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VTB – Visual Tool Basic IDE User Manual

1. TYPE DIMENSION RANGE BIT 1 bit From 0 to 1 CHAR 8 bit signed From 128 to 127 UCHAR 8 bit unsigned From 0 to 255 INT 16 bit signed From 32 768 to 32 767 UINT 16 bit unsigned From 0 to 65 535 LONG 32 bit signed From 2 147 483 648 to 2 147 483 647 FLOAT 16 bit systems 48 bit proprietary format 29 bit mantissa 15 bit exponent FLOAT 32 bit systems 64 bit standard DOUBLE format IEEE 75 From 1 79769313486232e308 to 1 9769313486232e308 ARRAY Single dimension for all variable types except BIT type DELEGATE Pointer to FUNCTIONS 32 bit ATTENZIONE Not all systems support the STATIC variables then refer to hardware manual 6 9 Fixed Variables The variables of type FIXED are allocated at a fixed address in the internal memory of the device which unlike common variables doesn t change modifying the program This type of variable simplifies the use of systems connected to an external HOST ex PC In fact using FIXED variables there will be no need to recompile the HOST application at each change in VTB program FIXED variables are always GLOBAL that is visible in all page and in all tasks TIPO DIMENSIONE RANGE BIT 1 bit From 0 to 1 CHAR 8 bit signed From 128 to 127 UCHAR 8 bit unsigned From 0 to 255 INT 16 bit signed From 32 768 to 32 767 UINT 16 bit unsigned From 0 to 65 535 LONG 32 bit signed From 2 147 483 648 to 2
2. 6 6 VCB Variables CanOpen or EtherCAT The variables of type VCB are common variables which reflect the state of variables allocated in remote device connected at the central unit by field bus like CANOPEN or ETHERCAT These variables arent defined directly by VTB environment but come from an external configurator which defines the field bus typology and the connected devices Practically the declaration is made automatically by the configurator and compiler application making them available to OBJECT or to WRITTEN SOURCE CODE Refer to the chapters CANOPEN CONFIGURATOR and ETHERCAT CONFIGURATOR In other words variables VCB are the shared resources of an external device connected by field bus For example a brushless motor driver will make available a lot of variables referred to MOTION while an I O device will make available variables referred to management of INPUT and OUTPUT channels Unlike other types of variables the VCB ones are ever GLOBAL and then visible from all the page and all the tasks Variables VCB declared by configurator can be used in the SOURCE CODE as well in the property of the OBJECTS that make use There isn t a list of these variables to use them we have to refer simply writing its name USE OF A VARIABLE VCB IN THE SOURCE CODE To use a variable VCD we have to refer simply writing its name If encoderx gt 10000 encoderx is a variable VCB 6 7 System Variables Variables of type System are variables already
3. 02 Print 0 00 var It will be printed 0 02 11 1 20 PRINTFF Formatting print of a FLOAT value It is the same as printf Hardware PEC70 NG35 NGM13 Syntax PRINTFF const char format float val Parameters Format String corresponding to the format to be printed Val Any integer value or expression 11 1 21 PAGINA Sets the page to be loaded and displayed Pages are numbered starting from 1 The new page will be loaded not immediately but at the next cycle of the cooperative task Hardware PEC70 NG35 NGM13 NG35 NGM13 Syntax PAGINA int Page Parameters Page Number of the page to be loaded 11 1 22 DRAW_ELLIPSE Draws the outline of an ellipse If Rx Ry it will be drawn a circle The colour has to be set with setcolor Hardware PEC70 NG35 NGM13 Syntax DRAW ELLIPSE int Cx int Cy int Rx int Ry Parameters Cx Coordinate X of the center Cy Coordinate Y of the center RX Radius X RY Radius Y 11 1 23 DRAW_FELLIPSE Draws a filled ellipse If Rx Ry it will be drawn a circle The colour has to be set with setcolor Hardware PEC70 NG35 NGM13 Syntax DRAW FELLIPSE int Cx int Cy int Rx int Ry Parameters Cx Coordinate X of the center Cy Coordinate Y of the center RX Radius X RY Radius Y 11 1 24 DRAW_FRAME Draws a rectangle with the shadow effect Hardware PEC70 Syntax DRAW FRAME int X0 int YO int X1 int Y1 int tck int col up int col down Paramete
4. ATTENTION THE INDEX INPUT IS DIFFERENZIAL THE ON STATE ON OCCURS WHEN ON CH THERE IS A VOLTAGE GREATER THAN THE VOLTAGE ON CH Example if ng t0 0 endif 11 11 9 NG RELE This function allows to update the two RELAIS equipped in each expansion card NG IO Usually these RELAIS are connected to the input ENABLE of the SERVO DRIVER but they can be managed for any applications The channel selection is made as for the reading of encoders Syntax NG_RELE Char Chan char State Parameters Chan Number of channel from 0 to 15 Stato State of the relay 0 OFF contact opened 1 ON contact closed Example Used variables channel UINT stato UINT channel 1 stato 1 ng_rele channel stato active the relay of the second channel channel 2 stato 0 ng_rele channel stato disactive the relay of the third channel ng rele 0 1 active the relay of the first channel 11 11 10 TEMPERATURE READING ON NG35 The NG35 is equipped with a TEMPERATURE SENSOR which can be useful to monitor the internal temperature The sensor is connected to the Nr 9 internal ANALOG CHANNEL and it can be read with the system function ng_adc as for the other analog inputs To convert the value in degrees Celsius we have to do a calculation see example Example Function Read Temp as Long Dim Degrees as Long Degrees NG_ADC 8 Read the temperature sensor Degree Degrees 3300 1024 600 Convert the value in 0 1 degrees Read Temp De
5. TOXE LADOS A A bony aoe neh o o 8 iad o o bo bo h 24 6 gy fr Jam 00 67 0 Si ide 26 7 OPERATORS mcnn ade o e 27 7 1 Logic and Mathematical Operators a 2 l 2 JINOTCS OR EXPIOSSIONS isha ites ined rA skeet A A A iad code ooo deals 27 9 MATH FUNCTIONS scrote eee aaa kekiooeacvi tfuddt oa east a arar 28 A cheetah ah hati Sa wt O O O ages O O RO O OR net 28 A OOS veneers a O eee ee eee nae ee ee eo 28 GS GNC R eS ea O ee ee 28 Oe N s 29 O5 ATAN aire eee a on loO A oby eS ee en ce ee l no olo ho Mno en no 29 o L ONV A PRE AOR E PO O O O PO OKO REO O OVA O PP OAO P AS 29 OAO S ara E E E Sh O oa PO Dao do ee 29 G0 ATAN EEE ene Peep d Doo ooo onak k Soon ra OP o o ST E Bo ob ep os o uvedena 30 OSE ABO ses Elo SOA PORTA RP MES E nL SOT O De S oa ee o or o oe oo otra 30 3 Pas 0 ms O P O P O EO P R O te eee 30 9 INSTRUCTIONS TO CONTROL THE PROGRAM FLOW eee ne n n nn 31 T SEES END roca oca sca 31 9 2 ABE a conocia 31 2 COSUDE Nat tt alitas eh PD 32 OEC AK E A A AA 32 I ANE RR ere en ne IA 33 O A II 33 97 SELECIESASE ENDOELEOS Ls isa 33 D8 AFORMNEXT STEP EXT FO Rot aid adits 34 29 VEE LOOB EX VV FME E susp aia tl tudo 35 10 FUNZIONI ci dai ao 36 10 1 Declaration OF a TUNA COM dada 36 10 2 Declaration of the function internal Variables ccccccceccceccccccccccecececsceneaeaeneetsnsnsneeausensensueenteneas 36 11 SYSTEM FUNCTION Scania iii 38 114 FUNCTION FOR THE GRAPHIC C
6. 147 483 647 FLOAT 16 bit systems 48 bit proprietary format 29 bit mantissa 15 bit exponent FLOAT 32 bit systems 64 bit standard DOUBLE format IEEE 75 From 1 79769313486232e308 to 1 9769313486232e308 The START address of FIXED area is NGM13 Addr 536874496 NG35 Addr 1051648 6 10 Delegates This type of variables is used to call a function by a variable First of all the address of the function to call must be written in the DELEGATE variable Then we can use this variable to call the function with the instruction call delegate lt can also be created an array of DELEGATE variables and then call a function according to the index of the delegate Using of DELEGATES is very powerful because it allows the access to the functions in the fastest way without writing a long series of conditional cycles ATTENTION The function called by CALL DELEGATE must be VOID both for arguments and return parameter VTB doesnt make any control to the initialization of the DELEGATE Calling a delegate not initialized can go the system in CRASH Example Used variables var 2 as delegate Page Init of Main task delegates initialization Var 0 fun1 assign to var 0 the address of function fun1 Var 1 fun2 assign to var 1 the address of function fun2 Page Function of Main task functions declaration Function fun1 as void Endfunction Function fun2 as void Endfunction Master Ciclo of Main ta
7. ATTENTION the first bit is always the number 0 zero The maximum number of bits depends by the type of the original variable CHAR UCHAR 0 7 8 bits INT UINT 0 15 16 bits LONG 0 31 32 bits 6 5 Arrays The arrays can be declared in the INTERNAL or STATIC variables and they can be defined as any type except the BIT one The arrays managed by VTB are SINGLE DIMENSION and the maximum limit depends on the free memory available To declare an array we have to do as for a normal variable putting after the name between parenthesis the desired dimension If there was the need to use a TWO DIMENSION array matrix we have to work with STRUCTURES Simply we have to declare a structure with a field of type array then to declare an array of type structure ARRAY 10 Array of 10 elements The first element of the array always start from 0 zero then ARRAY 0 first element ARRAY 9 last element Some VTB functions need the address of the array that is specified writing the name of array followed by parenthesis with no index inside see also pointer ARRAY refers to the memory address of ARRAY DECLARING AN ARRAY VAR Interne VAR Bit Define VAR Static VAR VSD VAR Fixed vett 10 LONG kd No EXP Variabile Condivisa Esporta in dasse ATTENTION VTB doesn t make any control on the index of array therefore with it s possible to write over the array s dimension with consequent risks of unexpected operations
8. DISPLAY backligth Hardware PEC70 Syntax SetBright char fun long val Parameters fun 0 val Cambia momentaneamente la luminosita del display da O a 100 fun 1 val Imposta la luminosita bassa da 0 a 100 default 40 attivata dal save screen fun 2 val Imposta la luminosita alta da 0 a 100 default 100 attivata dal save screen 11 1 3 DRAW_HLINE Draws an horizontal line The colour has to be set with setcolor Hardware PEC70 NG35 NGM13 syntax DRAW HLINE int X0 int YO int Len Parameters X0 Any number or expression corresponding to the coordinate X of starting point YO Any number or expression corresponding to the coordinate Y of starting point Len Any number or expression corresponding to the length of the line Example draw hline 0 100 50 draw an horizontal line of 50 pixel 11 1 4 DRAW_VLINE Draws a vertical line The colour has to be set with setcolor Hardware PEC70 NG35 NGM13 syntax DRAW VLINE int X0 int YO int Len Parameters X0 Any number or expression corresponding to the coordinate X of starting point YO Any number or expression corresponding to the coordinate Y of starting point Len Any number or expression corresponding to the high of the line Example draw vline 0 100 50 draw a vertical line of 50 pixel 11 1 5 DRAW LINE Draws a generic line The colour has to be set with setcolor Hardware PEC70 NG35 NGM13 Syntax DRAW LINE int X0 int YO int X1 int Y1 Paramete
9. NOT ALSO from TASK TIME e TASK PLC and vice versa That is because if an INTERRUPT TASK using a function occurs exactly while a COOPERATIVE TASK is running in the same function that could lead to abnormal operations in the application SHARING OF VARIABLES Again in CONCURRENT programming can also occur some problem when variables are shared between INTERRUPT TASKS and COOPERATIVE TASK Practically if managing of the variable don t provide an ATOMIC ASSEMBLER INSTRUCTION this can cause false reading value when it is written by a TASK and read by another According to the CPU type of the system these problems can occur in the following type of variables Sistem Variable type 16 bit LONG FLOAT 32 bit FLOAT To overcome this problem VTB offers the possibility of a SECURE SHARING OF VARIABLES Indeed in the variables declaration dialog there is an apposite field to enable the secure sharing However because a lot of use of this facility can generate jitter problem we recommend to use the enable of secure sharing of variables only when ABSOLUTELY NECESSARY The same problem could also occur when using data array shared by more process A simple example can be the use of array to data exchange in MODBUS protocol These problems can arise when for example the writing process of data and the reading one are asynchronous lt can happen indeed that a reading process starts when the writing one has filled the array only partially In
10. PIN TE da ooo ne ooo 46 128 SERR PU TBEK it lidad eta 46 11 29 DER PUTO PP o bobo l SVS SSB ODD bo doo ee ee ie eRe ole lot ot 47 11 3 FUNCTION FOR TOUCH AND KEYBOARD CONTROL eee 0000 nene then nh 40 o PS BEYIN ROSE een a E ore PS P o O T oo Re A 40 ESAS E JE KEY oie PASSY SSR OM 0 CRO er S ee en E ee 40 11 39 CLEAR REV ia is 48 1124 MISCELLANEOUS APERUNCTIONS td ciclo bo teats eee ae ces 49 VAT GET NME R td 49 MAL TESE PVE ooo hb A A a 49 AD ALEO Garces ii O oo o ooo o OOo ooo TEA 49 AA F REE snaze neo O Rondo tob oo oo Bobo o epee eco oo cee ted ee ooo oo 50 AO SYSTEM RESE Pi osel cates kasda sd E a sea E cool ns 50 11 5 API FUNCTIONS FOR MANAGING OF STRINGS ienai ee a E 51 TOG GET TIABS TR A O oa 51 ES AE O a EEA E EE S A E E o 51 193 SIRENA ii srta 51 TIA SRO MF eiA E N E A E E E OAA EEA EE 52 T S EROA edi ia A 52 TO SR PRIM TE E E E A E EA 52 MESA OR RERIN lle age cae R e T dais 52 1170 FUNCTIONS FORAXISINTERPOLA FHION tasa EEEE A 54 IRO PROPERTY orae a E E se ee a e o ooo a a no 54 PO A en Po o 550 E o A E R 54 A A no II E ha ab A 56 PO ARCEO PR 57 OS DETOM ara EA eee O 58 TROO A O o N re ere 58 11 6 7 11 00 ESTOPA A A E zasoby noo 59 109 MOVE aie asst Ado ban castes A Acai bad ly E ds 59 10 10 PRESEL iia Ni Me dn k dod ee 59 TL SGANOPEN FUNCTION St A a poem AA AAA 61 IRET PAGO SD ODE a A A 61 1162 PAGO DOUE A A A 61 SS REA SE OG little oo to R ob n 62 Mr O FA OO SEND COPE OOPS E KS OE PER ROY CMT eee SP
11. Program The binary file created by compiler is transferred to the control by RS232 or ETHERNET line The program will be saved in the permanent memory of the control and then it will be executed CanOpen Configurator It launches the CanOpen configuration tool see chapter CANOPEN CONFIGURATOR EtherCAT Configurator It launches the EtherCAT configuration tool see chapter ETHERCAT CONFIGURATOR DEBUG It launches the DEBUG tool see chapter DEBUG APPLICATION 3 2 Project Manager The PROJECT MANAGER allows a fast selection and navigation in all the PAGES of the PROJECT From this AREA we have the entire control of the application viewing pages managing of variables writing code etc New Page From menu Pages New It adds a new page to the project The page is automatically numbered A page can contain GRAPHIC OBJECTS and source code Both will work only when the page will be loaded and only a page at time can be loaded To switch from a page to another can be used the system function Pagina NrPag Delete Page From menu Pages Delete It deletes the showed PAGE The entire content will be lost and all the page after this will be renumbered Attention all reference to these pages button of function will have to be modified View Graphic of the Page It shows the graphic window of the page View Code of the Page It shows the source code editor window of the page View Variables of the Page It shows the
12. Returns the analog value from 0 to 1023 11 11 5 NG DAC ANALOG OUTPUTS This function allows to update the analog outputs of each channel equipped in the NG35 expansions NG IO and NG PP as option These expansions have a digital to analog converter at 12 bit with a range of 10V Therefore a value of 2047 corresponds to 10V in output a value of 2047 corresponds to 10V The selection of the channel is made by an index from 0 to 7 each expansion manages two channels Card 0 nearest NG35 Syntax NG DAC Char Chan Long Val Parameters Chan Number of channel from 0 to 7 val Value of the output Example Used variables val LONG channel CHAR channel 0 val 1024 ng Dac channel val write 1024 5V to analog channel 0 ng Dac 1 512 write 512 2 5V to analog channel 1 11 11 6 NG DAC CAL CALIBRATION OF THE ANALOG OUTPUT OFFSET This function allows to calibrate the OFFSET of the analog outputs Usually it can be occur that the analog output has a little value of voltage OFFSET in the order of mV also if zero has been set With ng dac cal we can null this voltage setting a value opposite to the offset one Remind that for each unit the output value will be about 4mV Syntax NG DAC CAL Char Ch Long Offset Parameters Chan Number of channel from 0 to 7 Offset OFFSET value ATTENTION THE OFFSET VALUE ISN T SAVED AND IT MUST BE SET AT EACH TURN ON 11 11 7 NG_ENC ENCODER INPUTS This func
13. SYSTEM EMCY 8 and it will contain all the 8 bytes of the EMERGENCY OBJECT frame as from the DS301 specific of the CAN OPEN Usually it is called cyclically The emergency code depends by type of connected device therefore refer to its manual Hardware AIl Syntax READ EMCY as char Return value char 0 No error lt gt 0 Node that generated the emergency object SYSTEM EMCY 0 1 2 3 4 5 6 7 Emergency Error Error Manufacturer specific Error Code Code Register ATTENZIONE The system doesn t buffer more than one message then if more EMERGENCY OBJECT are sended along a single task plc only the last will be read An EMERGENCY OBJECT non significa che effettivamente ci sia un nodo in emergenza The DS301 specific provide that an EMERGENCY OBJECT are send also on alarm reset Furthermore some devices can be send this frame at start up Example Used variables Err Long NodeErr Char function Alarm as void NodeErr read emcy if NodeErr 0 no error return endif err SYSTEM EMCY 7 amp 0xff Read 4 byte of Manufactured specific err err lt lt 8 field masking eventual bit not err err _SYSTEM EMCY 6 0xff interested err err lt lt 8 err err SYSTEM EMCY 5 amp 0xff err err lt lt 8 err err _ SYSTEM EMCY 4 amp 0xff endfunction 11 8 DATA SAVING FUNCTIONS All hardware are equipped with several type of memory usable for DATA SAVING According to the type of m
14. TABLES making it not suitable to manage multilanguage applications Before using a TEXT TABLE must be created An apposite browser allows the writing of the text in the tables To start the browser there is an apposite section in Project Manager The tables will be automatically numbered with an INDEX to which refer for their use Gestione progetto Progetto Oggetti Funzioni Propriet Tabelle M Lingue 1 4 Ez Tabelle N Add a new table Delete selected table Near these buttons there is a spin box to select the total number of languages in the project The number of languages is unigue in all the project and it is associated at all the tables N Lingue 1 gt In the tree view it s possible to see all the tables of the project doing the double click on a table we can enter to the modify window Browser of TEXT TABLES TITOLO LUNGHEZZA MAX LINGUA C i ee RIEMPI CON SPAZI J Indice T sto Mg Messaggio 1 M Messaggi 2 TITLE It s a description of the table only as a comment It isn t a reference for the table LANGUAGE For each table there is a page for each language With the two buttons at the right allow to scroll between these pages The number indicates the index of the language currently displayed We can also write a message associated to each language for better understanding LENGHT MAX It s the dimension of each single message in the table All strings of a table will have
15. assignment nome_funzione doesn t cause the return from the function but only the assignment of the return value Example Used variables result as int number_a as int number bas int Page Function of Main task functions declaration function int average number 1 as int number 2 as int as int dim temp as int temp number 1 number 2 2 int average temp endfunction Anywhere in the source code function calling number a 13 number b 33 result int average number a number b 10 2 Declaration of the function internal variables Syntax Dim varname as type The syntax of instruction dim is composed by the following elements varname Mandatory Name of the variable type Mandatory Type of the variable It can be of any types except ARRAYS STRUCTURES or BITS Example dim var as long dim var1 as uint dim var2 as float 11 SYSTEM FUNCTIONS VTB provides a wide LIBRERY to a complete management of the hardware devices Some function can be available only for some type of hardware 11 1 FUNCTION FOR THE GRAPHIC CONTROL This group of function are available in systems equipped with an HMI 11 1 1 CLEAR_LCD Clears display with a background color Hardware PEC70 NG35 NGM13 Syntax CLEAR LCD int Background Parameters Background Any number or expression in the range of the colours supported by the hardware Example clear lcd 7 clear display with the white color 11 1 2 SETBRIGHT Sets the
16. axis RappX Float ratio between generated steps and effective movement Initialize in the section INIT of the MAIN task the variable RAPPX at the desired value however not equal to 0 A negative value will be able to change the direction of the axis Set the following PROPERTY of the OBJECT MONAX example as Propriet Eventi Write in TASK PLC the following CODE pp_step 0 pos_asse RappX Write in MAIN TASK the test code to execute a movement example if START CONDITION AsseX Vel 1000 AsseX guota 100000 AsseX start true START_CONDITION false To avoid recursive starts endif With this example the variable pos_asse will reach the value 100000 following the programmed RAMP in the object In TASK PLC the value is sent by the function PP_STEP to the STEP DIR channal O obtaining a movement of the axis controlled in position and velocity The function pp_step generate the STEPS by the value difference of the position variable between two sample Then according to the sampling time of TASK PLC we have different speed A typical sampling time for the STEP DIR axis can be from 2 milliseconds to 5 milliseconds 11 13 6 EXAMPLE OF USING WITH THE OBJECT INTERPOLATOR The object INTERPOLATOR generates trajectories on more AXIS at the same time according to the type of interpolation executed Similarly to the object MONAX it works with a support variable which opportunely sent to function pp_step will be able to e
17. by VTB when a new bitmap is loaded It is formed as BM_bitmap_name Only bitmaps loaded in a graphics page can be used Hardware PEC70 Syntax Draw bitmap int Bmp int X int Y Parameters Bmp Reference number of the BIT MAP BM bitmap name X Any number or expression corresponding to the coordinate X Y Any number or expression corresponding to the coordinate Y Example draw bitmap BM MYBITMAP 100 100 draw the BITMAP named MYBITMAP 11 1 16 DRAW_SBITMAP It is the same as draw_bitmap but STRECHING the image to adapt it in the set rectangle Hardware PEC70 Syntax Draw sbitmap int Bmp int X int Y int X1 int Y1 Parameters Bmp Reference number of the BIT MAP BM bitmap name X Any number or expression corresponding to the coordinate X of the upper left angle Y Any number or expression corresponding to the coordinate Y of the upper left angle X1 Any number or expression corresponding to the coordinate X of the lower right angle Y1 Any number or expression corresponding to the coordinate Y of the lower right angle 11 1 17 SAVE AREA Saving of an area of display identified by the rectangle X0 Y0 X1 Y1 The saved area can be restored by the function restore_area Hardware PEC70 Syntax Save area int X0 int YO int X1 int Y1 Parameters X0 Any number or expression corresponding to the coordinate X of the upper left angle YO Any number or expression corresponding to the coordinate Y of the upper left angle X1 Any number or
18. expression Example Used variables Num long Num 3250 Num Abs Num return the value 3250 8 10 FABS Return the absolute FLOAT value Hardware NG35 NGM13 PEC70 Syntax FAbs numero as float The argument number can be a FLOAT value or any numeric expression Example Used variables Num float Num 3 250 Num Abs Num return the value 3 250 9 INSTRUCTIONS TO CONTROL THE PROGRAM FLOW In VTB there are a lot of instruction to control the program flow They are similar to other compiler and THEY ARE AVAILABLE IN ALL THE HARDWARE TYPES 9 1 IF ELSE ENDIF Allow the conditional execution of a group of instruction according to the result of an expression Syntax If condition instruction Else instructionelse endif The syntax of instruction if else is composed by the following elements condition Mandatory Any expression with the result True value not zero or False value zero instruction List of the instruction to execute if the condition IF is TRUE instructionelse Optional List of the instruction to execute if the condition IF is FALSE endif End of cycle IF ELSE Notes The instruction Select Case can be more useful when there are a lot of continuous cycles IF because it creates a source code more readable Example Used variables varl int var2 int ifvarl var2 gt 120 varl 0 else var1 120 endif 9 2 LABEL Identifies a reference point for the GOSUB or GOTO jumps Syntax Label la
19. expression corresponding to the coordinate X of the lower right angle Y1 Any number or expression corresponding to the coordinate Y of the lower right angle Example Save area 10 10 100 100 Save the display area contained in the square 10 10 100 100 11 1 18 RESTORE_AREA Restoring of the area previously saved with save_area Hardware PEC70 Syntax Restore area int X0 int YO int X1 int Y1 Parameters X0 Any number or expression corresponding to the coordinate X of the upper left angle YO Any number or expression corresponding to the coordinate Y of the upper left angle X1 Any number or expression corresponding to the coordinate X of the lower right angle Y1 Any number or expression corresponding to the coordinate Y of the lower right angle 11 1 19 PRINT Formatting print of an INTEGER value Hardware PEC70 NG35 NGM13 Syntax PRINT const char format long val Parameters Format String corresponding to the format to be printed Val Any integer value or expression Avalaible formats HHBRRHH Print a fixed number of characters 23456 HH AHH Force the print of decimal point 123 456 HHH Force the print of the sign 1234 FO Force the print of a ZERO 0 12 XHHHR Print in HEXADECIMAL format F1A3 BHHHR Print in BINARY format 1011 Example var 12345 Print var It will be printed 123 45 var 2 Print var It will be printed p ae Print 00 var It will be printed
20. in Milliseconds of the TASK PLC and the relative percentage of CPU using If the system read a value near the CRITICAL one it will be signal by RED BLINKS af the value y A un after BreakPoint or F5 key hen a Break Point is reached it allow to resume the normal running of the program n Execute Intruction Routine or F10 key When a Break Point is reached with this button it is possible to execute a single line of source code Eventual functions will be execute completely without enter inside them ial Execute Intruction or F11 key When a Break Point is reached with this button it is possible to execute a single line of source code If a function is encountered program will stop inside it Find text Find a text in the source code windows a Task Ple Display the content of TASK PLC ATTENTION in TASK PLC it isn t possible to set a Break Point 13 2 Writing of a variable It is possible to change the value of all the variables in the WATCH list Double click on the value and then write the desired value Nome Walore Pag Contesto PROWA 1450171 0 If the variable is a type BIT the double click switches from TRUE to FALSE and vice versa 13 3 Insert Remove a Break Point The insert of a Break Point allows to break the program in a specified point When a Break Point is reached it is possible to execute STEP by STEP the program checking the correctness ATTENTION Break Points can not be ins
21. is matched only the first encountered will be execute Case Else is used to execute a block of instruction if no condition are verified Although it isn t mandatory it is recommended the use of Case Else statement in each Select to manage also unexpected value of expression More instruction Select Case can be nested At each instruction Select Case there must be an associated EndSelect Example Used variables varl int var2 int var3 int Select varl case 10 if var1 10 Baeva Ava if varl var2 var3 case 5 TO 20 if varl is between 5 and 20 case 1 6 8 if varl 1 or varl 6 or varl 8 case Bis all other value of varl Endselect 9 8 FOR NEXT STEP EXITFOR Allow the iteration of a block of instructions for a number of times according to a variable It is a mix between BASIC and C languages Syntax For counter init To condition Step increment intructions ExitFor Next counter The syntax of the instruction For Next is composed by the following elements counter Mandatory Numeric variable used as counter of iteration It can be a BIT variable init Mandatory Initial value of the counter condition Mandatory Iteration will continue until condition is true increment Optional Value added to the counter at the end of each iteration If it isn t specified it will assume the value 1 It can be any numeric expression and can assume any value positive as well as negative instructions Optional Block of instructi
22. long val Parameters Format String corresponding to the format to be printed Val Any integer value or expression Avalaible formats HHAHEH Print a fixed number of characters 23456 HHH HHH Force the print of decimal point 123 456 H Force the print of the sign 1234 HO H Force the print of a ZERO 0 12 XHHHR Print in HEXADECIMAL format F1A3 BEK Print in BINARY format 1011 Example var 12345 ser printl var It will be printed 123 45 var 2 ser printl var It will be printed p 2 ser printl 00 var It will be printed 027 ser printl 0 00 var It will be printed 0 02 11 2 7 SER_PRINTFF Formatting print of a FLOAT value It is the same as ser printf Hardware PEC70 NG35 NGM13 Syntax SER PRINTF const char format float val Parameters Format String corresponding to the format to be printed Val Any integer value or expression 11 2 8 SER_PUTBLK Sends a precise number of characters to the serial port Unlike the function ser_puts it allows to send also the character with O code enabling the managing of binary protocols furthermore it starts the background transmission setting in appropriate mode the RTS signal useful to work with RS485 lines Hardware PEC70 NG35 NGM13 NG35 NGM13 ATTENTION This function allows to manage BINARY and RS485 protocols Syntax SER PUTBLK char Buffer int Len Parameters Buffer Pointer to the
23. occur using the STEP DIR axis Refer to the chapter of STEP DIR channels for a correct preset of them 11 7 CANOPEN FUNCTIONS This group of functions allow the management of CANOPEN line at application level A lot of library OBJECTS use these functions to make it more simple but in some cases it is necessary using the primitive functions directly 11 7 1 PXCO SDODL This function allows to send data to a node of the canopen net using the protocol SDO It is supported only the SDO EXPEDITED mode allowing to send up to 4byte of data length Hardware AIl Syntax PXCO SDODL char node unsigned index unsigned char subidx long len char data as char Parameters Node Node ID of the SLAVE to whch send data Index subindex Address in the Object Dictionary of the data to be written Len Number of bytes to send data Pointer to the data to send Return value char 0 No error lt gt 0 Communication error 2 The node responded with a SDO ABORT CODE calling the function rea sdoac in the system variables SYSTEM SDOACO e SYSTEM SDOACO will be available the relative error code ATTENTION Cause the different allocation of bytes inside variables be careful to set the length corresponding to the variable type passed by pointer Example Used variables value int Ret char value 100 Ret pxco sdodl 1 2000 0 2 value node 1 index 2000 subidx 0 len 2 byte value 100 if Ret lt gt 0 test if error occurs if Ret 2 read _sdoac read eventu
24. path as char as char Parameters path Nome della cartella Se la stringa vuota viene presa la cartella corrente 11 10 15 READDIR Reads the informations of the first file directory found in the FAT The informations are saved in the structure ObjectName finfo Syntax ReadDir as char Structure ObjectName_finfo size File dimension date File date bit 0 4 day 1 31 bit 5 8 month 1 12 bit 9 15 year 0 99 time File time bit 5 10 minutes 0 59 bit 11 15 hour 0 23 attrib Attribute bit O read only bit 1 hidden bit 2 system bit 3 volume bit 4 directory bit 5 arch name 13 Short name ex nomefile ext Iname Pointer to long name max 255 characters Example Function to print on the serial port of the file list in the current directory function list dir as void dim res as char dim pname as char dim flbyte as long res disk OpenDir if res ser puts No file ser putchar 10 ser putchar 13 return endif while 1 res disk ReadDir if res disk finfo name 0 0 return endif ser printl 00 disk finfo date amp 31 ser printl 00 disk finfo date gt gt 5 amp 15 ser printl disk finfo date gt gt 9 1980 ser printl 00 disk finfo time gt gt 11 ser printl 00 disk finfo time gt gt 5 amp 63 if disk finfo attrib p1 ATTR DIR ser puts lt DIR gt else ser printl bytes disk finfo size endif ser puts
25. pos vect 0 gpresetX pos vect 1 qpresetY obj preset pos vect pp preset 0 gpresetX Rapp 0 pp preset 1 qpresetY Rapp 1 DisableStep false preset position X preset position Y preset interpolator preset step dir channel 0 preset step dir channel 1 PRESET ASSE WITH MONOAX DisableStep true MONOAX HOME gpresetX pp preset 0 gpresetX RappX DisableStep false preset position preset step dir channel 0 12 COMPONENT FOR FRAMEWORK VTB compiler can create a DLL COMPONENT MODEL which can be imported in NET dot net projects That allows the full control of hardware resource directly by a PC READ WRITE VARIABLES CALL FUNCTION IN REMOTE PROCEDURE CALL For details refer to the NG Framework manual 12 1 Enabling the creation of the COMPONENT NGFRAMEWORK To use the component we must enable from the VTB Options the compiling of the NET DLL Opzioni Generali Protocollo R5232 Protocollo Field Bus Conf terminale Connessione Memoria da riservare al salvataggio Lung blocco 256 FrameWork M blocchi per prog m W Crea componente per Framework N Programmi m le Windows AP ati Tot mem IMS 256 bytes C Windows CE Home oggetto TestComp The component can be created for system with Windows XP VISTA 7 or with Windows CE The name of the created DLL must be indicated in the object name So after the end of compiling it will be created the DLL OBJECTNAME DLL which can be im
26. ser puts disk finfo name ser puts ser puts disk finfo lname ser _ putchar 10 ser putchar 13 loop endfunction 11 10 16 GETFREE Reads the property of a driver total dimension and number of free bytes The informations are written in the structure ObjectName dinfo Syntax GetFree drv as char as char Parameters drv Index of the driver O A 1 B Structure ObjectName_dinfo btot Disk dimension in bytes bfree Number of available bytes Example err disk GetFree 0 ser puts bytes free ser printl disk_dinfo bfree ser puts su ser printl disk dinfo btot 11 10 17 CHDRV Sets the current driver All successive functions without the name of driver in the path will refer to the current one Syntax ChDrv drv as char as char Parameters drv Index of the driver O A 1 B Example err disk ChDrv B err disk OpenCreate 1 file txt create file txt in driver B 11 10 18 TESTDRV Tests the presence of a driver This is the only function wich doesn t return the code error as the others Syntax TestDrv drv as char as char Parameters drv Index of the driver O A 1 B Return value Char 0 No driver found 1 Driver found ATTENTION This function tests only the presence of the disk but not the presence of a FAT 11 10 19 REAL TIME CLOCK RTC When files are created in the relative fields of the FAT the actual date and time are written For th
27. the actual elapsed time of TASK PLC in CPU units DEBUG application displays it in milliseconds It useful for test to understand the stress of CPUin M ME SUNT TASK PLC This time should be less than 30 of the sample time set in general options to avoid the other tasks run slowly SYSTEM PLC MAX TIME UINT OR It s similar to the previous but it contains the maximum value latched If there is present an internal SSD this variable contains its dimension in Mbyte SYSTEM CARD TYPE INT 8 16 32 64 128 etc _SYSTEM_VER INT R itisthe firmware version Ex 10317 Vers 1 03 17 SYSTEM CANERR CNTO LONG RW Error counter of the Canopen channel 1 It is updated each sample of TASK PLC testing the hardware interface SYSTEM CANERR CNT1 LONG It s tha same as the previous one but it refers to channel 2 SYSTEM ECERR CNT LONG Error counter of the ETHERCAT line SYSTEM STDINP DN INT OR It contains the code of a key when it is pressed NT R _SYSTEM_STDINP_UP It contains the code of a key when it is released 6 8 Static Variables The variables of type STATIC are declared in NON VOLATILE RAM they aren t zeroed at reset and maintain their value also after turn off They are very useful to retain data which change frequently as encoders counters etc and which could not be saved in flash memory IMS Besides they are common variables STATIC variables are always GLOBAL that is visible in all page and in all tasks
28. we can change it ever after to adapt the same application at another hardware Opzioni z Generali Protocollo R5232 Protocollo Field Bus Conf terminale Connessione Codice terminale Memoria da riservare al salvataggio NG35 bi Lung blocco 256 x FrameWork M blocchi per prog 1 x Crea componente per Framework MN Programm 2 f Windows PA eta Tot mem IMS 256 bytes f Windows CE Home oggetto Target Hardware This Combo allows to choose the code of target hardware To facilitate the programming in the list beyond the single products are also some preconfigured combinations such as NGM13 LPC20 NG35 LPC40 etc They refer to a combination of a NGM13 or NG35 CPU coupled with a Promax serial terminal LPC20 LPCA40 Saving memory reserved area This option selects the amount of internal memory reserved called IMS to the application data saving ex Parameters recipes etc This memory is organized in blocks of 256 bytes therefore it must select the number of blocks to reserve for each recipes and the max number of recipes For example if the memory needed for one recipe is 300 byte we must set 2 blocks 512 byte Normally the IMS memory is removed from the flash memory reserved to the application keep in mind that when you set this option This option isn t valid for the hardware in which the CODE FLASH isn t shared with the data saving memory ex NGM13 Create framework component VTB ca
29. with three different names Syntax Delete path as char as char Erase path as char as char Kill path as char as char Parameters path Name of the directory it can contain also the complete path Example err disk kill test text delete the directory file text in test 11 10 12 RENAME Renames a file or a directory It returns error if the new name already exists Syntax Rename oldpath as char newpath as char as char Parameters oldpath Name of file directory to be renamed newpath Name of the new file directory to be renamed Example err disk Rename text txt data dat rename the file text txt with data dat in the current directory 11 10 13 COPY Duplicates a file If a file with the destination name exists this is overwritten Syntax Copy srcpath as char dstpath as char as char Parameters srcpath Name of the file to be duplicated it can contain also the complete path dstpath Name of the duplicated file it can contain also the complete path ATTENTION The destination path must contain the name of the file It can not refer only to the directory Example err disk Copy text txt B data dat copy the file text txt in driver B err disk Copy text txt ltestildata dat copy the file text txt in the ed directory test 11 10 14 OPENDIR Apre una cartella E il punto di partenza per una ricerca dei file presenti nel disco Usata insieme a ReadDir Syntax OpenDir
30. 0 NG35 NGM13 NG35 NGM13 Syntax SER MODE char par char nbit char nstop Parameters par Parity O no parity 1 odd parity 2 even parity nbit Number of bits per character 7 or 8 nstop Number of stop bits 1 or 2 Example ser mode 1 8 2 Program the 2nd serial port with ODD PARITY 8 BIT CHAR 2 STOP BIT 11 2 3 SER_GETCHAR Reads the receive buffer of the serial port It doesn t wait for the presence of a character Hardware PEC70 NG35 NGM13 NG35 NGM13 Syntax SER GETCHAR as int Return value 1 No character is in the buffer gt 0 Code of the character read from the buffer 11 24 SER PUTCHAR Sends a character to the serial port Hardware PEC70 NG35 NGM13 NG35 NGM13 Syntax SER PUTCHAR int Car Parameters Car Code of the character to send 11 2 5 SER PUTS Sends a string of characters to the serial port The string must be ended with the character O NULL Hardware PEC70 NG35 NGM13 NG35 NGM13 ATTENTION This function can not be used in a BINARY transmision but only with ASCII transmision Syntax SER PUTS char str Parameters str Pointer to the string Example Ser puts TEXT MESSAGE Send the string TEXT MESSAGE Strcpy Vect MESSAGE1 Copy the string MESSAGE1 to Vect Ser puts Vect Send again the string TEXT MESSAGE 11 2 6 SER_PRINTL Formatting print of an INTEGER value Hardware PEC70 NG35 NGM13 Syntax SER PRINT const char format
31. 5 NGM13 PEC70 Syntax Sin angle as float The argument angle can be a FLOAT value or any numeric expression which represents the angle in radians Example Used variables angle float Cosec float angle 1 3 Define the angle in radians cosec 1 Sin angle Calculate the cosecant 8 2 COS Return the cosinus of an angle in a FLOAT value Hardware NG35 NGM13 PEC70 Syntax Cos angle as float The argument angle can be a FLOAT value or any numeric expression which represents the angle in radians Example Used variables angle float sec float angle 1 3 sec 1 Cos angle Define the angle in radians Calculate the secant 8 3 SQR Return the square root of a number Hardware NG35 NGM13 PEC70 Syntax Sqr number as float The argument number can be a FLOAT value or any numeric expression greater or equal than zero Example Used variables vsqr float vsgr sqr 4 return the value 2 8 4 TAN Return the tangent of an angle in a FLOAT value Hardware NG35 NGM13 PEC70 Syntax Tan angle as float The argument angle can be a FLOAT value or any numeric expression which represents the angle in radiant Example Used variables angle float ctan float angle 1 3 Define the angle in radians ctan 1 Tan angle Calculate the cotangent 8 5 ATAN Return the arctangent of a number in a FLOAT value between 11 2 and T1 2 Hardware NG35 NGM13 PEC70 Syntax Atan number a
32. CASE regarding instructions functions variables etc VTB converts internally all characters in UPPER CASE The only one exception is the management of DEFINE where characters are not converted in upper case but they remain so in all compilation passes Because VTB is a language addressed to MOTION some features considered of secondary importance remained at PRIMITIVE level For example the STRING management is made like C language using function such as STRCPY STRCAT STRCMP etc 3 DEVELOPMENT ENVIRONMENT The development environment of VTB has an common intuitive interface like all Windows applications It isn t necessary to have a great experience of programming In the environment is included an EDITOR optimized for VTB programming Dee Bex A eG BE E Egg 8 TOOLBAR Gestione progetto Q i wl 20 Progetto Oggetti Funzioni Propriet Tabelle olx BBE n Progetto ES Variabili Globali v GRAPHIC TEXT window switching button B Task Time Main 2 3 Pagine Paga Graphic window TREE VIEW only for controls with integrated console PROJECT MANAGER Compilazione TIPO TERMINALE PC 100 05 xy 442 479 PROTOCOLLO COMPILAZIONE DEBUG INS 3 1 Toolbar New Project From menu File New project i It creates a new application The previous one is closed requesting a confirm for saving Open Project From menu File Op
33. HE CURRENT WORKING PLANE The other axis will be TRANSPORTED The function is useful to manage TANGENTIAL AXIS such as cutting machine where the blade have to be transported to increasing the fluidity of the movement The eventual stop of axis is calculated according to the threshold value in sglp If the resultant edge is less or equal than this threshold axis don t stop in the position but continue filleting the two segments Hardware All Syntax LINETO Long Vel Long PntAx as char Parameters Vel Velocity of interpolation as unit sample PntAx Pointer to the array of the axis position as unit Return value Char 0 Command not written in the buffer buffer full 1 Command written in the buffer Notes Lineto unlike Moveto doesn t distribute the velocity on all enables axis but only on the working plane making this function not able to tridimensional interpolation If the edge is less or equal than SGLP axis don t stop Example object name OBJ Used variables VectAssi 4 long Vel long Test char Fast interpolation with tansported third axis vel 1000 VectAssi 0 1000 X VectAssi 1 2000 Y VectAssi 2 100 Z transported VectAssi 3 0BJ pc 3 A remain stopped muovi VectAssi 0 4000 X VectAssi 1 6000 Y VectAssi 2 200 Z transported VectAssi 3 0BJ pc 3 A remain stopped muovi VectAssi 0 5000 X VectAssi 1 2000 Y VectAssi 2 300 Z transported VectAssi 3 0BJ pc 3 A remain sto
34. INPUTS A eras 76 11159 ANG DACG ANALOG OU TRUTES ico 76 11 116 NG _DAC_CAL CALIBRATION OF THE ANALOG OUTPUT OFFSET 17 MATT NG ENG ENCODER NP TS 3 ona 17 1 118 NG T0 ZERO INDEX OF ENCODER 00D 78 11195 NO RELE Crer cca encanta oto o te seuss p oo oo ean lea ieee ob 79 11 11 10 TEMPERATURE READING ON NGI S eo es oo ca 79 TLT2 INTERFACE FUNCTIONS FOR MGM 8 x ads 80 AZT NOMS MNE PROPERLY a e E 80 1122 ING Pls DIGITALINPUOT Sou itv 80 11123 NG DO DIGITAL OUTPUTS 0 a cia 81 11 124 NOTES FOR PROGRAMMING WITH DIGITAL 1 0 eee eee een nene nen 81 11129 NGADCANALOGINFOTS 0030 rede see ee eed tee ae aes 82 thls SLED CAM INER S ci ssa ects eas ceeds ee enh eee resend aoa dene 83 11 13 1 PP STEP STEP DIR SIGNAL GENERATION en oasis konce nev sta ei 83 14 13 2 PP2PRESET PRESET OF STEF DIR POSITION soii 83 11 13 3 PP GETPOS READING OF ACTUAL POSITION ONLY FOR NG PP 0 ccsecceeeeeenees 83 1113 4 READING OR ACTUAL POSITION att a AA A 83 11 135 EXAMPLE OF USING WITH THE OBJECT MONOAX eee eee een n nen 84 11 13 6 EXAMPLE OF USING WITH THE OBJECT INTERPOLATOR een 85 11 13 7 NOTES FOR A CORRECT PRESET OF STEP DIR CHANNELS een 86 12 COMPONENT FOR FRAMEWORK osa coo nso rnanera kanane diia 87 12 1 Enabling the creation of the COMPONENT NGFRAMEWORK eee eee nano na nan nn 87 122 EXPO VARIABLE OPER O OE a O P e O Po 87 12 3 EXPOLIO FUNCTIONS e ooo deal aes 88 15 APPLICATION IDEB Usuarias 89 E 15 910 A L L O
35. It is processed at bit Bit 0 Enables channel 0 Bit 1 Enables channel 1 digital outputs 9 and 12 are disabled Bit 2 Enables channel 2 digital outputs 10 and 13 are disabled Bit 3 Enables channel 3 digital outputs 11 and 14 are disabled P P Interp Mask Enabling mask of step dir channel in interpolation mode It is processed at bit Bit 0 Channel 0 in interpolation mode Bit 1 Channel 1 in interpolation mode Bit 2 Channel 2 in interpolation mode Bit 3 Channel 3 in interpolation mode Num NGM IO Number of expansion cards NGM IO or NGM PS Remember that 16 inputs and 14 output are available with the NGM13 without any expansion It must not be considered L Sync enable mask Enabling mask of L SYNC channels Bit 0 Enables channel 0 digital output 1 is disabled Bit 1 Enables channel 1 digital output 2 is disabled Bit 2 Enables channel 2 digital output 3 is disabled Bit 3 Enables channel 3 digital output 4 is disabled L Sync Prescaler Prescaler Value of L SYNC channels a ar a 11 12 2 NG DI DIGITAL INPUTS This function allows to read the digital input of the NGM13 and its expansion cards NGM IO and NGM PS The expansion cards are identified with a progressive number starting from 0 The first card is to consider the NGM13 index 0 the nearest expansion at that will have the index 1 and to follow the others Syntax NG_DI Char Card as uint Parameters Card Index of the expansion card from 0 to 7 Return value Uin
36. LC cycles but it can contain every type of code sequence exluding some IFS functions like GRAPHICS FUNCTIONS AXIS INTERPOLATION xxx MOVETO xxx LINE_TO MANAGE OF CANOPEN SDO STATIC CYCLES see the single functions for details The typical sample time is 2 milliseconds wich is an enough time to manage a lot of application for example 6 AXIS interpolation however it can go down also under 1 millisecond when the charge of work is less stressful and for CPU with high computing power In this task is also managed the CAN OPEN and ETHERCAT protocol in DETERMINISTIC mode However it is advisable that its elapsed time doesn t exceed 60 of sample time else we risk to slow or even to stop the other tasks The TASK PLC HASN T A SECTION TO INSERT ANY OBJECT therefore if there is some code wich have to run inside it must be written at the moment of object design IF THE CODE INSIDE TASK PLC BLOCKS IT ALL SYSTEM GO IN CRASH To verify the elapsed time of TASK PLC there are two field in DEBUG NET application PLC TP and PLC TM never must exceed the sample time VTB defines some 5 1 1 NOTE ON CONCURRENT PROGRAMMING The use of CONCURRENT programming requires particular attention as in all MULTITASK systems To avoid unexpected operation it s recommended do not call the same function from INTERRUPT TASKS and COOPERATIVE TASK in the same application In other words the functions managed by MAIN TASK can be called without problems from PAGE TASK but
37. LOBAL variables Contesto If the watching VARIABLE is local of a FUNCTION defined with dim we can select the contest function of this variable These types of variables are visible only if a BREAK POINT in the relative contest is reached Remove the selected variable The selected variable will be removed from the WATCH window emove all variables from the WATCH window x A Remove all Break Points in the project o Information about DEBUG NET With this button we can display some informations about DEBUG NET and the target hardware Also it is possible to update the FIRMWARE of the target See section Firmware Update Info su Debug NET Gestione Firmware Piattaforma 20 052 1 03 16 Stop array reading When arrays of BIG DIMENSION are read can happen a TIME OUT of the system with this button we can stop the read A O oje It simulates a RESET of the HARDWARE ATTENTION The application will be restarted Save the list of variables on file It is possible to create a file with the list of the variables in the WATCH windows to reload it afterword E Load a variables list file It allow to reload a list of variables previously saved The content of the variables WILL NOT BE INIZIALIZED Load a variables list file with value It allow to reload a list of variables previously saved The content of the variables WILL BE INIZIALIZED with the saved value Load the last varia
38. O ROK P 89 132 WHAURG OFA VAPAble e id 93 13 3 Insert Remove a Break POMM z54ds ssh jee ba kou ae a cid 93 1928 FIMME UDO AO skate disor anette ta eens eh ed E dea k u Bira Maar tinct Aut dta ated teenie 94 135 WIIG AIS CONC zde a ee secu a io dhood doo bas nao i Ge ooo ed alee te o 95
39. ONTROL osada od n tia 38 TIT GLEAR COD A ha ej obra ur te ore ata tear der ois onde o a 38 1 12 SETBRIGA astuta id cate Molin nein de as dance raat A Ti 39 TI DRAW TEMN sob v zaz a6 bree Medet di o ooo 39 118 DRAV VINE ta lib 39 AO DRAE CINE id OB do k AAV AST oo E DORS o SOD Do bo o oo Po boob o b o no o bd 39 TARO DRAW BOK me too p oo o 40 MAA DRAW BOV o o ono AD S Ro otitis 40 VETO DRAW FIA ZPS PO P PR S O O ras 40 MAS SSE RE ON ze det eno Ac a o o ole ada OS eee 40 TELAS DE TGOPO F too rt ola ree eee Boh ooo S op o E PB O Dej e a on 41 AA RO POE ree ete E S rer ee em Ce ee RR M E DE eee 41 TA z BIO o a Gene E ree EMOD NO E P en P dd 41 MAS DRAW SR n 41 TA DRAM NS A o li ae 42 DATO DRAW AA oa ado dci doin 42 TIRO DRAW SBI MAP cirie ti TR A c 42 VETAS SAME AREA O EN 42 jE a Ko EM RESTORESAREA o des 43 ji a i CO A OLO mere OS AO DP LL LOV PPS E E II T eee Me rere rer ae 43 DTD AZO A II at oo 43 Terak T AGINA a carte ata ak he each o o eit Sais ates eae gen 44 B1122 DAW ELP OE cria tala nah by ooo eee o 44 R23 DRAW REEF ESE ii TS AT Vodu b Ge E Sone 44 IS ZA DRAW FRAME S osi notas bot cel che Pada startle rssicon E E bi EEEE oo 44 11 2 FUNCTIONS FOR THE SERIAL PORT CONTROL doo az ea A 45 BZ SER SEBA atc abolida 45 GZ DER MODE dt bebe obe oba 45 11 23 SER GET CAA R ere earch og Oo aces nuh ea ied hn de 45 11 24 SER PUTA Rd ob ja 45 11 25 SER PUTS o ren nee 45 11 20 SER PRINT eoii dd pl eee eee eee 46 TZ SE
40. Parameters X0 Any number or expression corresponding to the coordinate X of the upper left angle YO Any number or expression corresponding to the coordinate Y of the upper left angle X1 Any number or expression corresponding to the coordinate X of the upper right angle Y1 Any number or expression corresponding to the coordinate Y of the upper right angle Cod Any number or expression corresponding to code assigned to the key from 1 to 255 Form Any number or expression corresponding to the form of the key Form 0 Enable the press effect Form 1 Disable the press effect Example Set key 10 10 30 30 1 0 Draw a key at 10 10 30 30 Code 1 11 3 3 CLEAR KEY Disables the touch key with the specified code It isn t deleted from the screen but remaining displayed Hardware PEC70 Syntax CLEAR KEY int Code Parameters Code Code of the key to be disabled 11 4 MISCELLANEOUS API FUNCTIONS 11 4 1 GET TIMER Reads the system timer in units of TASK PLC scan time Hardware All Syntax Long GET TIMER Return value Value of the system timer in sampling units Some defines are automatically generated by VTB to adapt the application at the scan time TAU Scan time of TASK PLC in milliseconds INTEGER value TAUFLOAT Scan time of TASK PLC in milliseconds FLOAT value TAUMICRO Scan time of TASK PLC in 0 1 milliseconds Example Used variables Tick long Var char Tick Get timer Get initial value of timer while Test timer Tic
41. R TZP KOP ESA P V R R OSR nee OOP OTN 62 MAS q OA E ol eae de oo o o o L eo 62 TARO SPREAD EMO tad Po ka o OOo ob 63 T605 DATA SAVING FUNCTION Sita it tc 65 MES AMS WRITE a o o o a o 65 Maa IMS READ olo tos 65 TES ETRIERINET ONG HON ST o o it 66 E a E DOS p RO E O O Po 66 A FAE TA DIO a o ds tdt 66 193 PROTOCOL PROCESS FUNG HON cone di a tada 66 A AE TT dee cin ade 67 HITOS DISKODRIVER FONCTION S oo ro at ai died 68 IA rz sl O PP E SRO O mn E OLE O K O O ar eer ee oe 68 A DRINE A o ca Lo ll do 68 MATOS ERROR CODE e Det eny 68 11 10 4 OPENREAD OPENWRITE OPENCREATE 0000200000000 ena a a a tn nn 68 TOK e e po et 69 BT 10 0 READ A A asienta 69 Ns esse ach tres oz O eae Ado cbodoo E TE o el stearate aaa o oo ode 70 715108 SEEK SEEKE OF SEERRE Litas A A ooo uo 70 MATOS SAD tt tal io tir dot tirita 1 BTS TOTO MARDI tt ia 1 MIO DELETE ERASE MEE dit ii oo iy 1 EOI IRENAME a aE o wees voe ph ob v oo ohon 1 ETO o COR sonar aca coarse ubo a ante o e o Bobo 1 IOTA COPED db bo oo 12 HADAS READ oo ti ida 12 OTO GE LF REE Sl e te are ot dey 73 EI A A A En o UI Bob ohm o oo C ooo onoho o o none 3 TLIO TESTOR Moi seo ee 4 11 1019 REAL TIME CEOCK RTG oooO alardes 4 HA JINTEREACE FUNCTIONS FOR NGOS iai apo z eaten A EE ee 5 ET SING DI DIGITAL TINO TS iso ii Don oo ec 5 TITLE NG DO DIGITAL OUT PUT S aca ete 5 11 11 3 NOTES FOR PROGRAMMING WITH DIGITAL WO eee eee 00 eee een rent nn 5 MATE NG ADGC ANABOG
42. VTB Visual Tool Basic IDE User Manual Rev 1 0 0 Promax srl CANopen EE 1 INTRODUCTION VTB is an integrated development environment for OBJECT oriented programming on PROMAX platforms This environment contains inside all tools needed to development of application in simple and intuitive way The VTB philosophy is based on latest technologies R A D RAPID APPLICATION DEVELOPMENT which allow a fast development of application writing a reduced amount of source code A large library of OBJECTS and TECNHOLOGIC FUNCTIONS allow to create applications for all sector area of industrial automation VTB integrates a high level language like enhanced BASIC MOTION It s also possible to manage in clear and simple way FIELD BUS such as CAN OPEN ETHERCAT MODBUS Powerful functions of AXIS MOVING allow to manage any type of machine using LINEAR CIRCULAR FAST LINEAR INTERPOLATION or ELECTRIC GEAR CAM PROFILES etc VTB is predisposed for MULTI LANGUAGE APPLICATIONS simply selecting the USING LANGUAGE 2 NOTES ON PROGRAMMING LANGUAGE VTB programming language is defined as BASIC MOTION Its syntax is very similar as enhanced BASIC with some terminologies derived from C language Management of the functions is very similar as VISUAL BASIC also for DATA STRUCTURES Some INSTRUCTIONS are VTB PROPRIETARY but following the same philosophy VTB is a language CASE INSENSITIVE that is it make no differences between UPPER CASE and LOWER
43. W on X Y Z and A to realize the programmed arc the axis X and Y must be in precise positions for Example at 0 2000 CARA AA AAA o o eo oe o o o o o o o e o e o AIA a o a o o a a o e o e o e o e o a o 2 a 2 o vel 1000 VectAssi 4 long VectAssi 0 1000 final position X VectAssi 1 2000 final position Y VectAssi 2 5000 final position Z VectAssi 3 1000 final position A Cx 500 center X Cy 500 center Y muovi Function muovi as Void Dim test as Char Label Move test px arcto vel 2 VectAssi Cx Cy if test 0 goto Move endif EndFunction 11 6 5 SETCMD This function allows the synchronization of commands with the axis movement In fact because of BUFFER OF AXIS MOVEMENT the interpolation functions don t wait the execution of the command but write it in the buffer This implies the impossibility to command for example the digital output in a precise point of the path If axis don t stop in each position This function enables the writing of a command value in the buffer when a interpolation function is called moveto lineto arcto it will be written in cmd at the instant the movement starts Hardware All Syntax SETCMD Long CMD Parameters CMD Value of the command Example muovi OBJ setcmd 10 muovi OBJ setcmd 20 Nel TASK PLC if OBJ CMD 10 endif if OBJ CMD 20 endif 11 6 6 SETPIANO Selects the current working plane on desired axis By default the plane is set on the firs
44. a single byte from the TCP IP receive buffer lt is called by the protocol process function to read the received data Hardware PEC70 NG35 NG35 Syntax PXETH RX as char Return value Char Data read from the receive buffer 11 10 DISK DRIVER FUNCTIONS Some devices such as NG35 and PEC70 can manage files by the standard fyle system FAT16 or FAT32 on optional memory as FLASH DISK or USB KEY The library functions are contained in the object FATLIB which will be loaded before using In this chapter are described all the GENERIC function of the object Remember to put the prefix of the OBJECT NAME If for example the object is named disk the function OpenRead will must be called as disk OpenRead Hardware NG35 PEC70 11 10 1 PROPERTY Numero files Maximum number of opened files The HANDLE of the files will must be a number from 0 to this value minus one lt can be changed only at VTB environment FAT Monitor Enables the command monitor on the second serial port It can be changed only at VIB environment 11 10 2 DRIVER The system can manage mor drivers if they are equipped on hardware The reference in the path is in the standard mode A B etc but for some functions it needs to pass the index of the driver According to used hardware these are the reference of the driver A B NG35 Optional internal disk Not present PEC70 Optional internal disk USB Key 11 10 3 ERROR CODE All function of this ob
45. ables to manage them there are some apposite functions similar to the C language 11 5 1 GET TABSTR Gets a string from a text table and put it in the system variable SYSTEM STRING Hardware AIl Syntax GET TABSTR Char Table Char Msg Char Lng Parameters Table Index of the table Msg Index of the string inside the table Lng Index of the language to be used Example Get tabstr 0 1 SYSTEM LINGUA Read the second message idx 1 from the first odx 0 table using the current language Draw str system string Print system string 11 5 2 STRCPY Copies the string pointed by SOURCE into the array pointed by DEST The string must terminate with the character 0 NULL Hardware All Syntax STRCPY Char Dest Char Source Parameters Dest Pointer to destination Source Pointer to source Example Used variables Dest 10 char Dest1 10 char strcpy Dest prova testo copy the string prova testo in dest strcpy Destl Dest copy the string prova testo in destl 11 5 3 STRLEN Returns the length of a string Hardware All Syntax STRLEN Char Str as int Parameters Str Pointer to the string Return value Length of the string Example Used variables Len int Len StrLen prova testo ritorna il value 11 11 5 4 STRCMP Comparing of two strings Hardware AIl Syntax STRCMP Char Strl Char Str2 as char Parameters Str1 Pointer to the first string Str2 Po
46. add element button it is also possible to remove the selected structure by delete element button Opening an existent structure the fields of it are showed By a click on the single field it is possible to modify its type while the buttons add element and remove element can be used to add o remove a field from the structure The section FUNCTIONS groups the functions per page selecting a single function the editor window is opened showing the relative source code Gestione progetto ca as 5 tru ture Global 3 5 Objects Property In the area OBJECTS PROPERTY i s possible to set all the working properties of an OBJECT Properties are proprietary of the single object refer to relative user manual for details To set a property click with the left button of the mouse on the desired item and put the new value To show the properties the object has to be selected before Gestione progetto Frogetto Oggetti Funzioni Proprieta Tabele GaugeRot1Bmp1 F Propriet Eventi LIST OF THE PAGE S OBJECTS To simplify the selection of the OBJECT INCLUDED IN THE PAGE can be useful the COMBO MENU clicking on the name of the desired object 3 6 Text Table Manager This section is described in detail in the section Text Tables of the chapter VARIABLES TYPE 4 CONFIGURATION OF VTB From Menu Strumenti gt Opzioni This command is used to configure some options of the VTB environment and the target hardware 4 1 G
47. al SDO ABORT CODE endif endif 11 7 2 PXCO SDOUL This function allows to read data from a node of the canopen net using the protocol SDO It is supported only the SDO EXPEDITED mode allowing to read up to 4byte of data length Hardware AIl Syntax PXCO SDOUL char node unsigned index unsigned char subidx char dati as char Parameters Node Node ID of the SLAVE to whch send data Index subindex Address in the Object Dictionary of the data to be written data Pointer to the data to send Return value char 0 No error lt gt 0 Communication error 2 The node responded with a SDO ABORT CODE calling the function read_sdoac int the system variables SYSTEM SDOACO e SYSTEM SDOACO will be available the relative error code ATTENTION Cause the different allocation of bytes inside variables be careful to use the variable passed by pointer of the type corresponding to the length of the data to be read Example Used variables value int Ret char Ret pxco sdoul 1 2000 0 value node 1 index 2000 subidx 0 value data read if Ret lt gt 0 test if error occurs if Ret 2 read sdoac read eventual SDO ABORT CODE endif endif 11 7 3 READ SDOAC Reading of the SDO ABORT CODE sended by a node in the canopen net as answer to a request done with the function PXCO SDODL orPXCO SDOUL The read code will be written in the system variables SYSTEM SDOACO e SYSTEM SDOAC1 Refer to the DS301 specific of the CAN OPEN for the code error val
48. be found Example function MyFunction Val1 As Long Val2 As Long as Long EXPORT FunzSistem endfunction 13 APPLICATION DEBUG The DEBUG utility allows to control both read and write of all the application variables to insert BREAK POINT and to execute the code STEP by STEP That makes more simple the development of the application The application DEBUG can be execute by RS232 port as well as ETHERNET When the serial port is used the PC must be connected to the first port of the target hardware SER 1 PROG ATTENTION If application uses the first serial port ex MODBUS etc DEBUG will not work 13 1 Button bar Add a variable to the WATCH window It allow to insert a variable which will be update in REAL time and it will be also written Writing in the field Nome VARIABILE the alphabetical list of the variables of the project will appear making the searching very simple Variables can be added also in the following ways Drag amp Drop Select the desired variable in the code window and drag it in the WATCH window if AsseA Ilagb l amp amp AssexA move 0 Assen flagbg gosub As sex OnEndMove endif Right button Click with the right button on the selected variable and then Send to Debug if Assex Ilagb l 4 Assex move 0 AsseX flaches gosub Assex OnEndMove endif Invia a Debug Vai a Definizione Pagina It selects the page of the VARIABLE if it is a local variable of a page PAGINA O refer to the G
49. belname labelname name of the reference of the LABEL In each PAGE or MAIN task it can not exist more LABEL with the same name ATTENTION The LABEL instruction is OBSOLETE It is preferred to use the FUNCTIONS Example if condiition goto labell else goto label2 endif Label Labell Label Label2 9 3 GOSUB RETURN Allow to pass the control to a SOUBRUTINE and to return at the next program instruction Syntax GoSub labelname The argument labelname can be any LABEL inside the current PAGE or inside the MAIN task Notes GoSub and Return can be used everywhere in the code but they must be both included in the same PAGE or in MAIN task A subroutine can be composed by more than one Return instructions but the first Return founded by the program flow will act the return of the program to the first instruction after the last GoSub ATTENTION The LABEL instruction is OBSOLETE It is preferred to use the FUNCTIONS Example if condition gosub labell else gosub label2 endif Label Labell Return Label Label2 Return 9 4 GOTO Allows to jump to a LABEL Syntax Goto labelname The argument labelname can be any LABEL inside the current PAGE or inside the MAIN task Notes Goto passes the control to a point of the program referenced by a LABEL Unlike GOSUB the instruction RETURN isn t necessary ATTENTION The LABEL instruction is OBSOLETE It is preferred to use the FUNCTIONS Example if condition goto labe
50. bles list DEBUG NET always saves the list when it is closed With this button we can reload the last variables Display the LOG of HARDWARE ERRORS All run time errors are saved in this list It is very useful particularly with CanOpen applications to test if in the CANBUS net there are some errors or it works correctly Can Log Error s 1 Prog Timer Descrizione y Save Log Errors are sampled by directly by the target hardware in REAL TIME and they are displaied in TEMPORAL order It is also possible to save the logging list in a file to analyse them afterword Scope Enable the digital scope see relative section DEBUG NET options It allows to set some DEBUG options Block Read Delay Ms If this option is greater than ZERO a delay is added after the read of a block If DEBUG uses the serial port RS232 IT ISN T NECESSARY It can be useful in ETHERNET because the high speed of the protocol could create some problem to the VTB application slowdowns We recommend to set the delay when using ETHERNET to debug the application with a value of at least one Ms VIS HEX HEXADECIMAL DECIMAL display If activated the numeric value of the variables will be displayed in HEXADECIMAL format VIS ASCII ASCII display If activated the ASCII character corresponding to the value of the variable will be displayed it is useful for array of alphanumeric STRINGS Plc TP A m os Pic TM EY 036 It shows the elapsed time
51. data buffer to send Len Number of bytes to send Example Ser putblk Vect 11 Send 11 bytes of array vect 11 2 9 SER_PUTST Reads the state of background transmission started by ser_putblk Hardware PEC70 NG35 NGM13 NG35 NGM13 Syntax SER PUTST as uint Return value 1 Transmit error gt 0 Number of characters to be transmitted Example Ser putblk Vect 11 Send 11 bytes while Ser putst Wait for the complete transmission loop 11 3 FUNCTION FOR TOUCH AND KEYBOARD CONTROL In this chapter the primitive function for the management of data input are described for both the control of TOUCH SCREEN and KEYBOARD 11 3 1 KEY INPUT To control the input of KEYS TOUCH or KEYBOARD keys two system variables are made available Hardware PEC70 NG35 NGM13 Int key stdinp dn It contains the code of the pressed key Int key stdinp dn t contains the code of the realised key Working with TOUCH systems the code is defined by the set_key function For systems with KEYBOARD the code corresponds to the physical one of the key refer to HARDWARE manual Example if key stdinp dn keycode key pressed endif if key stdinp up keycode key released endif 11 3 2 SET KEY Draws a touch key at the specified coordinate making it operative to the use Usually the touch keys are drawn in VISUAL MODE by IDE environment Hardware PEC70 Syntax SET KEY int X0 int YO int X1 int Y1 int Cod int form
52. data to be written err disk Write 1 dati 50 nbyte write 50 bytes if err endif disk Close 1 close the file 11 10 8 SEEK SEEKEOF SEEKREL Sets the current pointer in the file Syntax Seek handle as int offset as long as char Sets the offset from the beginning of the file SeekEof handle as int offset as long as char Sets the offset from the end of the file SeekRel handle as int offs as long as char Sets the offset from the current position of the file Parameters handle Reference number of the file offset Value of the offset in number of bytes Example err disk OpenRead 1 data table dat open the file err disk Seek 1 200 set current position at 200 bytes 11 10 9 CHDIR Changing of current directory All successive functions without a complete path will refer to the current one Syntax Chdir path as char as char Parameters path Name of the directory it can contain also the complete path Example err disk Chdir programs err disk OpenCreate 1 file txt create the file file txt in the directory programs 11 10 10 MKDIR Creates a new directory and returns error if it already exists Syntax Mkdir path as char as char Parameters path Name of the directory it can contain also the complete path Example err disk Mkdir test text create the directory text in test 11 10 11 DELETE ERASE KILL Delete a file or a directory The same function can be called
53. de in the current window Snap to Grid If this button is activated the OBJECTS position is hooked to GRID step It is useful to align the jd object guick and easy The GRID STEP can be changed in PIXEL units from menu Options gt Grid Step Foreground The selected objects is brought to the foreground of the page making it completely visible Background Tm The selected objects is brought to the background of the page It can be covered by other objects making it invisible Align left E The selected objects are aligned to left margin The reference object will be the last selected gt Align right Cc The selected objects are aligned to right margin The reference object will be the last selected Align top iti The selected objects are aligned to top margin The reference object will be the last selected Align bottom MU The selected objects are aligned to bottom margin The reference object will be the last selected F EM EE EM EE B Align horizontal The selected objects are aligned at the horizontal center of the last selected object Align vertical The selected objects are aligned at the vertical center of the last selected object Program compiling The entire application is compiled to create the binary file in the format of the platform selected The compiling results are showed in the MESSAGE WINDOW and if there are some compiling errors the binary file will not be created Transfer
54. defined by operative system therefore we must not to declare them but they can be used as commen variables This is the list of the SYSTEM VARIABLES available There are more system variables but reserved to the system NAME TYPE RW DESCRIPTION SYSTEM PXC LONG SYSTEM PYC LONG They are used in systems with NGM13 and contain Contengono the double value of the number of steps generated by the four axis step controller _SYSTEM_PZC LONG _SYSTEM_PAC LONG SYSTEM ACT PAGE O N R It contains the page number currently loaded displayed SYSTEM OLD PAGE O N R It contains the page number previously loaded displayed Array of 128 elements containing the string read by the function SYSTEM STRING 128 CHAR RO Get_TabStr It contains the number of LANGUAGE currently used by application It is a STEM SEAR number from 0 to 127 which select the messages from the relative table SYSTEM EMCY 8 CHAR It contains the data frame of Emergency Object of CanOpen It is updated calling the function rea emcyf These variables form the 8 byte of the eventual SDO ABORT CODE sended by MEAN pene ES a slave CANOPEN as a result of a call to the functions pxco_sdodl or a si sdoul If the retur value is 2 the variables SYSTEM SDOACO and SYSTEM SDOAC1 _SDOAC1 LONG SYSTEM SDOAC1 represent the error code SYSTEM TLUCE LONG e E contains the response time in milliseconds of the automatic turn off of the background light in devices with HMI It is
55. e All Syntax IMS_READ char Punt long Addr long Nbyte as char Parameters Pnt Pointer to data buffer where read data will be saved Addr Start address in the reserved area of the device Nbyte Number of bytes to be read Return value Char 0 No error lt gt 0 Writing error Example Used variables Vett 10 long Ims Read Vett 0 40 read 40 bytes 10 Long from Addr 0 11 9 ETHERNET FUNCTIONS Systems equipped with ETHERNET manage AUTOMATICALLY the STACK TCP IP To work with protocols at upper level than TCP IP it must be written some source code in the application For example to process the MODBUS TCP protocol there is a specific object in library which uses the functions of this group In the same way it s possible to create customized protocols 11 9 1 SET_IP Sets the parameters of TCP IP protocol Hardware PEC70 NG35 NG35 Syntax SET IP ip as char sm as char gw as char Parameters Ip IP address of the device sm subnet mask gw gateway Example Set ip 10 0 0 15 255 255 255 0 0 IP 10 0 0 15 SUBNET 255 255 255 0 GATEWAY nothing ATTENTION This function must be called in the INIT section of the MAIN or PLC TASK 11 9 2 PXETH_ADD PROT Adds a custom protocol to a specific port of TCP IP A custom function to process the new protocol must be written and its pointer must be pass to this function Hardware PEC70 NG35 NG35 Syntax PXETH ADD PROT port as long fun as delegate Paramet
56. e PEC70 NG35 NGM13 Syntax POS TEXT int X int Y Parameters X Any number or expression corresponding to the coordinate X Y Any number or expression corresponding to the coordinate Y 11 1 12 PUTCHAR Printing of a character Position colour and font have to be set respectively by pos text setfont and setcolor Hardware PEC70 NG35 NGM13 Syntax Putchar char Chr Parameters Chr ASCII code of the character to be printed 11 1 13 DRAW_STR Printing of a string Position colour and font have to be set respectively by pos_text setfont and setcolor Hardware PEC70 NG35 NGM13 Syntax Draw_str char str Parameters str Pointer to the string to be printed Example Used variables vect 20 as char draw str Messagel print the string Messagel Stropy Vect Message2 draw str Vect print the string Message2 11 1 14 DRAW NSTR Printing of a string limiting the lenght Position colour and font have to be set respectively by pos text setfont and setcolor Hardware PEC70 NG35 NGM13 Syntax Draw nstr char str int Ncar Parameters str Pointer to the string to be printed Ncar Maximum number of characters to be printed Example draw nstr system string 10 print the first 10 characters contained in system string 11 1 15 DRAW_BITMAP Drawing of a bitmap at desired position VTB can import file in bmp format The BITMAP reference is a number which is declared
57. e bit directly The bit variables can be both GLOBAL or PAGE LOCAL and they can be used like normal variables For example declaring an INTERNAL variable named STATE of type INT 16 bit it s possible to associate it up to 16 bit variables VARBIT1 STATE 0 first bit of STATE VARBIT2 STATE 1 second bit of STATE VARBIT16 STATE 15 16th bit of STATE If VARBIT1 1 test if first bit of STATE is set VARBIT2 1 set second bit of STATE VARBIT3 0 reset third bit of STATE endif A common use of these variables is the manage of the digital INPUT and OUTPUT lines of the system as they are equipped inside system ex NGIO or they are remote channels in a CANOPEN or ETHERCAT net In the first case the bits will be associated to internal normal variables while in the second one they will be contained in variables of type VCB That means declaring the bit variables we shell control physically the state of these I O lines simply reading or writing the relative bit variable DECLARING a BIT VARIABLE VAR Interne VAR Bit Define VAR Static VAR VSD VarBit4 cco E No Variabile originaria Condivisa VarBitl CICLO O No Varbit2 CICLO 1 No VarBits CICLO 2 No FIELDS OF BIT VARIABLE Name It identify the UNIVOCAL name of the bit variable Original Variable Name of the variable associated to the bit one It must be of type CHAR UCHAR INT UINT LONG also ARRAYS Nbit Number of the bit in the associated original variable
58. eee 2 2 NOTES ON PROGRAMMING LANGUAGE eee een KK KKK AKKO SKK 2 3 DEVELOPMENT ENVIRONMENT cortesia lato 3 Sr TROON IE A A RO 3 Bue NN A tae te po So o a Oo Poppy 6 237 Oec a ae a za za kit Anon Eu dne eee o ra 7 3 4 Funch MANDO Aa 8 So WOD SCISSPIOD CITY accesses O O Uae ec nape nc tals dee elgg O P 8 3 05 TJX Tahle Manager vase OA E on 8 A CONFIGURATION OF VTB lt A 9 AA Genara OPUN S A co Shi ooo ro oo ooo 9 AD RSL PIOlOCOl OBSOLET Bj MT O O O Sade meee onbieutncasa ee 10 4S A S POPP O O eels nee OP O 11 4 4 Configuring the target hardware cccccccccsecccseecseecsueccssecsseeeesueessessseessseesseeesseesseesaseseeseeseeseesaess 12 TASKS MANAGED BY VIB oa ccd ac eee eae ice ae eres me sce secede causa san 14 D PSK E PE AECE cane Mr ce A eee o 14 5 1 1 NOTE ON CONCURRENT PROGRAMMING ccccseccssecccsecccnccecuscssuecssecssecceeessneessneeeesaeseess 15 g2 A O A oR PO DA 15 SS A A Ii A S PO OOP 15 O A A A A A 16 O VARIABLES TYPE Suit oe 17 Oat NUMEN VAMOS st dd tro dicidds 17 602 A A 17 A AA A A R E oo den oo ob 18 Ou DIS otok A ob A IO 19 OOP ECP O O O O O tia poda 20 6 6 VCB Variables CanOpen or EtherCA cccccccccssssccnseeecnsesccnsusessausecneneensausensuauenauesensussesauesensesesnss 21 OT SOV SIC MODO S a dara sides 21 0 05 SIAC N MADOS a trade 22 09 A O ooo o ea bo bos 22 DO AECA OS tek ee Pee a E oh 23 A E TLA oouopodi o vel bio A solo olo o dt 23 6 12
59. emory Fash Fram etc some rules are to be implemented For example a FLASH memory has a maximum number of writing block erase etc 11 8 1 IMS_WRITE Writes in the internal FLASH at the address contained in ADDR the data pointed by PNT for a total of NBYTE of data The FLASH memory is managed in BLOCKS of 256 bytes for this it s recommended to write multiple of 256 bytes That because also writing less than 256 bytes the entire BLOCK is erased therefore to avoid the loss of data it needs at beginning to read all the block save the interested data and overwrite again all the block The systems NG35 or PEC7O have enough FLASH memory to be used without problems in blocks of 256 bytes also there is the need of less data Using the NGM13 this function works on a FRAM memory which can be managed at single BYTE Hardware All Syntax IMS WRITE char Pnt long Addr long Nbyte as char Parameters Pnt Pointer to data buffer to be written Addr Start address in the reserved area of the device Nbyte Number of bytes to be written Return value Char 0 No error lt gt 0 Writing error Example Used variables Vett 10 long Ims Write Vett 0 40 write 40 bytes 10 long 4 to ADDR 0 ATTENTION In this case the entire block of 256 byte is written if we are working with FLASH NG35 PEC70 11 8 2 IMS READ Reads from the internal memory at address ADDR a number of byte as in NBYTE and writes them in the array pointed by PNT Hardwar
60. en project a ar it opens an existing project Save Project From menu File Save project It saves the current project Copy Selected Object s From menu Edit Copy Ctrl C The selected objects are copied in the clipboard All property are copied also the object position inside the page The name of the new object will be automatically set with the first name avalaible for that class It works as common copy paste of Windows applications The source code added to the object events isn t copied Paste Copied Object s From menu Edit Paste Ctrl V al The objects copied in the clipboard are pase All property of original objects are unchanged also the position The function Cpy Paste is very useful to create pages with the same objects Duplicate Selected Object s From menu Edit Duplicate Ctrl D This works exactly the same as Copy Paste but on one command All property are copied also the DH object position inside the page The name of the new object will be automatically set with the first name avalaible for that class It works as common copy paste of Windows applications The source code added to the object events isn t copied Delete Selected Object s From menu Edit Delete The selected objects is deleted Also the source code included in the object events is removed Find From menu Edit Find q Searching for a text string in the project source code Print It prints the text co
61. eneral Options This table contains the general options of VTB Opzioni E Generali Protocollo R5232 Protocollo Field Bus Conf terminale Connessione Ambiente Compilazione Modalit Standard Modalit Debug i Visualizza griglia W Aggancia alla griglia Pixel griglia 5 3 f Debug Standard e Debug Net Auto Save Salva Progetto in Compilazione Pagina start li Campionamento 2 0 TE Wearing level Task Time 5 x 2 0 B ms Level 0 Savescreen Abilita 30 SEC View Grid When this check box is activated the grid on the page windows is displayed The grid is useful as referenc to position the graphic objects Snap to Grid Activating this check box the snap to grid is enabled The objects will be positioned to the grid simplifying the manual alignment of them Grid Step It sets the number of pixel of the grid step Pagina Start It selects the number of the first page to be loaded at start up Sampling It selects the scan time of the TASK PLC see chapter 5 in milliseconds It can be changed with the resolution of 0 1 millisecond being careful at low value because they can cause crash of the program Always examine the elapsed time of TASK PLC by the DEBUG Task time It is the scan time of the TASK TIME in multiples of TASK PLC scans the resultant time in milliseconds is displayed on the right Changing the time of TASK PLC this time changes too Savescreen Time in seconds for the activation of d
62. ents of the structure it s necessary to write the NAME of the STRUCTURE followed by dot character and by the name of the field at which we want to refer It s also possible manage the structures with pointers see POINTERS chapter Example Used Variables vall as long val2 as long val3 as long Tool as TooISTRUCT declaration of a structure variable Tool wide 13 vali Tool wide Tool length 23 Tool high 54 val2 Tool length val3 Tool high 7 OPERATORS The operators of VTB are common to other compilers 7 1 Logic and Mathematical Operators These are all the logic and mathematical operators available in VTB OPERATOR DESCRIPTION EXAMPLE Parenthesis It identifies the begin of a group of calculation or function a c b x y fun 10 20 Subtraction Mathematical subtraction abre E Muttipication Mathematical multiplication ab OO E E Parenthesis It identifies the end of a group of calculation or function a c b x y fun 10 20 gt Equal condition if a b or assignment a b a OR OR logic condition if a b b c condition it s true if at least one expression is true AND logic condition if a b 8 8 b c condition it s true if both expressions are true Execute the OR between two value a a 3 Bits 1 and 2 of variable a are set leaving unchanged the others Execute the AND between two value a a amp 3 All bit of variable a are reset except the bits 1 and 2 E TET Logic NOT Negation of an expr
63. ers port TCP port on which the new protocol is added fun Pointer to the custom process function Example Used variables fun delegate Init section of main Set_ip 10 0 0 15 0 0 set IP 10 0 0 15 fun my protocol pxeth_add prot 502 fun Add the protocol my protocol on port 502 protocol process function function my protocol len as long buftx as char as long endfunction 11 9 3 PROTOCOL PROCESS FUNCTION This function isn t defined by system but it must be written in the application The system will call this function by the pointer passed with pxeth_add_prot each time a data packet is received from the port associated to this protocol To read the received data the function pxeth_rx have to be call while to send the response data they must be written in the transmit buffer buftx and return from the function the number of bytes we want to send Hardware PEC70 NG35 NG35 Syntax PROCESS MY PROTOCOL len as long buftx as char as long Parameters len Length of data packet received buftx Pointer to the transmit buffer Return value long Number of bytes to be send Example Used variables bufrx 100 char protocol process function function my protocol len as long buftx as char as long dim i as int for i 0 to i lt len Read all received data bufrx i pxeth rx next i sa Process the data buftx 0 12 buftx 1 34 my protocol 2 2 will be sent as response endfunction 11 9 4 PXETH_RX Read
64. erted in the hardware NGM13 By Select File select the desired page of code Click with the left button of the mouse on the left of the source code window inc prova if on paint 2 E3 on paint 0 endif return Click here When the program passes from that line the bar from BROWN will turn YELLOW and the execution will be BROKEN At this point it will be possible re run the program with Run after BreakPoint F5 or execute it Step by Step if on paint 2 O endi return To remove a Break Point click again on the Break Point ATTENTION When a Break Point is reached and the program is stopped the TASK PLC continues to run Anyway breaking the program in CRITICAL points we can create unsafe situation operating on machine BE CAREFUL 13 4 Firmware update With DEBUG application it is possible to update the FIRMWARE of the hardware in use ATTENTION FIRMWARE update can be executed only by serial port RS232 With the INFO button this window is showed Info su Debug NET Gestione Firmware Piattaforma TAU ms Vers Debug Met 200 52 Vers Firmware 10317 From Menu Gestione Firmware we can chose between two options Update from Server In this case an INTERNET connection is necessary The application checks if on SERVER PROMAX there is a newer version of the FIRMWARE proposing the updating Update from file It allows to update the hardware FIRMWARE with a file SREC ATTENTION Updating fro
65. ession if a lt gt b The expression is true if ais equal to b Execute a not on all the bits of a value all bits will change its state a 85 a a NOT bit After NOT instruction the variable a will take the value 170 85 01010101 170 10101010 The bits of the variable are shifted to left n times Shift to right a 8 a a gt gt 3 After shift the variable a will take the value 1 The bits of the variable are shifted to right n times Shift to left a 1 a a lt lt 3 After shift the variable a will take the value 8 7 2 Notes on Expressions VTB manages the mathematical expressions completely Anyway we have to make attention when in the expression there are INTEGER variables together FLOAT variables We have to remind these rules 88 Logic AND 1 If in the expression there is at least one variable of type FLOAT all the expression is calculated in FLOAT 2 If the result of an expression must be FLOAT at least one variable in the expression must be FLOAT Look at this example A 10 B 4 R A B According to the type of the variables VTB calculates the following results A B LONG LONG FLOAT 2 FLOAT LONG FLOAT 2 5 FLOAT FLOAT LONG 2 Enabling the Warning level of the compiler some messages will be displayed in coincidence with the possibility of data truncation 8 MATH FUNCTIONS VTB manages a wide SET of mathematical functions 8 1 SIN Return the sinus of an angle in a FLOAT value Hardware NG3
66. f the lower right angle Example draw fbox 0 150 100 250 draw a filled box 11 1 8 DRAW PIXEL Draws a single pixel The colour has to be set with setcolor Hardware PEC70 NG35 NGM13 Syntax DRAW PIXEL int X0 int YO Parameters X0 Any number or expression corresponding to the coordinate X YO Any number or expression corresponding to the coordinate Y Example draw pixel 100 150 draw a pixel 11 1 9 SETFONT Sets the current font to use in the drawing text functions The font reference is a number which is declared by VTB when a new font is loaded It is formed as FT font name Only fonts loaded in a graphics page can be used except the default one FT DEFAULT Hardware PEC70 NG35 NGM13 Syntax SETFONT char font Parameters font Any number or expression corresponding to the font type Example setfont FT_DEFAULT Y select the font DEFAULT setfont FT LCD select the font LCD DEFAULT LEG PAKA mat SSER IF8B SSERIEF SYSTEMS sro TEM SYST EML DOFF I GRANDI 11 1 10 SETCOLOR This function sets the current colour using in all graphics functions Hardware PEC70 NG35 NGM13 Syntax SETCOLOR int Pen int Background Parameters Pen Any number or expression corresponding to the pen colour Background Any number or expression corresponding to the background colour 11 1 11 POS TEXT This function sets the cursor position X Y used by the text drawing functions Hardwar
67. functions used by the application They will not be visible from all TASKS 6 VARIABLES TYPE VTB can manage several types of variables which can be used in programming phase Commonly all VARIABLES will be allocated in the VOLATILE MEMORY RAM of the system and they are zeroed at reset In systems equipped with NON VOLATILE RAM as NG35 or PEC70 it s also possible to allocate them in this area they are defined as STATIC VAR and they will retain its value also after turn off VARIABLES follow the STANDARD terminology similar to common programming languages Furthermore it can be declared VARIABLES referred to external component like CANOPEN or ETHERCAT configurator These are managed automatically from the system in transparent mode 6 1 Numeric Values VTB manages numeric values in conventional mode as other compilators A numeric value can be written in DECIMAL NOTATION as well as in HEXADECIMAL NOTATION by preceding the number with the prefix 0x ZERO X For example the decimal number 65535 is transalated with the hexadecimal OxFFFF FLOATING POINT values must be written with decimal point and it can not written in hexadecimal format Example A 1236 assigning 1236 to variable A A 0x4d assigning hexadecimal value 0x4d to variable A corresponding at decimal value 77 1 236 assigning floating point value 1 236 to variable B 6 2 Internal Variable These variables are allocated in the VOLATILE MEMORY RAM of the system and are
68. ge is running The IFS function pagina n allows to run the page written before with VTB environment destroying the previous one PAGES have to be seen as a set of code graphics managed at convenience Commonly PAGE TASKS are useful in systems equipped with HMI pages where they are both graphics part and associated code In systems without HMI pages are only part of code which runs when commended by pagina n function As for TASK MAIN the scan time depends by the length of code inside all the other tasks Usually the PAGE TASK manages cycles of setting preparing and display of data application with control of the graphics and data input PAGE TASK HAS A SECTION TO INSERT THE OBJECTS therefore all the object inserted inside will run in COOPERATIVE mode and regardless of which page is displayed PAGE TASK provides three sections to insert the CODE INIT PAGE MASTER CYCLE PAGE FUNCTIONS Also there is a section MASTER EVENT but it has been left only for compatibility with older versions and therefore it must not be used INIT PAGE The code in this section runs only one time at the start of the program and usually it handles the initialization of the global variables in the application In this section we can write any type of code as long as it isn t STATIC CODE which can block the program MASTER CYCLE This is the cyclic section called by system in cooperative mode with PAGE TASK PAGE FUNCTIONS This section is the container for all the
69. grees EndFunction 11 12 INTERFACE FUNCTIONS FOR NGM13 This group of functions allows the interfacing to the hardware resource of NGM13 systems When this target is selected the OBJECT NGM13 INIT is automatically loaded It defines the hardware configuration of the device Hardware NGM13 11 12 1 NGM13_INIT PROPERTY The object provides a complete vision of all the software option to be set for the correct use of NGM13 In detali it allows to set e Enabling of the communication protocol RPC PROMAX proprietary with relative baudrate e Which and how many analog inputs are configured e The step dir axis to be used and which are in interpolation mode e Number of expansion cards Obviously for each single project there will be only an object NGM init Property Link RPC port Serial port RS232 on which enable the RPC protocol to manage an HOST PC connection These are the available options 0 No RPC Link 1 RPC on serial port SER1 PROG the DEBUG facilities will be disable and the application download must be done by manual keys BOOT RESET of the NGM13 2 RPC on serial port SER2 Link RPC baud Baud rate to be used for RPC communication ADC enable mask Enabling mask of analog inputs It is processed at bit Bit 0 Enables analog input 1 digital input 9 is disabled Bit 1 Enables analog input 2 digital input 10 is disabled Bit 7 Enables analog input 8 digital input 16 is disabled P P enable mask Enabling mask of step dir channels
70. if err endif disk Close 1 close the file 11 10 6 READ Reads data from the file with the selected HANDLE LEN bytes will be read but if the end of file will be found before reading will be stopped In NB will be written the effective number of bytes read Syntax Read handle as int dati as char len as long nb as long as char Parameters handle Reference number of the file dati Pointer to buffer in which data will be written len Number of bytes to read nb Pointer to the variable in which the effective number of bytes read will be written Example Used variables err char dati 100 char nbyte long err disk OpenRead 1 data table dat open table dat in the directory data if err endif while 1 err disk Read 1 dati 10 nbyte read blocks of 10 bytes 1f err endif if nbyte lt 10 to the end of file exitwhile endif loop disk Close 1 close the file 11 10 7 WRITE Writes LEN bytes in the file with the HANDLE reference Syntax Write handle as int dati as char len as long nb as long as char Parameters handle Reference number of the file dati Pointer to data buffer to be written in the file len Number of bytes to be written nb Pointer to the variable in which the effective number of bytes written will be saved Example Used variables err char dati 100 char nbyte long err disk OpenCreate 1 data table dat create table dat in the directory data if err endif aes prepare
71. ill stop the PAGE TASK and vice versa Its scanning time depends by the code contained in all the other TASKS Usually this TASK manages repetitive cycles as control of emergency or alarm states graphic control etc where there isn t the need for constant time However its scanning time can be very fast also in the order of few microseconds when the code inside the task is very short TASK MAIN HAS A SECTION TO INSERT THE OBJECTS therefore all the object inserted inside will run in COOPERATIVE mode and regardless of which page is displayed TASK MAIN provides three sections to insert the CODE INIT PAGE MASTER CYCLE PAGE FUNCTIONS Also there is a section MASTER EVENT but it has been left only for compatibility with older versions and therefore it must not be used INIT PAGE The code in this section runs only one time at the start of the program and usually it handles the initialization of the global variables in the application In this section we can write any type of code as long as it isn t STATIC CODE which can block the program MASTER CYCLE This is the cyclic section called by system in cooperative mode with PAGE TASK PAGE FUNCTIONS This section is the container for all the functions used by the application They will be visible GLOBALLY from all TASKS 5 4 Page Task PAGE TASK works like TASK MAIN with which shares the scanning time in COOPERATIVE mode The peculiarity of this task is its code will be loaded only when the pa
72. inter to the second string Return value 0 Equal strings lt String Str1 less than Str2 gt 0 String Str1 greater than Str2 11 5 5 STRCAT Appends a copy of the source string to the destination string Hardware All Syntax STRCMP Char Dest Char Source Parameters Dest Pointer to destination Source Pointer to source Example Used variables Str 30 Char Stropy Str PROVA StrCat Str TESTO strl will contain PROVA TESTO 11 5 6 STR_PRINTL Converts an INTEGER variable to a characters STRING Hardware All Syntax STR PRINTL Char Dest Char Format Long Var Parameters Dest Pointer to the destination string Format String corresponding to the format to be printed Val Any integer value or expression Avalaible formats HHERHH Print a fixed number of characters 23456 HHH HHH Force the print of decimal point 123 456 HH Force the print of the sign 1234 0 Force the print of a ZERO 0 12 XHHHH Print in HEXADECIMAL format F1A3 B HHH Print in BINARY format 1011 For the example see the function print 11 5 7 STR_PRINTF Converts a FLOAT variable to a characters STRING Hardware All Syntax STR PRINTF Char Dest Char Format Float Var Parameters Dest Pointer to the destination string Format String corresponding to the format to be printed Val Any float value or expression Avalaible formats FH Print a fixed number of characters 23456 HHH HHH Force the print of decimal poi
73. is in the same object there are the reading and writing functions of the real time clock All the information pass in a defined structure names RTC Syntax RTC Read as void Read the Real Time Clock RTC Write as void Write in the Real Time Clock Structure RTC RTC year Year 0 99 RTC month Month 1 12 RTC day Day 1 31 RTC dweek Day of week 0 6 RTC hour Hour 0 23 RTC min Minute 0 59 RTC sec Second 0 59 11 11 INTERFACE FUNCTIONS FOR NG35 This group of functions allows the interfacing to the hardware resource of NG35 systems Hardware NG35 11 11 1 NG DI DIGITAL INPUTS This function allows to read the digital input of the expansion cards of NG35 NG IO and NG PP The expansion cards are identified with a progressive number starting from 0 The first card near the NG35 has the index 0 Syntax Uint NG_DI Char Card Parameters Card Index of the expansion card from 0 to 7 Return value Uint Value of 16 BITS of the input if Bit is 1 the input is ACTIVE input 16115 14 13 12 11 109 8 7 6 5 4 3 214 Bit_ 15 14 13 12 14 10 9 s 7 6 5 4 3 2J1 0 Example Used variables input UINT input ng_di 0 read the digital inputs from the first card input ng_di 2 read the digital inputs from the second card 11 11 2 NG DO DIGITAL OUTPUTS This function allows to updates the digital output of the expansion cards of NG35 NGIO and NGPP The expansion cards are identified with a progressive numbe
74. is value Default value 10 sglr Threshold of the radius error Default value 10 sglp Threshold edge 2D as tenth of degree It is used by moveto and lineto to calculate the presence of an edge on the working plane Default value 10 20 degrees sgl3d NASSI Threshold edge 3D Default value 0 2 for all axis pc NASSI Actual calculated value of the axis position cmd Output of virtual axis managed by setcmd 11 6 2 MOVETO Movement with linear interpolation The interpolation is executed at speed vel The parameter mode defines if the axis have to stop in the position or continue with the next movement To do that there is a apposite BUFFER where movement are latched Hardware All Syntax MOVETO Long Vel Char mode Long PntAx as char Parameters Vel Velocity of interpolation as unit sample mode Flag to control the stop before the next movement mode 0 never stop mode 1 always stop at the end of movement mode 2 stop only on edge 3D sgl3d mode 3 stop only on edge 3D sglp PntAx Pointer to the array of the axis position as unit Return value Char 0 Command not written in the buffer buffer full 1 Command written in the buffer Notes Moveto is usually used to interpolate more than 2 axis The speed vector is distributed on all axis to be interpolated When mode 2 it is calculated the presence of a multidimensional edge according to the values in sgl3d When mode 2 the test of edge is made only on the axis of the working p
75. isplay light reducing Only for target with this function implemented ex PEC7O Standard Mode OBSOLETE It excludes the debugging code in the binary file Only for compatibility with the older 16 bit target Debug Mode OBSOLETE It includes in the binary file the code for the use of DEBUG APPLICATION In this case RS232 protocols on the first chanel can not be enabled Only for compatibility with the older 16 bit target Debug Standard OBSOLETE It forces the use of DEBUG STANDARD of VTB Only for compatibility with the older versions Debug NET It forces the use of the new DEBUG NET application On PC must be installed the Framework 2 0 or major This is the debug option recommended Warning Level Level 0 Compiler doesn t display any warning messages Level 1 Compiler displays warning messages when improper or dubious operations on variables are found Anyway the binary file is created 4 2 RS232 Protocol OBSOLETE These options select the type of protocol on the first RS232 channel Opzioni 83 Generali Protocollo R5232 Protocollo Field Bus Conf terminale Connessione Tipo di protocollo Timeout ricezione 500 mSec nessuno Ritardo blocco 4 m ec N errori o Baud rate Parit Bit Bit stop 19200 E ls 1 Only for compatibility with the older versions 4 3 Field Bus Protocol These options allow to select the Field Bus protocols used by the target hardware For the moment the
76. ite the outputs reading them from another GLOBAL variable ex Output On these variables can be defined the single bits associated to the digital channels and then using them at occurrence Example Used variables Input1 UINT Input2 UINT Output UINT Output2 UINT StartButton BIT Input1 3 StopButton BIT Input1 6 WaterPump BIT Output2 12 In TASK PLC Input1 Ng_Di 0 Input2 Ng_Di 1 Ng_Do 0 Out1 Ng_Do 1 Out2 EVERYWHERE if StartButton WaterPump 1 endif if StopButton WaterPump 0 endif 11 12 5 NG ADC ANALOG INPUTS The NGM13 is eguipped with 8 analog input channels at 12 Bit These inputs are shared with the digital inputs The NGM13 must be hardware and software configured for the enable of the analog input channels each activated channel excludes a correspondent digital input This is the relationship first input is the number 1 Analog input Digital input E d 7 SK Syntax NG ADC Char Ch as uint Parameters Chan Number of the channel from 0 to 7 Return value Returns the analog value from 0 to 1023 11 13 STEP DIR CHANNELS The system NGM13 and the expansion card NG PP for the system NG35 are equipped with 4 STEP DIR channels which allows to work with axis with linear circular or helical interpolation Normally for their use it is associated to a library object according to the type of application For example we can use them with INTERPOLATOR POSITIONER CAM GEAR etc In this cha
77. ject except TestDrv RTC Read and RTC Write return a value representing the error code Return value Char 0 OK No error 1 DISK ERROR 2 INTERNAL ERROR 3 NOT READY 4 NO FILE 5 NO PATH 6 INVALID NAME 7 ACCESS DENIED 8 FILE DIR EXIST 9 INVALID OBJECT 10 WRITE PROTECTED 11 INVALID DRIVE 12 NOT ENABLED 13 NO FILESYSTEM 14 FORMAT ERROR 15 TIMEOUT 100 HANDLE OVERFLOW 11 10 4 OPENREAD OPENWRITE OPENCREATE These function open a file assigning an HANDLE to use as reference for the next functions Syntax OpenRead handle as int path as char as char Opens a file in read mode and return error if it doesn t exist OpenWrite handle as int path as char as char Opens a file in write mode and return error if it doesn t exist OpenCreate handle as int path as char as char Creates a new file opening it in write mode if it already exists it is overwritten Parameters handle Number to assign to file for any reference path Name of the file it can contain also the complete path Example Used variables err char err disk OpenRead 1 data table dat open table dat in the directory data if err endif 11 10 5 CLOSE Closes the file with the selected HANDLE freeing it to successive use Syntax Close handle as int as char Parameters handle Reference number of the file Example Used variables err char err disk OpenRead 1 data table dat open table dat in the directory data
78. k 1000 TAU Waiting for 1 second Loop 11 4 2 TEST TIMER Compares the system timer with a value It is used together the function get timer to make timing Hardware AIl Syntax char TEST TIMER long Timer long Tempo Parameters Timer Initial value of system timer Tempo Time to compare Return value 1 time elapsed O time not elapsed Example Used variables Tick long Var char Tick Get timer Get initial value of timer while Test timer Tick 1000 TAU Waiting for 1 second Loop 11 4 3 ALLOC Dynamic allocating of memory area Hardware PEC70 NG35 NG35 Syntax ALLOC Long Mem as long Parameters Mem Total amount of memory to be allacated Return value lt gt 0 Pointer to the allocated memory 0 Allocation error Example Pnt As Char N as Long Pnt Alloc 3000 Alloc 3000 byte of memory FOR N 0 to N lt 3000 PUNT N N NEXT N 11 4 4 FREE Frees the a memory area previously allocated with alloc Hardware PEC70 NG35 NG35 Syntax Free Char Punt Parameters Pnt Pointer to the memory to free Example Pnt As Char Pnt Alloc 3000 Alloc 3000 byte of memory Free pnt Free the memory 11 4 5 SYSTEM RESET Executes a software RESET on the hardware Hardware All Syntax SYSTEM RESET Char mode Parameters mode 0 Executes a normal RESET running the application 1 Executes a RESET putting device in BOOT state 11 5 API FUNCTIONS FOR MANAGING OF STRINGS VTB doesn t use STRING vari
79. lane and according to the value in sgip If the comand isn t written in the BUFFER we have to wait and repeat otherwise it will be lost Approximative reference values of parameter SGL3D THRESHOLD in DEGREE VALUE OF SGL3D min max 5 60 90 10 125 175 20 250 350 30 300 500 45 400 700 Example object name OBJ Used variables VectAssi 4 long Vel long Test char E ES Fast interpolation of several segments on axis X Y holding Z and A stopped IX XX AAA AAA AAA AA AA AAA A AAA A AAA AAA AAA AAA AAA AAA AAA EEES vel 1000 VectAssi 0 1000 X VectAssi 1 2000 Y VectAssi 2 0BJ pc 2 Z remain stopped VectAssi 3 0BJ pc 3 A remain stopped muovi VectAssi 0 4000 X VectAssi 1 6000 Y VectAssi 2 0BJ pc 2 Z remain stopped VectAssi 3 OBJ pc 3 A remain stopped muovi VectAssi 0 5000 X VectAssi 1 2000 Y VectAssi 2 OBJ pc 2 Z remain stopped VectAssi 3 OBJ pc 3 A remain stopped muovi S kkk kk k AXA AAA k k e k e k a o a o k k o o o o o k k o e o o y o o e o o e o a a o al a o e oe Movement function waiting if the buffer is full CARA RR kkk kk kkk kkk kkk kk kkk kkk kk kk kk kk kk kok Function muovi as Void Dim test as Char Label Move test Obj moveto vel 3 VectAssi if test 0 goto Move endif EndFunction 11 6 3 LINETO Lineto interpolates the axis distributing the vector speed ONLY ON THE AXIS OF T
80. ll else goto label2 endif Label Labell Label Label2 9 5 INC Increments a variable of any type Syntax Inc varname The argument varname can be any variable declared in the program Description Inc is the same as VAR VAR 1 but it is executed more quickly Example INC varl varl is incremented by 1 9 6 DEC Decrements a variable of any type Syntax Dec varname The argument varname pu essere una qualsiasi variabile dichiarata nel programma Description Dec is the same as VAR VAR 1 but it is executed more quickly Example DEC varl varl is incremented by 1 9 7 SELECT CASE ENDSELECT Allow to execute blocks of instructions according the result of an expression Syntax Select expression Case condition_1 instruction 1 Case condition 2 instruction n Case Else instructionelse EndSelect The syntax of the instruction Select Case is composed by the following elements expression Mandatory Any expression condition_n Mandatory It can be in two forms expression expression To expression The keyword To specifies a range of value instruction_n Optional Instructions executed if the expression matches the condition_n instructionelse Optional Instructions executed if no condition n is matched Notes If the result of expression equals a condition n the following instructions will be executed until the next instruction Case or Case Else or EndSelect lf more than one condition n
81. m file no control of the firmware revision and compatibility with the hardware is made ATTENTION During the phase of updating the application are stopped but it WILL NOT BE LOST 13 5 Digital Scope DEBUG NET provides a SCOPE application to further support of debugging DIGITAL SCOPE is able to monitor the variables in the WATCH window The scope can display up to 3 CHANNEL scope Source VARI Y TRACEON TRACEON ma TRACEON Valore Latch 0 00 LATCH ON Offset V Valore Latch Valore Latch 0 0 Ed C LATCH ON 0 00 0 00 En C LATCHON Offset V 0 00 Selects the variable to connect to a channel The variable must be in the WATCH window TRACE ON Enables or disables the TRACK of a channel Offset W 29 00 Sets an OFFSET on the TRACK Valore Latch 14 00 F LATCH ON Enabling LATCH when the variable overcomes the Latch value the TRACK will be FROZEN Base Tempi Set the BASE TIME for all the tracks Memory E When scope is in OFF state it aloows to scroll the track in the sampled memory i Scope ON OFF Positioning the mouse on a point of the track the value of the variable will be showed Indice generale 1 INTRODUCTION coito tino nc oa Sa n da sad eave deatescnecescneces esevee
82. n create a DLL Component Model to integrate in a Framework NET application That allows a direct control of the Hardware resource from external Host such as PC equipped with operative system like Windows XP Vista 7 CE or other supporting Framework see Framework Component chapter If create framework component is checked the component type must be choose Windows Xp or Windows CE and also the DLL component name A component framework file will be create in the same directory of VTB project 9 TASKS MANAGED BY VTB VTB provides the programmer for TASKS wich can be combined to create an application Two of these are interrupt tasks that means they are executed interrupting the other tasks at fixed and constant time the other two task in cooperative mode they are executed one after another The TASK PLC is the DETERMINISTIC task at highest level witch interrupts all the other tasks the TASK TIME works like TASK PLC but with a lower level finally the PAGE TASK and MAIN TASK run in cooperative mode between them and can be interrupted by the other two Task Cooperativi o v san 5 1 Task Plc This task is the higest priority one it is deterministic and run at fixed time making it suitable to manage situation that need a fast and precise response time This task can not be interrupted by no other tasks but it can instead interrupt any other Normally it is used by AXIS CONTROL OBJECTS or fast P
83. ning Note MOVE retunrs 0 only the axis are stopped and the movement buffer is empty ATTENZIONE MOVE tests only the DEMAND POSITION of AXIS Example Muovi start interpolation while Obj move wait for complete execution endif 11 6 10 PRESET Presets the AXIS position without move them Axis will assume the position as passed by parameters Hardware All Syntax PRESET long Pos Parameters Pos Pointer to the array of the position value to preset Note Keep in mind these rules AXIS MUST BE STOPPED CHANGING INSTANTLY THE POSITION IT OCCURS A PARTICULAR SEQUENCE TO AVOID THE PHISICAL AXIS MOVES ROUGHLY For example WHEN USING THE CANOPEN AXIS IT NEEDS REMOVING THE CANOPEN FROM THE INTERPOLATION MODE PRESETTING THE CANOPEN AXIS BY METHOD HOME PRESETTIN THE INTERPOLATOR WITH FUNCTION PRESET pos SETTING AGAIN THE CANOPEN AXIS IN INTERPOLATION MODE Example with the axis X as CanOpen Used variables Ouote 3 as long ASSECAN start 0 remove the start condition ASSECAN modo 0 set the position mode remove from interpolation mode ASSECAN home 1000 preset of axis at 1000 Quote 0 1000 set the preset value in the position array for X Quote 1 0BJ pc 1 value to not modify the Y position Quote 2 0BJ pc 2 value to not modify the Z position OBJ PRESET Quote preset of the interpolator ASSECAN modo 2 set the Interpolation Mode ASSECAN start 1 start In similar way the same problem can
84. nt 123 456 H Force the print of the sign 1234 FO Force the print of a ZERO 0 12 XHHHH Print in HEXADECIMAL format F1A3 B HHH Print in BINARY format 1011 For the example see the function print 11 6 FUNCTIONS FOR AXIS INTERPOLATION The axis interpolation functions are contained in an OBJECT in the CLASS COBJINTERPOLA In this chapter are descriped this function with the primitive name Remember to put the prefix of the OBJECT NAME If for example the object is named obj the function moveto will must be called as obj moveto 11 6 1 PROPERTY This is the list of the common properties of the OBJECT COBJINTERPOLA N assi Number of axis to be interpolate It can be changed only at VTB environment N assi Number of elements in the movement buffer It can be changed only at VTB environment and must have a value as power of 2 4 8 16 etc A DEFINE named NASSI is automatically generated with this value vper Value for the changing of the speed on fly Together Div vper form a ratio when it is 1 the speed corresponds to the set one Div vper Divisor of vper It can be changed only at VTB environment Abilita arcto Usually it is set to 1 if O the circular interpolation functions will be not avalaible It is used to short the code size It can be changed only at VTB environment acc Acceleration and deceleration During the execution of ramps at each sample TASK PLC the speed as unit sample is incremented o decremented of th
85. ntax as VISUAL BASIC It exist a limitation in the declaration of internal variables they can not be ARRAYS STRUCTURES or BITS 10 1 Declaration of a function Syntax function function_name par_1 as int par_2 as char par_n as long as function_type dim var as int local variables body of the function function_name return_value endfunction The syntax of a function is composed by the following elements function Mandatory Keyword identifying the begin of a function function_name Mandatory Unambiguous name of the function chosen by programmer par_1 par_n Optional They are the parameter passed to the function If no parameter have to be passed VOID there must be nothing inside the parenthesis function_type Mandatory It defines the data type returned from the function If no data have to be returned write as void local variables Optional Local variables are allocate at the moment when function is called and then destroyed when it returns They can be of any types except ARRAYS STRUCTURES or BITS body of the function Optional Block of instruction execute by the function function_name Optional It assigns the value returned from the function endfunction Mandatory Keyword to identifying the end of the function Notes A function can be called simply writing its name passing to it the eventual parameters declared To return from the function in any moment it can be used the instruction return The
86. of CanOpen configuration errors The functions called by the system are three and they have to be defined by the application function open_cancfgerr nodes as char as void nodes Total number of nodes in the CanOpen configuration This function is called by the system before starting the CanOpen configuration The total number of the nodes in the configuration is written in the parameter nodes function cancfgerr nodo as int err as uchar as void nodo Number of configured node err Result of configuration O Node correctly configured lt gt 0 Error code See relative chapter of CanOpen functions This is called at the end of configuration of each node writing the result in the parameter err function close cancfgerr as void This function is called after the end of the last node configured Slow Px By default this option is set to one but for compatibility with all systems we recommend to keep it always at ZERO It will be used for future expansions Ethercat Protocol It enables the the Ethercat protocol in system which can manage it Ethercat can work also with CanOpen protocol enabled 4 4 Configuring the target hardware An application must always refer to the target hardware That allows VTB to preconfigure for the selected hardware so it can use the relative function call use the appropriate memory addresses signal the specific errors use the correct debug etc Normally it is set before starting the application but
87. of the STEP DIR channel from 0 to 15 Return value Long Actual position x 2 11 13 4 READING OF ACTUAL POSITION There are 4 system variables containing the actual position of the first 4 step dir channels The value will correspond to the DOUBLE of the real position To read the position of the other channels of NG PP we have to use pp getpos Hardware NGM13 NG35 NG PP SYSTEM PXC as long Actual position channel 0 SYSTEM PYC as long Actual position channel 1 SYSTEM PZC as long Actual position channel 2 SYSTEM PAC as long Actual position channel 3 11 13 5 EXAMPLE OF USING WITH THE OBJECT MONOAX The object MONOAX is a SINGLE AXIS POSITIONER very sophisticated able to generate ACCELERATION and DECELERATION ramps to control the axis position and velocity etc To make the object independent of the using hardware it acts on a generic VARIABLE which finally will contain the axis position It will be required to write some row of code to interface the object to the hardware we want use redirecting the above variable to a PID filter to works with analog axis a PDO to manage CANOPEN axis or to function pp_step to interface a STEP DIR axis Step to execute 1 2 3 4 9 In the object NGM13 INIT enable the interpolation mode on the step dir channel used Load an object MONOAX from MOTORCONTROL CINTERPPOS in the MAIN PAGE Name it for example ASSEX Declare the following GLOBAL VARIABLES Pos_Asse Long position of the
88. ome VTB functions need of pointers as parameter particularly when the function manage arrays or strings To define the address of a variable it s enough insert the postfix except for the funcions Example var as long array 20 as uint var refers to the address of variable var array refers to the address of the first element of array Pointers can be declared only to following types Char Uchar Int Uint Long Float Functions Declaring of a pointer VAR Interne VAR Bit Define VAR Static VAR VSD VAR Fixed Punt LONG No F EXP Variabile Condivisa Esporta in dasse To assign an address to the pointer it s need refer to the name of pointer without brakes assign the desired address to pointer To assign the value to a pointed field it s need refer to the pointer with square brackets put the right index inside the brackets assign the value Examples Used variables pnt as long val as long pointer as uint array 10 as uint var as long Writing reading variables by pointer pnt val assign to pnt the address of variable val pnt 0 2000 pnt 0 points to variable val which will take the value 2000 var punt 0 assign to var the content of val by the pointer pnt Writing reading array by pointer pointer array assign to pointer the address of array pointer 0 13 pointer 1 27 pointer 9 55 assign to array some value by pointer var pointer 7 assign to var the c
89. ons to execute during the iteration ExitFor It is used to force the stop of the iterations the program will continue from the line immediately after the instruction Next Notes It is possible to nest more cycles For Next Assigning to each cycle a different counter Examples For 1 To 1 lt 10 For J 1 To J lt 10 For K 1 To K lt 10 Next K Next J Next I For var1 0 to varl1 lt 8 Repeat 8 times Next varl For varl 1 to varl lt var4 step var3 Next varl For var2 1 tovar2 lt 10 Next var2 For var1 10 to varl lt var3 var4 step 1 Next varl 9 9 WHILE LOOP EXITWHILE Allow the execution of a block of instructions until a condition is true Syntax While condition instructions ExitWhile Loop The syntax of the instruction While loop is composed by the following elements condition Mandatory Any expression with the result True value not zero or False value zero instructions Optional Block of instructions executed until condition is true ExitWhile It is used to force the stop of the cycle the program will continue from the line immediately after the instruction Loop Notes If the condition is True the block of instruction will be executed then yhe cycle will be repeated More cycles While loop can be nested at any level Each instruction loop will correspond to the more recent instruction While Example Used variables Varl int while var1 lt 10 loop 10 FUNZION VTB manages functions with the same sy
90. ontent of array 7 It s also possible to declare pointers to data STRUCTURES Example This structure is been declared E Strutture amp Type ESEMPIO stri as LONG str as IMT Used variables pointer as Example pointer to structure Example struct as Example struct is a structure type variable pointer struct pointer points to structure pointer gt str1 300 writing of both fields of structure by pointer pointer gt str2 200 As we have seen to use pointer with the structures we need the token gt ATTENTION VTB doesn t make any control on the index of pointer therefore with pointers it s possible to write anywhere in memory with consequent risks to crash the system Example pnt as long value as long pnt value pnt 10 1234 The inscrution punt 10 1234 doesn t generate any compiling or run time error but it can cause unexpected operations The correct use is pnt 0 1234 To get the address of a function to assign to a variable we have to refer at the function simply with its name without brackets Example VarPnt MyFunction Where MyFunction is a declared function 6 4 Bits This type of variable can have only two values O or 1 normally associated to a state OFF ON or FALSE TRUE The variable BIT must always refer to an original variable which will can contain more bits This variables are very useful to manage FLAGS digital I O lines and in all cases where we need to read or write a singl
91. ported as a component in the NET project 12 2 Exporting VARIABLES We can export the desired variable to FRAMEWORK and then on PC write or read them as normal variables of the project VAR Interne VAR Bit Define VAR Static VAR V5D VAR Fired Var 1Exp LONG No EXP W Generic Variabile Condivisa Esporta in dasse To export a variable when we declare it enable the CHECK EXP and write the name of the exporting class default Generic The class serves only to group the exporting variables so to make more simple the research of them in the PC application In the example the variables will be contained in Generic VAR1EXP and it can be read or written on the PC project as a common variable We remember the time of execute th READ or WRITE operation depends by the enabled LINK serial port RS232 or ETHERNET Obviously the second one will be more fast Only the INTERNAL VARIABLES can be exported also if the it is refer to a structure In the last case structures exporting class isn t considered but we can get it by the name of the variable because a structure is similar to a class 12 3 Exporting FUNCTIONS In a similar way as for variables it can be exported also functions That must be declared with a specific POSTFIX function FunctionName Parameters as Type EXPORT CLASS endfunction EXPORT Keyword to enable function exporting CLASSE Name of the exporting class where the function will
92. pped muovi CARA AAA AXA AAA o k k k e o AA k k o k k o k k o k k o a k o e o o e o o e o o e o a a o a o o e oe Movement function waiting if the buffer is full kk kk kk AKA AAA Function muovi as Void Dim test as Char Label Move test 0b3j lineto vel VectAssi if test 0 goto Move endif EndFunction 11 6 4 ARCTO Movement with CIRCULAR interpolation on the axis of the current WORKING PLANE Two axis execute a CIRCULAR interpolation while the others are interpolated in LINEAR mode As function LINETO the property sglp defines the edge threshold for axis stopping The direction of rotation is determined by the parameter mode Hardware All Syntax ARCTO Long Vel Char mode Long PntAx Long CX Long CY as char Parameters Vel Velocity of interpolation as unit sample mode Direction of rotation mode 2 CW interpolation mode 3 CCW interpolation PntAx Pointer to the array of the axis position as unit Cx CY Coordinate X Y axis of the working plane of the CENTER Return value Char 0 Command not written in the buffer buffer full 1 Command written in the buffer 1 Radius error dipends by sglr Note Arcto executes a CIRCULAR interpolation ON WORKING PLANE while the other axis are interpolated in LINEAR MODE Example object name OBJ Used variables VectAssi 4 long Cx long Cy long Vel long TAXKAA AAA RARA AAA A AAA AAA o o o o AA AAA o Circular interpolation C
93. protocols implemented are two CanOpen Standard DS301 DS4xxx Ethercat CoE Can Over Ethercat Opzioni Generali Protocolo RS232 Protocollo Field Bus Conf terminale Connessione Protocolla CAN Protocollo ETHERCAT nessuno 500000 of f On Check Errori CAN Messuno Standard Custom Slow Px of 14 Protocol CanOpen It enables the CanOpen protocol BaudRate It selects the BaudRate of CanOpen line Sync It enables or disables the SYNC message on CanOpen line The message Sync is sent cyclically at the time of TASK PLC set in General Options SYNC is essential for applications with AXIS INTERPOLATED Chek Errori CAN It selects the display mode of the eventual errors during the CanOpen configuration see CanOpen configurator there are three option None On systems with display the result of configuration of each node is showed then the application continue indipendently there have been error or not On systemes without display there isn t any indication of eventual errors of CanOpen configuration Standard This option is valid only on systems with human interface A specific object CanErr is added on MAIN page wich displays the list of node with the result of configuration lf there have been any errors program stops waiting for the press of a specific button to continue Custom With this option the system doesn t perform any action but it calls some functions to allow the customization of the managing
94. pter will be described the need functions to interface these objects to the STEP DIR output At last there are some example to better clear how to create an application using this hardware resource 11 13 1 PP_STEP STEP DIR SIGNAL GENERATION The function PP_STEP allows the STEP signal generation on the selected channel It is the function to connect a general object for motion application to a STEP DIR channel Hardware NGM13 NG35 NG PP Syntax PP STEP Char Chan Long Pos Parameters Chan Number of the STEP DIR channel NGM13 from 0 to 3 NG PP form 0 to 15 Pos Absolute value of the position of the step dir axis ATTENTION THE FUNCTION PP STEP MUST BE CALLED IN TASK PLC 11 13 2 PP PRESET PRESET OF STEP DIR POSITION This function updates the current position of a step dir channel Hardware NGM13 NG35 NG PP Syntax PP PRESET Char Chan Long Pos Parameters Chan Number of the STEP DIR channel NGM13 from 0 to 3 NG PP form 0 to 15 Pos Value of the preset position ATTENTION TO A CORRECT PRESET OF THE AXIS FOLLOW THE INSTRUCTION DESCRIBED FARTHER ON 11 13 3 PP GETPOS READING OF ACTUAL POSITION ONLY FOR NG PP This function reads the actual position of a step dir channel The value will correspond to the DOUBLE of the real position his function isn t present in NGM13 where to read the actual positions there are 4 system variables Hardware NG35 NG PP Syntax PP GETPOS Char Chan as long Parameters Chan Number
95. r starting from 0 The first card near the NG35 has the index 0 Syntax NG DoO Char Card Uint Out Parameters Card Index of the expansion card from 0 to 7 Out State of the outputs if Bit is 1 the output is ACTIVE Output 1419 12 119109 je 7 6 s ajs 2 1 BE EE Example ng_Do 0 0x7 Activate the outputs 1 2 and 3 of the Card 0 ng_Do 1 0x31 Activate the outputs 1 9 and 10 of the Card 1 ATTENTION Bits 8 and 15 aren t used 11 11 3 NOTES FOR PROGRAMMING WITH DIGITAL I O To obtain an application program more clear and stable we suggest to call the I O function only from TASK PLC Therefore in this task read the inputs writing them in a GLOBAL variable ex Input and write the outputs reading them from another GLOBAL variable ex Output On these variables can be defined the single bits associated to the digital channels and then using them at occurrence Example Used variables Input1 UINT Input2 UINT Output1 UINT Output2 UINT StartButton BIT Input1 3 StopButton BIT Input1 6 WaterPump BIT Output2 12 In TASK PLC Input1 Ng Di 0 Input2 Ng Di 1 Ng_Do 0 Out1 Ng_Do 1 Out2 EVERYWHERE if StartButton WaterPump 1 endif if StopButton WaterPump 0 endif 11 11 4 NG ADC ANALOG INPUTS The NG35 is eguipped with 8 analog input channels at 10 Bit these can be read by the function ng adc Syntax UintNG ADC Char Chan Parameters Chan Number of the channel from 0 to 7 Return value
96. rs X0 Any number or expression corresponding to the coordinate X of starting point YO Any number or expression corresponding to the coordinate Y of starting point X1 Any number or expression corresponding to the coordinate X of ending point Y1 Any number or expression corresponding to the coordinate Y of ending point Example draw line 0 150 100 250 draw a generic line 11 1 6 DRAW BOX Draws the outline of a box rectangle The colour has to be set with sefcolor Hardware PEC70 NG35 NGM13 Syntax DRAW BOX int X0 int YO int X1 int Y1 Parameters X0 Any number or expression corresponding to the coordinate X of the upper left angle YO Any number or expression corresponding to the coordinate Y of the upper left angle X1 Any number or expression corresponding to the coordinate X of the lower right angle Y1 Any number or expression corresponding to the coordinate Y of the lower right angle Example draw box 0 150 100 250 draw a box 11 1 7 DRAW FBOX Draws a filled box The colour has to be set with setcolor Hardware PEC70 NG35 NGM13 Syntax DRAW FBOX int X0 int YO int X1 int Y1 Parameters X0 Any number or expression corresponding to the coordinate X of the upper left angle YO Any number or expression corresponding to the coordinate Y of the upper left angle X1 Any number or expression corresponding to the coordinate X of the lower right angle Y1 Any number or expression corresponding to the coordinate Y o
97. rs X0 Any number or expression corresponding to the coordinate X of the upper left angle YO Any number or expression corresponding to the coordinate Y of the upper left angle X1 Any number or expression corresponding to the coordinate X of the lower right angle Y1 Any number or expression corresponding to the coordinate Y of the lower right angle tck Any number or expression corresponding to the thickness of the shadow col up Any number or expression corresponding to the colour of the upper shadow col down Any number or expression corresponding to the colour of the lower shadow 11 2 FUNCTIONS FOR THE SERIAL PORT CONTROL All Promax hardware devices have 1 or 2 serial channel available to the application In VTB there are some object to manage the common serial protocol for example MODBUS protocol both MASTER and SLAVE However it s possible to use one serial channel to customize the protocol To do that there are some API function which always refer to the SECOND SERIAL PORT of the hardware 11 2 1 SER SETBAUD Programming the BaudRate of the second SERIALE PORT Hardware PEC70 NG35 NGM13 NG35 NGM13 Syntax SER SETBAUD long Baud Parameters Baud Value of Baud Rate The standard value are 1200 2400 4800 9600 19200 38400 57600 115200 11 2 2 SER_MODE Programming the mode of the second SERIAL PORT If this function is never called by default the port is programmed with No parity 8 bits per character 1 stop bit Hardware PEC7
98. s float The argument number can be a FLOAT value or any numeric expression 8 6 ASIN Return the arcsin of a number in a FLOAT value Hardware NG35 NGM13 PEC70 Syntax Asin number as float The argument number can be a FLOAT value or any numeric expression between 1 and 1 Example Used variables angle float var float angle 1 3 var asin angle 8 7 ACOS Return the arccos of a number in a FLOAT value Hardware NG35 NGM13 PEC70 Syntax Acos number as float The argument number can be a FLOAT value or any numeric expression between 1 and 1 Example Used variables angle float var float angle 1 3 var acos angle 8 8 ATAN2 It s similar to atan but it returns a value from TT and TT Hardware NG35 NGM13 PEC70 Syntax Atan2 y x as float The arguments y and x are of type FLOAT Return Value The return value coincides with the angle whose tangent is y x Example Used variables x float y float angle float radians float result float PI float PI 3 141592 x 1 0 y 2 0 angle 30 radians angle PI 180 result Tan radians Calculate the tangent of 30 degree radians Atan result Calculate the Arctangent of the result angle radians 180 PI radians Atan2 y x Calculate the Atan2 angle radians 180 PI 8 9 ABS Return the absolute INTEGER value Hardware NG35 NGM13 PEC70 Syntax Abs number as long The argument number can be a LONG value or any numeric
99. sk calling of functions by delegates Call_delegate var 0 lt fun1 will run Call delegate var 1 lt fun2 will run 6 11 Define DEFINES are complex equivalences They are composed by the NAME and the VALUE The name identifies the DEFINE the VALUE can contain any alfa numeric expression The compiler each time a NAME of DEFINE is found replaces it with its VALUE They are very useful to simplify the use of complex expressions or to Parametersze part of code Also they can be combined between self Declaring of a DEFINE VAR Interne VAR Bit Define VAR Static DIEFINE1 1 Var 1 Var2 Var3 Variabile DEFINE 1 1 Var 1 Var2 Var3 DEFINE DEFINE 1 10 Using of a DEFINE in the code To use a DEFINE in text code just we have to write the NAME DEFINES can be used in a lot of situations making the program more flexible because it s sufficient to change the VALUE of a DEFINE to obtain an immediate variation on all the project Example If Definel gt 10000 6 12 Text Tables The TEXT TABLES are essentials to realize MULTILANGUAGE applications and to use the OBJECT of the class CBROWSER TEXT TABLES are container of text lists divided in languages Obviously it s necessary to use text objects which refer to TEXT TABLES For example the object TabText of the CLASS CLABEL uses tables to display text therefore it is predisposed for MULTILANGUAGE applications Instead the simple object TEXT of the CLASS BASE OBJECT doesn t use
100. t Value of 16 BITS of the input if Bit is 1 the input is ACTIVE input 16 15 14 13 12 14 10 9 8 7 6 5 4 3 2 4 e jishtejto zjmjto o je 7 e s e a 2 1 o Example Used variables input UINT input ng_di 0 read the digital inputs from the first card input ng_di 2 read the digital inputs from the second card 11 12 3 NG DO DIGITAL OUTPUTS This function updates the digital output of the NGM13 and its expansion cards NGM IO and NGM PS The expansion cards are identified with a progressive number starting from 0 The first card is to consider the NGM 13 index 0 the nearest expansion at that will have the index 1 and to follow the others Syntax NG DO Char Card Uint Out Parameters Card Index of the expansion card from 0 to 7 Out State of the outputs if Bit is 1 the output is ACTIVE Output 14 13 12 11 40 ole 7 6 5 4 3 2 4 Bit jishre is iz n nojo o 7 ojs ejs z ijo Example ng_Do 0 0x7 Activate the outputs 1 2 and 3 of the NGM13 ng_Do 1 0x31 Activate the outputs 1 8 and 9 of the first expansion card ATTENTION Bits 8 and 15 aren t used Outputs from 9 to 14 of the NGM13 are shared with the STEP DIR channels 1 2 and 3 11 12 4 NOTES FOR PROGRAMMING WITH DIGITAL I O To obtain an application program more clear and stable we suggest to call the I O function only from TASK PLC Therefore in this task read the inputs writing them in a GLOBAL variable ex Input and wr
101. t two axis X Y ax1 0 ax2 1 Ax1 can not be equal to ax2 Hardware All syntax SSETPIANO Char Ax1 Char Ax2 Parameters Ax1 Index of the first axis of the plane Ax2 Index of the second axis of the plane Note The WORKING PLANE selects the axis for the CIRCULAR interpolation for calculation of the edge 2D sglp and for calculation of the SPEED VECTOR in the function LINETO Example Obj setpiano 0 1 select the plane on axis X and Y Obj setpiano 1 2 select the plane on axis Y and Z 11 6 7 STOP Stops axis with the programmed deceleration acc waiting for the complete execution axis stopped STOP is used to stop the axis before the TARGET point programmed with MOVETO LINETO or ARCTO is reached The movement buffer will be emptied Hardware All Syntax STOP Notes STOP unlike FSTOP waits the axis are stopped for this IT MUST NOT BE CALLED IN TASK PLC 11 6 8 FSTOP Stops axis with the programmed deceleration acc without waiting for the complete execution axis stopped FSTOP is used to stop the axis before the TARGET point programmed with MOVETO LINETO or ARCTO is reached The movement buffer will be emptied Hardware All Syntax FSTOP Note FSTOP unlike STOP doesn t wait the axis are stopped for this IT CAN BE CALLED IN TASK PLC 11 6 9 MOVE Riturns the state of the interpolation Hardware All syntax MOVEQ as char Return value char 0 No interpolation is running 1 Interpolation is run
102. table of private variable of the page Lay Progetto Variabili Globali View GLOBAL Variables and STRUCTURE definitions T Strutture ES Ple EHH Task Pic View source code editor of TASK PLC Ef Main ES Time View source code editor of TASK MAIN or TASK TIME S Iain 5 3 Pagine vE Pag 1 1 View source code editor of a page Pag 2 3 3 Objects manager The OBJECTS MANAGER allows a fast selection of the objects to insert in the current page Inside it there are both base objects and enhanced objects For a detailed description of a single object there is a separated user manual To insert an object it have to be selected and then dragged to the desired position Gestione progetto Progetto Oggetti Funzioni Proprieta Tabelle st CBase i eb Browser CommMaster a Gauge ig Input Bit Input Key Ga Input Password i Iso Stand Alone gk Iso NS i E Label Text i eb Message Box i Modbus H B Motor Control i B Multilingua H B NGM 13 Ga Pad Alfanumerici s Pad Numerici eb Panels 1 29 plcobj H Pulsanti 1 57 Selettori i eb Slider i i Temporizzatori Carica The CARICA button allows to browse the CUSTOM OBJECT which are not included in the standard library 3 4 Functions Manager In this Tree View are showed all the STRUCTURE and FUNCTIONS grouped per page Just open the nodes to view informations In STRUCTURE section there is the possibility to add a new one by
103. the same dimension FILL WITH SPACES If enabled the text of length less than LENGTH MAX will be filled with space in order to reach that length INDEX Index of the text in the table This value together the index of the table are the reference to print the text with get tabstr TEXT It s the message contained in a row of the table DELETE ROW Delete the selected row USE OF THE TABLE IN TEXT CODE To manage the rows of the tables there is a single function Get TabStr Example Print a message indexed with NMES of the table indexed with TAB function draw_message tab as int nmes as int as void get_tabstr tab nmes SYSTEM_LINGUA draw str system string endfunction 6 13 Structures The STRUCTURES can be declared only as INTERNAL variables The fields of a structure can be of any type except BIT and pointer To declare a STRUCTURE open the STRUCTURE TABLES and define the NAME of the structure and all single elements we need T Strutture amp Type ESEMPIO stri as LOMG str as IMT Type STRUTTURA elemi as CHAR elem 2 as INT elem3 as LONG 69 Type MISURA larghezza as LONG lunghezza as LONG altezza as LONG When a structure is declared in the list of the variable types the NAME of the STRUCTURE will be showed allowing to define a new variable of all types declared as structure Yariabili Interne ariabili Bit Define Variabile Var esempio var struktura Var Mmisura To use the elem
104. this case the reading process will read a lot of new data and some from the old scan It s evident in this situation false value readings can occur System isn t able to understand these situations therefore to solve it there is the needs of semaphores at application level Task plc has also an INIT section All code insert here will run only one time at system reset 5 2 Task Time TASK TIME like TASK PLC works at fixed time It deffers from that for two features a it has a lower priprity and it can be INTERRUPTED by TASK PLC b it hasn t limit to managing of the IFS functions of VTB The scan time of this task is programmable at multiple of the sampling time of TASK PLC TASK TIME is useful for the managing of timed cycles and with medium response time furthermore the possibility of calling all IFS functions makes it of great utility ensuring constant time to software Typical sample time can be about 5 or 10 milliseconds with witch it s possible to manage a complex PLC cycle with a lot of I O channels lf the elapsed time of this task overcomes its sample time the system will continue to work stopping the cooperative tasks but task plc will continue to run TASK TIME HAS A SECTION TO INSERT THE OBJECT therefore all the object inserted inside will run in this task at the programmed SAMPLING TIME 5 3 Task Main TASK MAIN is called continuously by VTB cycle running in COOPERATIVE mode with PAGE TASK Therefore a static cycle on TASK MAIN w
105. tion allows to read the quadrature encoder input of each channel equipped on the expansion card NG IO The resolution is 32 bits This function read only the increment which will be added to a variable passed by its pointer Therefore the real encoder counter will be contained in a variable defined in the application and it will can be zeroed in any time For a correct processing of the encoders we recommend to use this function only in TASK PLC and then use it at the occurrence The selection of the channel is made by an index from 0 to 15 each expansion manages two channels Card 0 nearest NG35 Syntax NG ENC Char Chan Long Quota Parameters Chan Number of channel from 0 to 15 val Pointer to a long variable where will be contained the counter Example Used variables posx LONG Counter encoder channel 0 posy LONG Counter encoder channel 1 In TASK PLC ng enc 0 posx ng enc 1 posy EVERYWHERE if posx gt 25000 Read encoder channel 0 posx 0 Reset counter channel 0 endif if posy gt 200000 Read encoder channel 1 posy 1000 Preset counter channel 1 endif 11 11 8 NG_T0 ZERO INDEX OF ENCODER This function allows to read the state of the zero index input of each encoder channel equipped in the expansion card NG IO The channel selection is made as for the reading of encoders Syntax NG_TO Char Chan as char Parameters Chan Number of channel from 0 to 15 Return value State of the index input 0 OFF 1 ON
106. to manage the preset with CAN OPEN axis Below will be treated the problem connected to the STEP DIR axis The function PP STEP works asynchronously to the function generating the trajectories as MONOAX or INTERPOLATOR It is necessary that the positions of these objects are in agreement with the internal position of the steps generator The number of generated steps by the function PP STEP will correspond to the value difference of the position variable between two sample TASK PLC Resetting immediately the value of this variable the function PP_STEP will generate a number of steps equal to the old value of the variable and all in a single sample For example assuming the variable has a value of 10000 in the instant it is zeroed will be generate 10000 STEPS in a sample Considering a sample of 2 mSec we have a frequency of 5MHz To avoid that happen it needs at each PRESET of the axis changing of the support variable to stop the generator of STEPS and re enable it when the position will agree Then it is always better put under condition the calling of step generating function PP_STEP in the following mode if DisableStep false pp step 0 Tterpolal pc 0 Rapp 0 ASSE X pp step 1 Tterpolal pc 1 Rapp 1 ASSE Y endif The flag DisableStep allows the stop of steps generation Then at the moment we need to execute an axis preset referring to the previous examples call this code PRESET AXIS WITH INTERPOLATOR DisableStep true
107. ues Hardware All Syntax READ SDOAC 11 7 4 PXCO SEND Sending of a CAN frame at low level This function allows to send in the net a CAN frame with a desired COB ID and DATS For example it s possible to send manually PDO frames HEART BEAT frames etc Should be specified the manage of PDO is managed AUTOMATICALLY by the CANOPEN CONFIGURATOR Hardware All Syntax PXCO SEND int id char Len char Dati as char Parameters Id COB ID value Len Number of data to send Dati Pointer to the data buffer Return value char 0 No error lt gt 0 Communication error Example Used variables value int Ret char value 100 Ret pxco_send 0x201 2 value Send a PDO cob id 0x201 with 2 byte if Ret lt gt 0 test if error occurs endif 11 7 5 PXCO NMT Sending of a NMT frame of the CAN OPEN NMT protocol allows to set the state of the nodes in the net Remind that all the nodes correctly configured canopen configurator are automatically set in START state Hardware All Syntax PXCO NMT char state char node as char Parameters state State to set 1 START NODE 2 STOP NODE 128 PRE OPERATIONAL 129 RESET NODE 130 RESET COMUNICATION node Number of the node Return value char 0 No error lt gt 0 Communication error Example Used variables pxco nmt 2 1 Set in STOP the node 1 11 7 6 READ EMCY Reads the last EMERGENCY OBJECT frame sended by a CAN OPEN node The emergency code is written in the system array
108. xecute interpolation on STEP DIR axis Step to execute 1 In the object NGM13 INIT enable the interpolation mode on the step dir channel used 2 Load an object INTERPOLATORE from MOTORCONTROL gt COBJINTERPOLA in the MAIN 3 Name it for example INTERPOLA1 4 Declare the following GLOBAL VARIABLES PosAssi 2 long position of the axis Rapp 2 Float ratio between generated steps and effective movement 5 Initialize in the section INIT of the MAIN task the variable RAPP 0 and RAPP 1 at the desired value however not equal to 0 A negative value will be able to change the direction of the axis 6 Set the following PROPERTY of the OBJECT INTERPOLA1 example Progetto Oggetti Funzioni Propriet Tabele obj vw Propriet Event Proprieta a Nome obj IN Left Top N ass N tratti Vper Div Vper Abilita arcto T Write in TASK PLC the following CODE pp_step 0 Interpola1 pc 0 Rapp 0 Asse X pp_step 1 Interpola1 pc 1 Rapp 1 Axxe Y 8 Write in MAIN TASK the test code to execute a movement example function MuoviAssi Qx as Long Qy as Long Vel as Long PosAssi 0 Qx PosAssi 1 Qy Interpola1 moveto Vel 1 PosAssi endfunction 9 Call the declared function with desired parameters 11 13 7 NOTES FOR A CORRECT PRESET OF STEP DIR CHANNELS Be careful when working with STEP DIR or CAN OPEN axis in interpolation mode In the chapter on interpolation functions it is already described an eample
109. zeroed at reset The possible types managed by VTB reflects the main types defined in a lot of programming languages and they are the following TYPE DIMENSION RANGE BIT 1 bit From 0 to 1 CHAR 8 bit signed From 128 to 127 UCHAR 8 bit unsigned From 0 to 255 INT 16 bit signed From 32 768 to 32 767 UINT 16 bit unsigned From 0 to 65 535 LONG 32 bit signed From 2 147 483 648 to 2 147 483 647 FLOAT 16 bit systems 48 bit proprietary format 29 bit mantissa 15 bit exponent FLOAT 32 bit systems 64 bit standard DOUBLE format IEEE 75 From 1 79769313486232e308 to 1 9769313486232e308 STRING Supported only as constant VETTORE Single dimension for all variable types except BIT type STRUCTURE Standard declaration POINTER Char Uchar Int Uint Long Float 32 bit DELEGATE Pointer to FUNCTIONS 32 bit It s appropriate using variables according to the minimum an maximum value they have to contain choosing the best appropriate INTERNAL VARIABLES can be declared PAGE LOCAL or GLOBAL PAGE LOCAL VARIABLES declared inside the PAGE TASK and visible only to it GLOBAL VARIABLES declare in MAIN TASK and visible to all the others VIB doesn t make any control on dimension of the variables and on its assigned value 6 3 Pointers VTB is able to manage the pointers to variables too Pointers defines the address of allocation memory of the variables not its content S

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VTB – Visual Tool Basic IDE User Manual