

Page 437: ...ynchronous 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: ...In peeling instruction FB FC Explanation Applicable model FB This instruction is used to establish a relationship between two axes peeling VEC VA MP 005 MA Input parameters name Features type of data Predetermine d area Default value The timing of the entry into force ...

Page 439: ...the peripheral end of the cam point the main shaft is released from the peeling relation from the shaft stops at the point of tangency BOOL TRUE or FALSE CutLength Cut length Setting the cut length refer to the feed axis length Unit unit LREA L A positive number Exexcute from FALSE to TRUE FeedAxisRadius Feed shaft radius Setting the feed axis spindle radius Unit unit LREA L A positive number Exex...

Page 440: ...iled in the mode described INT 0 4 Exexcute from FALSE to TRUE MasterValueSource Spindle synchronization source Source selection command from the shaft when the selection time StartMode 2 3 4 MasterValueSource must be 1 0 Follow the spindle axis from a position command 1 the actual position of the shaft from the spindle to follow INT 0 1 Exexcute from FALSE to TRUE BufferMode Transfer mode Setting...

Page 441: ...ling 1 Rising BOOL TRUE or FALSE Exexcute from FALSE to TRUE Description For Disc_Circumference peeling axis and the feed axis set FeedAxisRadius feed shaft radius RotaryAxisRadius peeling axis radius before should their respective axis parameter module MC_AXIS_REF set their respective radii match circle circumference of the disc parameters for use in MC_ReadActualPosition MC_ReadActualVelocity mo...

Page 442: ... of the spindle 1 After the instruction is executed the current point to point half of the circumference of the knife i e the tangent point opposite points follow the master boot zero speed 2 After the instruction is executed the trigger signal color to the current tool point of half the circumferential point i e the point opposite the point of tangency follow the master boot zero speed The real a...

Page 443: ...nt from the shaft 3 in mode 3 4 the signal contact point indispensable otherwise it is impossible to realize the function of electronic cam wheel cut from the shaft both tangent point from the start position is the end position of the axis cleared zero no cut point Slave axis has been running at synchronous speed can not be executed next cam cycle 4 under CANopen mode only mode 0 1 Program Example...

Page 444: ...VA Motion Controller Programming Manual 439 ...

Page 445: ...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 Enable_CutOut becomes TRUE Cut the trigger point signal from the shaft to lift peeling relationship and stop at the tangent point of the ...

Page 446: ...nput parameters name Features type of data Predetermined area Default value The timing of the entry into force Master Spindle Setting instruction to be controlled spindle USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE Slave Slave axis Setting instruction from the shaft to be controlled USINT 0 4 the real axis 5 to 11...

Page 447: ...by a stationary LREAL A positive number Exexcute from FALSE to TRUE DistanceSync Synchronous distance Synchronous operation to the distance Slave axis of the sync area LREAL A positive number 0 Exexcute from FALSE to TRUE DistanceDec Deceleration distance Slave axis reaches the deceleration distance from the stationary sync area LREAL A positive number Exexcute from FALSE to TRUE ActivationPositio...

Page 448: ...e from FALSE to TRUE Mode Instruction execution mode Setting the startup mode of the instruction as detailed in the mode described INT 0 2 Exexcute from FALSE to TRUE Mark_DI_Valid Color code signal valid bit Status is TRUE valid color code signal FALSE invalid color code signal BOOL TRUE or FALSE Exexcute from FALSE to TRUE Mark_DI_Num Color code signal Punctuation terminal specified color number...

Page 449: ...ted 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 Mode Description Mode Explanation 0 When the instruction is executed when the spindle reaches ActivationPosition starts engagement the axis of Periodic_Master_Units motion cycles the need to...

Page 450: ...ndle AXIS4 The electronic cam instruction parameters DistanceOffset_Master AvtivationPosition DistanceAdd DistanceSync DistanceDec electronic cam curve generated automatically cam position relationship between the main shaft as shown 1 The upper panel shows the electronic cam and the spindle speed timing positional relationship 2 1 He expressed ActivationPosition 2 ShowDistanceOffset_Master 4 An e...

Page 451: ...USINT 0 SpecialCam_Ex2 BOOL FALSE Enable_Camout BOOL FALSE Distanceoffset LREAL 0 0 DistanceAdd1 LREAL 1600 0 DistanceSync1 LREAL 3000 0 DistanceDec1 LREAL 1600 0 ActivationPos LREAL 1500 0 Periodic_Master_Units1 LREAL 9000 0 MasterValueSource1 INT 1 Mode1 INT 1 Mark_DI_Valid2 BOOL TRUE Mark_DI_Num2 INT 11 Mark_DI_Edge2 BOOL TRUE Insy_SpeCam BOOL endOfProfile_specam BOOL CamOut_done_SpeCam BOOL Sp...

Page 452: ...omes 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: ...e 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 relationship between the main cam shaft ...

Page 454: ...spindle gear command FB FC Explanation Applicable model FB This instruction is used to establish a special relationship between the gear joint between two two spindle axes VEC VA MP 005 MA Input parameters name Features type of data Predetermined area Default value The timing of the entry into force ...

Page 455: ...E or FASLE Execute_Precaculate Precomputed execute bit When Execute_Precaculate is TRUE the calculated value Pos_Min and Pos_Max BOOL TRUE or FASLE Precaculate_Pulse_ Cycle Pre calculated number of spindles cycle pulse This parameter is used to calculate and Pos_Max Pos_Min Precalculate_Pulse_C ycle Periodic_Master_Units Cam_Pulse_Per_Unit_M Unit Pulse LREAL A positive number When Execute_Precac u...

Page 456: ...nce NS_MC_SpecialCamI n acceleration distance sync area reached by a stationary LREAL A positive number Non default Exexcute from FALSE to TRUE Cam_DistanceSync Synchronous distance NS_MC_SpecialCamI n distance synchronous operation of the sync field LREAL Positive zero 0 Exexcute from FALSE to TRUE Cam_DistanceDec Deceleration distance NS_MC_SpecialCamI n deceleration distance from the sync area ...

Page 457: ...on execution mode Mode 0 superimposed on the tracking position changes of the spindle 1 and the spindle 2 from the shaft Mode 1 consult our technical staff INT 0 1 Exexcute from FALSE to TRUE Mark_DI_Valid Valid bit color Status is TRUE valid color code signal FALSE invalid color code signal BOOL TRUE or FALSE Exexcute from FALSE to TRUE Mark_DI_Num Color code signal Punctuation terminal specified...

Page 458: ...uction 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 o...

Page 459: ..._Dir INT 1 Vel_BM INT 0 Master USINT 1 Slave USINT 0 Execute BOOL FASLE Execute_Precalculate BOOL FALSE Precalculate LREAL 9000 0 RatioNumeratorM1 LREAL 1000 0 RatioDenominatorM1 LREAL 1000 0 RatioNumeratorM2 LREAL 1000 0 RatioDenominatorM2 LREAL 1000 0 Gear_RatioNumerator LREAL 1000 0 Gear_RatioDenominator LREAL 1000 0 Cam_DistanceOffset_Master LREAL 0 0 Cam_DistanceAdd LREAL 160 0 Cam_DistanceSy...

Page 460: ...VA Motion Controller Programming Manual 455 ...

Page 461: ...VA Motion Controller Programming Manual 456 2 a timing graph and ...

Page 462: ...VA Motion Controller Programming Manual 457 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: ...his relationship established instructions for electronic cam shaft between two VEC VA MP 005 MA Input parameters Name Features type of data Predetermine d area Default value The timing of the entry into force Master Spindle Set electronic cam shaft USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen Exexcute from FALSE to TRUE ...

Page 464: ...cute from FALSE to TRUE Periodic Cycle Sport Setting electronic cam operating cycle of a cycle or run only BOOL TRUE or FALSE Exexcute from FALSE to TRUE MasterAbsolute Spindle absolute Setting spindle position mode When TRUE the absolute position of the spindle mode to FALSE the relative position of the spindle mode BOOL TRUE or FALSE Exexcute from FALSE to TRUE SlaveAbsolute Absolute slave axis ...

Page 465: ...ess begins when the main shaft position i e the position when the spindle passes from the shaft engagement operation started Unit unit LREAL Positive negative 0 0 Exexcute from FALSE to TRUE ActivationMode Mode boot mode Engagement start position setting mode INT 0 the relative position of the axis 1 Absolute shaft position 2 Absolute phase axis 3 Absolute cam phase 0 Exexcute from FALSE to TRUE S...

Page 466: ...e from FALSE to TRUE BufferMode Transfer mode Setting the transfer mode between the two instructions INT 0 immediately interrupted 1 Wait 0 Exexcute from FALSE to TRUE Description 1 The instruction to execute upon the Execute FALSE to TRUE The instruction is being executed ExecuteBy the TRUeWhen going to FALSE no effect on the implementation of the Directive 2 when the instruction is being execute...

Page 467: ...tructions for controlling a synchronous movement of the cam from the cam shaft in accordance with a preplanned relationship with the spindle MC_CamOut instructions for the release cam relationship Brief instruction MC_CamIn Instruction execution flow MC_CamIn MC_CamIn instruction execution flow as shown below stage 1 Trigger MC_CamIn instruction execution stage 2 Wait engagement start stage 3 Enga...

Page 468: ...eration Parameters MasterAbsolute SlaveAbsolute MasterOffset SlaveOffset MasterScaling SlaveScaling onset of action in the moment for the correspondence relationship between the master axis position of the shaft from the cam phase of its determination stage 4 During engagement StartMode engagement operation performed by the parameter Slave axis in the manner specified In addition to the StartMode ...

Page 469: ... is executed this time to the absolute position of the spindle 100 stage 2 Wait engagement start stage 3 Engaging the spindle reaches the start position 1100 engagement operation started from the shaft stage 4 During engagement stage 5 Complete engagement the main shaft from the synchronization stage 6 Synchronized movement from the main shaft ActivationPosition the absolute axis position When the...

Page 470: ... engagement operation The shaft having absolute phase characteristics cycles during operation of the spindle which is equal to the absolute axis phase ActivationPosition case may appear several times but only after MC_CamIn instruction starts execution the absolute phase of the spindle axis is equal to the first ActivationPosition beginning from the shaft perform engagement operation For example m...

Page 471: ...ts cam cycle do result of modulo operation When the phase of the cam shaft ActivationPosition started from the shaft engagement operation Cycles having cam phase characteristic the main shaft during operation it may appear more than equal to the phase of the cam When ActivationPosition case but only after MC_CamIn instruction execution starts the spindle is equal to the first cam phase ActivationP...

Page 472: ... there is a conversion between them MasterAbsolute parameter conversion relationship between the shaft position and the cam phase SlaveAbsolute MasterOffset SlaveOffset MasterScaling SlaveScaling please refer to the relevant details Cam follower shaft from the spindle do MC_CamIn synchronized movement under the action of the instruction Synchronous movement of the cam Slave axis position of the ma...

Page 473: ...aft between the shaft and its opposing relationship to the cam phase i e the phase of the engagement start timing of the cam shaft at the moment planning phase satisfy the relationship of the cam from the cam shaft When the axis is in relative mode the method determines Slave axis of the spindle cam phase different from the phase axis is determined when the cam must satisfy the condition the engag...

Page 474: ... 140 500 140 360 and so the relationship between the spindle axis position with its cam phase as shown When SlaveAbsolute parameter is TRUE the position of the shaft between the shaft and its absolute cam phase relationship at any time from the phase of the cam shaft is equal to the time to make the position of the cam shaft from a relationship between the shaft axis from a maximum range value mod...

Page 475: ...ship between the main cam and the actual execution of positional deviation from the scaling ratio of the shaft which effects will be described by the following examples Cam advance planning relationship as shown below When the main shaft when both the absolute mode and performs the engagement operation the main are 0 and scaling without using the offset from the position of the shaft axis the defa...

Page 476: ...ffset from 0 corresponding to the position of the spindle becomes a pre planned position of 1 2 Slave axis Scenario 4 When the spindle zoom ratio of 0 5 the zoom ratio from the shaft 1 a main shaft cam offset from 0 the corresponding position of the spindle axis from the pre planned position to 1 2 If from the perspective of the cam phase the cam phase of the spindle is preplanned 1 2 i e the cam ...

Page 477: ...e in the shaft based on the pre planned For example a cam network plan the position of the spindle shaft 180 from the shaft corresponding to position 180 the actual implementation the corresponding position Slave axis of the shaft 240 240 60 180 Case 2 When the main shaft from the zoom ratio is 1 the spindle 90 is offset Slave axis offset of 0 with the axis of the shaft from the main shaft axis po...

Page 478: ...having a cyclical characteristic i e each cam has a plurality of phase axis position corresponding thereto when engaged there are alternative desired synchronization position there is such a wide selection of engaging manner For example the start of execution engagement cam from the phase of the main axis are 80 and 180 e g O lower right in the drawing but the requirements defined by the phase rel...

Page 479: ...ity E g Starts performing engagement operation the master from the cam phase axis respectively 80 and 180 below point O The cam relation defined in claim spindle cam phase is 80 the phase Slave axis of the cam 40 as in FIG when point a or point B then select a different mode StartMode engagement process the operation mode from the shaft as shown StartMode 0 Now gradient Slave axis O from the point...

Page 480: ...m 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 476 ...

Page 482: ...nput parameters name Features type of data Predetermine d area Default value The timing of the entry into force Slvae Slave axis Set from the electronic cam shaft USINT Analog Pulse 0 4 real axis 5 to 11 imaginary axis CANopen mode 0 15 real axis imaginary axis 0 Exexcute from FALSE to TRUE Execute Execute bit When the Execute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE...

Page 483: ...n established relationship Directives continues to run at speed from the cam axis and disengaged from the retaining shaft For the control cam stop motion from the shaft or may use MC_Halt MC_Stop instruction from the shaft After completion of the instruction execution MC_Halt or MC_Stop Slave axis stops and the cam releasing relationship FIG output timing parameters Case 1 When the Execute FALSE t...

Page 484: ...VA Motion Controller Programming Manual 479 TRUE to FALSE when reaching a cycle the Done becomes TRUE and Busy remains to TRUE ...

Page 485: ...ecute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE CamTable Electronic cam No Establishing a main cam for setting table based on the relationship of the cam shaft from USINT 0 to 31 Exexcute from FALSE to TRUE CamPointNum Cam point number Select the read point of the cam UINT Exexcute from FALSE to TRUE MasterPos Set read command spindle position of the electronic cam po...

Page 486: ...ion is executed 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 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 instructi...

Page 487: ...cute Execute bit When the Execute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE CamTable Electronic cam No Establishing a main cam for setting table based on the relationship of the cam shaft from USINT 0 to 31 Exexcute from FALSE to TRUE CamChangePoint Cam point before or after the information selection change When is FALSE the command to read information before the chan...

Page 488: ... code Error Error code when execution instruction WORD MasterPos Set read command spindle position of the electronic cam point LREAL A positive number 0 SlavePos Reading instruction is provided from an electronic point of the cam shaft position LREAL Positive negative 0 SlaveVel Set read command from the electronic cam shaft speed point LREAL Positive negative 0 SlaveAcc Set read command from the ...

Page 489: ...er Programming Manual 484 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: ...starts BOOL TRUE or FALSE FALSE CamTable Electronic cam No Establishing a main cam for setting table based on the relationship of the cam shaft from USINT 0 to 31 Exexcute from FALSE to TRUE Output parameters name Features type of data Output range Done done bit The output parameter to TRUE indicates instructions are executed BOOL TRUE or FALSE Busy execution This parameter indicates to TRUE outpu...

Page 491: ...omes 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 MC_CamSet instruction execution the cam curve after the changes take effect immediately ...

Page 492: ...ecute Execute bit When the Execute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE CamTable Electronic cam No Establishing a main cam for setting table based on the relationship of the cam shaft from USINT 0 to 31 Exexcute from FALSE to TRUE TappetNum1 Tappet point number Tappet set point number UINT Non defa ult Exexcute from FALSE to TRUE TappetNum2 Tappet point number Ta...

Page 493: ...UE or FALSE Busy execution This parameter indicates to TRUE output instruction is executed 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 code when execution instruction WORD Status1 1 point tappet state State TappetNum1 specified number of points tappet BOOL TRUE or FALSE Status2 2 ...

Page 494: ...ts tappet BOOL TRUE or FALSE 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 The status of each point in the tappet end of the cam shaft through the forward or backward through the cam...

Page 495: ...n the Execute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE CamTable Electronic cam No Establishing a main cam for setting table based on the relationship of the cam shaft from USINT 0 to 31 Exexcute from FALSE to TRUE TappetNum Tappet point number Read tappet point number UINT Non defa ult Exexcute from FALSE to TRUE Output parameters name Features type of data Output ra...

Page 496: ...Ivert mode when the tappet axis inversion point may select are NegativeDisable NegativeOn NegativeOff or NegativeIvert The meaning of each pattern represents the following table mode Features meaning PositiveDisable shut down Spindle forward passes that point to read the state of the tappet point unchanged PositiveOn Position Spindle forward passes this point the read state when the tappet point s...

Page 497: ...tiveInvert 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: ...n the Execute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE FALSE CamTable Electronic cam No Establishing a main cam for setting table based on the relationship of the cam shaft from USINT 0 to 31 Exexcute from FALSE to TRUE TappetNum Tappet point number Read tappet point number UINT Non default Exexcute from FALSE to TRUE MasterPos Spindle position Tappet spindle position set ...

Page 499: ...atures type of data Output range Done done bit The output parameter to TRUE indicates instructions are executed BOOL TRUE or FALSE Busy execution This parameter indicates to TRUE output instruction is executed 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 i...

Page 500: ...a Default value The timing of the entry into force AD_ID Analog input number Select the required analog rpm The amount of opening AI0 AI3 wherein Numerical Simulation of 0 to 3 corresponding to the number of Input port AI0 AI3 WORD 0 3 Non defa ult Enable is TRUE Enable Execute bit When Enable is TRUE the instruction is executed BOOL TRUE or FALSE Description 1 The controller has four analog input...

Page 501: ...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 0 2028 2 2434 5 3043 8 3653 10 4060 10 0 8 403 5 1012 2 1621 0 2027 3 Test table obtained by the analog input and the amount of data relationship diagram ...

Page 502: ...ADC_Value Analog current value of the amount of data transferred The current output is converted to analog As the amount of data values DINT 0 4096 Error error It represents execution of the faulting instruction when the output instruction is TRUE BOOL TRUE or FALSE ErrorID Error code ID Error Error code when execution instruction WORD FIG timing variation output parameter Program Example AI0 inpu...

Page 503: ...ler Programming Manual 498 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: ...ng number of 0 to 3 AXIS0 AXIS3 shaft WORD 0 3 Non default Enable is TRUE Enable Execute bit When Enable is TRUE the instruction is executed BOOL TRUE or FALSE DAC_Value The quantity of data is provided Setting data value DINT 2048 to 2047 Enable is TRUE Description 1 Digital to analog quantity corresponding to the following relationship Digital input 2048 0 0 2047 Analog output 10V 0V 0V 10V 2 wh...

Page 505: ...TRUE Is a command indicating the control shaft 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 ID Error Error code when execution instruction WORD FIG timing variation output parameter Program Example Meter testing the first channel DA output 5V Variable name type of data The initial value ...

Page 506: ...ler Programming Manual 501 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: ...rce AD_ID Analog input number Select the required analog rpm The amount of opening AI4 AI36 value of 4 7 corresponds to the first extension module of AD V0 V4 WORD 4 to 36 Non default Enable is TRUE Enable Execute bit When Enable is TRUE the instruction is executed BOOL TRUE or FALSE Mode Mode Under different modes EX_ADC 0 corresponding to the input voltage of 0 to 5 0 to 4095 1 0 10V input volta...

Page 508: ... Enable The output parameter is TRUE Is a command indicating the control shaft BOOL TRUE or FALSE ADC_Value Analog current value of the amount of data transferred The current output is converted to analog As the amount of data values DINT 0 4096 Error error It represents execution of the faulting instruction when the output instruction is TRUE BOOL TRUE or FALSE ErrorID Error code ID Error Error c...

Page 509: ...t the required analog rpm The amount of opening AI4 AI36 Value of 4 7 corresponds to the first extension module of AD V0 V4 WORD 4 to 36 Non default Enable is TRUE Enable Execute bit When Enable is TRUE the instruction is executed BOOL TRUE or FALSE DAC_Value The quantity of data is provided Setting data value DINT 0 to 4095 Enable is TRUE Mode Mode Under different modes EX_DAC 0 0 to 4095 corresp...

Page 510: ...eing executed in BOOL TRUE or FALSE Valid Significant Bit Enable The output parameter is TRUE Is a command indicating the control shaft 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 ID Error Error code when execution instruction WORD Timing variation output parameter ...

Page 511: ...X output BOOL TRUE or FALSE Function Description 1 This command disables all QXX output user selected according to site requirements 2 When Enable is TRUE when all of the DO the output will be disabled when Enable is FALSE the DO restored to the state before the execution of the module all the QX is prohibited can not specify a single QX X Program Example Variable name type of data The initial val...

Page 512: ...nter scanning period the maximum count frequency is 1MHz VEC VA MP 005 MA Input parameters name Features type of data Range setting default value The timing of the entry into force AXIF_no Count axis number Set number counter shaft WORD 0 6 0 Enable TRUE when the FALSE to Active_Axi s Current count axis Pulse count setting Source 0 AXIS0 1 AXIS1 2 AXIS2 3 AXIS3 4 AXIS4 WORD 0 4 Enable TRUE when th...

Page 513: ...s cleared to clear high BOOL TRUE or FALSE DI_Rest_Valid _DEdge External DI cleared falling Significant bit When DI_Reset_Valid_ Dedge is TRUE DI cleared the falling edge clear BOOL TRUE or FALSE DI_Rest_Valid _UEdge Rising external DI cleared Significant bit When DI_Reset_Valid_ Uedge is TRUE DI cleared to rising cleared BOOL TRUE or FALSE DI_Reset_No External input DI cleared number Specifies th...

Page 514: ... the counting cycles when the counter value reaches the counter Count_Cycle set value the new count is automatically cleared constant cycle Count_Cycle_Valid to FALSE when not enable this feature BOOL TRUE or FALSE Count_Cycl e Set pulse loop counter value When is Count_Cycle_ Valid is TRUE start the counting cycles when the counter value reaches the counter Count_Cycle set value the new count is ...

Page 515: ...ent count is selected any given but also cross axis counting function 4 high speed counter rich functional integration can be selected according to requirements function of the input parameters to an unused blank 5 Start the external terminals DI internal high speed counter has been specified when a high number counter when DI_Start_Valid is TRUE the terminal being used as the external DI start hi...

Page 516: ...or FALSE Start_Valid Retention BOOL Dir_out Retention BOOL Count_out Current count of pulses DINT Positive negative 0 Error It represents execution of the faulting instruction when the output instruction is TRUE BOOL TRUE or FALSE ErrorID Error Error code when execution instruction WORD Demonstration program Ⅰ Example Variable start pulse and clears the count shaft axif_counter 1 Variables and pro...

Page 517: ...ber 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 Demonstration Program II Example external terminal DI3 counter is cleared and the start pulse number axif_counter outer shaft DI0 1 Variables and procedures Variable name type of data The initial value NS_CC_Counter_3 NS_CC_Counter axif_counter WORD 0 act...

Page 518: ..._no specified the current value of the high speed counter is cleared Demonstration program Ⅲ Example outer boot and the external terminals DI0 DI3 is cleared and sets the number of pulses axif_counter external shaft section DI valid counter is cleared 1 variables and procedures Variable name type of data The initial value NS_CC_Counter_3 NS_CC_Counter axif_counter WORD 0 active_Axis WORD 0 counter...

Page 519: ...le 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: ...en 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 set interval and therefore becomes FALSE when DI0 again will not be cleared Count_out operation Demonstration program Ⅳ Example loop count mode pulse number counter shaft axif_counter 1 variables...

Page 521: ...ulses When the high speed counter current value of 5000 the counter is automatically cleared recount constant cycle Demonstration program Ⅴ Modes Number of pulses counter shaft axif_counter 1 variables and procedures Variable name type of data The initial value NS_CC_Counter_3 NS_CC_Counter Axif_counter WORD 0 active_Axis WORD 0 counter_enable BOOL 1 Star BOOL 1 Set_Count_Valid BOOL Set_Count DINT...

Page 522: ...nter 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: ...tures type of data Setting range Non default The timing of the entry into force CNT_ID Associated counter number High count associated with the specified number which is automatically associated with the counter number is equal to WORD 0 to 1 Indispensable Execute from FALSE to TRUE Enable execute bit When the Enable FALSE to TRUE the instruction is executed BOOL TRUE or FALSE Execute from FALSE t...

Page 524: ...whether the person can not be achieved 2 NS_CC_CNTI command interrupt instruction count is associated NS_CC_Counter instruction high speed counter it is necessary CNT_ID counter associated axis number to fill the same with the high speed counter AXIF_no counts axis number to 3 Counter interrupt instruction currently supports two way high speed counter current numbers 0 and 1 support this feature a...

Page 525: ...named EN1 no user name and choose to write an interrupt routine language LD language below 10 10 Srep 4 When finished click OK will automatically add the logic the POU to a EN1 is the name of the program shown in Figure 10 11 Step 5 Just inserted EN1 belongs to the category of the main program or program as the new the POU software automatically selected when loaded into the new project Task CYCLI...

Page 526: ... 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 dialog box fill in ZD in the name no user name Task Type Select EVENT are finished click OK FIGS 10 16 shown in FIG ...

Page 527: ...n 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 and then select the program example 10 18 shown in FIG Step 11 In the pop up to insert box for the example program named ZD1 is select the new program type EN1 Click ...

Page 528: ...llowing is the analysis process interrupt routine is executed Case 1 Start the high counter allowing it to count when the module is NS_CC_CNTI_1 Enable changes from FALSE to TRUE the interrupt allowed to open when the current value of the counter reaches the number of high set value 5000 interrupt the interrupt program is executed once this time variable Nunble1 a value of 1 after the completion o...

Page 529: ...FALSE to TRUE the instruction is executed BOOL TRUE or FALSE DO_Valid Allowing the Q output valid bit When the value is TRUE the Q output to allow effective BOOL TRUE or FALSE Compare_Count1 Minimum value setting section min Min Min pulse interval is set unit DINT A positive number Compare_Count2 Setpoint interval maximum value Max Setting a maximum value Max pulse interval unit DINT A positive nu...

Page 530: ... to use a common DO CNT_ID counter associated axis number QXX output 0 Q0 0 1 Q0 1 2 Q0 2 3 Q0 3 4 Q0 4 5 Q0 5 6 Q0 6 Output parameters name Features type of data Output range The Status Status bits This parameter indicates when the output instruction is being executed is TRUE BOOL TRUE or FALSE Valid valid bit Represents the output parameter is TRUE instruction is controlling the shaft BOOL TRUE ...

Page 531: ...by the automatically Out TRUE to FALSE while Q0 0 no output Program Example Example high speed counter range between 1000 to 5000 output Q0 0 1 variables and procedures variable name type of data The initial value AXIF_NO_0 WORD 0 Enable BOOL DO_Valid BOOL 1 Compare_Count1 DONT 1000 Compare_Count2 DONT 5000 DO_ID WORD 0 OUT BOOL Step 1 High speed counter call NS_CC_Counter_1 refer to Note 11 7 7 c...

Page 532: ...ed 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: ...axis number Set number counter shaft WORD 0 6 Enbale is TRUE Enbale Execute bit when Enable by FALSE Changes toTRUE When the instruction is executed BOOL TRUE or FALSE Active_DI DI input channel number Set high speed counting port DI WORD 0 15 Start Start bit When Start is TRUE DI start high speed counter BOOL TRUE or FALSE Reset Clear bit When Reset is TRUE clears the counter current value BOOL T...

Page 534: ... I17 WORD 0 15 U_D Bit counting direction Counting direction specified counter 0 Negative counting direction 1 positive counting direction DINT 0 or 1 Count_Cycle_Va lid Cycle Count Valid bits When Count_Cycle_Valid is TRUE start the counting cycles when the counter value reaches the counter Count_Cycle set value the new count is automatically cleared constant cycle Count_Cycle_Valid to FALSE when...

Page 535: ...ction cycle counting function set the number of functions 3 sources of counter pulse can be selected by Active_DI DI input channel number specified in any of 0 to 15 4 DI rich integration speed counter function may be selected according to requirements function of the input parameters to an unused blank Output parameters name Features type of data Output range Status Status bit The output paramete...

Page 536: ...play the current count of pulses When reset_di_counter a FALSE to TRUE Count_out display the current pulse count value is 0 then the count pulse input DI Count_out display the current pulse count remains at 0 when the Reset TRUE to FALSE allowing counting resumes Demonstration program Ⅱ Start and external variables DI DI perform high speed counter reset 1 variables and procedures Variable name typ...

Page 537: ... of pulses When the rising edge of DI di_reset_no specified Count_out current pulse count value is cleared Demonstration program Ⅲ Cycle count mode for carrying out high speed counter DI 1 variables and procedures Variable name type of data The initial value NS_CC_DI_Counter_1 NS_CC_DI_Counter AXIF_0 WORD 0 enbale_counter BOOL FALSE AXIF_DI WORD 11 start_di_counter BOOL FALSE U_D DINT 1 Count_Cycl...

Page 538: ...e count is incremented up to 1000 when DI_Count_out recounting is automatically cleared Demonstration program Ⅳ Set the number of modes for carrying out high speed counter DI 1 variables and procedures Variable name type of data The initial value NS_CC_DI_Counter_1 NS_CC_DI_Counter AXIF_0 WORD 0 enbale_counter BOOL FALSE AXIF_DI WORD 11 start_di_counter BOOL FALSE U_D DINT 1 Set_Count_Valid BOOL T...

Page 539: ...d 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: ...g range Non default The timing of the entry into force DI_ID When specifying DI active interrupt the input value of 0 to 7 corresponding to the input points I0 I7 8 15 corresponding to the input point I10 I17 WORD Currently only supports two interrupt DI0 and DI1 0 to 1 Non default Enable When the Enable FALSE to TRUE the command execution open interrupts allowed BOOL TRUE or FALSE Event_ID Set in...

Page 541: ...ues to run Output parameters name Features type of data Output range The Status Status bits This parameter indicates when the output instruction is being executed is TRUE BOOL TRUE or FALSE Valid valid bit Represents the output parameter is TRUE instruction is controlling the shaft BOOL TRUE or FALSE Error error Retention BOOL TRUE or FALSE ErrorID error code Retention WORD Retention Program Examp...

Page 542: ...LD language as shown below Step 3 When finished click OK will automatically add the logic the POU to a EN1 is the name of the program as shown Step 4 Just inserted EN1 belongs to the category of the main program or program as the new the POU software automatically selected when loaded into the new project Task CYCLIC type as shown Step 5 Select under Project Tree Window Hardware under Resources ta...

Page 543: ...VA Motion Controller Programming Manual 538 ...

Page 544: ... 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 9 After the insertion procedure of example the right task...

Page 545: ...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 The initial value ADD ADD Nunble1 INT Nunble2 INT 1 Interrupt this program to create and association has been completed the following is the analysis process interrupt routine is executed ...

Page 546: ...upt 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 When the external DI active again when the interrupt routine is executed again this time is variable Nunble1 2 ...

Page 547: ...eatures type of data Setting range Non default The timing of the entry into force CNT_ID Axis No ID To specify the number of motor shaft speed Mining Corresponding to 0 4 AXIS0 AXIS4 WORD 0 4 Indispensable Enable change from FALSE TRUE Enable execute bit When the Execute FALSE to TRUE the instruction execution starts BOOL TRUE or FALSE Sample_Time sampling time Set the sampling time unit ms This p...

Page 548: ...he reduction gear ratio of 1 2 then n unit s _ _ 1 2 500 units s Output parameters name Features type of data Output range Status state Retention BOOL TRUE or FALSE Valid effective Retention BOOL TRUE or FALSE Sample_Time_Test Retention REAL Velocity current rate Display speed of the current sample unit Pulse s REAL Real Error reserved Retention BOOL Retention ErrorID reserved Retention WORD Reten...

Page 549: ... 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: ...timing of the entry into force Enable Execute bit When the Enable FALSE to TRUE the instruction is executed BOOL TRUE or FALSE Enable from FALSE to TRUE Input Desired point Setting the reference value LREAL Real Feedback feedback value Feedback value LREAL Real Kp Scale factor Proportional control LREAL Real Ki Integral coefficient Integral control LREAL Real Kd Differential coefficient Differenti...

Page 551: ...utputting the calculation result controlled to achieve regulation Incremental PID control algorithm u n u n u n 1 u n 1 2 1 2 or u n among them Kp proportional coefficient the ratio of the field practice of using Kp 100 Ki integral coefficient Kd differential coefficient Pval the ratio of action 1 Ival integral role Dval differential effects 2 1 2 Wherein U n 1 is the actual control of the amount ...

Page 552: ... the register 255 overflows a modulo operation need to be greater than the value of If For example 2018 2018 can not be filled it is necessary to 100 by 2018 modulo MB3 9543 to address this in the values into the register address is the address value in the display 18 Read clock address Special register address Read function Value range MB3 9550 year 0 to 255 MB3 9551 month 0 to 255 MB3 9552 day 0...

Page 553: ...pport axes G0 Rapid positioning 3 axis G1 Linear interpolation 3 axis G2 Clockwise circular interpolation 3 axis G3 Counterclockwise circular interpolation 3 axis G4 Timed pause G17 Processing the XY plane G18 Processing the XZ plane G19 Processing the YZ plane G90 Absolute size G91 Relative size M0 The program stops M1 Conditional program stop M2 End of program M30 End of program and return to th...

Page 554: ... X axis number setting must be set to 0 USINT 0 When Enable is TRUE Axis_Num_Y Y axis number Set the Y axis number it must be set to 1 USINT 1 When Enable is TRUE Axis_Num_Z Z axis number Axis Z axis is set number must be set to 2 USINT 2 When Enable is TRUE Description It must be set to the control shaft after the shaft is enabled for the corresponding set of operation when the shaft so that the ...

Page 555: ...cution error to TRUE BOOL TRUE or FALSE ErrorID Instruction execution error code error WORD FIG timing variation output parameter Function Description 1 when the Enable FALSE to TRUE a delay period Status Valid TRUE simultaneously 2 when the Enable TRUE to FALSE a delay period Status Valid simultaneously FALSE 3 The instruction set for the servo axis controlled release enabled or enabled ...

Page 556: ... of the entry into force AxesGroup Axis group number Purports to set the axis of the group can USINT 0 When the Execute from FALSE to TRUE Execute Execute bit When the Execute FALSE to TRUE the execution instruction BOOL TRUE or FALSE Stop Stop Bit When a Stop FALSE to TRUE the command to stop BOOL TRUE or FALSE Pause Pause position When Pause is TRUE suspend execution of the instruction BOOL TRUE...

Page 557: ...sition Unit unit LREAL Positive negative 0 When the Execute from FALSE to TRUE Velocity speed Synthesis of three axes set maximum speed unit unit min LREAL A positive number When the Execute from FALSE to TRUE Acceleration Acceleration Set the maximum value of the three axis composite acceleration Unit unit min2 LREAL A positive number When the Execute from FALSE to TRUE Deceleration Retention Ret...

Page 558: ...E 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 FIG timing variation output parameter 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...

Page 559: ...ocity NC_MoveLiner target speed instruction terminating mechanism the relationship between the terminal velocity of each shaft speed mechanism is as follows the terminal means square of the speed of each shaft speed sum of squares The command parameter Acceleration Deceleration target acceleration and target deceleration terminal means the relationship between the acceleration and deceleration of ...

Page 560: ...VA Motion Controller Programming Manual 555 2 after the instruction is executed the entire movement as shown below ...

Page 561: ...VA Motion Controller Programming Manual 556 ...

Page 562: ...linear interpolation function VEC VA MP 005 MA Input parameters name Features type of data Predeter mined area Default value The timing of the entry into force AxesGroup Axis group number Purports to set the axis of the group can USINT 0 When the Execute from FALSE to TRUE Execute Execute bit When the Execute FALSE to TRUE the execution instruction BOOL TRUE or FALSE ...

Page 563: ...itive negative 0 When the Execute from FALSE to TRUE Pos_Dis_Y Y axis target position Y axis target position setting Unit unit LREAL Positive negative 0 When the Execute from FALSE to TRUE Pos_Dis_Z Z axis target position Setting a Z axis target position Unit unit LREAL Positive negative 0 When the Execute from FALSE to TRUE CircMode Circular interpolation Set Circular interpolation 0 XY plane cir...

Page 564: ...e The interpolation process of setting the maximum allowable arc chord tolerance Arc chord tolerance interpolation arc length of each segment the chord length of each segment interpolation LREAL Junction_Dev iation Angle deviation Setting each piece of circular interpolation the maximum deviation angle LREAL Velocity speed Maximum speed setting three axes Synthesis Unit unit min LREAL A positive n...

Page 565: ...r 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 CommandAborte d interruption The output parameter is TRUE representing instructions is interrupted BOOL TRUE or FALSE Error error It represents execution of the faulting instructi...

Page 566: ...structions but Busy and Active remains TRUE until the controlled axes stop Busy and Active becomes FALSE while Done becomes TRUE After the Execute cycle by TRUE to FALSE Done becomes FALSE Case 3 When the Execute FALSE to TRUE the instruction is interrupted by another instruction CommandAborted becomes TRUE and the Busy Active becomes FALSE Execute when a TRUE to FALSE CommandAborted becomes FALSE...

Page 567: ...t of the starting position Param_K representative of the center position with respect to the Z axis offset of the starting position Figure above center coordinates I X1 Param_I J Y1 K Z1 Param_K End point coordinates X Pos_Dis_X Y Pos_Dis_Y Z Pos_Dis_Z CirMode 2 Param_R 0 Param_J A A 0 Param_K B B 0 Method YZ plane center circle When using this method Param_J representative of the center position ...

Page 568: ...he circle Param_R on the XY plane then Param_R greater than 0 the minor arc of the circular arc Param_R less than 0 preferably circular arc arc The radii of the above figure R End point coordinates X Pos_Dis_X Y Pos_Dis_Y Z Pos_Dis_Z CirMode 1 Param_R R R 0 ZX plane circle radius method When using this method the value represents the radius of the circle Param_R ZX plane this time Param_R greater ...

Page 569: ...plane this time Param_R greater than 0 the minor arc of the circular arc Param_R less than 0 preferably circular arc arc The radii of the above figure R End point coordinates X Pos_Dis_X Y Pos_Dis_Y Z Pos_Dis_Z PathChoice This parameter determines the direction of circular interpolation Parameter Value Explanation 0 Group shaft clockwise circular interpolation on the specified plane and a circular...

Page 570: ...Motion Controller Programming Manual 565 1 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: ...ntry into force Execute Execute bit When the Execute FALSE to TRUE the execution instruction BOOL TRUE or FALSE When the Execute FALSE to TRUE Pause Pause position When Pause is TRUE suspend execution of the instruction BOOL TRUE or FALSE Stop Stop Bit When a Stop FALSE to TRUE the command to stop BOOL TRUE or FALSE VelOverride Speed overshoot value Speed overshoot value LREAL 1 VelOverride 500 De...

Page 572: ...ation_ Z Z axis acceleration Set the maximum Z axis acceleration Unit unit min2 LREAL Junction_Dev iation Angle deviation Setting each piece of circular interpolation the maximum deviation angle LREAL Arc_Toleranc e Arc chord tolerance The interpolation process of setting the maximum allowable arc chord tolerance Arc chord tolerance interpolation arc length of each segment the chord length of each...

Page 573: ...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 in...

Page 574: ...ings PLC communication protocol MODBUS RTU MODBUS RTU Communication Interface Type RS 485 2 RS 485 2 Baud Rate 9600 9600 Data bits 8 8 Parity Even parity Even parity Stop bits 1 1 Station No 111 111 Default factory settings when communicating with the peripheral controller operation the user can modify the station number and baud rate via a special register Special Registers MB3 4010 station numbe...

Page 575: ...motion controller and human machine communication address correspondence address 1 addresses the relationship between motion controller Data access must specify the address the beginning address MX3 wherein X may be a bit MX3 May be byte MB3 The word may be MW3 May also be double word MD3 integer plus a decimal point with stored address expressed as MX3 0 0 data area memory map byte 0 bit 0 the ch...

Page 576: ...egion of the intermediate byte 0 bit 0 MD3 4 represents the variable region of the intermediate 4 1 byte double word 3 motion controller and human machine address correspondence Motion controller address HMI address 1 2 Wei lun pass easily and Traditional HMI Bit operation PLC Address Type HMI Address Type IX0 0 no QX0 0 no MX3 0 0 0X Example PLC address type MX3 6 0 corresponds to HMI address Typ...

Page 577: ...2 Double operation PLC Address Type HMI Address Type ID0 0 no QD0 0 no MD3 0 0 4 3 X Example PLC address type MD 20 corresponds to HMI address Type 4 3 X Address 11 Example PLC address type MW3 14 corresponds to HMI address Type 4 3 X Address 8 ...

Page 578: ...Address type Assignment MB3 9800 1 MB3 9801 The first expansion type of expansion Set 3 for 8DI8DO Set 4 to 16DI Set 5 for 16DO Set 6 for analog Set 7 for PT100 Set 8 for Weighing set 9 for thermocouple Set 10 for IOT MB3 9802 expansion type for the second expansion Same as MB3 9801 MB3 9803 extension type for the third expansion Same MB3 9801 MB3 9808 expansion type for the eighth expansion Same ...

Page 579: ...rrors 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 The following command does not support GET_CHAR GET_ERROR GET_ERROR CATALOG GET_SYM CLR_OUT COLD_RESTART CONTINUE HO_ RESTART WRITE_RETAIN WARM_RESTART Written instructions PDD variables such as WR_BOOL_BY_SYMFOR cycle the number of steps can not be too l...

Page 580: ...aracter to 126 128 to 255 in Table 3 for the extended ASCII code Table 1 control character Table Hx hexadecimal Dec decimal Dec HX character description Dec Hx description 0 0 NULL Null null character 17 11 Device Control 1 1 Control Device 1 1 SOX Start Of Heading title start 18 12 Device Control 1 2 Control Device 2 2 STX Start Of Text text start 19 13 Device Control 1 controlling apparatus 3 3 ...

Page 581: ...ntrol system word symbol 32 20 Space 56 38 8 80 50 P 104 68 h 33 twenty one 57 39 9 81 51 Q 105 69 i 34 twenty two 58 3A 82 52 R 106 6A j 35 twenty three 59 3B 83 53 X 107 6B k 36 twenty four 60 3C 84 54 T 108 6C l 37 25 61 3D 85 55 U 109 6D m 38 26 62 3E 86 56 V 110 6E n 39 27 63 3F 87 57 W 111 6F o 40 28 64 40 88 58 X 112 70 p 41 29 65 41 A 89 59 Y 113 71 q 42 2A 66 42 B 90 5A Z 114 72 r 43 2B 6...

Page 582: ...ntroller Programming Manual 577 Table 2 printable characters Table Hx hexadecimal Dec decimal 52 34 4 76 4C L 100 64 d 124 7C 53 35 5 77 4D M 101 65 e 125 7D 54 36 6 78 4E N 102 66 f 126 7E 55 37 7 79 4F O 103 67 g ...

Page 583: ... the home position Case 2 when the reverse limit switch is performed at a high state MC_Home command axis starts moving forward 2nd speed when reverse limit switch is encountered in the low position is the home position Homing mode operation 18 depends on the forward limit switch Homing Case 1 when a forward instruction execution MC_Home in the low limit switch starting with the shaft moving forwa...

Page 584: ...ectly in 2nd speed reverse movement begins when it comes to the home switch in the low position is the home position Homing mode switch 20 depending on the origin of the OPR 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...

Page 585: ... the home position Case 2 When performed in a high MC_Home home switch instruction the start of direct axis 2nd speed forward motion when faced with the home switch in the low position is the home position Homing mode switch 22 depending on the origin of the OPR Case 1 When performed in a high MC_Home home switch instruction the start of direct axis 2nd speed forward motion when the home switch is...

Page 586: ...ts to move in 2nd speed the switching state at the origin position of the origin is in the low position Case 2 When performed in a high MC_Home home switch command the shaft directly in 2nd speed reverse movement starts at the home switch is in the low position is the home position Case 3 When the instruction execution MC_Home home switch is low the shaft starts moving forward first speed when the...

Page 587: ...he movement direction and are low in 2nd speed starts to move When faced with the origin switch again at a high position is the home position Case 3 When the instruction execution MC_Home home switch is low the shaft starts moving forward first speed when the switch is in the home and encounters a low forward operation at a high limit switch changing the direction of movement and in the first stag...

Page 588: ...e position Case 2 When the instruction execution MC_Home home switch is high axis starts moving forward 2nd speed when it comes to the home switch is low and changing the direction of movement in 2nd speed starts to move when encountering origin when the switch is in the upper position is the home position Case 3 When the instruction execution MC_Home home switch is low the shaft starts moving for...

Page 589: ...ormed at a high MC_Home command axis starts moving forward 2nd speed when faced with the origin position switch is in the low position of the origin Case 3 When the instruction execution MC_Home home switch is low the shaft starts moving forward first speed when the switch is in the home and encounters a low forward operation at a high limit switch changing the direction of movement and in the fir...

Page 590: ...n the low position Case 2 When performed in a high MC_Home home switch instruction the start of direct axis 2nd speed forward motion the home switch is in the low position is the home position Case 3 When the instruction execution MC_Home home switch is low starts moving shaft is the first speed reverse when the home switch is in the low and reverse operation encountered when the limit switch is h...

Page 591: ...on of movement in the home switch in the low speed and at the second section starts to move when the home switch is high position is the home position Case 3 When the instruction execution MC_Home home switch is low starts moving shaft is the first speed reverse when the home switch is in the low and reverse operation encountered when the limit switch is high and to change the direction of movemen...

Page 592: ...ome position is high Case 2 When the instruction execution MC_Home home switch is high the shaft speed begins to reverse movement of the second segment to change the direction of the origin when the switch is in a low encounter and 2nd speed starts to move when the home switch is encountered high position is the home position Case 3 When the instruction execution MC_Home home switch is low starts ...

Page 593: ..._Home home switch is high the shaft speed begins to reverse movement of the second segment when faced with the home switch in the low position is the home position Case 3 When the instruction execution MC_Home home switch is low starts moving shaft is the first speed reverse when the home switch is in the low and reverse operation encountered when the limit switch is high and to change the directi...

Page 594: ...l 589 The current position of the origin return mode the shaft 35 is considered a position OPR 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: ...data exchange with the slave node and a transceiver transmitting a synchronization signal sync packet 100M Ethernet port through this interface to upload and download programs online monitoring AXIS0 AXIS3 invalid type for CANopen AXIS4 spindle interface axis number is 16 only instructions for the spindle to make a multi axis or the encoder connected to the pulse generator it is noted that the sam...

Page 596: ...onnected in common with the device please note that the boss pins and the bonding wire direction 1 3 CANopen communication port LAN CANopen bus terminal and the network topology To enhance the stability CANopen communication two terminals CANopen bus network for an access terminal 120 ohm resistor The following figure shows a schematic view of the basic CANopen network topology CANopen bus network...

Page 597: ...VA Motion Controller Programming Manual 592 ...

Page 598: ...e 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 20K 50K 125K 250K 500K 1M Maximum communication distance m 2500 1000 500 250 100 25 ...

Page 599: ...eal time data read from the service station reference should be read write area defined by the manufacturer 2 3 Process data PDO Support PDO Process Data Object Process Data Object services RxPDO maximum support 200 the amount of data to support the maximum 1000 bytes TxPDO maximum support 200 the amount of data to support the maximum 1000 bytes Each configurable TxPDO up to four and four slaves R...

Page 600: ...s instruction is used to read the current network device is located Input parameters name Features type of data Range setting default value The timing of the entry into force AXIF_no node number To control node setting instruction the master reading function only supports 18 of the network state WORD 18 Excute to TRUE Excute execute bit When Excute is True the instruction is executed BOOL TRUE or ...

Page 601: ...code error UDINT NMT_Start_Nod e network node starts This parameter indicates the status of the network node is a start up state is TRUE BOOL TRUE or FALSE NMT_Stop_Nod e network node stops This parameter indicates the status of the network node in a stopped state is TRUE BOOL TRUE or FALSE NMT_Enter_Pre operational pre network entry mode of operation This parameter indicates the status of the net...

Page 602: ...esponding output BOOL variable becomes TRUE Program Example In the example below when NS_CC_CANopen_NMT_Read instruction execution alone 3 Variables and procedures variable name type of data The initial value NS_CC_CANopen_NMT_ Read_0 NS_CC_CANopen_NMT _Read AXIF18 USINT 18 Excute BOOL FALSE AXIF_no_out WORD 1 Done BOOL 0 Busy BOOL Active BOOL Error BOOL ErrorID USINT Start_Node BOOL Stop_Node BOO...

Page 603: ...VA Motion Controller Programming Manual 598 ...

Page 604: ...nge setting default value The timing of the entry into force AXIF_no node number To control node setting instruction WORD 1 to 16 18 Excute to TRUE Excute execute bit When Excute is True the instruction is executed BOOL TRUE or FALSE FALSE NMT_Start_ Node start node This parameter is TRUE start the network node BOOL TRUE or FALSE FALSE NMT_Stop_ Node stop node This parameter is TRUE the network no...

Page 605: ...ctions are executed 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 Error This parameter indicates the instruction execution error to TRUE BOOL TRUE or FALSE ErrorID Instruction execution error code error WORD Functi...

Page 606: ..._CC_CANopen_NMT_Read instruction execution alone 1 variables and procedures variable name type of data The initial value NS_CC_CANopen_NMT_ Read_0 NS_CC_CANopen_NMT _Read AXIF18 USINT 1 Excute BOOL FALSE Start_Node BOOL FALSE Stop_Node BOOL FALSE PreOperational BOOL FALSE Reset_Node BOOL FALSE Reset_Comunication BOOL FALSE AXIF_no_out WORD Done BOOL Busy BOOL Active BOOL Error BOOL ErrorID USINT 2...

Page 607: ...VA Motion Controller Programming Manual 602 ...

Page 608: ...Excute is True the instruction is executed BOOL TRUE or FALSE FALSE Excute to TRUE Struct_Com m_Parameter structure parameter Structure parameters see the functional description format ANY Excute to TRUE Function Description 1 the instruction must trigger the triggering edge of the module it is not always Excute TURE 2 Struct_Comm_Parameter data structure as that defined in accordance with the con...

Page 609: ...as shown in the example of instruction execution when alone 1 variables and procedures variable name type of data The initial value Config_Com_1 Config_Com Motion_assignments_1 Motion_assignments R_TRIG_1 R_TRIG NS_CC_CANopen_PDO_Com m_1 NS_CC_CANopen_PDO_Com m SLVCom VAR_OUTPUT CommPara VAR_INPUT Config_Com_1 configuration is as follows Motion_ assignment_1 configured as follows ...

Page 610: ...VA Motion Controller Programming Manual 605 ...

Page 611: ...RUE or FALSE FALSE Struct_Map ping_Parameter structure parameter Structure parameters see the functional description format ANY Excute to TRUE Function Description 1 the instruction must trigger the triggering edge of the module it is not always Excute TURE 2 Struct_Mapping_Parameter data structure as that defined in accordance with the contents specified content DS301 protocol module departure On...

Page 612: ... alone 1 variables and procedures variable name type of data The initial 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 608 ...

Page 614: ...AXIF_no node number To control node setting instruction WORD 1 to 16 Enable is TRUE Enable execute bit When Enable is True the instruction is executed BOOL TRUE or FALSE FALSE Index Index Data mapping area index WORD 0000 FFFF Enable is TRUE DataType type of data WORD 0000 FFFF Enable is TRUE Output parameters name Features type of data Output range AXIF_no_out node number output This parameter is...

Page 615: ...e error WORD 0000 FFFF Data data content Data output content WORD 0000 FFFF Function Description Function module for reading map data content from a certain sub station node TPDO index data mapping stored in the address zone data when the state of the corresponding successful reading the output becomes the Done Ture Program Example In the example below when NS_CC_CANopen_RPDO instruction execution...

Page 616: ...m 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: ...e The timing of the entry into force AXIF_no node number To control node setting instruction WORD 1 to 16 Enable is TRUE Enable execute bit When Enable is True the instruction is executed BOOL TRUE or FALSE FALSE Enable is TRUE Index Index Data mapping area index WORD 0000 FFFF Enable is TRUE The DataType data type type of data WORD 0000 FFFF Enable is TRUE Data data content Data content WORD 0000...

Page 618: ...struction execution error to TRUE BOOL TRUE or FALSE The ErrorID error code Instruction execution error code error WORD Function Description 1 the function of this module the address assignment to the data from a certain sub station node RPDO index data mapping stored in the area 2 the instruction must trigger the triggering edge module it is not always Excute TURE Program Example In the example b...

Page 619: ...PDO 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: ...The timing of the entry into force AXIF_no node number To control node setting instruction WORD 1 to 16 Excute to TRUE Excute execute bit When Excute is True the instruction is executed BOOL TRUE or FALSE FALSE Index Index Inode address WORD 0 FFFF Excute to TRUE SubIndex sub index Subindex node address WORD 0 FFFF Excute to TRUE Output parameters name Features type of data Output range AXIF_no_ou...

Page 621: ...E BOOL TRUE or FALSE The ErrorID error code Instruction execution error code error WORD Count Byte length WORD 0000 FFFF Data Output Data UDINT 0000 FFFF Function Description Service data read module and read by the specified index subindex manner a node address in the contents of the address Youwenyouda slow reading speed reading normally takes a period of two sync applied to non real time data r...

Page 622: ... UDINT 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 16 15 the trigger module No 1 reads the current speed of the servo node 600r min ...

Page 623: ...e entry into force AXIF_no node number To control node setting instruction WORD 1 to 16 Excute to TRUE Excute execute bit When Excute is True the instruction is executed BOOL TRUE or FALSE FALSE Index Index Inode address WORD SubIndex sub index Subindex node address WORD Count Byte length WORD Data data input UDINT Output parameters name Features type of data Output range AXIF_no_out node number o...

Page 624: ...sign the address specified by the index address and a node index from a direct manner Youwenyouda assignment slow speed reading normally takes a period of two sync applied to non real time data write operations 2 the instruction must trigger the triggering edge module it is not always Excute TURE 3 differs from that of the read module a multi byte variable Count byte length and Data variable data ...

Page 625: ...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 large value ...

Page 626: ..._MoveAdditive MC_MoveRelative MC_MoveVelocity MC_Stop NS_MC_StopByPos MC_SpecialMoveAbsolute NS_MC_RotaryCutIn NS_MC_SpecialCamIn NS_MC_SpecialCombineAxes MC_HaltSuperimposed MC_MoveSuperimposed MC_Phasing NS_MC_Jog MC_SetOverride MC_SetPosition MC_TouchProbe MC_AbortTrigger NS_MC_CamReadPoint NS_MC_CamReadTappetStatus NS_MC_CamReadTappetValue NS_MC_CamSet NS_MC_CamWritePoint NS_MC_CamWriteTappetV...

Page 627: ...ual a book to learn more about b When the servo parameter P08 42 1 A2 series Delta default servo CANopen By Delta DVP15MC11T motion controller Motion test VC bus servo suitable for most applications function sets up the controller Motion port can not be used a total of six functions MC_SetPosition position setting command The MC_ReadAxisError read axis error command MC_TouchProbe position capture ...

Page 628: ...scribes the configuration process the process of configuring a servo the node number is 1 4 1 1 Communication Configuration According to the hardware topology to build a good network start building communication 1 the slave set the servo P08 41 1 node number P08 40 800 baud rate 2 the master station is provided the motion controller in the master station 18 is the default number register address M...

Page 629: ...del is customizable template is defined as 1 Start Network 2 stop the network 4 the network into a pre operation 8 reset node 16 reset communication this selected at NMT_Mode 8 reset the network 2 the internal module functions NS_CC_CANopen_NMT_Write two modules one master station 18 is reset one pair of the station 1 is reset from the node number the condition C000 trigger time delay waiting for ...

Page 630: ...work model is customizable template is defined as 1 Start Network 2 stop the network 4 the network into a pre operation 8 reset node 16 reset communication this selected at NMT_Mode 4 the network into a pre operation 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 ...

Page 631: ...nd slave are the next pre operational mode the configuration synchronization cycle at this step internal modules respectively of the master set from 1006H target station with NS_CC_CANopen_SDO_Write module the primary must be the same synchronization cycle station is provided from otherwise lead to control errors 2 C002 trigger condition configure synchronization cycle to enter the next step witho...

Page 632: ...This step is a step PDO data configuration communication parameters and mapping parameters must be configured in a servo interpolation position required by the model object and the format or can not use the motion control module functions this step configuration requires careful estimated time configuration consumed to delay delay time is too short to make some axis configuration fails making it i...

Page 633: ...etwork 4 the network into a pre operation 8 reset node 16 reset communication this selected at NMT_Mode 1 start the network 2 there are two internal module NS_CC_CANopen_NMT_Write functional modules each of the master station 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 te...

Page 634: ...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 4 2 6 Start Bus 4 1 6 Start Bus 4 2 5 Configure the Process data of master slave node master ...

Page 635: ...orrect or to check the line is disconnected or there is no terminating resistor connected check or check the signal ground there is no communication together or to check whether the servo grounded G program modules except read bus is not encapsulated write configuration module Axis number less than the number corresponding to the station 1 for example module 0 axis the actual operation of the stat...

Page 636: ...he VA shared memory address 15000 which is MX3 15000 For 1 MODBUS 232 and Modbus485 manipulate the same shared memory address MB3 4020 MODBUS communication delay 2 100 default 2 ms MW3 4021 Cycle time unit subtle MW3 4023 Absolute encoder forward and reverse for each axis axes 0 4 correspond to bits 0 4 corresponding bits 0 for normal counting 1 for reverse counting MW3 4024 This special register ...

Page 637: ...g bit of the axis is set to 1 to indicate that the position loop gain of the reduction section is automatically disabled for that axis in this function MB3 9723 The continuation MB3 9722 indicates that after the end of the deceleration segment the delay MB3 9723 of the bottom cycle reverts to active gain MB3 9724 The bits corresponding to the 0 4 axes bits 0 4 are set to 1 and the pulses are sent ...

Page 638: ...orresponding 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 FPGA version number ...

Page 639: ...nic cam beyond the permitted range set MasterScaling 0x100f Electronic cam beyond the permitted range set SlaveScaling 0x1010 Spindle Source MasterValueSourceOutside the allowable range is set 0x1011 From the main shaft number conflicts 0x1012 Electronic gear numeratorRatioNumeratorOutside the allowable range is set 0 0x1013 Electronic gear denominatorRatioDoutside the permitted range set enominat...

Page 640: ... 0x1056 MC_CamIn ActivationMode is 2 ActivationPosition less than 0 or greater than the mold NS_MC_SpecialCamIn ActivationPosition setOut of the allowable range 0 0x1057 NS_MC_SpecialCamIn DistanceOffset_Master setOut of the allowable range 0 0x1058 DistanceAdd set outside the permitted range 0 0x1059 DistanceSync set outside the permitted range 0 0x1060 DistanceDec set outside the permitted range...

Page 641: ...maller than the knife CutLength circumference 1 10 0x1079 NS_MC_RotaryCutIn Cut_DI_Num set beyond the permitted range 0 15 0x1080 NS_MC_RotaryCutIn Mark_DI_Num set beyond the permitted range 0 15 0x1081 MC_CombineAxes CombineMode set beyond the permitted range 0 1 0x1082 NS_MC_SpecialCombineAxes Periodic_Master_Units input out of range 0 0x1083 This information shaft axis error command charged 0x1...

Page 642: ... instruction 0x4102 Axis current operating state of the Stopping can not be performed in addition to MC_Any movement commands other than Stopping 0x4103 Execution MC_Home instruction requires the axis to StandStill state 0x4104 MC_CamOutOnly modules in the currently running instructionMC_CamIn when to run 0x4105 MC_GearOut module only if the current command is runMC_GYou can run the earIn 0x4106 C...

Page 643: ...id 0x4210 This axis NS_MC_SpecialCamIFollowing spindle M n next instructionC_PMaster hasing spindle specified instructions follow the master axis according to the present non 0x4211 This shaftNS_MC_SpecialCombineAFollowing spindle M xes next instructionC_Phasing instruction specifies a spindle shaft according to the present non Master following spindle 0x4212 This shaft is in Mode 1 NS_MC_SpecialC...

Page 644: ...he VA controller hardware will change to pulse sending corresponding to 5 to 8 axes respectively in software Up to 8 axes 0 to 3 5 to 8 can be pulsed When the corresponding bit value of each axis 0 to 3 is 0 example change the value of MB3 9809 to 0 i e 0000 the 0 to 3 axes will be able to send and receive pulses Caution 1 The last axis port on the hardware receives pulses only 2 The last axis por...

Page 645: ...panding the use of IO MP model VA controller SP Economy VA Controller The possibility of automatically identifying the type of expansion IO or setting it manually The type of expansion IO to be connected can only be set manually see the detailed operation and description in 12 2 2 Manual selection of expansion type 4 Difference between hardware axis port pulse control MP model VA controller AXIS0 ...

Page 646: ...4 are empty pins 3 AXIS0 4 correspond to axes 0 4 on the software respectively Register MB3 9809 corresponds to a bit of 1 for each axis 1 Pins 0 to 4 and pins 6 to 9 of AXIS0 to 3 on the hardware can send pulses a total of 8 pulses can be sent out AXIS4 only receives pulses 2 AXIS0 pins 1 4 correspond to axis 0 on the software AXIS0 pins 6 9 correspond to axis 5 on the software the other axes are...

Page 647: ...egister MB3 9809 is 0 and cannot be used as a counting axis when the corresponding bit of register MB3 9809 is 1 NS_CC_DI_Counter Counting axis number 0 to 3 with 16 counting DIs 6 Use of special function blocks MP model VA controller SP Economy VA Controller In analogue control mode Various modes of the WKD special function block are available In pulse and CANOpen control mode NS_MC_RotaryCutIn M...

Page 648: ...VA Motion Controller Programming Manual 643 Mode 1 is not available ...

Page 649: ... 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 Call us Customer service hotline 40008 50004 ...

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