Instruction Manual Form 5656 October 2000
VC1000 Programming Manual
Design VC1000 Programming Manual Contents Introduction
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Basic Programming Principles
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.......... System Variables, User Variables, and Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . User Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Integer Math . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . More About States . . . . . . . . . . . . . . . . . . . . . . . . . . . Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
More Specifics About Working With The Drive System . . . . . . . . . . . . . . . . . . . Selecting, Editing, and Adding a State . . . . . . . . . . Selecting, Editing, and Adding an Action . . . . . . . . Selecting, Editing, and Adding a Transition . . . . . . Programming Standards . . . . . . . . . . . . . . . . . . . . . .
4 4 4 5 5 5 5 5 5 W7988/IL
6 6 6 7 8
Saving and Retrieving Program Files to Disk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Retrieve and Upload a Program Into a Drive . . . . . 9 Download and Save a Program From a Drive . . . . 9
Example—Entering an Application Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Appendix A—The Start Screen
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Appendix B—Table of Possible Actions . . . . . . . . . . . . . . . . . . . . . . . . . Appendix C—Table of Transitions
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Figure 1. Design VC1000 Servo Drive
Appendix D—Table of System Variables . . . . . . . . . . . . . . . . . . . . . . . . Appendix E—Useful Formulas for the Design VC1000 . . . . . . . . . . . . . . . . . . . . . . .
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Derivative Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Proportional Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . Integral Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Low Pass Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position Counts . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19 19 19 19 19 20 20 20
Appendix F—Example Program . . . . . . . .
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Introduction The Design VC1000 servo drive is preprogrammed at the factory. Normally,you will not need to reprogram D102760X012
............................... Scope of Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Drive Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Loading and Saving Programs . . . . . . . . . . . . . . . . .