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5Categories and Use of Basic Application Instructions

1. 164 174 82 2 4 nica Product Profile amp Outline a D 8 iP ONEAN PA COVE os QQ _ Function card memory card cover i3 J O Aaa a a a AE X Extension module connection port cover Input indicator Output in O amp i 9 DNrmildp Q DINrail 35mm 8 Mounting screw a Q Direct mounting hole CU LAT Battery socket A Function card mounting hole B s Memory card port POWER BAT LOW ERROR indicator 4 6 2 Extension module connection port Function card port Open COM cover
2. bit X Y axis parameter setting bit X Y axis parameter setting 0 Unit 1 8 Zero return direction 4 1 9 Zero return mode 4 2 more 2 10 Detecting DOG falling edge in zero return 4 Multiplication of position data 2 m 3 11 Pulse rotation direction 4 4 Pulse type 3 12 Relative absolute coordinate 4 5 YP 13 DOG trigger mode 4 6 14 Curve selection 4 7 15 Note 1 bi bO Unit Motor unit Combined unit Machine unit 0 O0 Motor pulse um 0 1 Machine Position pulse m deg 1 9 EN pulse 10 inch 1 1 pulse sec cm min Speed pulse sec 10deg min pulse sec inch min Note 2 Note 3 b3 b2 LLL d of position b5 b4 Description ata 0 0 10 0 0 Forward pulse reverse pulse gts 10 0 1 Pulse direction iu p A B ph Ise 2 ph 2 ase pulse 2 phase 111 10 1 1 p i Note 4 bit Explanation 8 b 8 0 Decreasing current position CP towards zero b 8 1 Increasing current position CP towards zero 9 b 9 0 normal mode b 9 1 overwrite mode 10 b 10 0 Detecting DOG falling edge in zero return b 10 1 Detecting DOG rising edge in zero return DVP PM Application Manual 3 29 3 Functions of Devices in DVP PM bit Explanation b 11 0 Increasing current position CP when in forward running b 11 1 Decreasing current position CP when in forward running
3. Raa Off MANU AUTO p pecial age D Function Attribute Latched Default number On AUTO MANU D1713 High word of compensation radius of X axis arc D1724 Low word of compensation value of Y axis moving distance 0 R NO 0 D1725 High word of compensation value of Y axis moving distance D1726 Low word of compensation value of Y axis center 0 R NO 0 D1727 High word of compensation value of Y axis center D1728 Low word of compensation radius of Y axis arc 0 R NO 0 D1729 High word of compensation radius of Y axis arc D1736 Set waiting time TIM of 0100 0 R NO 0 D1737 Present waiting time TIM of 0100 0 5 z R NO 0 D1738 Set value of 0100 RPT instruction 0 R NO 0 D1739 Present value of 0100 RPT instruction 0 R NO 0 D1799 Polarity of input terminal 0 R W NO 0 3 28 D1800 Status of input terminal 0 R NO 0 3 28 D1802 Incorrect No of 0100 0 R W NO 0 3 29 D1803 Incorrect STEP position of 0100 0 0 R W NO 0 3 29 D1816 Parameter setting of X axis R W YES 0 3 29 D1817 Backlash compensation of X axis RAN YES 0 Number of pulses required per revolution of motor at X axis D1818 low word R W YES 2 000 Number of pulses required per revolution of motor at X axis D1819 high word Distance created by 1 revolution of motor at X axis low D1820 word R W YES 1
4. API Mnemonic Operands Function 08 RPT GS Repetition Start Type Bit Devices Word Devices Program Steps OP X Y M S K H KnX KnY KnM KnS T C D V Z RPT 3 steps S Operands S The number of repeated nested loops Explanations 1 Nocontact to drive the instruction is required 2 RPT instruction supports V device 3 Seethe specification of DVP PM for its range of use 4 The nested RPT RPE loop can only be 1 layer Errors will occur when the number of layers is more than 1 API Mnemonic Function 09 RPE Repetition End OP Descriptions Program Steps N A RPE 1 steps Explanations 1 No operand No contact to drive the instruction is required 2 RPT instruction designates RPT RPE loops to execute back and forth for N times before they escape for the next execution 3 N K1 K32 767 N is regarded as K1 when N x K1 4 When RPT RPE loop are not executed you can use CJ instruction to escape the loop 5 Errors will occur when RPEinstruction is placed before RPT instruction RPT instruction exists but RPE instruction does not exist The numbers of instructions between RPT RPE differ 6 The nested RPT RPE loop can only be 1 layer Errors will occur when the number of layers is more than 1 Program Example 1 If you would like program section A to execute for 3 time you can use RPT RPE written as follow U
5. When DINTR instruction is enabled the operation speed will start from Vgias and accelerate to V I and then operate stably When the execution encounters triggered DOG signals it will further accelerate to V II and follow the additional distance set in the program and continue the operation The target position and moving speed have to be set up There are 2 parameter combinations for SINTR instruction NO Instruction Parameter combination pra XE FD FD 2 YCP2 FOV FCV2 6 22 DVP PM Application Manual 6 Motion Instructions and G Code Instructions Program Example 1 When X0 On DINTR instruction in program OXO00 will be executed X axis accelerates to the first speed 250KHz in 100ms and operate at the speed stably When the DOG signal is triggered it will further accelerate to the second speed 500KHz and the additional 500 000 pulses output set in the program and the positioning will be completed 2 When XO Off program OX00 and DINTR instruction will be disabled XO MOVP H8000 D1868 X0 RST M1074 OX0 BRET MOVP K100 D1916 MOVP K100 D1917 DINTR YKK500000 FKK250000 FKK500000 Remarks Relevant special registers D1848 Current position of X axis CP low word D1849 Current position of X axis CP high word D1836 Acceleration time of X axis Tacc D1837 Deceleration time of X axis Tpec DVP PM Application Man
6. API Mnemonic Operands Function 27 D WOR P CD G CDD Logical Word OR Type Bit Devices Word Devices Program Steps 9P X Y M 4S IK HIKnXIKnY KnMKnS T CID V Z WOR WORP 7 steps S Z3 E SS i 1 IDWOR DWORP 9 steps S D Operands S Source data device 1 S5 Source data device 2 D Operational result Explanations 1 WOR instruction supports V and Z When WOR is used as 16 bit instruction Z device cannot be adopted when WOR is used as 32 bit instruction V device cannot be adopted 2 Seethe specifications of DVP PM for its range of use WOR instruction conducts logical OR operation of S and S2 and stores the result in D Operation rule The operational result will be 1 if any of the bits in S4 or So is 1 Program Example 1 When XO On the 16 bit DO and D2 will perform WOR logical OR operation and the result will be stored in D4 X0 it wor o0 f o2 T 9s b15 bO Sati E po o 1joj1 o 1 o 1jo 1 o 1 0 1 0 1 i WOR execution p2 o o o o 1 1 1 1 1 o 1 o o lofi IL After execution CD D4 o 1 oj1 1 1 1 1 1 1 1 1 o 1 o t Program Example 2 When X1 On the 32 bit D11 D10 and D21 D20 will perform DWOR logical OR operation and the result will be stored in D41 D40 X1 FH owor GD b31 b15 bO Before D11 D10 1 1 1 1 1 1 151 0 0 0j 0 1 1 1 1 1 1 1 1 1 1 1 4 of of of of 1 1 1 1
7. API Mnemonic Operands Function 25 D DEC P CDD Decrement Pe Type Bit Devices Word Devices Program Steps X Y M SK H KnXKnY KKnMKnS T C D V Z DEC DECP 3 steps D t i i 1 DDEC DDECP 3 steps Operands D Destination device Explanations 1 DEC instruction supports V and Z When DEC is used as 16 bit instruction Z device cannot be adopted when DEC is used as 32 bit instruction V device cannot be adopted 2 Seethe specifications of DVP PM for its range of use 3 If the instruction is not a pulse execution one the content in the designated device D will minus 1 in every scan period whenever the instruction is executed 4 API25 adopts the pulse execution instruction DECP DDECP In the 16 bit operation 32 768 mimuses 1 into 32 767 In the 32 bit operation 2 147 483 648 minuses 1 into 2 147 483 647 Program Example When X0 goes from Off to On the content in DO will minus 1 automatically Hit pee wo DVP PM Application Manual 5 31 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 26 D WAND P G CDD Logical Word AND Type Bit Devices Word Devices Program Steps xX Y MS K H KnXKnY KnMKnS T Z WAND WANDP 7 steps vg sal ss DWAND DWANDP 9 steps O x O S 2 D Operands
8. API Mnemonic Operands Function 129 D INT IP CDD Float to Integer Type Bit Devices Word Devices Program Steps RE XIYIMIS K KnX KnY KnM KnS T C D V Z DINT DINTP 5 steps z Operands S Source device Explanations 1 2 3 D Converted result See the specifications of DVP PM for its range of use Only 32 bit instructions DINT and DINTP are applicable Flags OX OY 0100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information The binary floating point value in the register designated by S is converted to BIN integer and stored in the register designated by D The decimal of BIN integer is left out INT is the inverse operation of API 49 DFLT instruction If the conversion result 0 the zero flag will be On If there is any decimal left out the borrow flag will be On If the result exceeds the range 2 147 483 648 2 147 483 647 the carry flag will be On Program Example When X1 On the binary floating point D21 D20 will be converted into BIN integer and the result will be stored in e D30 The decimal of the BIN integer will be left out z DINT DVP PM Application Manual 5 67 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 130 D SIN P GS
9. Terminal Description MUT Max input current STARTO START1 Enabling input 10ms 6mA STOPO STOP1 Disabling input 10ms 6mA LSPO LSNO LSP1 LSN1 Right limit input left limit input 10ms 6mA A0 AO A1 A1 MPG A phase pulse input differential signal input 200KHz 15mA BO BO B1 B1 MPG B phase pulse input differential signal input 200KHz 15mA PG0 PGO PG1 PG1 Zero point signal input differential signal input ims 15mA There are two variations according to different operation modes DOGO DOG1 1 DOG signal when zero return ims 10mA 2 Inserting enabling signal at 1 segment speed or 2 segment speed DVP PM Application Manual 2 1 2 Hardware Specifications and Wiring Output point specifications Terminal Description Response Max input current characteristics CLRO CLRO CLR1 CLR1 ae signals by the error counter in servo 40ms 20mA Forward reverse running mode Forward pulse output ams KH putzen d Pulse direction Towards pulse output end SAIS m A B phase A phase output Forward reverse running mode Reverse pulse output X KH Dn DEAE Pulse direction Towards output end Snore n A B phase B phase output Digital input points Item 24V DC single common port input Note Low speed High speed 200KHz Spec Input wiring type Change wiring from S S to SINK or SOURCE Input indicator LED display light on
10. xo LD X0 Loading in A contact of X0 X1 ORF X1 X1 falling edge detection in parallel connection OUT Y1 Driving Y1 coil Mnemonic Function PLS Rising Edge Output X0 X377 YO Y377 MO M4095 SO S1023 TO T255 C0 C255 D0 D9999 Operand F Y Explanations When X0 goes from Off to On rising edge trigger PLS instruction will be executed and MO will send out pulses for once in 1 scan time Program Example Ladder diagram Instruction code Operation X0 LD X0 Loading in A contact of X0 PLS PLS MO MO rising edge output MO Loading in A contact of MO YO latched On DVP PM Application Manual 4 11 4 Basic Instructions Timing diagram X0 l Mo 1scan time vo Mnemonic Function PLF Falling Edge Output X0 X377 Y0 Y377 MO M4095 SO S1023 T0 T255 C0 C255 D0 D9999 Operand E D Explanations When XO goes from On to Off falling edge trigger PLF instruction will be executed and MO will send out pulses for once in 1 scan time Program Example Ladder diagram X0 MO Timing diagram Instruction code LD PLF SET X0 l l MO 1 scan time 1 vo X0 MO MO YO Operation Loading in A contact of X0 MO falling edge output Loading in A contact of MO YO latched On Mnemonic Function NOP No Operation Operand N A Explanations NOP instruction does not conduct any operations in the program
11. DVP EH2 DVP PM Master Master reads writes data in Slave by FROM TO instruction D1501 D1699 FROM TO data The user designs a program Special to correspond to them register D DVP PM Slave 7 1 2 Example of Master Slave Connection Howto set up 1 Decide which the data in DVP PM Slave to be controlled by the Master are Use MOV instruction to move the data into the special registers in DVP PM 2 Decide which control registers in the Master will control the Slave Example 1 Requirements e DVP EH2 Master gives FROM TO instruction corresponding to D1500 D1699 in DVP PM Slave to control X and Y axes for executing all kinds of manual motion modes see 3 12 3 DVP PM Application Manual 7 1 Use DVP PM As Slave Table for CR in the Master and corresponding special registers in the Slave Master ge Content Planned internally Planned by user CR 0 D1500 Set up by the system Model code of DVP PM Slave CR 1 D1501 D1846 Operation instruction for X axis CR 2 3 D1502 D1503 D1848 D1849 Current position of X axis CP PLS CR 4 5 D1504 D1505 D1850 D1851 Current speed of X axis PPS CR 6 7 D1506 D1507 D1860 D1861 MPG input frequency of X axis CR 8 9 D1508 D1509 D1862 D1863 Accumulated number of MPG input pulses of X axis 1 If you need to use other modes in DVP PM Slave please refer to Chapter 3 and correspond the registers for the funct
12. See specifications of DVP PM for the range of use D 5 5 You can place an M Code instruction after DRV 2 Operands P4 Target position on X axis V4 Moving speed on X axis P Target position on Y axis V2 Moving speed on Y axis Explanations 1 Maximum V4 V2 Vmax 2 Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 Acceleration deceleration time and bias speed can be set up in special D 4 Acceleration deceleration time increases or decreases in proportional to the setting of Vmax The operation Toec Tacc Speed Vmax Operation speed Target position Time Start The 16 bit parameter devices and 32 bit parameter devices can be used together If you set up the moving speed on axis you have to set up the target position on the axis However if you set up the target position it is not necessary to set up the moving speed There are 8 parameter combinations for DRV instruction Z o Instruction Parameter combination XCP2 XCPO FXCVO YCP2 YP FYCV2 XCPO YC XCPO YCP2 FYCV2 XCPO FXQD YCP2D XCPO FXCVO YO FYCV2 DRV Oo Ooj O1 i oO pm gt DVP PM Application Manual 6 5 6 Motion Instructions amp G Code Instructions 8 If you set up the target position on the axis without
13. 6 8 DVP PM Application Manual 6 Motion Instructions and G Code Instructions MON Mnemonic Operands Function 02 CW CCW XCPO YCP2D Clockwise Counterclockwise Arc Movement set the 03 ICP2 JCPD F position of center DB Type Bit Devices Double Word Devices Notes K H D KK HH DD CW CCW instruction supports V Z index register P ss ji 7 ii 9 modification on the devices P 5 5 5 5 5 You can place an M Code instruction after P3 CW CCW P4 V Operands P4 Target position of arc on X axis P2 Target position of arc on Y axis P5 Center of arc on X axis P4 Center of arc on Y axis V Arc interpolation speed Explanations 1 2 6 Vmax 500KHz Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 2 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 Acceleration deceleration time and bias speed can be set up in special D Acceleration deceleration time increases or decreases in proportional to the setting of Vmax Individual output on X Y axis Toec Tacc Speed aia aie oie papeeeretey rem e uim ce e d Operation spe d Target position Time Start 2 axis synchronous interpolation Starting point current position CW Target point XP YP X If the target position is not in the trajectory of the center and
14. SV Reset to Off when the counting down reaches SV Reset PV will return to 0 when RST instruction is executed and the contact will be reset to Off Contact action The contact acts when the scan is completed The contact acts when the scan is completed Functions of counters When the pulse input signals of the counter goes from Off to On and the present value in the counter equals the set value the output coil will be On The set value should be a K value in decimal and the data register D can also be a set value 16 bit counters CO C199 1 The setup range of 16 bit counter KO K32 767 KO is the same as K1 The output contact will be On immediately when the first counting starts DVP PM Application Manual 3 9 3 Functions of Devices in DVP PM 2 PV inthe general purpose counter will be cleared when the power of DVP PM is switched off If the counter is a latched type PV and the contact status before the power is off will be retained and the counting will resume after the power is On again 3 If you use MOV instructions PMSoft or HPP03 to send a value bigger than SV to the present value register of CO next time when X1 goes from Off to On the contact of counter CO will be On and its PV will equal SV 4 SVin the counter can be constant K set up directly or the values in register D set up indirectly excluding special data register D1000 D1999 5b f you set up a constant K as SV it should be a positive va
15. b 12 0 Absolute coordinate positioning 12 b 12 1 Relative coordinate positioning b 13 0 Triggering DOG rising edge 13 b 13 1 Triggering DOG falling edge Valid in single speed positioning interruption mode and 2 speed positioning interruption mode b 14 0 Adopting trapezoid acceleration curve 14 b 14 1 Adopting S acceleration curve Function Group Parameter Settings for X Y Axis Operation Number D1846 D1926 Contents D1846 is for operation setting of X axis and D1926 for Y axis bit X Y operation setting bit X Y operation setting 0 Software STOP 8 Enabling single speed positioning 1 Software START 9 muc A EE positioning 2 JOG operation 10 Enabling 2 speed positioning 3 JOG operation 11 Enabling 2 speed positioning interruption 4 Enabling variable speed operation 12 0 Stop OX 1 Start OX 5 MPG input operation 13 6 Enabling zero return mode 14 7 15 Function Group Work Mode of X Y Axis Number D1847 D1927 Contents D1847 is for the work mode setting of X axis and D1927 for Y axis bit Work mode of X Y bit Work mode of X Y 0 8 1 9 MASK selection 2 CLR signal output mode 10 3 CLR output On Off control 11 4 CLR polarity setting 12 5 STOP mode setting 13 6 Range for MPG 14 7 LSP LSN stop mode 15 Returning to default setting 3 30 DVP PM Application Manual 3 Functions o
16. S Source data device 1 S5 Source data device 2 D Operational result Explanations 1 WAND instruction supports V and Z When WAND is used as 16 bit instruction Z device cannot be adopted when WAND is used as 32 bit instruction V device cannot be adopted 2 Seethe specifications of DVP PM for its range of use 3 WAND instruction conducts logical AND operation of S and S and stores the result in D 4 Operation rule The operational result will be 0 if any of the bits in S4 or S2 is 0 Program Example 1 When X0 On the 16 bit DO and D2 will perform WAND logical AND operation and the result will be stored in D4 X0 it wano oo v2 os b15 bO Before gt POLL hb bts fofofofofs fs tity execution WAND G2 p2 oJojo 1 o o 1 o oJo 1 1 o 1 o o After u execution CB D4 ofofol1 jofo 4 o ofofofolo o o Program Example 2 When X1 On the 32 bit D11 D10 and D21 D20 will perform DWAND logical AND operation and the result will be stored in D41 D40 X1 HIE pup o oa 9s b31 b15 bO Before D11 ODIO fi iti folofofols tit pP pp DB PE ET Tere To hh execution DAND D21 Deo o o o 1 ojo t o oJo t t o t o o o of of t o o t o o o 1 t o t o o After CDD U execution 541 pao o o o 1 oTo 1 oTo oToTo o 1To o ololol 1 0 of 110 of of of of of soo 5 32 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions
17. 10 000 um and operation speed V I 1 000 cm min what are the number of pulses and the frequency from the pulse instruction of the positioning controller Solve Dist ircl Distance LOT ends x Number of pulses Circle Number of pulses B 1 Yn Number of pulses required for running to P I calculated by the positioning controller DVP PM Application Manual 3 33 3 Functions of Devices in DVP PM A Pil x B 100 000 Pulse Operation speed V I 6 cm min 60 000 60 um sec Speed Distance _ Distance Circle Number of pulses p Time Circle Number of pulses Time B y PPS pulse sec Calculate the pulse frequency PPS by the positioning controller 10 A 60 000 1000 60 B 60 100 V I 10 000 PPS Example 3 Combined unit b 1 0 10 11 gt unit for position data um unit for speed data pulse sec PPS Assume DD1818 DD1898 2 000 Pulse REV DD1820 DD1900 2100 um REV target position P I 10 000 um and operation speed V I 10K PPS what is the number of pulses from the pulse instruction of the positioning controller Solve Calculate the number of pulses required for running to P I by the positioning controller P I A DUM Bi g 200 000 PULSE B A b2 and b3 of D1816 D1896 setting of multiplication of position data The position data i e zero point position HP target position I P I target position II P Il
18. 3 12 for how to set it up 1 2 Structure of OX Motion Subroutine OX0 OX99 motion subroutines are motion control programs for controlling the motions on X and Y axes in DVP PM The OX0 OX99 motion subroutine sections support basic instruction application instructions motion instructions and G Code instructions and they are able to call Pn subroutines OXO OX99 are for the user to design and compile the moving path of X and Y axes See below the operation procedure and features of OX motion subroutines 1 How to activate OX0 OX99 motion subroutines e When O100 main program is in RUN status you can set up the execution No of OX in O100 main 1 2 DVP PM Application Manual 1 Program Structure of DVP PM program D1868 KO K99 and set b12 of X Y axis operation instruction D1846 to be On to enable OX motion subroutine e When you enable OX motion subroutine please make sure there are no other motion subroutines in operation 0100 AND D1846 gt Can Oxn in operation 2 The scan starts whenever the program is enabled When O100 main program activates OX motion subroutine the scan will start from the start flag of OX motion subroutine and end at M2 motion subroutine ends instruction i e the end of the motion subroutine as shown in the figure below c o amp o o o E c X0 g G D o MOV H800A D1868 SetOXas OX10 e o
19. S Radian R Result TAN value Program Example 1 When the angle radian flag Off the program will be in radian mode When X0 On use the RAD value of binary floating point D1 DO and obtain its TAN value The binary floating point result will be stored in D11 D10 5 72 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions M1002 ESSE lag XO RAD value angle x2 180 CS pi T 56 binary floating point TAN value CD binary floating point Program Example 2 When the angle radian flag On the program will be in angle mode When XO On use the angle of D1 DO to obtain TAN value and store the binary floating point result in D11 D10 0 x angle 360 M1002 TAN zu m TAN value CD binary floating point Remarks For floating point operations see 5 3 Handling of Numeric Values DVP PM Application Manual 5 73 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 133 D ASIN P CDD Arc Sine Type Bit Devices Word Devices Program Steps OF X Y M S F H KnX KnY KnM KnS T C D V Z DASIN DASINP 6 steps S D Operands S Source value binary floating point D ASIN result Explanations 1 See the specifications of DVP PM for its range of use 2 Frefers to floating point input Be sure to add a deci
20. U U U u u DVP PM Application Manual 5 17 5 Categories and Use of Basic Application Instructions Program Example 2 When X7 Off PLC will execute the program between RPT RPE When X7 On CJ instruction will jump to P6 and skip the program between RPT RPE X7 DVP PM Application Instruction 5 18 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 10 D CMP P G2 CDD Compare Type Bit Devices Word Devices Program Steps OP XI YIM SIKH KnXKnY KnMKnS T C D V Z CMP CMPP 7 steps S Fes a E 7 DCMP DCMPP 9 steps S D Operands S4 Comparison value 1 S5 Comparison value 2 D Comparison result Explanations T 4 CMP instruction supports V and Z When CMP is used as 16 bit instruction Z device cannot be adopted when CMP is used as 32 bit instruction V device cannot be adopted See the specification of DVP PM for its range of use The contents in S1 and S2 are compared and the result will be stored in D D will occupy 3 consecutive points Program Example 1 2 Designate device YO and operand D will automatically occupy YO Y1 and Y2 When X10 On CMP instruction will be executed and one of YO Y1 and Y2 will be On When X10 Off CMP instruction will not be executed and YO Y1 and Y2 will remain in their status
21. X 10 0 Y10000 Y10000 Y70000 Y70000 Y10000 Y10 0 Y10 0 Y70 0 Y70 0 Y10 0 F40000 R30000 F20000 J 30000 F40 0 R30 0 F20 0 J 30 0 F20000 F20000 F20 0 F20 0 PO subroutine Obtain absolute coordinate Fast move to designated position Move to designated position by linear interpolation Can also be written as LIN X20000 F40000 Move to designated position by arc interpolation Can also be written as CCW Y70000 R30000 F20000 Move to designated position by linear interpolation Can also be written as LIN X 10000 Move to designated position by arc interpolation Can also be written as CCW Y10000 J 30000 PO subroutine Obtain absolute coordinate Fast move to designated position Move to designated position by linear interpolation Can also be written as G1 X20 0 F40 0 Move to designated position by arc interpolation Can also be written as G3 Y70 0 R30 0 F20 0 Move to designated position by linear interpolation Can also be written as G1 X 10 0 Move to designated position by arc interpolation Can also be written as G3 Y10 0 J 30 0 DVP PM Application Manual Application Examples Program codes below are how to write the motion instruction for trajectory 3 PO INCT DRV LIN LIN LIN DRV SRET Program codes below are how to write G Code for trajectory 3 PO G91 GO G1 G1
22. b 9 10 11 overwrite mode detecting DOG falling edge in zero return is Off 1 Zero return The motors operates at zero return speed Vpr and when it encounters DOG signal it will decelerate to zero return deceleration speed Vor After the motor passes N PGO signals or P pulse signals for zero return it will stop 2 If the set N or P is too small when the motor encounters DOG signal it will decelerate to zero return 3 36 DVP PM Application Manual 3 Functions of Devices in DVP PM deceleration speed Vcg When the designated N or P is reached the motor will stop immediately whether it has reached Vcr 3 Assume N is set as 0 and P as 0 the motor will stop immediately after it touches DOG signal Speed PPS Away from DOG signal Touch DOG signal Zero return speed Number of pulses P in zero return i Number of PGO signals N in zero return DOG 3 b11 of D1816 D1896 rotation direction b 11 0 CP value increases when in forward running b 11 1 CP value decreases when in forward running b12 of D1816 D1896 absolute relative coordinate setting b 12 0 absolute coordinate positioning b 12 1 relative coordinate positioning b13 of D1816 D1896 triggering DOG b 13 0 triggering DOG rising edge b 13 1 triggering DOG falling edge valid in single speed positioning interruption mode and 2 speed positioning interruption mode b
23. current position CP have to be multiplied by the multiplication values listed in the table below b3 b2 Multiplication 0 0 Position data x 10 0 1 Position data x 10 1 0 Position data x 10 1 1 Position data x 10 b4 and b5 of D1816 D1896 pulse output type b5 b4 Pulse output type positive logic Explanation FP forward pulses i 1 f 0 0 Dual pulses RP reverse pulses f lj FP pulses a T T A A A 0 1 Single pulse RPidirection tiny F nang Reverserunning 3 34 DVP PM Application Manual 3 Functions of Devices in DVP PM b5 b4 Pulse output type positive logic Explanation 1 0 FP A phase pulses i t f t A B phase pulse RP B phase pulses t 1 1 1 1 1 1 Forward running Reverse running b8 of D1816 D1896 zero return direction b 8 0 decreasing current position CP value towards zero b 8 1 increasing current position CP value towards zero b9 of D1816 D1896 zero return mode b 9 0 normal mode After the DOG signal is generated N PGO signals and P pulse signals the motor will stop immediately b 9 1 overwrite mode After the DOG signal is generated N PGO signals and P pulse signals the motor will stop immediately when either N or P is reached b10 of D1816 D1896 detecting DOG falling edge in
24. instruction will be On If the result is 4 the instruction will be Off OR x is parallel connected to contacts API No 16 bit instruction 32 bit instruction On condition Off condition 240 OR DOR S1 S2 S128 241 OR gt DOR gt S1 gt S2 S lt S2 242 OR lt DOR lt S lt S2 S S2 244 OR lt gt DOR lt gt S128 S S2 245 OR lt DOR lt S lt S2 S1 gt S2 246 OR gt DOR gt S S2 S lt S2 5 When 32 bit counters C200 C255 are used in this instruction for comparison please adopt 32 bit instruction DOR x If 16 bit instruction OR x is adopted program error will occur and the ERROR LED indicator on the panel of DVP PM will flash Program Example 1 When X1 On and the present value in C10 K200 YO will be On 2 M60 will be On when X2 On M30 On and the content in 32 bit register D100 D101 K100 000 D100 K100000 DVP PM Application Manual 5 85 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 256 CJN P Negated Conditional Jump OP Range Program Steps CSO PO0 P255 CJN CJNP 3 steps Operands S The destination pointer of conditional jump Explanations 1 Operand S can designate P Device P does not support V and Z index register modification When the contact before CJN is On the execution will continue in the next row
25. 4 Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information 5 S1 S D The floating point value in the register designated by S and S are added up and the sum is stored in the register designated by D The addition in conducted in binary floating point system 6 If S or S is a designated floating point F the instruction will conduct the addition in binary floating point 7 Sand S can designate the same register In this case if the continuous execution instruction is in use during the period when the contact is On the register will be added once in every scan by pulse execution instruction DEADDP 8 If the absolute value of the result gt maximum floating point available the carry flag will be On 9 If the absolute value of the result lt minimum floating point available the borrow flag will be On 10 If the result 0 the zero flag will be On Program Example 1 When X0 On binary floating point D1 DO binary floating point D3 D2 and the result will be stored D11 D10 X0 IDEADD Do Program Example 2 When X2 On binary floating point D11 D10 F1234 0 automatically converted into binary floating point and the result will be stored in D21 D20 X2 DEADD D10 F1234 0 o Dao Remarks For floating point operations see 5 3 Handling of Numeric Values DV
26. 5 DVP PM does not support 3 axis synchronous control therefore you have to design a 2 axis high speed interpolation in X Y axis and Z axis for independent high speed movement For the safety of the mechanical operation when G1 instruction is executed Z axis movement will be executed first before the X Y axis interpolation That is to say when DVP PM is executing G1 instruction with X Z Y Z X Y Z combinations the program will automatically be divided as G1 ZP FV A G1 XP YP FV B See Remarks for more explanations on row A and B Remarks 1 The settings of speed have continuity for example G1 X100 Y100 F200 X200 Y200 After the row with G1 instruction is executed the program will execute the next row The second row of the program will reach the target position automatically by speed F200 set in the first row 2 The program example when G1 adopts Z axis target position built in 3 axis control G1 X1000 Y1000 Z100 F200 After the compilation G1 Z100 F200 A G1 X1000 Y1000 F200 B A is first executed and at this time Z axis fast moves to target position K100 at speed K200 Next B is executed and moves to target position 1000 1000 at speed K200 6 34 DVP PM Application Manual 6 Motion Instructions and G Code Instructions Mnemonic Operands Function G Code G1 Z F The 3 Axis Control Remarks The program example when G1 adopts Z axis target position built in 3 axis cont
27. A utu Center ao S s eet i C 5 000 Pe Starting point current position 5000 5000 l X 5 000 10 000 The program should be written as ABS CW XK10000 YK10000 1K2500 JK2500 FK2000 2 Combination of parameters The instructions below can also adopt indirect set value and are legal CW XK123 YDD10V7 1450000 JD10 FKK50000 CCW XHAABB YDD100 IK4500 JK3500 FK4000 V5 6 10 DVP PM Application Manual 6 Motion Instructions and G Code Instructions MON Mnemonic Operands Function 04 Clockwise Counterclockwise Arc Movement CW CCW XCPD YCP2 RGD FCVD i 05 set the radius OP Type Bit Devices Double Word Devices Notes K H D KK HH DD __ CW CCW instruction supports V Z index register P y s i i i i modification on the devices P E 5 E 5 5 5 You can place an M Code instruction after DRV L V Operands P4 Target position of arc on X axis P2 Target position of arc on Y axis L Radius of arc R 4 when radian lt 180 R when radian gt 180 V Speed for arc to move to target position Explanations 1 2 8 Maximum V Vmax Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 Acceleration deceleration time and bias speed can be set up in special D Acceleration deceleration time increases or decreases in prop
28. AND operation of the preserved logic results and content in the accumulative register Program Example Ladder diagram Instruction code Operation LD XO Loading in contact A of X0 XO ANB X1 ORI X2 Connecting to contact B of X2 in parallel LDI X1 Loading in contact B of X1 X2 x3 OR X3 Connecting to contact A of X3 in parallel Block A Block B ANB Connecting circuit block in series OUT Y1 Driving Y1 coil Mnemonic Function ORB Parallel Connection Loop Blocks Operand N A Explanations To perform the OR operation of the preserved logic result and content in the accumulative register Program Example Ladder diagram X0 X1 Block A X2 X3 ORB Block B DVP PM Application Manual Instruction code LD ANI LDI AND ORB OUT X0 X1 X2 X3 Y1 Operation Loading in contact A of X0 Connecting to contact B of X2 in series Loading in contact B of X2 Connecting to contact A of X3 in series Connecting circuit block in parallel Driving Y1 coil 4 5 4 Basic Instructions Mnemonic Function OUT Output Coil X0 X377 YO Y377 MO M4095 SO S1023 TO T255 C0 C255 DO D9999 Operand E v v v z Explanations 1 To output the logical operation result before OUT instruction into a designated device 2 Actions of coil contact OUT instruction Operational Contact result Coil A contact normal
29. On R NO Off M1958 Low battery Off R NO Off M1968 0100 zero flag Off R NO Off M1969 0100 borrow flag Off R NO Off M1970 0100 carry flag Off R NO Off M1971 0100 floating point operation error flag Off R NO Off 3 16 DVP PM Application Manual 3 Functions of Devices in DVP PM ere Off MANU AUTO 3 pecia age D Function Attribute Latched Default number On AUTO MANU D1000 Scanning watchdog timer WDT unit ms 200 s R W NO 200 3 23 D1001 Displaying the program version of DVP PM in default R NO i version D1002 Program capacity 65 535 R NO 65 535 D1003 Sum of program memory R YES 0 D1008 STSC address when WDT is On 0 R NO 0 D1010 Current scan time unit 1ms 0 s R NO 0 D1011 Minimum scan time unit 1ms 0 z R NO 0 D1012 Maximum scan time unit 1ms 0 R NO 0 D1020 X0 X7 input filter unit ms 10 z 2 RAN NO 10 D1025 Code for communication request error 0 0 R NO 0 D1036 COM1 communication protocol H 86 R W NO H 86 3 23 Delay time of data response when DVP PM as slave in i 7 D1038 RS 485 communication Range 0 3 000 unit 10ms EUM YES n 326 D1039 Fixing scan time ms 0 R W NO 0 3 26 D1050 Process of data for Modbus communication instruction l DVP PM aut
30. On DECMP instruction will be executed and one of M10 M12 will be On When XO Off DECMP will not be executed and M10 M12 will remain in their status before XO Off To obtain results in x series parallel connect M10 M12 4 Use RST or ZRST instruction to clear the result X0 M10 H Onwhen D1 DO D101 D100 M11 H On when D1 DO D101 D100 M12 I Onwhen D1 DO lt D101 D100 Remarks For floating point operations see 5 3 Handling of Numeric Values DVP PM Application Manual 5 53 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 11 D EZCP P CD G2 O CDD Floating Point Zone Compare be Type Bit Devices Word Devices Program Steps X Y M S FH KnX KnY KnM KnS T C D V Z DEZCP DEZCPP 12 steps Si So S D Operands S4 Lower bound of binary floating point S5 Upper bound of binary floating point S Binary floating point comparison result D Comparison result Explanations 1 N Dapy D occupies 3 consecutive devices S lt Sp See the specifications of DVP PM for its range of use F refers to floating point input Be sure to add a decimal point when using it Only 32 bit instructions DEZCP and DEZCPP are applicable The binary floating point values S and Sz are compared with each other The comparison result gt lt is
31. Trajectory 2 Set up the absolute coordinates of the four points 10 10 20 10 20 70 and 10 70 Depart from 0 0 Trajectory 3 Set up the absolute coordinates of the three points 25 25 25 25 and 0 85 Depart from 0 0 Trajectory 4 Set up the absolute coordinates of the seven points 10 10 10 30 10 110 10 230 10 210 10 130 and 10 10 Depart from 0 0 How to write the program codes of a motion instruction instruction mode Place the initialized value in O100 main program Clear the current position of X Y axis as 0 and enable OXO subroutine 0100 O100 main program LD M1002 DMOV KO D1848 Set the current position of X axis as 0 DMOV KO D1928 Set the current position of Y axis as 0 RST M1074 Disable OX motion subroutine MOV H8000 D1868 Write the No 0 of OX to be enabled SET M1074 Enable OX motion subroutine M102 OXO0 subroutine Call pointer PO in subroutine OXO0 OX motion subroutine BRET Trigger condition CALL PO Call PO subroutine M2 Program codes below are how to write the motion instruction for trajectory 1 PO PO subroutine ABST Obtain absolute coordinate DRV X 20000 Y20000 Fast move to designated position Move to designated position by linear LIN X60000 Y20000 F20000 interpolation Can also be written as LIN X60000 F20000 Move to designated position by linear LIN X60000 Y100000 F20000 inte
32. 260 RMOV P CS CDD Reducing Transfer with Sign Holding DH Type Bit Devices Word Devices Program Steps X Y S K H KnX KnY KnM KnS T C D V Z RMOV RMOVP 5 steps S D Operands S Data source 16 bit D Data destination 32 bit Explanations 1 See the specifications of DVP PM for its range of use 2 RMOV instruction sends the data without the sign bit in S into D Program Example When X24 On the data in D6 and D7 will be sent to D4 X24 HF favov oe f o b31 b16b15 bO When X24 On b31 the most significant bit of D7 S will be sent to b15 the most significant bit of D4 D Other less significant bits will then start to be sent in sequence b15 b30 of D7 will be ignored not be sent 5 90 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions MEMO DVP PM Application Manual 5 91 6 Motion Instructions and G Code Instructions 6 1 List of Motion Instructions and G Code Instructions Category MON Mnemonic Function ruis Page 00 DRV High Speed Positioning 20 25ms 6 5 01 LIN vice apes Linear Interpolation considering 20 22ms 6 7 02 CW Clockwise Arc Movement set the position of center 20 24ms 6 9 03 CCW Counterclockwise Arc Movement set the position of center 20 24ms 6 9 04 CW Clockwise Arc Movement set the ra
33. 5 48 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions VFD S gt DVP PM DVP PM receives 01 06 0100 1770 71 Registers for sent data sending messages Register DATA Explanation D1089 low 0 30H ADR Address of AC motor drive D1089 high Hr 31H ADRO ADR 1 0 D1090 low 0 30H CMD1 Instruction code CMD 1 0 D1090 high 6 36 H CMD 0 D1091 low 0 30 H D1091 high Hd 31H 3 Data Address D1092 low 0 30 H D1092 high 0 30 H D1093 low Su 31H D1093 high T 37H Data contents D1094 low T 37H D1094 high 0 30 H D1095 low 7 37H LRC CHK 1 Error checksum LRC CHK D1095 high 1 31H LRC CHK 0 0 1 Registers for received data responding messages Register DATA Explanation D1070 low 0 30 H ADR 1 D1070 high ds 31H ADR 0 D1071 low 0 30 H CMD 1 D1071 high 6 36 H CMD 0 D1072 low 0 30 H D1072 high T 31H Data Ad r s D1073 low 0 30 H D1073 high 0 30 H D1074 low E 31H D1074 high NA 37H Data content D1075 low 7 37 H D1075 high 0 30 H D1076 low 7 37 H LRC CHK 1 D1076 high T 31H LRC CHK 0 Program Example 2 Communication between DVP PM and VFD S series AC motor drive RTU mode M1143 On DVP PM Application Manual 5 49 5 Categories and Use of Basic Application Instructions rene Set u
34. 78 FROM DFROM Y Read CR Data in Special Modules 9 12 5 40 y o 79 TO DTO Y Write CR Data into Special Modules 9 13 5 41 89 PLS Rising Edge Output 3 4 11 90 LDP Rising Edge Detection Operation 3 4 9 7 91 LDF Falling Edge Detection Operation 3 4 9 S 92 ANDP Rising Edge Series Connection 3 4 10 E 93 ANDF 2 Falling Edge Series Connection 3 E 4 10 94 ORP 2 Rising Edge Parallel Connection 3 4 10 9 95 ORF 5 Falling Edge Parallel Connection 3 4 11 m 96 TMR 16 bit Timer 5 4 7 97 CNT DCNT 16 bit 32 bit Counter 5 6 4 8 99 PLF Falling Edge Output 3 3 4 12 100 MODRD Read Modbus Data 7 5 5 44 Communi 101 MODWR s Write Modbus Data 7 5 48 cations 110 DECMP Y Floating Point Compare 7 9 5 53 2 111 DEZCP Y Floating Point Zone Compare 9 12 5 54 116 DRAD v Angle Radian 6 5 55 2 117 DDEG Y Radian Angle 6 5 56 e 120 DEADD Y Floating Point Addition 7 9 5 57 E 121 DESUB v Floating Point Subtraction 7 9 5 58 S 122 DEMUL Y Floating Point Multiplication 7 9 5 59 123 DEDIV Y Floating Point Division 7 9 5 60 DVP PM Application Manual 5 1 5 Categories and Use of Basic Application Instructions Mnemonic P STEPS Category API Function Page 16 bit 32 bit instruction 16 bit 32 bit 124 D
35. A Contact X0 X377 YO Y377 MO M4095 S0 S1023 TO T255 C0 C255 D0 D9999 Operand v v v v v Y 2 Explanations OR instruction is used in the parallel connection of A contact The functions are to read out the status of present designated parallel connection contacts and perform the OR operation with the logical operation result obtained The final result will be stored in the accumulative register Program Example Ladder diagram Instruction code Operation X0 LD X0 Loading in contact A of X0 X1 OR X1 Connecting to contact A of X1 in parallel OUT Y1 Driving Y1 coil Mnemonic Function ORI Parallel Connection B Contact X0 X377 YO Y377 MO M4095 S0 81023 T0 T255 C0 C255 D0 D9999 Operand v Y v v v 74 Explanations ORI instruction is used in the parallel connection of B contact The functions are to read out the status of present designated parallel connection contacts and perform the OR operation with the logical operation result obtained The final result will be stored in the accumulative register Program Example Ladder diagram Instruction code Operation XO LD X0 Loading in contact A of X0 X1 ORI x1 Connecting to contact B of X1 in parallel OUT Y1 Driving Y1 coil 4 4 DVP PM Application Manual 4 Basic Instructions Mnemonic Function ANB Series Connection Loop Blocks Operand N A Explanations Perform the
36. CDD Sine DE Type Bit Devices Word Devices Program Steps X Y M S F H KnX KnY KnM KnS CDV Z IDSIN DSINP 6 steps S D Operands S Source value D SIN result Explanations 1 See the specifications of DVP PM for its range of use 2 Frefers to floating point input Be sure to add a decimal point when using it 3 Only 32 bit instructions DSIN and DSINP are applicable 4 0 lt angle 360 5 Flags OX OY O100 Zero flag M1808 M1888 M1968 Angle radian flag M1760 M1840 M1920 See below for more information 6 Scan be an angle or radian decided by the angle radian flag 7 When the angle radian flag is Off the program will be in radian mode and the RAD value angle x 7 180 8 When the angle radian flag is On the program will be in angle mode and the range of angle should be 0 x angle lt 360 9 If the result 0 the zero flag will be On 10 The SIN value obtained by S is calculated and stored in the register designated by D The figure below offers the relation between radian and the result R S Radian R Result SIN value Program Example 1 When the angle radian flag Off the program will be in radian mode When X0 On use the RAD value of binary floating point D1 DO and obtain its SIN value The binary floating point result will be stored in D11 D10 M1002 zm 5 68 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions
37. D1327 ID of the 8 right side extension module 0 R NO 0 3 27 D1328 Low word of the third axis control of G Code GOO and G01 0 3 R W NO NO 6 30 D1329 High word of the third axis control of G Code G00 and G01 0 R W NO NO 6 30 Low word of condition of G Code G00 6 30 D1330 0 RAN NO NO Low word of interpolation speed of G Code G01 6 34 High word of condition of G Code GOO 6 30 D1331 0 R W NO NO High word of interpolation speed of G Code G01 6 34 D1500 FROM TO data area corresponding to CR 0 H6260 R NO H 6260 D1501 J FROM TO data area corresponding to CR 1 CR 199 0 R W NO 0 D1699 D1700 No of OX for execution 0 R NO 0 E D1702 Step No of OX execution 0 R NO 0 D1703 OX executing M Code 0 R NO 0 3 27 D1704 Set waiting time of OX 0 R NO 0 D1705 Present waiting time of OX 0 R NO 0 D1706 Set value of OX RPT instruction 0 R NO 0 D1707 Present value of OX RPT instruction 0 gt R NO 0 E D1708 Low word of compensation value of X axis moving distance 0 R NO 0 D1709 High word of compensation value of X axis moving distance D1710 Low word of compensation value of X axis center 0 R NO 0 D1711 High word of compensation value of X axis center D1712 Low word of compensation radius of X axis arc 0 R lid 0 3 18 DVP PM Application Manual 3 Functions of Devices in DVP PM
38. E The left side can connect to new high speed extension modules not occupy any I O maximum 8 points Basic instruction 27 Application instruction 56 Motion instruction 22 OX0 99 Positioning Program M02 program stops END M Code MOO M01 MOS M99 program pauses WAIT for free use O100 Sub task Program M102 program stops END GO fast move G1 linear interpolation G2 clockwise arc G Code interpolation G3 counter clockwise arc interpolation G4 pause G90 absolute coordinate G91 relative coordinate Self diagnosis Displaying parameter error program error external error and so on DVP PM Application Manual 3 1 3 Functions of Devices in DVP PM X Y M a P amp e T c S T Ss c Go zo E o D 2 97 7 a D H F ECCHEECH A External input relay External output relay General purpose Auxiliary relay Latched Special purpose Timer 10ms 16 bit counting up 32 bit counting up down Counter General purpose Latched Internal relay Present value in timer Present value in counter General purpose Latched Data register Special purpose Indirect designation For CJ CJN CALL JMP instructions Decimal Hex Floating point X0 X377 octal encoding 256 points YO Y377 octal encoding 256 points Total 512 points Corresponds to external input points Corresponds
39. Frefers to floating point input Be sure to add a decimal point when using it 3 Only 32 bit instructions DSINH and DSINHP are applicable 4 Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information 5 SINH value e e 2 Program Example 1 When X0 On obtain the SINH value of binary floating point D1 DO and store the binary floating point result D11 D10 XO osin Do CS D Binary floating point SINH CD binary floating point 2 If the absolute value of the result gt maximum floating point available the carry flag will be On If the absolute value of the result minimum floating point available the borrow flag will be On 4 Ifthe result 0 the zero flag will be On Remarks For floating point operations see 5 3 Handling of Numeric Values DVP PM Application Manual 5 77 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 137 D COSH P GS CDD Hyperbolic Cosine Type Bit Devices Word Devices Program Steps oF X Y MS F H KnX KnY KnM KnS C D V Z DCOSH DCOSHP 6 steps Operands S Source value binary floating point D COSH result Explanations 1 See the specifications of DVP PM for its range of use 2 Frefers to floating point
40. G1 GO SRET X 25000 X50000 X 25000 X 25000 X25000 X 25 0 X50 0 X 25 0 X 25 0 X25 0 Y25000 YO Y60000 Y 60000 Y 25000 Y25 0 YO Y60 0 Y 60 0 Y 25 0 F20000 F20000 F20000 F20 0 F20 0 F20 0 PO subroutine Obtain relative position Fast move to designated position Move to designated position by linear interpolation Can also be written as LIN X50000 YO F20000 Move to designated position by linear interpolation Can also be written as LIN X 25000 Y60000 Move to designated position by linear interpolation Can also be written as LIN Y 60000 Fast move to designated position PO subroutine Obtain relative coordinate Fast move to designated position Move to designated position by linear interpolation Can also be written as G1 X50 0 YO F20 0 Move to designated position by linear interpolation Can also be written as G1 X 25 0 Y60 0 Move to designated position by linear interpolation Can also be written as G1 Y 60 0 Fast move to designated position Program codes below are how to write the motion instruction for trajectory 4 PO ABST DRV LIN CCW CW LIN CCW CW DVP PM Application Manual X10000 X10000 X10000 X10000 X10000 X10000 X10000 Y10000 Y30000 Y110000 Y230000 Y210000 Y130000 Y10000 F20000 J40000 R60000 F15000 J 40
41. LDP X0 Starting XO rising edge detection X0 X1 Hti n gt AND X1 Connecting to contact A of X1 in series OUT Y1 Driving Y1 coil Remarks 1 See the specification of DVP PM for the range of operands 2 Ifthe status of a designated rising edge is On before DVP PM is powered the contact of the rising edge will be TRUE after DVP PM is powered Mnemonic Function LDF Falling Edge Detection Operation X0 X377 YO Y377 MO M4095 S0 81023 TO T255 C0 C255 D0 D9999 A v Y v v v Operand Explanations The method of using LDF instruction is the same as using LD but the actions of the two instructions differ LDF saves the current content and store the detected status of the falling edge to the accumulative register Program Example Ladder diagram Instruction code Operation LDP X0 Starting XO falling edge detection XO X1 Hu C Yi 2 AND X1 Connecting to contact A of X1 in series OUT Y1 Driving Y1 coil DVP PM Application Manual 4 9 4 Basic Instructions Mnemonic Function ANDP Rising Edge Series Connection X0 X377 YO Y377 MO M4095 SO S1023 T0 T255 C0 C255 D0 D9999 Operand v v v v v 2 Explanations ANDP instruction is used in the series connection of the contacts rising edge detection Program Example Ladder diagram Instruction code Operation LD X0 Loading in A contact of XO o0 ANDP X1 X1 rising edge detectio
42. M30 On or the result of logical OR operation of 32 bit register D10 D11 and 32 bit register D20 D21 0 or the result of logical XOR operation of 32 bit register D200 D201 and 32 bit counter C235 0 5 82 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function oan D LDX GD D Load Compare Type Bit Devices Word Devices Program Steps OP X Y MS K H KnX KnY KnM KnS T C D V Z LD 5 steps S DLD x 7 steps So Operands S Data source device 1 S5 Data source device 2 Explanations 1 See the specifications of DVP PM for its range of use 2 X gt lt lt gt 2 3 LD instruction compares the content in Sq and S2 Take API 224 LD for example if the result is the instruction will be On If the result is 4 the instruction will be Off 4 LD can be connected directly with bus API No 16 bit instruction 32 bit instruction On condition Off condition 224 LD DLD Si S2 S128 225 LD gt DLD gt S1 gt S2 Si lt S2 226 LD lt DLD lt S lt S2 S S2 228 LD lt gt DLD lt gt S1 S2 S1 S2 229 LD lt DLD lt S lt S2 S1 gt S2 230 LD gt DLD gt S Se S lt S2 5 When 32 bit counters C200 C255 are used in this in
43. Move to designated position by arc G3 X10 0 Y130 0 J 40 0 F15 0 interpolation Can also be written as G3 Y130 0 J 40 0 Move to designated position by arc G2 X10 0 Y10 0 R60 0 F20 0 interpolation Can also be written as G2 Y10 0 F20 0 SRET When M1072 in DVP PM is On the motion mode will start to be executed DVP PM Application Manual Application Examples 8 2 Applying motionSample in PMSoft Follow the example below to draw English letters any graph or text If you wish to apply this function to any 2 axis control equipment you can modify the example program below for you to realize more diverse control programs Path Open PMSoft gt File gt Open Examples gt select motionSample 26Letter file to open the example program 8 2 1 Design Plan Suppose we have decided to draw English letters and graphs by DVP PM we have to convert the letter and graph into G Code i e NC code before designing the main control program of DVP PM Due to that DVP PM only offers 2 axis X Y interpolation we have to add a Z axis for the pen lifting controlled by the third axis In this example we will use DVP EH series MPU can be replaced by other controllers to complete the third axis control The design plan DVP PM Program Area DVP PM MANU gt AUTO 0100 main control g program a After X axis is ready and completes M1792 enable OXO0 by XO Setup X Y axis parameter Call P
44. No MASK function b 10 8 K1 001 Triggering MASK by the rising edge of input terminal DA b 10 8 K2 010 Triggering MASK by the falling edge of input terminal Ax e b 10 8 K3 011 Triggering MASK by the rising edge of input terminal OB b 10 8 K4 100 Triggering MASK by the falling edge of input terminal OB 8 b15 of D1847 D1927 returning to default setting b 15 1 All parameters return to default settings X axis Y axis HW LW HW LW Current Position CP PLS D1849 D1848 D1929 D1928 Range 2 147 483 648 2 147 483 647 2 The current position is displayed in pulse value PLS and set by bO and b1 of D1816 D1896 When the zero return is completed the definition of zero point HP DD1834 DD1914 will be filled into current position CP PLS X axis Y axis HW LW HW LW Current Speed CS PPS D1851 D1850 D1931 D1930 1 Range 0 2 147 483 647 2 Displayed in PPS 3 46 DVP PM Application Manual 3 Functions of Devices in DVP PM X axis Y axis HW LW HW LW Current Position CP Unit D1853 D1852 D1933 D1932 1 Range 2 147 483 648 2 147 483 647 2 The unit of the current position varies according to be settings of bO and b1 in D1816 D1896 When the zero return is completed the definition of zero point HP DD1834 DD1914 will be filled into current position DD1852 DD1932 X axis Y a
45. ON light off OFF Input voltage Input point XO X7 can conduct 10 Action Off2On 20us 60ms digital filter adjustment evel On Off 30us Response time noise 10ms nur immunity i Digital output point Item Single common port transistor output Single common port relay output Spec Low speed High speed Maximum frequency 10KHz 200KHz For load ON OFF control Output indicator LED display light on ON light off OFF Minimum load 2mA DC power supply Working voltage 5 30V DC 250V AC 30V DC Isolation Photocoupler isolation Electromagnetic isolation eet 2A 1 point BA COM Current specification 0 3A 1 point 40 C 30mA ae 75VA conductive 90W resistive Off gt On 20us Max Jugis 0 2us 10ms Celaya en 30us Over current protection N A 2 2 DVP PM Application Manual 2 Hardware Specifications and Wiring 2 1 3 Dimension 90 80
46. On counting down Off R NO Off M1251 Counting mode of C251 On counting down Off R NO Off M1252 Counting mode of C252 On counting down Off E R NO Off M1253 Counting mode of C253 On counting down Off R NO Off M1254 Counting mode of C254 On counting down Off 5 R NO Off M1255 Counting mode of C255 On counting down Off R NO Off M1304 Enabling force On Off of input point X Off R W NO Off 3 27 M1744 OX M code Off Off Off R W NO Off 3 27 M1745 Disabling zero return of X axis in OX Off RAN NO Off M1760 Using radian degree of OX Off 2 R W NO Off M 1792 Ready flag for OX and X axis On On On R NO On espe aaa E EON E ERES M1794 OX M code On automatically cleared when OX is enabled Off Off R NO Off 3 27 M1795 OX MO code On automatically cleared when OX is enabled Off R NO Off M1796 OX M2 code On automatically cleared when OX is enabled Off On R NO Off M1808 OX zero flag Off R NO Off M1809 OX borrow flag Off R NO Off M1810 OX carry flag Off R NO Off M1825 Disabling zero return of Y axis Off R W NO Off M1872 Y axis ready flag On On On R NO On M1873 paca ea nee ies flag of Y axis automatically Off R NO Off 3 28 M1920 Using radian degree of O100 Off R W NO Off M1952 0100 ready flag On Off On R NO On M1953 0100 error flag clear Off Off R W NO Off 3 29 M1957 Switching to AUTO mode Off
47. P 99 PLF Falling Edge Output 3 4 12 128 DPOW Y Floating Point Power Operation 9 5 65 08 RPT Repetition Start only 1 layer 3 5 17 09 RPE z Repetition End 1 5 17 i 116 DRAD Y Angle Radian 6 5 55 260 RMOV Y Reducing Transfer with Sign Holding 6 5 90 02 SRET Subroutine Return 1 5 15 S 21 SUB DSUB Y Subtraction 7 9 5 26 130 DSIN Y Sine 5 6 5 68 136 DSINH Y Hyperbolic Sine 6 5 77 79 TO DTO Y Write CR Data into Special Modules 9 13 5 41 T 96 TMR 16 bit Timer 5 4 7 132 DTAN Y Tangent 5 6 5 72 138 DTANH Y Hyperbolic Tangent 6 5 79 W 26 WAND DWAND Y Logical Word AND 7 9 5 32 27 WOR DWOR Y Logical Word OR 7 9 5 33 5 10 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions 5 ES Mnemonic P Bur STEPS S ategor unction I Page poe 16 bit 32 bit Instruction 16 bit 32 bit 28 WXOR DWXOR Y Logical Exclusive OR 7 9 5 34 7 11 ZCP DZCP Y Zone Compare 9 12 5 20 40 ZRST Y Zone Reset 5 5 37 DVP PM Application Manual 5 11 5 Categories and Use of Basic Application Instructions 5 6 Application Instructions API Mnemonic Operands Function CJ P Conditional Jump OP Range Program Steps CG _ P0 P255 CJ CJP 3 steps Operands S The destination pointer of conditional jump Explanations 1 Operand S can designate PO P2
48. R W YES 1 D1939 Electronic gearing of Y axis denominator R W YES 1 D1940 MPG input frequency at Y axis low word 0 0 R W NO 0 D1941 MPG input frequency at Y axis high word Accumulated number of MPG input pulses at Y axis low D1942 word 0 R W NO 0 Accumulated number of MPG input pulses at Y axis high D1943 word D1944 Responding speed of MPG input at Y axis R W YES 5 D1946 Electrical zero point address on Y axis low word R W YES 0 D1947 Electrical zero point address on Y axis high word D1955 doa external MANU of Y axis ZRN MPG JOG i i i RW YES 4 3 31 3 11 Functions of Special Auxiliary Relays and Special Registers Function Group DVP PM Operation Flag Number M1000 M1003 1 M1000 M1000 Acontact is constantly On during the operation and monitoring When DVP PM is in AUTO status M1000 will remain On M1000 m DVP PMis running Normally On contact in DVP PM AUTO Keeps being On 2 M1001 M1001 B contact is constantly Off during the operation and monitoring When DVP PM is in AUTO status M1001 will remain Off 3 M1002 M1002 is On during the first scan when DVP PM starts to be AUTO and remains Off afterward The 3 22 DVP PM Application Manual 3 Functions of Devices in DVP PM pulse width 1 scan time Use this contact for all kinds of initial setting 4 M1003 M1003 is Off duri
49. RUE Na 5 24VDC CLR1 5 24VDC DVP PM Application Manual 2 Hardware Specifications and Wiring DVP PM and Mitsubishi MJR2 series servo drive A phase B phase A phase B phase DVP PM 24VDCinput Mitsubishi servo drive L w STARTO H Y K MJR2 series 24N oV FP 0 FPO RPO Po Mad RPO f 7A 5 24VDC Mitsubishi servo drive MJR2 series FP1 FP 1 RP 1 Eur RP 1 CLR1 iam CLR1 5 24VDC e STOPO iiy lt e Lspo Y LSNO fy K poco ziy 24V Da S S0 i JSTART1 ur Q sro aG e isP ERY eS iw ii 24V BPO Hy Ne MPG pulses S 1 A04 MA Y A0 Ww BO NA Yy B0 MPG pulses Shielded cable A14 A1 Bi ANN Ei ta PGO Wy PGO Wy TN 5 24VDC l PG1 ANN n AMENS PG1 Ma 5 24V DC Application Manual 2 13 2 Hardw
50. Speed for arc interpolation Explanations 1 Range of P4 Po P5 P4 2 147 483 648 2 147 483 647 without decimal point 2 147 483 648 2 147 483 647 with decimal point 2 Range of V 0 500 000 without decimal point 0 500 0 with decimal point The speed has continuity See Remarks 4 For how to position see MON 02 CW and MON 03 CCW Remarks 1 The settings of speed have continuity for example G2 X0 0 Y100 0 10 0 J50 0 F100 0 X0 0 YO 0 10 0 J50 0 2 After the row with G2 instruction is executed the program will execute the next row The second row of the program will reach the target position automatically by speed F100 set in the first row DVP PM Application Manual 6 37 6 Motion Instructions amp G Code Instructions Mnemonic Operands Function G2 XCPO YC Clockwise Counterclockwise Arc Movement G3 RCL FCVD set the radius Operands P Target position of arc on X axis P Target position of arc on Y axis L Radius of arc R when radian lt 180 R when radian gt 180 V Speed for arc to move to target position Explanations 1 Range of P4 Po R 2 147 483 648 2 147 483 647 without decimal point 2 147 483 648 2 147 483 647 with decimal point Range of V 0 500 000 without decimal point O 500 0 with decimal point For how to position see MON 04 CW and MON 05 CCW 6 38 DVP PM Application Manual 6 Motion Instructions and G Code Instruc
51. The higher 16 bits are stored in D21 and the lower 16 bits are stored in D20 On Off of the most left bit indicates the positive negative status of the result 5 28 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 23 D DIV P GD G CDD Division Type Bit Devices Word Devices Program Steps OP X YIM S K H KnXKKnY KnMKnS T C D V Z DIV DIVP 7 steps S ed fe e fb 1 7 1 IDDIV DDIVP 9 steps S D Operands S4 Dividend S5 Divisor D Quotient and remainder Explanations 1 DIV instruction supports V and Z When DIV is used as 16 bit instruction Z device cannot be adopted when DIV is used as 32 bit instruction V device cannot be adopted See the specifications of DVP PM for its range of use DIV instruction divides S and Sz in BIN format and stores the result in D Be careful with the positive negative signs of S4 S and D when doing 16 bit and 32 bit operations DIV will not be executed when the divisor is O In 16 bit BIN division Quotient Remainder CS CS CD CDD 1 bibis b0 DAD css bO b15 bO b15 b0 s In 32 bit BIN division Quotient Remainder CSOs D G 1 CS CD CD 3 CD 2 b15 b0b15 b0 b15 b0b15 bO b15 b0 b15 b0 b15 b0 b15 b0 Program
52. and the kind of displacement instruction Instructions marked with a P following the mnemonic are pulse execution instruction Pulse execution instruction When X0 goes from Off to On MOVP instruction will be executed once and the instruction will not be executed again in the scan X0 Continuous execution instruction In every scan period when X1 On MOV instruction will be X1 executed once H In the two figures when XO X1 Off the instruction will not be executed and the content in operand D will remain unchanged Designation of operands 1 Bit devices X Y M and S can be combined into word device to store values and data for operations in the form of KnX KnY KnM and KnS in an application instruction 2 Data register D time T counter C and index register V Z are designated by general operands 3 A data register is usually in 16 bit i e of the length of 1 register D A designated 32 bit data register refers to 2 consecutive register Ds 4 If an operand of a 32 bit instruction designates DO the 32 bit data register composed of D1 DO will be occupied D1 is the higher 16 bit DO is the lower 16 bit The same rule also apply to timer T and 16 bit counters CO C199 5 When the 32 bit counters C200 C255 are used as data registers they can only be designated by the operands of 32 bit instructions Format of operand 1 X Y M and S can only On Off a single point and are defined as bit devices DVP PM Appli
53. positioning interruption MPG input Variable speed HW LW HW LW D1819 D1818 D1899 D1898 Number of pulses required per No need to be set up if the unit b0 b1 of D1816 revolution of motor A D1896 is motor unit Distance created by 1 Needs to be set up if the unit is machine unit or revolution of motor B combined unit D1816 D1896 Parameter setting 0101 Oo QO9 D1823 D1822 D1903 D1902 Maximum speed Vmax Oo Q09 D1825 D1824 D1905 D1904 Bias speed Vai Oo Q09 D1827 D1826 D1907 D1906 JOG speed V oc D1829 D1828 D1909 D1908 Zero return speed Vat D1821 D1820 D1901 D1900 1010 Zero return deceleration speed Vcr Number of PGO signals in zero D1832 D1912 return N E 3 z D1831 D1830 D1911 D1910 Number of pulse signals in zero return P D1835 D1834 D1915 D1914 Definition of zero point HP D1836 D1916 Acceleration time Taco O D1837 D1917 Deceleration time Tpgc O D1833 D1913 D1839 D1838 D1919 D1918 Target position I P I D1841 D1840 D1921 D1920 Operation speed I V 1 D1843 D1842 D1923 D1922 Target position II P II D1845 D1844 D1925 D1924 Operation speed II V 11 D1846 D1926 Operation instruction D1847 D1927 Work mode D1849 D1
54. s Operands S Source value binary floating point D ATAN result Explanations 1 See the specifications of DVP PM for its range of use 2 F refers to floating point input Be sure to add a decimal point when using it 3 Only 32 bit instructions DATAN and DATANP are applicable 4 Flags OX OY O100 Zero flag M1808 M1888 M1968 See below for more information 5 ATAN value tan The figure below offers the relation between the entered tan value and the result R S Entered data tangent value R ATAN value radian 6 If the result 0 the zero flag will be On Program Example When X0 On obtain the ATAN value of binary floating point D1 DO and store the binary floating point result in D11 D10 X0 Hit een oo CS Binary floating point a 93 93 Remarks ATAN value binary floating point For floating point operations see 5 3 Handling of Numeric Values 5 76 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 136 D SINH P GS CDD Hyperbolic Sine Type Bit Devices Word Devices Program Steps OF xX Y M JS F H KnXKnY KnM KnS C D V Z DSINH DSINHP 6 steps z Operands S Source value binary floating point D SINH result Explanations 1 See the specifications of DVP PM for its range of use 2
55. the next row of the program without paying attention to the OX motion subroutine 3 The enabled OX motion subroutine will only execute once If you want it to execute again you have to re enable it Instructions supported in each program section O supported X not supported OX motion subroutine Section O100 main program OX0 OX3 P1 subroutine P2 subroutine Basic instruction O O O O Application instruction O o O O Motion instruction X O O X G Code instruction X O O X Explanation Instructions supported Instructions supported Called by OX motion subroutine therefore motion instructions Called by 0100 main program therefore motion instructions called once are fixed are fixed and G Code and G Code instructions are instructions are not supported supported Remarks Main program Subroutine Motion subroutine Start of the program Pn n 2 0 255 OXn n 0 99 End of the program SRET M2 Placing sequence No limitation No limitation No limitation Execution of the Called by main program or motion Called by main program or program RUN Normally subroutine subroutine Execute once whenever being Execute once whenever being How to operate In cycles called once Quantity 256 depending on the user s demand 100 depending on the user s demand DVP PM Application Manual 2 Hardware Specifications and Wiring 2 1 Hardwar
56. therefore after the execution of NOP the existing logical operational result will be kept If you want to delete a certain instruction without altering the length of the program you can use NOP instruction DVP PM Application Manual 4 Basic Instructions Program Example Ladder diagram Instruction code Operation NOP instruction will be LD X0 Loading in B contact of XO omitted in the ladder diagram NOP No operation X0 ve H OUT Y Driving Y1 coil Mnemonic Function P Pointer Operand PO P255 Explanations Pointer P is used in API 00 CJ API 01 CALL API 256 CJN and API 257 JMP instructions The use of P does not need to start from No 0 and the No of P cannot be repeated otherwise unexpected errors may occur Program Example Ladder diagram Instruction code Operation LD X0 Loading in contact A of X0 CJ P10 From instruction CJ to P10 P10 Pointer P10 LD X1 Loading in A contact of X1 OUT Y1 Driving Y1 coil Mnemonic Function O Subroutine Pointer Sequential control program pointer 0100 Operand Motion control program pointer OX0 OX99 Explanations 1 0100 is the start pointer of general main control programs You need the main control program to activate OXO OX99 motion subroutines Execute M102 instruction to end 0100 main control program 2 OX0 OX99 are the pointers for 100 motion control subroutines and can be compiled by the programmin
57. 0 Normal mode b 9 1 Overwrite mode Detecting DOG falling edge in zero return b 10 0 On b 11 1 Off There are four zero return modes in total See 3 12 for how they work Program Example When X0 On DRVZ instruction in OX00 will be executed and the zero return on Y axis will be disabled X axis accelerates for 100ms to Var 500KHz searching for the mechanical zero point When DOG signal is triggered X axis will decelerate for 100ms to 10KHz When the falling edge of DOG signal is triggered the zero return mode will be in normal mode starting to count the number of PGO signals N and number of pulse signals in zero return P until the counting and the positioning is completed 6 14 DVP PM Application Manual X0 X0 Remarks 6 Motion Instructions and G Code Instructions MOVP H8000 D1868 OUT M1074 MOVP D1846 OXO0 BRET DRVZ 1 Relevant flags M1745 Disabling zero return of X axis in OX M1825 Disabling zero return of Y axis in OX M1074 Enabling OX motion subroutine 2 Relevant special registers D1816 Parameter setting of X axis D1846 Operation instruction for X axis D1868 Setting up the No of OX D1828 Zero return speed of X axis Var low word D1829 Zero return speed of X axis Var high word D1830 Zero return deceleration speed of X axis Vcn low word D1831 Zero return deceleration speed of X axis Vor high
58. 000 Distance created by 1 revolution of motor at X axis high D1821 word D1822 Maximum speed of X axis Vmax low word R W YES 500K D1823 Maximum speed of X axis Vmax high word D1824 Bias speed of X axis Vgias low word R W YES 0 D1825 Bias speed of X axis Veias high word D1826 JOG speed of X axis Vjoa low word R W YES 5 000 D1827 JOG speed of X axis Vjoa high word D1828 Zero return speed of X axis Vat low word R W YES 50K D1829 Zero return speed of X axis Var high word D1830 Zero return deceleration speed of X axis Vcr low word R W YES 1 000 D1831 Zero return deceleration speed of X axis Vcr high word D1832 Number of zero point signals at X axis N RAN YES 0 D1833 Supplemented distance at X axis P RAN YES 0 D1834 Definition of zero point at X axis HP low word R W YES 0 D1835 Definition of zero point at X axis HP high word DVP PM Application Manual 3 19 3 Functions of Devices in DVP PM Som Off MANU AUTO P pecia f age D Function gu gu Attribute Latched Default HUGE On AUTO MANU D1836 Acceleration time of X axis Tacc 2 RAN YES 500 D1837 Deceleration time of X axis Topec R W YES 500 s D1838 Target position I of X axis P I low word 0 R W NO 0 D1839 Ta
59. 1000 H8 9 600 bps b7 b4 1001 H9 19 200 bps b7 b4 1010 HA 38 400 bps b7 b4 1011 HB 57 600 bps b7 b4 1100 HC 115 200 bps b8 Select start bit b8 0 None b8 1 D1124 b9 Select the 1 end bit b9 0 None b9 1 D1125 b10 Select the 2 end bit b10 0 None b10 1 D1126 b15 b11 Not defined Example 1 Modifying communication format of COM2 1 Add the program code below on top of the program to modify the communication format of COM2 When DVP PM switches from MANU to AUTO the program will detect whether M1120 is On in the first scan time If M1120 is On the program will modify the relevant settings of COM2 according to the value set in D1120 E 1 3 24 Modify the communication format of COM2 into ASCII mode 9 600bps 7 data bits even parity 1 stop bit 9 600 7 DVP PM Application Manual 3 Functions of Devices in DVP PM M1002 MOV H86 D1120 SET M1120 Notes 1 If COM2 is to be used as a Slave terminal make sure there is no communication instruction existing in the program 2 After the communication format is modified the format will stay intact when DVP PM switches from AUTO to MANU 3 If you shut down the power of DVP PM and re power it again the modified communication format will return to default setting Example 2 Modifying the communication format of COM1 1 Add the program code below on top of the program to modify the communication format of COM1 When DVP
60. 3 4 the set value for timer T and counter C e g TMR TO K50 constant K the No of device S M T C D V Z P e g M10 T30 device No an operand in the application instruction e g MOV K123 DO constant K ry code decimal BCD DVP PM Application Manual 3 Functions of Devices in DVP PM A decimal datum is presented by a nibble or 4 bits Therefore a continuous 16 bits can be presented as a 4 digit decimal value BCD is mainly used on reading the input value from the DIP switch or the data output to a 7 segment display 5 Hexadecimal value HEX Occasion of using hexadecimal values Operands in application instructions e g MOV H1A2B DO constant H Constant K K is normally placed before a decimal value in DVP PM For example K100 refers to a decimal value 100 Exception K and bit devices X Y M and S can combine into data in bit byte word or double word e g K2Y10 K4M100 Here K1 refers to a 4 bit data and K2 K4 refer to 8 bit 12 bit and 16 bit data Constant H H is normally placed before a hexadecimal value in DVP PM For example H100 refers to a hexadecimal value 100 Floating point F F is normally placed before a floating point value in DVP PM For example F3 123 refers to a floating point value 3 123 Reference table Binary Octal Decimal Binary Code Decimal Hexadecimal BIN OCT DEC BCD HEX For
61. C401 General circuit error 0012 Incorrect target position II C402 LD LDI instruction is used continuously for more than 9 times 0021 Incorrect operation speed I C404 RPT RPE is more than 1 layers 0022 Incorrect operation speed Il C405 SRET is used between RPT and RPE 0023 Incorrect zero return deceleration speed C4EE There is no end instruction M102 M2 in Vat the program 0024 Incorrect zero return deceleration speed CAFF No such instruction operand or the range Vcg is incorrect 0025 Incorrect JOG speed 9 4 DVP PM Application Manual
62. CALL and JMP K 32 768 K32 767 16 bit operation K 2 147 483 648 K2 147 483 647 32 bit operation H0000 HFFFF 16 bit operation H00000000 HFFFFFFFF 32 bit operation Displaying floating points by the length of 32 bits with IEEE754 standard 1 1755X10 8 3 4028x10 2 1 Non latched area cannot be modified 2 Non latched area can be modified into latched area by changing the parameter settings 3 2 DVP PM Application Manual 3 Functions of Devices in DVP PM 8 Latched area can be modified into non latched area by changing the parameter settings 4 Latched area cannot be modified Settings of latched and non latched memory devices M Auxiliary relay General purpose Special auxiliary relay MO M499 M500 M999 M2000 M4095 M1000 M1999 Default non latched Default latched Default non latched Also in general purpose area Start D1200 K500 1 Some are latched and cannot be End D1201 K999 1 modified 10ms TO T255 T Timer Default non latched Start D1202 K 1 2 End D1203 K 1 2 16 bit counting up 32 bit counting up down CO C99 C100 C199 C200 C219 C220 C255 C Counter Default non latched Default latched Default non latched Default latched Start D1204 K100 Start D1206 K220 End D1205 K199 End D1207 K255 Initial General purpose Latched S
63. D1039 is less than the actual scan time of the program the scan time will follow the actual scan time of the program M1000 Li On contact Fixed scan time MOV P K20 D1039 Scan time is fixed to 20ms 2 The scan time displayed in D1010 D1012 also include the fixed scan time Function Group Setting up the No of OX Program Number M1074 D1868 Contents D1868 designates the No of OX program to be executed How to set 1 Set b14 of D1068 to be 1 or b15 1 or b14 b15 1 only one of the three needs to be true Write bO b13 of D1868 into K99 H 63 i e set OX as OX99 Later write H 8063 into D1868 2 Setup M1074 to enable the OX program designated by D1868 3 Program example xo MOVP H8063 D1868 M1074 In 0100 main program X0 enables subroutine OX99 and executes the program in OX99 3 26 DVP PM Application Manual 3 Functions of Devices in DVP PM Function Group Detecting Extension Number D1140 D1142 D1143 Contents 1 D1140 Number of special right side extension modules AD DA XA PT TC RT HC PU Max 8 2 D1142 Number of X input points on the digital extension unit 3 D1143 Number of Y output points on the digital extension unit Function Group Setting Up Latched Area Number D1200 D1211 Contents 1 The latched area is from the start address to end address in DVP PM latched setting 2 Seethe tables in 3 1 for more details Function Group Force O
64. DFLT and DFLTP are applicable Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information 4 FLT instruction converts BIN integer into binary floating point value a Ifthe absolute value of the converstion result max floating point value the carry flag will be On b If the absolute value of the conversion result lt min floating point value the borrow flag will be On c If the conversion result is 0 the zero flag will be On Program Example 1 1 When X11 On D1 and DO BIN integers are converted into D21 and D20 binary floating point values 2 f 32 bit register DO D1 K100 000 X11 will be On The 32 bit value of the converted floating point will be H 4735000 and stored in the 32 bit register D20 D21 X11 Program Example 2 Using FLT instruction to complete the following operation D11 D10 X7 X0 D21 D20 32 bitBIN 2 digit BCD binary floating point D31 D30 decimal floating point for monitoring D101 D100 D201 D200 BIN D301 D300 binary floating point binary floating point D41 D40 32 bit integer D203 D202 binary floating point D401 D400 binary floating point 5 38 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions M1000 D11 and D10 BIN integers are converted into D101 and D100 binary floatin
65. DVP PM internal operation Nol E X device M S T G D For DIE s 7 segment Constant H 0000 0000 0 0 0000 0000 0 0000 0 0 0 1 1 1 0000 000 1 1 0000 0010 2 2 0000 0 0 1 0 2 0000 0 0 1 1 3 3 0000 0 0 1 1 3 0000 0100 4 4 0000 0 100 4 0000 0 1 0 1 5 5 0000 0 1 0 1 5 0000 0 110 6 6 0000 0 1 1 0 6 0000 0 1 1 1 7 7 0000 O 1 1 1 7 0000 1000 10 8 0000 1000 8 0000 100 1 11 9 0000 1 0 0 1 9 0000 1010 12 10 000 1 0000 A 0000 1 0 1 1 13 11 000 1 000 1 B 0000 1100 14 12 000 1 0 0 1 0 C 0000 110 1 15 13 0 0 0 1 0 0 1 1 D 0000 1110 16 14 000 1 0 100 E 0000 1 11 1 17 15 0 0 0 1 0 1 0 1 F DVP PM Application Manual 3 5 3 Functions of Devices in DVP PM Binary Octal Decimal Binary Code Decimal Hexadecimal BIN OCT DEC BCD HEX Constant K No of For DVP PM internal operation NO HORE RIES A device M S T C D FORDIS Sten and 7 Segment Constant H Y display V Z P 0001 0000 20 16 000 1 0 1 1 0 10 000 1 000 1 21 17 000 1 O0 1 1 1 11 0 11 0 0 0 1 1 143 99 1 00 1 1 00 1 63 3 8 Numbering and Functions of External Input Output Contacts X Y E Input relay X0 X377 The numbering of input relay or input terminal is in octal form DVP PM is designed for up to 256 points and the range is XO X7 X10 X17 X370 X377 WB Output relay YO Y377 The numbering of output relay or output terminal is in octal form DVP PM is designed for up to 256 poin
66. Fan P5 E B K K K K K K K K K K i i F E H 24V MPG pulses Snielded cable AEDTUTUTTUE was OOK BE B phase PCOS E O UmM PPPEI pa LI MPG pulses Shielded cable XE eB DOREM Ra ma RA 6 0 r6 i RP 14 pagum A phase XD SE B1 smse POOQ EE Q ANANA PE A L mE Pat 1 5 24VDC 5 24VDC 2 10 ian ON EA LES arg 69 dees tO 5 24VDC Delta servo drive ASD Aseries 5 24VDC DVP PM Application Manual 2 Hardware Specifications and Wiring DVP PM and Panasonic CN5 series servo drive 24VDC input 24V 0v FPO FPO RPO HH E RPO CLRO ti CLRO 5 24VDC FP 1 FP 1 RP 1 L E RP 1 CLR1 iam STARTO ZS a _ __ sTOPO jay K peso RK L sno iy K e DOGO ky 24V 1 E S S0 START1 Hu Qa sro iRNK e isP Ay t L i 24V BOGT Hy P MPG pulses S 1 A04 ANN A phase kK x IBI BO NA B phase 7K MPG pulses Shiel
67. Logarithm of Binary Floating Point BB Type Bit Devices Word Devices Program Steps X Y M S F H KnX KnY KnM KnS T C D V Z DLN DLNP 6 steps s Operands S Device for operational source D Device for operational result Explanations 1 2 3 4 8 9 10 11 See the specifications of DVP PM for its range of use F refers to floating point input Be sure to add a decimal point when using it Only 32 bit instructions DLN and DLNP are applicable Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 Operational error flag M1793 M1873 M1953 See below for more information LN instruction performs natural logarithm In operation by S LN S 1 S D 1 DJ Only positive values are valid for S When designating D registers the data should be 32 bit and the operation should be performed in floating point system Therefore S should be converted into a floating point value If S is not a positive value operational error will occur and the instruction will not be executed The operational error flag will be On and the error code H OE19 will be recorded e S gt The content in D InS S designated source data If the absolute value of the result gt maximum floating point available the carry flag will be On If the absolute value of the result minimum floating point available the borrow flag will be On If the result
68. M1810 M1890 M1970 See below for more information e 2 71828 as the base and S as exponent for EXP operation EXPP P S 1 S Both positive and negative values are valid for S When designating D registers the data should be 32 bit and the operation should be performed in floating point system Therefore S should be converted into a floating point value The content in D ef e 2 71828 S designated source data If the absolute value of the result gt maximum floating point available the carry flag will be On If the absolute value of the result lt minimum floating point available the borrow flag will be On If the result 0 the zero flag will be On Program Example 1 When MO On convert D1 DO into binary floating point and store it in register D11 D10 2 When M1 On use D11 D10 as the exponent for EXP operation and store the binary floating point result in register D21 D20 3 When M2 On convert the binary floating point D21 D20 into decimal floating point D30 x 10 2 and store it in register D31 D30 MO DFLT Do D10 M1 DEXP D10 D20 M2 DEBOD D30 Remarks For floating point operations see 5 3 Handling of Numeric Values DVP PM Application Manual 5 61 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 125 D LN P GS CDD Natural
69. M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information 5 S x S D The floating point value in the register designated by S is multiplied with the floating point value in the register designated by Sz and the result will be stored in the register designated by D The multiplication is conducted in binary floating point system If 4 or S is a designated floating point F the instruction will conduct the multiplication in binary floating point S and S can designate the same register In this case if the continuous execution instruction is in use during the period when the contact is On the register will be multiplied once in every scan by pulse execution instruction DEMULP 8 If the absolute value of the result gt maximum floating point available the carry flag will be On 9 If the absolute value of the result lt minimum floating point available the borrow flag will be On 10 If the result 0 the zero flag will be On Program Example 1 When X1 On binary floating point D1 DO x binary floating point D11 D10 and the result will be stored in D21 D20 X1 DEM pEMUL Do Program Example 2 When X2 On F1234 0 automatically converted into binary floating point x binary floating point D1 DO and the result will be stored in D11 D10 X2 DEMUL F1234 0 of DO Remarks For floating point operations see 5 3 Handling of Numeric Values DVP PM Application
70. M65535 M102 O100 main M M Code instruction program ends 1 4 14 M2 OX0 OX99 motion subroutine ends 4 2 Explanations on Basic Instructions Mnemonic Function LD Loading in A Contact X0 X377 YO Y377 MO M4095 SO S1023 T0 T255 C0 C255 D0 D9999 Operand Y v Y Y v v Explanations LD instruction is used on the A contact that has its start from the left bus or the A contact that is the start of a contact circuit The functions are to save the present contents and store the acquired contact status into the accumulative register Program Example Ladder diagram Instruction code Operation LD X0 Loading in contact A of X0 XO X1 C Yi gt AND X1 Connecting to contact A of X1 in series OUT Y1 Driving Y1 coil Mnemonic Function LDI Loading in B Contact X0 X377 YO Y377 MO M4095 S0 S1023 TO T255 C0 C255 D0 D9999 Operand v A v v Y v z Explanations LDI instruction is used on the B contact that has its start from the left bus or the B contact that is the start of a contact 4 2 DVP PM Application Manual 4 Basic Instructions circuit The functions are to save the present contents and store the acquired contact status into the accumulative register Program Example Ladder diagram Instruction code Operation LD X0 Loading in contact B of X0 X0 X1 V Yi J AND X1 Connecting to contact A of X1 in series OUT Y1 Driving Y1 coi
71. Off On R NO On 3 22 Enabling positive pulses On when AUTO Initial pulses of Mode contact A Pulse width scan period E on oF 5 NO ofi ee Enabling negative pulses Off when AUTO Initial pulses of d NOUS contact A Pulse width scan period On ofi On NO On 3 22 M1008 Scanning watchdog timer WDT On Off Off R NO Off M1009 LV signal has been occurred Off R NO Off M1011 10ms clock pulse 5ms On 5ms Off Off g R NO Off M1012 100ms clock pulse 50ms On 50ms Off Off 5 R NO Off M1013 1s clock pulse 0 5s On 0 5s Off Off 3 R NO Off 2 M1014 1min clock pulse 30s On 30s Off off R NO Off There is incorrect request for communication service When HPP03 PC or HMI is connected with DVP PM and DVP PM M1025 receives illegal request for communication service during the Off Off R NO Off data transmission M1025 will be set and the error code will be stored in D1025 M1031 Clear all non latched areas Off RAN NO Off M1032 Clear all latched areas Off RAN NO Off M1033 Memory latched when not in operation Off RAN NO Off DVP PM Application Manual 3 13 3 Functions of Devices in DVP PM Sper Off MANU AUTO P Reels Function g Attribute Latched Default 998 M number On AUTO MANU M1034 Disabling al
72. PM switches from MANU to AUTO the program will detect whether M1138 is On in the first scan time If M1138 is On the program will modify the relevant settings of COM1 according to the value set in D1036 2 Modify the communication format of COM1 into ASCII mode 9 600bps 7 data bits even parity 1 stop bit 9 600 7 E 1 M1002 MOV H86 D1036 SET M1138 1 After the communication format is modified the format will stay intact when DVP PM switches from AUTO to MANU 2 f you shut down the power of DVP PM and re power it again the modified communication format will return to Note default setting Setting up RTU mode of COM1 and COM2 COM1 M1002 MOV D1036 COM2 M1002 MOV H87 D1120 SET M1120 SET M1143 DVP PM Application Manual 3 25 3 Functions of Devices in DVP PM Function Group Communication Response Delay Number D1038 Contents When DVP PM is used as a slave in RS 485 interface you can set up communication response delay time ranging from 0 to 1 000 0 1 second If the time falls without the range D1038 0 time unit 0 1ms The set value of time must be less than that in D1000 Function Group Fixed Scan Time Number M1039 D1039 Contents 1 When M1039 On the scan time of the program is determined by the content in D1039 When the execution of the program is completed the next scan will take place when the fixed scan time is reached If the content in
73. Parameter Setting D1816 D1896 See the tables below for the meanings of bO b15 b0 and b1 of D1816 D1896 setting of the unit bi bO Unit Explanation 0 0 Motor Unit pulse 0 1 Machine Unit length angle 1 0 Combined Unit for position length angle machine 1 1 Unit for speed pulse motor Motor unit Combined unit Machine unit pulse um Position pulse m deg pulse 10 4inch pulse sec cm min Speed pulse sec 10deg min pulse sec inch min e Position data zero point position HP target position I P I target position Il P II current position CP Speed data maximum speed Vmax bias speed Veins JOG speed Vjog zero return speed Vpr zero return deceleration speed Vcr operation speed I V I operation speed II V II Example 1 Motor unit b 1 0 00 gt unit for position data pulse unit for speed data pulse sec PPS Setting target position P I 10 000 pulse operation speed V I 10K PPS Explanation The positioning controller only needs to send out 10 000 pulses frequency at 10KPPS to move to the target position The distance created by every pulse is calculated by the user according to the parameter settings Example 2 Machine unit b 1 0 01 gt unit for position data um unit for speed data cm min Assume DD1818 DD1898 21 000 Pulse REV DD1820 DD1900 100 um REV target position P I
74. Remarks for more explanations on row A and B Remarks 1 The settings of position have continuity for example GO X500 0 Y500 0 X1000 0 Y1000 0 After the row with GO instruction is executed the program will execute the next row The second row of the program will reach the target position automatically by GO 2 The program example when GO adopts Z axis target position built in 3 axis control 6 30 DVP PM Application Manual 6 Motion Instructions and G Code Instructions GO X1000 Y1000 2100 After the compilation GO Z100 A GO X1000 Y1000 B A is the first executed and at this time Z axis fast moves to position K100 Next B is executed and moves to target position 1000 1000 at the maximum speed DVP PM Application Manual 6 31 6 Motion Instructions amp G Code Instructions Mnemonic Operands Function G Code 3 GO Z High Speed Positioning 3 axis control Remarks The program example when GO adopts Z axis target position built in 3 axis control GO Z2100 A A is first executed At this time DVP PM writes target position K100 on Z axis into the 32 bit D1328 The moving speed for GO has already existed in the program Therefore write K 1 into the 32 bit D1330 for the program to determine whether it is GO or G1 After that call and execute P255 subroutine Operation of step A M1000 GO Z100 gt When A is executed P255 is a sub
75. STOP status The operation of OX motion subroutines and Pn subroutine will stop at this moment e When DVP PM is powered you can also stop OX by setting D1846 to be 0 through communication DVP PM Application Manual 1 5 1 Program Structure of DVP PM e When errors occur during the operation of Pn subroutine Pn will stop automatically See 3 13 for the table of the error codes and their causes 4 When Pn subroutine is called in O100 main program the Pn subroutine will only support basic instructions and application instructions When Pn subroutines is called in OXO OX99 motion subroutines the Pn subroutine will support basic instructions application instructions motion instructions and G Code instructions 5 The above explanations are sorted in the table below Pn subroutine Explanation Start of the program Start flag of Pn subroutine PO P255 End of the program End of SRET subroutine Execution of the 1 Call Pn subroutine in O100 main program program 2 Call Pn subroutine in OX motion subroutine How to operate Execute once whenever the subroutine is enabled Re enable it for the re execution 1 When called in O100 supports basic instructions and application instructions 2 When called in OX supports basic instructions application instructions motion Instructions supported instructions and G Code instructions Note When you need to call Pn in OX and use basic instructions and ap
76. TIM Pause Time 6 13 5 07 DRVZ Return to Mechanical Zero Point zero return 6 14 E 08 SETR Set up Electrical Zero Point 6 17 5 09 DRVR Return to Electrical Zero Point 6 18 10 INTR free deen Single Speed Interpolation ignoring 6 19 5 11 SINTR Inserting Single Speed Operation 6 20 12 DINTR Inserting 2 Speed Operation 6 22 13 MOVC Set up Linear Movement Compensation 6 24 14 CNTC Arc Center Compensation 6 25 15 RADC Arc Radius Compensation 6 26 16 CANC Cancel Compensation 6 27 17 ABST Set up Absolute Coordinate 6 28 18 INCT Set up Relative Coordinate 6 28 19 SETT Set up Current Position 6 29 Category G Code Mnemonic Function Page 0 DRV High Speed Positioning 6 30 o 2 Axis Synchronous Linear Interpolation considering 5 l EIN remaining distance 6 34 E 2 CW Clockwise Arc Movement set the position of center 6 37 5 3 CCW Counterclockwise Arc Movement set the position of center 6 37 2 CW Clockwise Arc Movement set the radius 6 38 g 3 CCW Counterclockwise Arc Movement set the radius 6 38 O 4 TIM Pause Time 6 39 o 90 ABS Set up Absolute Coordinate 6 39 91 INC Set up Relative Coordinate 6 39 See 6 3 and 6 4 for details of motion instructions and G Code instructions DVP PM Application Manual 9 3 9 Appendix 9 3 Appendix C Error Codes After you write the program into DVP PM the illegal use of operands devices or incorrect syntax in different program blocks 0100 OX will result in flashing of ERROR indicator and error fl
77. X axis low D1862 word 0 R W NO 0 Accumulated number of MPG input pulses at X axis high D1863 word D1864 Responding speed of MPG input at X axis R W YES 5 Stop mode for OXO 99 K1 completing unfinished D1865 distance after next activation K2 executing the next R W YES 0 instruction after next activation Others restart D1866 Electrical zero point address on X axis low word R W YES 0 D1867 Electrical zero point address on X axis high word D1868 Setting up the No of OX R W YES 0 3 26 D1869 Incorrect STEP position of OX 0 R W NO 0 D1872 Enabling Y output when OX is ready 0 R W NO 0 3 20 DVP PM Application Manual 3 Functions of Devices in DVP PM COS Off MANU AUTO p pecial age D Function Attribute Latched Default number On AUTO MANU High byte K1 low byte designating start No of Y output Enabling Y hen OX tes M cod D1873 nap ing Y output when OXON es M code i i RW YES 0 i High byte K1 low byte designating start No of Y output D1874 OX M Code Off start No of input point X 0 R W NO 0 D1g75 Enabling external MANU of X axis ZRN MPG JOG 1 RW YES 0 3 31 JOG D1896 Parameter setting of Y axis E z R W YES 0 3 29 D1897 Backlash compens
78. a 10 20us delay from On Off or Off On of the transistor module to the On Off status of the contact 3 4 Numbering and Functions of Auxiliary Relays M No of auxiliary relays in decimal MO M499 500 points can be modified into latched area by setting up parameters Auxiliary relay qu Total 4 096 M Latched M500 M999 M3000 M4095 1 596 points can be modified into points non latched area by setting up parameters General purpose Special purpose M1000 M2999 2 000 points some are latched Functions of auxiliary relays Both auxiliary relay M and output relay Y have output coils and contact A B and there is no limitation on the times of using the contact You can use auxiliary relay M to assemble a control loop but it cannot directly drive the external DVP PM Application Manual 3 7 3 Functions of Devices in DVP PM load There are three types of auxiliary relays 1 General purpose auxiliary relay If the relay encounters power cut during the operation of DVP PM its status will be reset to Off and stay Off when the power is On again 2 Latched auxiliary relay If the relay encounters power cut during the operation of DVP PM its status will be retained and stay at the status before the power cut when the power is On again 3 Special purpose auxiliary relay Every relay of this kind has its specific function DO NOT use undefined special purpose auxiliary relay S
79. and Use of Basic Application Instructions API Mnemonic Operands Function 257 JMP CG Unconditional Jump OP Range Program Steps ED PO P255 JMP 3 steps Operands S The destination pointer of conditional jump Explanations 1 2 3 4 required but JMP instruction does not need such contact to drive it Operand S can designate P No contact to drive the instruction is required Device P does not support V and Z index register modification JMP does not support pulse execution JMPP instruction Program Example JMP instruction is similar to CJ instruction The difference is that a contact before CJ instruction to drive it is When the scan of program reaches address 0 either there is a contact regardless of the contact status or no contact before JMP the program will automatically jump from address 0 to N the designated label P1 and continue its execution The addresses between 0 and N will not be executed JMP instruction DVP PM Application Manual 5 87 5 Categories and Use of Basic Application Instructions API Mnemonic Function 258 BRET Return to Bus Line OP Descriptions Program Steps N A N A BRET 1 steps Explanations 1 No operand No contact to drive the instruction is required 2 When BRET instruction is executed the instructions which need a contact to be driven will be equivalent to being connected to a
80. available the carry flag will be On 9 If the absolute value of the result lt minimum floating point available the borrow flag will be On 10 If the result 0 the zero flag will be On Program Example 1 When X1 On binary floating point D1 DO binary floating point D11 D10 and the quotient will be stored in D21 D20 X1 Lifeson oo Tee Ton Program Example 2 When X2 On binary floating point D1 DO F1234 0 automatically converted into binary floating point and the result will be stored in D11 D10 X2 Remarks For floating point operations see 5 3 Handling of Numeric Values 5 60 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 124 D EXP P CDD Exponent of Binary Floating Point Type Bit Devices Word Devices Program Steps OP X Y M S F H KnX KnY KnM KnS T C D V Z DEXP DEXPP 6 steps z Operands S Device for operation source D Device for operational result Explanations 1 2 3 4 7 8 9 10 See the specifications of DVP PM for its range of use F refers to floating point input Be sure to add a decimal point when using it Only 32 bit instructions DEXP and DEXPP are applicable Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag
81. before X10 Off If you need to obtain a comparison result with 2 lt and make a series parallel connection between YO and Y2 X10 YO I When K10 gt D10 YO On Y1 IL when K10 D10 Y1 2 On Y2 IL When K10 D10 Y2 On DVP PM Application Manual 5 19 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function D zp P O GD GO GD Zone Compare Type Bit Devices Word Devices Program Steps OF X Y M S K H KnX KnY KnM KnS T C D V Z ZCP ZCPP 9 steps S pets IRR 4 E DZCP DZCPP 12 steps S S D Operands S4 Lower bound of zone comparison S5 Upper bound of zone comparison S Comparison value D Comparison result Explanations 1 2 3 4 5 ZCP instruction supports V and Z When ZCP is used as 16 bit instruction Z device cannot be adopted when ZCP is used as 32 bit instruction V device cannot be adopted See the specification of DVP PM for its range of use S is compared with S S2 and the result is stored in D The content in S1 should be smaller than the content in S2 Operand D occupies 3 consecutive devices Program Example ius 2 Designate device MO and MO M1 and M2 will be occupied automatically When XO On ZOP instruction will be executed and one of MO M1 a
82. bit 1 500 m2 2 TO instruction supports V and Z When TO is used as 16 bit instruction Z device cannot be adopted when TO is used as 32 bit instruction V device cannot be adopted TO instruction is used for writing the data into the CR in special modules Program Example 1 Use 32 bit instruction DTO to write the contents in D11 and D10 into CR 13 and CR 12 of special module No 0 Only 1 group of data is written in at a time n 1 2 When X0 On the instruction will be executed When X0 Off the instruction will not be executed and the data written will not be changed XO Remarks Operand rules 1 m The No of special modules connected to DVP PM No 0 is the module closest to DVP PM Maximum 8 modules are allowed to connect to DVP PM and they will not occupy any I O points m2 CR CR control register is the 16 bit memories built in the special module numbered in decimal as 0 iin All operational status and settings of the special modules are contained in the CR FROM TO instruction is for reading writing 1 CR at a time DFROM DTO instruction is for reading writing 2 CRs at a time Higher 16 bits Lower 16 bits CR 10 CR 9 Designated CR Number of groups n to be transmitter n 2 in 16 bit instructions and n 1 in 32 bit instruction mean the same DVP PM Application Manual 5 41 5 Categories and Use of Basic Application Instructions Designated Designated Designated CR
83. bus Therefore you can execute these instructions directly Program Example 1 In general programs the instructions behind the contact will be executed only when XO On MOV K500 D10 2 When BRET instruction is added into the program the instructions which need a contact to be driven will be equivalent to being connected to a bus and can be executed directly 5 88 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 259 MMOV P GS CDD Magnifying Transfer with Sign Extension OB Type Bit Devices Word Devices Program Steps xX Y M S KJH KnX KnY KnM KnS T C D V Z MMOV MMOVP 5 steps Operands S Data source 16 bit D Data destination 32 bit Explanations 1 See the specifications of DVP PM for its range of use 2 MMOV instruction sends the data including the sign bit in S into D Program Example When X23 z On the data in D4 will be sent to D6 and D7 X23 Emo e Tw Ge ee b15 bO COE ssepius gt fifolo oooh TToro o o4 b31 b16b15 bO b15 of D4 is sent to b15 b31 of D7 D6 as a negative value same as it is in D4 DVP PM Application Manual 5 89 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function
84. by using single speed output mode 8 3 1 Design Plan 1 Trigger condition 1 Controlled by external input signal XO X3 are for switching to the 2 5 speed 2 Trigger condition 2 Determined by current position MO M3 are for switching to the 2 5 speed 3 Trigger condition 3 Controlled by time TO T3 are for switching to the 2 5 speed 8 10 DVP PM Application Manual Application Examples Frequency Hz Time ms Numberof Numberof Numberof Numberof Number of pulses in j Ppulsesin pulses in pulsesin pulses in Segment 1 i Segment 2 I Segment 3 Segment 4 Segment 5 l I I l Start _ A I T I I I I I I X7 I I l Trigger condition 1 X04 X14 X24 X34 I l l l l I Trigger condition 2 Moh M14 M24 MA l I Trigger condition 3 roA A Toh t34 32 bit D1838 total number of output pulses number of pulses in Segment 1 Segment 2 Segment 5 DVP PM Application Manual 8 11 Application Examples 8 3 2 Design Example Program Ladder diagram of trigger condition 1 Operations K100 D1824 K100 D1836 Set up acceleration time of X axis Tacc K100 1D1837 Set up deceleration time of X axis Tpgc DMOV D1848 Clear the current position of X axis as 0 Set up the moving distances of all segments DMOV D183 for X axis Set up the operation speed for the 1 DMOV D184 segment on X axis 0 X0 On modify the operation speed into ples 20 000Hz M1002 Set up bias
85. calculate the square root of F1234 0 automatically converted into binary floating point and store the result in register D11 D10 ab DESQR F1234 0 0 Dio Remarks For floating point operations see 5 3 Handling of Numeric Values 5 64 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 128 D POW IP GD G2 D Floating Point Power Operation OP Type Bit Devices Word Devices Program Steps X Y M S KH KnXiKnY KnMIKnS T C D V Z DPOW DPOWP 9 steps Si So D Operands S4 Device for base S Device for exponent D Device for operational result Explanations 1 2 3 4 8 9 See the specifications of DVP PM for its range of use F refers to floating point input Be sure to add a decimal point when using it Only 32 bit instructions DPOW and DPOWP are applicable Flags OX OY 0100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 Operational error flag M1793 M1873 M1953 See below for more information POW instruction performs power multiplication of binary floating point S1 and S2 and stores the result in D D POW S 1 S1 S2 1 S2 Only positives are valid for the content in S1 Both positives and negatives are valid for the content in S2 When designating D register
86. controls many devices actions of any device may affect actions of other devices and the breakdown of any one device may cause the breakdown of the entire auto control system and danger Therefore we suggest you wire a protection circuit at the power input terminal as shown in the figure below AC power supply load Emergency stop This button can cut off the system power supply when accidental emergency takes place System circuit isolation device The device is made of electromagnetic contactor and relay as the switch to prevent the instability of system when the power is intermittently supplied Power supply AC 100 240V AC 50 60Hz 2 2 4 I O Point Wiring There are two types of DC input SINK and SOURCE DC Signal IN far peer ey es SINK mode Common port for current input S S 2 6 DVP PM Application Manual 2 Hardware Specifications and Wiring Input point loop equivalent circuit Wiring loop e O lo E244 24G SST Xo X1 X2 DC Signal IN Input point loop equivalent circuit 9 E Source mode Common port for current output S S Wiring loop 24V 24G DVP PM Application Manual S S X0 X1 X2 Source Type 2 7 2 Hardware Specifications and Wiring Wiring of differential input AO A1 and BO B1 of DVP PM are all high speed input circuit and others are DC24V input The working frequ
87. first set up its parameters as follow a b 9 Zero return speed Var The speed for returning to mechanical zero point Var cannot be modified during the execution Range 0 500KHz Limitation Vmax gt Vat gt Vaias Zero return deceleration speed Vcr The speed generated when the zero point signal is triggered during the operation In order to accurately position at the zero point it is suggested that you set Vcr at low speed Range 0 500KHz Limitation Vcg lt Vat Vcr cannot be modified during the execution Acceleration time The time spent on accelerating to Var Deceleration time The time spent on decelerating from Var to Vcg and from Vor to zero speed Number of zero point signals PGO in zero return N Reference signal for the motor to decelerate and stop When a DOG signal is detected the program will start to count the number of PGO pulses for the reference to stop Range 0 32 767 PLS Number of pulse signals in zero return P Reference signal for the motor to decelerate and stop Positive set values are for forward running pulses and negative set values are for reverse running pulses Range 32 768 32 767 Disabling zero return on X Y axis 3 Parameters below should be set up in special registers D1816 for X axis D1896 for Y axis a d Zero return direction b 8 0 Decreasing towards current position CP b 8 1 Increasing towards current position CP Zero return mode b 9 2
88. flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information Angle radian x 180 z Cos AN SO ON If the result 0 the zero flag will be On Program Example If the absolute value of the result gt maximum floating point available the carry flag will be On If the absolute value of the result minimum floating point available the borrow flag will be On When X0 On designate the radian of the binary floating point D1 DO Convert the radian into angle and store the result in binary floating point in D11 D10 X0 Lit pese o o Radian CS opa Eun binary floating point Angle radian x 180 Tt CD binary floating point Remarks For floating point operations see 5 3 Handling of Numeric Values 5 56 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 120 D EADD P CD GD CDD Floating Point Addition Type Bit Devices Word Devices Program Steps OF X Y M S FH KnX KnY KnM KnS T C D V Z DEADD DEADDP 9 steps S So D Operands S Summand S5 Addend D Sum Explanations 1 See the specifications of DVP PM for its range of use 2 Frefers to floating point input Be sure to add a decimal point when using it 3 Only 32 bit instructions DEADD and DEADDP are applicable
89. for timer T R W YES 1 3 27 D1203 End latched address for timer T i RAN YES 1 3 27 D1204 Start latched address for 16 bit counter C R W YES 100 3 27 DVP PM Application Manual 3 17 3 Functions of Devices in DVP PM Off MANU AUTO e Function Attribute Latched Default PR On AUTO MANU D1205 End latched address for 16 bit counter C R W YES 199 3 27 D1206 Start latched address for 32 bit counter C R W YES 220 3 27 D1207 End latched address for 32 bit counter C 7 z R W YES 255 3 27 D1208 Start latched address for step relay S R W YES 500 3 27 D1209 End latched address for step relay S R W YES 1 023 3 27 D1210 Start latched address for data register D R W YES 200 3 27 D1211 End latched address for data register D RAN YES 9 999 3 27 D1320 ID of the 1 right side extension module 0 z R NO 0 3 27 D1321 ID of the 2 right side extension module 0 R NO 0 3 27 D1322 ID of the 3 right side extension module 0 R NO 0 3 27 D1323 ID of the 4 right side extension module 0 s R NO 0 3 27 D1324 ID of the 5 right side extension module 0 R NO 0 3 27 D1325 ID of the 6 right side extension module 0 R NO 0 3 27 D1326 ID of the 7 right side extension module 0 R NO 0 3 27
90. gt G3 X 40 0 Y 50 0 R100 F200 0 N0002 G2 X100 0 Y25 0 1400 5 F200 0 N0003 G1 X 200 0 Y50 0 gt G1 X 200 0 Y50 0 F200 0 G90 absolute coordinate and G91 relative coordinate have the top priority G90 G1 X100 0 Y300 0 F500 0 gt G90 G1 X100 0 Y300 0 F500 0 G1G90 X100 0 Y300 0 F500 0 gt G90 G1 X100 0 Y300 0 F500 0 Program code with or without spaces can all be identified G1G91X500 0 Y125 0F200 0 gt G1 G91 X500 0 Y125 0 F200 0 Coordinates and speeds will all be converted into 32 bits G1 X 125 5 F200 0 gt G1 X 125500 F200000 Coordinates and speeds with decimal will be multiplied by 1 000 G1 X100 Y 125 5 F200 0 gt G1 X100 Y 125500 F200000 The unit of pause instruction 10ms G4 X4 5 pause for 4 5 seconds gt TIM 450 G4 X5 pause for 5 seconds TIM 500 G4 P4500 pause for 4 5 seconds gt TIM 450 G4 P2509 pause for 2 5 seconds gt TIM 250 G Codes DVP PM does not support will be ignored G21G54G1 X 125 5 F200 0 gt G1 X 125500 F200000 G43G87G96 X250 5 F200 0 gt G1 X250500 F200000 DVP PM Application Manual 6 Motion Instructions and G Code Instructions 6 3 Motion Instructions MON Mnemonic Operands Function 00 DRV XCPO FXCVO YCPD FYCV2 High Speed Positioning Es Type Bit Devices Double Word Devices Notes K H D KK HH DD DRV instruction supports V Z index register P i t b 5 a modification on the devices V4
91. in the sections of 0100 M102 main control programs will affect the status of M1968 M1970 When the instruction is not executed the On Off status of the flag will be held The status of the four flags relates to many instructions See explanations on the relevant instructions for more details Handling of Numeric Values Devices only with On Off status are called bit devices e g X Y M and S Devices used exclusively for storing numeric values are called word devices e g T C D V and Z Bit device plus a specific bit device place a digit before the bit device in Kn can be used in the operand of an application instruction in the form of numeric value n K1 K4 for a 16 bit value n K1 K8 for a 32 bit value For example K2MO refers to an 8 bit value composed of MO M7 DVP PM Application Manual 5 5 5 Categories and Use of Basic Application Instructions 5 6 Valid data M15 M14 M13 M12 M11 M10 M9 M8 M7 M6 M5 M4 M3 M2 M1 MO os tae Oe sooo 3 Oe 3 199 3 1 E 9 E31 95 at Low byte Transmit to Reset to 0 b7 b6 b5 b4 b3 b2 bi bo Equals Low byte pijo ojo o ojo o o ojt1 oj tjo 1 o t1 K1MO K2M0 and K3MO are transmitted to 16 bit registers and the vacant high bits will be filled in 0 The same rule can be applied when K1MO K2MO K3MO KA4MO K5MO K6MO and K7MO are transmitted to 32 bit registers and the vacant high bits will be filled in 0 In the 16 bit or 32 bit operatio
92. input Be sure to add a decimal point when using it 3 Only 32 bit instructions DCOSH and DCOSHP are applicable 4 Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information 5 COSH value e e 5 2 Program Example 1 When X0 On obtain the COSH value of binary floating point D1 DO and store the binary floating point result D11 D10 Xo E DcOSH Do CS Di DO Binary floating point COSH value CD binary floating point 2 If the absolute value of the result gt maximum floating point available the carry flag will be On 3 If the absolute value of the result lt minimum floating point available the borrow flag will be On 4 Ifthe result 0 the zero flag will be On Remarks For floating point operations see 5 3 Handling of Numeric Values 5 78 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 138 D TANH IP CS CDD Hyperbolic Tangent Type Bit Devices Word Devices Program Steps OF X Y M S F H KnX KnY KnM KnS T C D V Z DTANH DTANHP 6 steps z Operands S Source value binary floating point D TANH result Explanations 1 See the specifications of DVP PM for its range of use 2 F refers to floating point input Be sure t
93. mode 6 2 speed positioning interruption 3 Single speed positioning 7 Variable speed mode 4 Single speed positioning interruption 8 MPG input 3 48 DVP PM Application Manual 3 Functions of Devices in DVP PM When many work modes are enabled at the same time they will be processed in the following order 1 STOP 2 Mechanical zero return 3 JOG mode 4 JOG mode 5 MPG input 6 Variable soeed mode 7 Single speed positioning 8 Single speed positioning interruption 9 2 speed positioning 10 2 speed positioning interruption When one of the work modes is being executed and another work mode is enabled DVP PM will remain in the original work mode There are two types of pulse acceleration curves 1 Trapezoid curve 2 S curve 3 12 3 Application Position amp Speed Control Registers for Manual Modes Operation Mode Registers for the Motion oO oot Oo oc E E DE DEO Eal o 5 Parameter Name g 2 25 25 3 i5 i5 3 d 2 X axis Y axis 5 g FT 232 ee 82 E N Iia We S HW LW HW LW Number of pulses required No need to be set up if the unit b0 b1 of D1816 D1896 is D1819 D1818 D1899 D1898 per revolution of motor A motor unit Distance created by 1 Needs to be set up if the unit is machine unit or combined D1821 D1820 D1901 D1900 revolution of motor B u
94. of DVP PM for its range of use amp LD instruction compares the content in S and S If the result is not O the instruction will be On If the result is 0 instruction will be Off LD can be connected directly with bus 16 bit 32 bit API No maon DIR StED HOR On condition Off condition 215 LD amp DLD amp S amp Se 0 1 amp S2 216 LD DLD Si S2 0 1 S2 217 LD DLD 1 S 0 1 S2 amp Logical AND operation Logical OR operatioin Logical XOR operation When 32 bit counters C200 C255 are used in this instruction for operation please adopt 32 bit instruction DLD If 16 bit instruction LD is adopted program error will occur and the ERROR LED indicator on the panel of DVP PM will flash Program Example 1 2 3 When the result of logical AND operation of CO and C10 0 Y10 will be On When the result of logical OR operation of D200 and D300 0 and X1 On Y11 will be On and held When the result of logical XOR operation of C201 and C200 0 or M2 On M50 will be On cao cam 5 80 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 2 D AND GD GD Contact Logical Operation AND Type Bit Devices Word Devices Program Steps OF X Y M4 S KJ H KnX K
95. of DVP PM series MPU DVP PM combines the sequential control and 2 axis interpolation positioning control therefore the program is in three types 0100 main program OX motion subroutine and Pn subroutine which will be illustrated in this chapter The basic instructions application instructions and G Code instructions will be given in Chapter 4 6 1 1 0100 Main Program O100 main program is the PLC sequential control program which is the main program of sequential control for DVP PM series MPU The O100 main program section only supports basic instructions and application instructions Besides processing I O signals and calling Pn subroutine basic instructions and application instructions also control 100 OX motion subroutines which enable OX0 OX99 Therefore O100 main program establishes the main control program and the main control program sets up and activates motion subroutines This is the control structure of the operation of DVP PM See below the operation procedure and features of O100 main program 1 There are two ways to activate O100 main program e When DVP PM is powered and the AUTO MANU switch goes from MANU to AUTO M1072 will be On automatically and O100 main program will be in RUN status e When DVP PM is powered you can set M1072 to be On or O100 main program to be in RUN status by communication vs 9m 2 The program is scanned in cycles When O100 main program is enabled the scan will starts at the star
96. of the register for P I The absolute coordinate positioning is determined by P I set in D1838 D1918 Forward running when the absolute coordinate is bigger than the current position reverse running when the absolute coordinate is smaller than the current position The operation speed will be stable from Vgias accelerating to the expected V I When encountering DOG DVP PM Application Manual 3 43 3 Functions of Devices in DVP PM signals during the pulse output the pulse output unit will send out the number of steps in P I When it is approaching the P I value set in the register the positioning will start to decelerate to Vgi as and stop The registers involved DD1824 DD1904 Vgis DD1840 DD1920 V I DD1822 DD1902 Vmax DD1838 DD1918 P I D1836 D1916 Tacc and D1837 D1917 Tpgc Speed Time Start _ 4 DOG k 10 b10 of D1846 D1926 enabling 2 speed positioning When b 10 is triggered and START On the second positioning program will start to execute The second positioning program will start immediately after the first positioning program reaches P I Operation direction The relative coordinate positioning is determined by the sign bit of the register for P I The absolute coordinate positioning is determined by P I set in D1838 D1918 Forward running when the absolute coordinate is bigger than the current position reverse running when the absolute coordinate is smaller than the c
97. section for more details on the functions You will know more about the system information by comparing the set value read with the instructions in this manual Special D X axis Y axis Content Range Default setting HW LW HW LW D1816 D1896 Parameter setting b0 b15 HO D1817 D1897 Backlash compensation 1 32 767 PLS KO Number of pulses required D1819 D1818 D1899 D1898 per revolution of the motor 1 2 147 483 647 PLS REV K2 000 A Distance created for 1 D1821 D1820 D1901 D1900 motor revolution B 1 2 147 483 647 1 K1 000 D1823 D1822 D1903 D1902 Maximum speed 0 2 147 483 647 2 K500 000 D1825 D1824 D1905 D1904 Bias speed 0 2 147 483 647 2 KO D1827 D1826 D1907 D1906 JOG speed V joc 0 2 147 483 647 2 K5 000 D1829 D1828 D1909 D1908 Zero return speed Vat 0 2 147 483 647 2 K50 000 D1831 D1830 D1911 D1910 E deceleration 9 5 147 483 647 2 K1 000 D1832 D1912 Number of PGO signals N 0 432 767 PLS KO D1833 D1913 Number of pulse signals P 32 768 32 767 PLS KO D1835 D1834 D1915 D1914 Definition of zero point HP 0 999 999 1 KO D1836 D1916 Acceleration time Tacc 10 32 767 ms K100 D1837 D1917 Deceleration time Tpec 10 32 767 ms K100 D1839 D1838 D1919 D1918 Target position I P I 2 147 483 648 2 147 483 647 1 KO D1841 D1840 D1921 D1920 Operation speed I V I 2 147 483 648 2 147 483 647 1 K1 000 D
98. setting up the moving speed the operation will run at Vmax Program Example 1 DRV XK12345 YH7567 FYKK40000 In this example the two axes will fast move to target position K12 345 H7567 in linear movement The target position can be an absolute coordinate or relative coordinate which is determined by the instruction closest to DRV The moving speed on X axis is not set i e output by Vmax and Y axis outputs at 40K per second 2 Moving path X Target position Current position 3 Combination of operand DRV XKK 345289 FXD100 YDD10Z5 FYDD102 DRV XDD20 FXHH2345 YK456 V4 FYDDO These instructions are legal Device D is indirect set value Remarks Relevant special registers D1822 D1823 Maximum speed of X axis D1822 for low word D1823 for high word D1824 D1825 Bias speed of X axis D1824 for low word D1825 for high word D1836 Acceleration time of X axis D1837 Deceleration time of X axis D1902 D1903 Maximum speed of Y axis D1902 for low word D1903 for high word D1904 D1905 Bias speed of Y axis D1904 for low word D1905 for high word D1916 Acceleration time of Y axis D1917 Deceleration time of Y axis 6 6 DVP PM Application Manual 6 Motion Instructions and G Code Instructions MON Mnemonic Operands Function 01 LIN XCD YCPD F 2 Axis Synchronous Linear Interpolation considering remaining distance OB Type Bit Devices Dou
99. setting up the parameters in motion instructions and the activation No in the motion program e O100 main program does not support motion instructions and G Code instructions therefore please design motion instructions and G Code instructions in OX0 OX99 motion subroutines See 1 2 for more details e O100 main program is able to call Pn subroutine See 1 3 for more details 5 The above explanations are sorted in the table below O100 main program Explanation Start flag of O100 main program In ladder diagram editing mode it will be set up Steri af tne progre automatically Therefore you do not have to compile this row End of M102 main program In ladder diagram editing mode it will be set up Emel ei ine ogen automatically Therefore you do not have to compile this row Execution of the 1 DVP PM MANU AUTO program 2 M1072 Off On by communication How to operate Scan and operation in cycles Instruction supported Basic instructions and application instructions Quantity Only one O100 program is allowed in the program 1 APLC sequential control program Reno RNCS 2 Able to activate OXO OX99 motion subroutines and call Pn subroutine 3 The three sequences can be piled freely when used with OXO OX99 motion subroutines and Pn subroutines 6 Manual Motion in 0100 Main Program In O100 main program you can use special registers for designing your own manual motion modes see
100. starting point DVP PM will automatically set up the termination of the arc at the contact point of the arc and tangent line according to the target position set up by the user The 16 bit parameter devices and 32 bit parameter devices can be used together DVP PM Application Manual 6 9 6 Motion Instructions amp G Code Instructions 9 Target position is necessary and moving speed is not necessary There are 18 parameter combinations for CW CCW instruction NO Instruction Parameter combination 1 XCPO ICD 2 XCPO ICP2 FCVD 3 XP JCP2 4 XCPO JCP2 FD 5 XCPO ICP2 JCP 6 XPD IPD IPD FAD 7 YCP2 ICP2 8 YO ICP2 FCVD cw ccw YCE2 JCPO 10 YO JCP2 FCV 11 YCP2D ICP JD 12 Y gt ICP2 IPD FAD 13 XPD Y ICP2 14 XCPO YCPO ICP2 FCVD 15 XCPO YR JCP2 16 XCPO Yd JCP2 FAD 17 XCPO Y d IPD JCP2 18 XCPO YCP2 ICP2 JCP2 F amp D 10 If you set up the target position on the axis without setting up the moving speed the operation will run at Vmax 11 The arc movement can reach 360 Program Example 1 Setthe program in absolute coordinate using CW clockwise arc instruction target position of arc as 10000 10000 the center at 2500 2500 relative to the starting point of the arc and output speed as 2 000Hz Y Operation Target point target position speed 2KHz 10000 10000 10 000 4A
101. the execution of the program DVP PM reads the On Off status of the external input signals into the input signal memory at a time Read into memory 2 The On Off status of the input signal during the Input signal memory execution of the program will not change the signal Program processing Read X0 status from memory status in the input signal memory The new On Off Write in X0 YO status Read YO status from memory YO wien Write in MO status status will be read in the next scan 3 There will be approximately a 10ms delay from the On Off or Off On changes to the status being recognized by the contact in the program The delay 2 o E o E E 2 gt o a time may be affected by the scan time in the program Regenerate cutput Output Program processing After DVP PM reads the On Off status of every input signal in the input signal memory it will start to execute every instruction in the program in order starting from address 0 The execution result On Off of every output Y output coil will be stored in order into the device memory Regenerate output 1 When the program executes to M102 instruction it will send the On Off status of Y in the device memory to the output latched memory The output latched memory is the coil of the output relay 2 There will be a 10ms delay from On Off or Off On of the relay coil to the On Off status of the contact 3 There will be
102. word D1832 Number of zero point signals at X axis N D1833 Supplemented distance at X axis P D1836 Acceleration time of X axis Tacc D1837 Deceleration time of X axis Tpgc DVP PM Application Manual 6 15 Motion Instructions amp G Code Instructions D1896 Parameter setting of Y axis D1908 Zero return speed of Y axis Ver low word D1909 Zero return speed of Y axis Var high word D1910 Zero return deceleration of Y axis low word D1911 Zero return deceleration of Y axis high word D1912 Number of zero point signals at Y axis N D1913 Supplemented distance at Y axis P D1916 Acceleration time of Y axis Tacc D1917 Deceleration time of Y axis Tpgc 6 16 DVP PM Application Manual 6 Motion Instructions and G Code Instructions MON Mnemonic Operands Function 08 SERT N A Set up Electrical Zero Point Explanations 1 You can place an M Code instruction after SERT 2 When SETR is executed you can set the current position of X Y axis as the electrical zero point That is you can move the content in the current position register into the register for electrical zero point Program Example The program should be written as Ox0 Remarks Relevant special registers D1848 Current position of X axis CP low word D1849 Current position of X axis CP high word D1866 Electrical zero point address on X a
103. zi 5 g sa amp g n 3 te D ems amm tet folu ES o Ere X axis Y axis 5 E FI 3232 28 232 3 s NH pu e S HW LW HW LW D1851 D1850 D1931 D1930 Current speed CS PPS D1853 D1852 D1833 D1932 Current position CP unit D1855 D1854 D1935 D1934 Current speed CS unit Numerator of electronic D1858 D1938 gear D1859 D1939 Denominator of electronic 7 7 E N L gear D1861 D1860 D1941 D1940 Frequency of MPG input z s 5 Accumulated number of D1863 D1862 D1943 D1942 MPG input pulses 2 D1864 D1944 MPG response speed i refers to the control register for the operation mode 3 50 DVP PM Application Manual 3 Functions of Devices in DVP PM MEMO DVP PM Application Manual 3 51 4 1 Basic Instructions General Instructions 4 Basic Instructions dodo Function Operands Paar ESSE Step DES LD Loading in A contact X Y M S T C 3 3 3 4 2 LDI Loading in B contact X Y M S T C 3 3 3 4 2 AND Series connection A contact X Y M S T C 3 3 3 4 3 ANI Series connection B contact X Y M S T C 3 3 3 4 3 OR Parallel connection A contact X Y M S T C 3 3 3 4 4 ORI Parallel connecti
104. 0 or other values No MASK function b 10 8 K1 001 Triggering MASK by the rising edge of input terminal DA b 10 8 K2 010 Triggering MASK by the falling edge of input terminal DA b 10 8 K3 011 Triggering MASK by the rising edge of input terminal OB b 10 8 K4 100 Triggering MASK by the falling edge of input terminal OB Function Group Execution Status of X Y Axis Number D1856 D1936 Contents D1856 is for the execution status of X axis and D1936 for Y bit Execution status of X Y bit Execution status of X Y 0 Forward pulse output in progress 8 1 Reverse pulse output in progress 9 2 Operation in progress 10 3 Error occurs 11 4 Operation pauses 12 5 Forward MPG input 13 6 Reverse MPG input 14 7 15 Function Group External Start for X Y Axis Number D1875 D1955 Contents 1 The high byte of D1875 and D1955 H 01 indicates enabling external input H 00 indicates disabling external input 2 The low byte of D1875 and D1955 H 00 indicates designating 4 consecutive external input X XO X3 for enabling JOG JOG MPG and ZRN DVP PM Application Manual 3 31 3 Functions of Devices in DVP PM 3 Example D1875 and D1955 H 0110 refers to X10 X13 are able to enable JOG JOG MPG and ZRN 3 12 Special Registers for Manual Motion Mode Below are the types and functions of special registers Special D for motion modes See the next
105. 0 the zero flag will be On Program Example 1 When MO On convert D1 DO into binary floating point and store it in D11 D10 2 When M1 On use register D11 D10 as the real number for In operation and store the binary floating point result in register D21 D20 3 When M2 On convert the binary floating point D21 D20 into decimal floating point D30 x 10 and store it in register D31 D30 MO M1 DLN D10 D20 M2 Remarks For floating point operations see 5 3 Handling of Numeric Values 5 62 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 126 D LOG IP GD G CDD Logarithm of Binary Floating Point Type Bit Devices Word Devices Program Steps OP xX Y M4 S F H KnX KnY KnM KnS T C D V Z DLOG DLOGP 9 steps Si So D Operands S4 Device for base S Device for operation source D Device for operational result Explanations 1 2 3 4 7 8 9 10 See the specifications of DVP PM for its range of use F refers to floating point input Be sure to add a decimal point when using it Only 32 bit instructions DLOG and DLOGP are applicable Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information LOG instruct
106. 000 R60000 F20000 F15000 F15000 F20000 PO subroutine Obtain absolute coordinate Fast move to designated position Move to designated position by linear interpolation Can also be written as LIN Y30000 F20000 Move to designated position by arc interpolation Can also be written as CCW Y110000 J40000 Move to designated position by arc interpolation Can also be written as CW Y230000 R60000 F15000 Move to designated position by linear interpolation Can also be written as LIN Y210000 Move to designated position by arc interpolation Can also be written as CCW Y130000 J 40000 Move to designated position by arc interpolation Can also be written as CW Y10000 F20000 8 5 6 8 6 Application Examples SRET Program codes below are how to write G Code for trajectory 4 PO PO subroutine G90 Obtain absolute coordinate GO X10 0 Y10 0 Fast move to designated position Move to designated position by linear G1 X10 0 Y30 0 F20 0 interpolation Can also be written as G1 Y30 0 F20 0 Move to designated position by arc G3 X10 0 Y110 0 J40 0 F20 0 interpolation Can also be written as G3 Y110 0 J40 0 Move to designated position by arc G2 X10 0 Y230 0 R60 0 F15 0 interpolation Can also be written as G2 Y230 0 R60 0 F15 0 Move to designated position by linear G1 X10 0 Y210 0 F15 0 interpolation Can also be written as G1 Y210 0
107. 14 of D1816 D1896 acceleration deceleration curve selection b 14 2 0 trapezoid curve b 14 1 S curve X axis Y axis HW LW HW LW Backlash Compensation D1817 D1897 Backlash compensation is used for compensating the mechanical error e g the errors in lead screw transmission and enhancing the accuracy of positioning X axis Y axis HW LW HW LW D1819 D1818 D1899 D1898 1 Number of Pulses Required Per Revolution of Motor A Due to that you can set up the electronic gearing ratio in the servo drive the number of pulses required for 1 motor revolution does not need to equal the number required for 1 motor revolution in the servo drive A x electronic gear CMX CDV pulses generated from 1 revolution of encoder 2 The unit varies according to the settings of bO and b1 in D1816 D1896 Parameter A is valid when the unit is set DVP PM Application Manual 3 37 3 Functions of Devices in DVP PM to be machine unit or combined unit Parameter A cannot be set to be motor unit X axis Y axis HW LW HW LW Distance Created From 1 Motor Revolution B D1821 D1820 D1901 D1900 1 There are three units available for the distance created from 1 motor revolution and they can be set in bO and b1 of D1816 D1896 Range of B 1 2 147 483 647 um Rev mdeg Rev 10 inch Rev 2 The unit varies according to the settings of bO and b1 in D18
108. 16 D1896 Parameter B is valid when the unit is set to be machine unit or combined unit Parameter B cannot be set to be motor unit X axis Y axis HW LW HW LW Maximum Speed Vmax D1823 D1822 D1903 D1902 Maximum speed for all kinds of operation modes Range 0 2 147 483 647 the unit is set by bO and b1 of D1816 D1896 2 Corresponding to pulse instruction 10 500KPPS If the speed is bigger than 500K the output will be in 500K if the speed is smaller than 10 the output will be in 10 X axis Y axis HW LW HW LW Bias Speed Vgs D1825 D1824 D1905 D1904 1 Start speed for pulse output Range 0 2 147 483 647 the unit is set by bO and b1 of D1816 D1896 2 Corresponding to pulse instruction 10 500KPPS If the speed is bigger than 500K the output will be in 500K if the speed is smaller than 10 the output will be in 10 3 lf you are using a step drive system please be aware of the resonance frequency in the step motor Set the bias speed above the resonance frequency for safe startup X axis Y axis HW LW HW LW JOG Speed V oc D1827 D1826 D1907 D1906 1 Range 0 2 147 483 647 the unit is set by bO and b1 of D1816 D1896 2 Corresponding to pulse instruction 10 500KPPS If the speed is bigger than 500K the output will be in 500K if the speed is smaller than 10 the output will be in 10 3 Setup range limitation Vmax
109. 1843 D1842 D1923 D1922 Target position Il P II 2 147 483 648 2 147 483 647 1 KO D1845 D1844 D1925 D1924 Operation speed II V II 0 2 147 483 647 1 K2 000 D1846 D1926 Operation instruction b0 b15 HO D1847 D1927 Work mode bO b15 HO D1849 D1848 D1929 D1928 Current position CP PLS 2 147 483 648 2 147 483 647 1 KO D1851 D1850 D1931 D1930 Current speed CS PPS 0 2 147 483 647 PPS KO D1853 D1852 D1933 D1932 2 rent position CP unit 5147 153 648 2 147483 647 1 KO D1855 D1854 D1935 D1934 Current speed CS unit 2 0 2 147 483 647 PPS KO D1856 D1936 Execution status bO b15 HO D1857 D1937 Error code See the error code table HO D1858 D1938 Electronic gear numerator 1 32 767 K1 Electronic gear denominator D1861 D1860 D1941 D1940 MPG input frequency Pulse frequency by MPG input KO Accumulated number of MPG input pulses D1859 D1939 1 32 767 K1 D1863 D1862 D1943 D1942 Number of input pulses from MPG KO Response speed of MPG D1864 D1944 input Response speed of MPG input K5 3 32 DVP PM Application Manual 3 Functions of Devices in DVP PM 1 Units available um rev m deg rev and 10 inch rev 2 The unit setting follows the settings of bO and b1 of D1816 and D1896 for parameter setting 3 12 1 Functions of Special Registers for Manual Motion Mode X axis Y axis HW LW HW LW
110. 1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information Radian angle x 7 180 If the absolute value of the result gt maximum floating point available the carry flag will be On If the absolute value of the result minimum floating point available the borrow flag will be On ONO If the result 0 the zero flag will be On Program Example When X0 On designate the angle of the binary floating point D1 DO Convert the angle into radian and store the result in binary floating point in D11 D10 X0 sus w o Angle Cs AM binary floating point Radian angle x 2 180 CD Lon pio binary floating point Remarks For floating point operations see 5 3 Handling of Numeric Values DVP PM Application Manual 5 55 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 117 D DEG P GS CDD Radian gt Angle Type Bit Devices Word Devices Program Steps ph X Y M S F H KnX KnY KnM KnS T D V Z DDEG DDEGP 6 steps S x D Operands S Source radian D Result angle Explanations 1 See the specifications of DVP PM for its range of use F refers to floating point input Be sure to add a decimal point when using it 2 3 Only 32 bit instructions DDEG and DDEGP are applicable 4 Flags OX OY 0100 Zero
111. 2 Current position on Y axis Explanations 1 Youcan set up only the current position on X axis e g SETT XDDO 2 When SETT instruction is executed the set current position will be written automatically into the special register D1848 D1849 for X axis D1928 D1929 for Y axis 3 Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 The 16 bit parameter devices and 32 bit parameter devices can be used together When SETT instruction is executed the value in the current position register will be modified into the value designated by the instruction Therefore the mechanical zero point and electrical zero point will be changed 6 There are 2 parameter combinations for SETT instruction NO Instruction Parameter combination SETT a 2 X Y Program Example The program should be written as OX0 SETT X100 Y100 X Current position X Current position d 1000 1000 d 100 100 SN 5p 500 500 um 400 400 SETT execution Y Remarks Relevant special registers D1848 Current position of X axis CP low word D1849 Current position of X axis CP high word D1928 Current position of Y axis CP low word D1929 Current position of Y axis CP high word DVP PM Application Manual 6 29 6 Motion Instructions amp G Code Instructions 6 4 G Code In
112. 255 is completed Wait for 10 seconds When the execution encounters G01 Z10000 F20000 in OX0 subroutine the program will call P255 6 When in P255 and D1328 gt 0 execute DVP01PU H2 with target position K2 000 and operation speed K20 000 7 Return to OXO after the execution of P255 is completed How to write the program codes l instruction mode Place the initialized value in O100 main program Clear the current position of X Y axis as 0 and enable OX0 subroutine O100 O100 main program LD M1002 MOV H8000 D1868 Write the No 0 of OX to be enabled SET M1074 Enable OX motion subroutine M102 OXO0 subroutine G1 Z 25000 F10000 G1 3 axis control TIM K1000 Pause for 10 seconds G1 Z10000 F20000 G1 3 axis control M2 P255 subroutine BRET TO KO K31 H2 K1 Close DVPO1PU software DLD gt KO D1328 D1328 comparison DTO KO K23 K1000 K1 Set up target position for DVP01PU DTO KO K25 D1330 K1 Set up operation speed for DVP01 PU TO KO K32 H1 K1 Set up single speed for DVP01PU TO KO K31 H100 K1 Enable DVPO1 PU software DLD lt KO D1328 D1328 comparison DTO KO K23 K2000 K1 Set up target position for DVP01PU DTO KO K25 D1330 K1 Set up operation speed for DVP01 PU TO KO K32 H1 K1 Set up single speed for DVP01PU TO KO K31 H100 K1 Enable DVPO1 PU software DVP PM Application Manual 8 15 9 Appendix 9 1 Appendix A Special Registers for Manual Motion Mo
113. 255 when Z axis movement CALL PO appears in the program P255 subroutine OX0 motion subroutine DVP EH 3rd axis control Z axis 3rd axis machine DVP PM Application Manual 8 7 Application Examples 8 2 2 Design Example Program First we design the main program of DVP PM To make to clearer we will divide the program into four blocks 1 OXO0 M2 For setting up function parameters of X Y axes When DVP PM is in AUTO status and OX is ready M1792 On XO will be On to enable OXO subroutine After OXO is enabled we have to set up parameters required for zero return JOG speed and input terminal polarity on X Y axes Next enable zero return and move X Y axes to 200000 200000 by 100KHz Clear the current position as 0 and call PO subroutine OXO subroutine will end when the execution of PO subroutine is completed If you need to use other control modes please refer to explanations on special register D in Chapter 2 Ladder diagram Operation Start of OXO motion subroutine BRET DMOV D1828 Zero return speed Vg of X axis 200KHz Zero return deceleration speed Vcg of X DMOV D1830 axis 200KHz DMOV D1908 Zero return speed Vpr of Y axis 200KHz Zero return deceleration speed Vcr of Y DMOV D191 axis 200KHz DMOV D182 JOG speed of X axis 100KHz 0 6 6 9 DMOV K100000 D190 JOG speed of Y axis 100KHz H3838 D179 Set up input terminal polarity of X Y axes Enable zer
114. 3 Counting mode of C213 On counting down Off RAN NO Off M1214 Counting mode of C214 On counting down Off R W NO Off M1215 Counting mode of C215 On counting down Off R W NO Off M1216 Counting mode of C216 On counting down Off R W NO Off M1217 Counting mode of C217 On counting down Off R W NO Off z M1218 Counting mode of C218 On counting down Off R W NO Off M1219 Counting mode of C219 On counting down Off R W NO Off M1220 Counting mode of C220 On counting down Off s RAN NO Off M1221 Counting mode of C221 On counting down Off s RAN NO Off s M1222 Counting mode of C222 On counting down Off R W NO Off M1223 Counting mode of C223 On counting down Off R W NO Off M1224 Counting mode of C224 On counting down Off R W NO Off M1225 Counting mode of C225 On counting down Off R W NO Off M1226 Counting mode of C226 On counting down Off RAN NO Off M1227 Counting mode of C227 On counting down Off RAN NO Off M1228 Counting mode of C228 On counting down Off RAN NO Off z M1229 Counting mode of C229 On counting down Off s R W NO Off M1230 Counting mode of C230 On counting down Off R W NO Off M1231 Counting mode of C231 On counting down Off s R W NO Off M1232 Counting mode of C232 On counting down Off RAN NO Off E M1233 Counting mode of C233 On counting down Off R W NO
115. 34 AND lt DAND lt S lt Se S S2 236 AND lt gt DAND S178 S S2 237 AND lt DAND lt Si lt S2 S gt S2 238 AND gt DAND gt S S2 S lt Se When 32 bit counters C200 C255 are used in this instruction for comparison please adopt 32 bit instruction DAND If 16 bit instruction AND x is adopted program error will occur and the ERROR LED indicator on the panel of DVP PM will flash Progran Example 1 When X0 On and the present value in C10 K200 Y10 will be On 2 When X1 Off and the content in register D10 K 10 Y11 will be On and held 3 When X2 On and the content in the 32 bit register DO D11 lt 678 493 or M3 On M50 will be On Xo x1 esl DAND K678493 M50 5 84 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function MS D OR QD G2 OR Compare OB Type Bit Devices Word Devices Program Steps xX Y M S KH KnX KnY KnM KnS T C D V Z ORX 5 steps Si DOR x 7 steps So Operands S4 Data source device 1 Explanations 1 2 3 So Data source device 2 See the specifications of DVP PM for its range of use Xi gt lt lt gt Z OR instruction compares the content in S and Sz Take API 240 OR for example if the result is the
116. 4 of D1847 D1927 CLR polarity b 4 0 CLR is contact a b 4 1 CLR is contact b 4 b50f D1847 D1927 STOP mode b 5 0 During the running of motor when encountering STOP signal input the motor will decelerate to DVP PM Application Manual 3 45 3 Functions of Devices in DVP PM stop When the next motion instruction comes in the motor will ignore the unfinished distance and immediately execute the distance in the next step b 5 1 During the running of motor when encountering STOP signal the motor will decelerate to stop When the next motion instruction comes in the motor will complete the unfinished distance before executing the next positioning step 5 b6 of D1847 D1927 manual pulse generator MPG range b 6 0 No limitation on MPG pulse output b 6 t The range of MPG pulse output is limited within P I and P II When the range is exceeded the pulse will decelerate and stop 6 b7 of D1847 D1927 LSP LSN stop mode b 7 0 During the running of motor the motor will decelerate to stop when encountering LSP LSN signal input b 7 1 During the running of motor the motor will stop immediately when encountering LSP LSN signal input 7 b8 b10 of D1847 D1927 MASK settings MASK settings include single speed positioning 2 speed positioning single speed positioning interruption and 2 speed positioning interruption b 10 8 KO 000 or other values
117. 55 P cannot be modified by index register V Z When you do not want to execute a particular part of O100 main program in order to shorten the scan time and execute dual outputs CJ instruction or CJP instruction can be adopted When the program designated by pointer P is prior to CJ instruction WDT time out will occur and O100 main program will stop running Please use it carefully CJ instruction can designate the same pointer P repeatedly However CJ and CALL cannot designate the same pointer P otherwise errors may occur Actions of all devices while conditional jump is being executed a Y Mand S remain their previous status before the conditional jump takes place The 10ms timer which is executing stops C General purpose counter will stop counting and general application instruction will not be executed If the reset instruction of the timer is executed before the conditional jump the device will be in the reset status while conditional jumping is being executed Program Example 1 1 When X0 On the program will automatically jump from address 0 to N the designated label P1 and keep its execution The addresses between 0 and N will not be executed When XO Off as an ordinary program the program will keep on executing from address 0 CJ instruction will not be executed at this time CJ instruction Program Example 2 1 The status of each device 5 12 DVP PM Application Instruction 5 Categorie
118. 848 D1929 D1928 Current position CP PLS D1851 D1850 D1931 D1930 Current speed CS PPS D1853 D1852 D1833 D1932 Current position CP unit D1855 D1854 D1935 D1934 Current speed CS unit D1858 D1938 Numerator of electronic gear O O O O O O O O O O O O O O O O O O O O O O O D1859 D1939 Denominator of electronic gear D1861 D1860 D1941 D1940 Frequency of MPG input Bisa EiT862 D1949 1942 COU ated nuimserer MPE sol als ae ica rs input pulses D1864 D1944 MPG response speed refers to the control register for the operation mode O O O O O O O O O See 3 12 1 for how to set up the special registers in manual motion mode 9 2 DVP PM Application Manual 9 Appendix 9 2 Appendix B Motion Instructions amp G Code Instructions Category MON Mnemonic Function Page 00 DRV High Speed Positioning 6 5 01 LIN e dene Linear Interpolation considering 6 7 02 CW Clockwise Arc Movement set the position of center 6 9 03 CCW Counterclockwise Arc Movement set the position of center 6 9 04 CW Clockwise Arc Movement set the radius 6 11 05 CCW Counterclockwise Arc Movement set the radius 6 11 06
119. 850 D1851 to D1504 D1505 corresponding to CR 4 CR 5 Move MPG input frequency of X axis D1860 D1861 to D1502 D1503 corresponding to CR 6 CR 7 Move the number of MPG pulses of X axis D1862 D1863 to D1508 D1509 corresponding to CR 8 CR 9 DVP PM Application Manual Example 2 Requirements Use DVP PM As Slave e DVP EH2 Master gives FROM TO instruction corresponding to D1500 D1699 in DVP PM Slave to control OX motion program and execute all kinds of motion modes see Chapter 6 for how to use motion instructions Table for CR in the Master and corresponding special registers in the Slave Slave Master Content Planned internally Planned by user CR 0 D1500 Model code of DVP PM Slave CR 1 D1501 D1868 No of OX program CR 2 D1502 D1846 Operation instruction for X axis OX Program of DVP EH2 Master Ladder diagram M1002 rrou ko vo oo amp i DVP PM Application Manual Operation When DVP EH2 Master is in RUN read CR 0 of Slave corresponding to D1500 in Slave Write CR 1 of Slave corresponding to D1501 in Slave to enable OX00 and execute DRV instruction in Slave Write CR 2 of Slave corresponding to D1502 in Slave to enable OX subroutine in Slave Write CR 1 of Slave corresponding to D1501 in Slave to enable OX01 and execute LIN instruction in Slave Write CR 2 of Slave corresponding to D1502 in Slave to e
120. 9 Communication time out The flag is reset Process of received data Remarks 1 The activation condition placed before the three instructions API 100 MODRD Function Code H 03 cannot use rising edge contacts LDP ANDP ORP and falling edge contacts LDF ANDF ORF otherwise the data stored in the receiving registers will be incorrect There is no limitation on the times of using this instruction in the program but only one instruction is allowed to be executed at a time DVP PM Application Manual 5 47 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 101 MODWR CD G Cn Write Modbus Data Db Type Bit Devices Word Devices Program Steps X Y M S K H KnX KnY KnM KnS T C D V Z MODWR 7 steps i So n E e Operands S Address of communication device S5 Address of data to be read n Data to be written Explanations 1 Range of S4 KO K254 2 Seethe specifications of DVP PM for its range of use 3 Flags M1120 M1129 M1140 M1143 See Remarks for more information 4 MODWAR is a drive instruction exclusively for peripheral communication equipment in Modbus ASCII mode RTU mode The built in RS 485 communication ports in Delta VFD series AC motor drives except for VFD A series are all compatible with Modbus communication format MODWR can be used for controlling communication data writing of De
121. A NELTA DELTA ELECTRONICS INC 2V7 PM Application Manual VLISN Y A NELTA DELTA ELECTRONICS INC www delta com tw industrialautomation ASIA Delta Electronics Inc Taoyuan 31 1 Xingbang Road Guishan Industrial Zone Taoyuan County 33370 Taiwan R O C TEL 886 3 362 6301 FAX 886 3 362 7267 Programming Delta Electronics Jiang Su Ltd Wujiang Plant3 1688 Jiangxing East Road Wujiang Economy Development Zone Wujiang City Jiang Su Province People s Republic of China Post code 215200 TEL 86 512 6340 3008 FAX 86 512 6340 7290 Delta Electronics Japan Inc Tokyo Office Delta Shibadaimon Building 2 1 14 Shibadaimon Minato Ku Tokyo 105 0012 Japan TEL 81 3 5733 1111 FAX 81 3 5733 1211 Delta Electronics Korea Inc Donghwa B D 3F 235 6 Nonhyun dong Kangnam gu Seoul 135 010 Korea TEL 82 2 515 5303 5 FAX 82 2 515 5302 Delta Electronics Singapore Pte Ltd 8 Kaki Bukit Road 2 204 18 Ruby Warehouse Complex Singapore 417841 TEL 65 747 5155 FAX 65 744 9228 TLIPETEETTETTTTEEH Delta Energy Systems India Pvt Ltd Plot No 27 amp 31 Sector 34 EHTP Gurgaon 122001 Haryana India TEL 91 124 4169040 FAX 91 124 4036045 b 2 A i B d 246 24v 750 stoo LsPo PGo f S si sro LsPr PGi J xo smro 006o LSNO PGO f sim poo tsi PG 5752 POWER
122. BAT LOW X READY ERROR FAND Y READY ERROR AMERICA Delta Products Corporation USA Raleigh Office P O Box 12173 5101 Davis Drive Research Triangle Park NC 27709 U S A TEL 1 919 767 3813 FAX 1 919 767 3939 DVP 20PM e FPI RPI Yo BOF LA 81 cLRo ccn FPO RPO 0 Bo A Bi JcLRO CLRI FPO RPO _FPt RPI 1 co ezes exes Flexe ese eses On ON e505 eser lt isi l jenuew uoneanddy Wid cAl d EUROPE Deltronics The Netherlands B V Eindhoven Office De Witbogt 15 5652 AG Eindhoven The Netherlands TEL 31 40 2592850 FAX 31 40 2592851 www delta com tw industrialautomation We reserve the right to change the information in this manual without prior notice 20080129 Buruue14601 DVP PM APPLICATION MANUAL Table of Contents Chapter 1 Program Structure of DVP PM tt O700 Mart Program eni ri ox bie RU Ie En 33 xu BOtKet aves Set ected etait sheave 1 1 1 Manual Motion in O100 Main Program sssssse emer 1 2 Structure of OX Motion Subroutine sss eee eee ee eee eee eeeee ees 1 3 Structure of Pn Subroutine eot oet Edere ete tuendo deus 1 4 Structure of 0100 OX and Pn Program Design sseeseeeeess 1 4 1 The Program Structure ccc ccc cee cee cee eee cee cee eee eee eee nemen nre nennen Chapter 2 Hardware Sp
123. DVP PM Application Manual 2 3 2 Hardware Specifications and Wiring The battery shall be changed within 1 minute Remove RS 485 terminal Removable Terminal Block COM 2 RS 485 MANU AUTO switch COM 1 RS 232 Battery i Part Description COM2 RS 485 For both master and slave modes MANU AUTO switch RUN STOP control COM1 RS 232 Slave mode can be used with COM2 at the same time Wiring Terminals See 2 1 1 for detailed specifications 24G 24v siso STOPO LSPO PGO sisi STOP1 tsp PGi xo x2 x4 xe DE startol poco Lsno Paos start Doct Lsn pats ssa xi xs xs x7 DVP 20PM AC Power IN DC Signal IN ao Bo ar Bt CLRO CLRI FPO Reo FPi Rer CO ct C2 ca vs v7 2 2 Installation amp Wiring DVP PM is and OPEN TYPE device and therefore should be installed in an enclosure free of airborne dust humidity electric shock and vibration The enclosure should prevent non maintenance staff from operating the device e g key or specific tools are required for opening the enclosure in case danger and damage on the device may occur DO NOT connect input AC power supply to any of the I O terminals otherwise serious damage may occur Check all the wiring again before switching on the power Make sure the grou
124. Do o 1 o 1 0 1 o 1 0 1 0 1 0 1 0 1 efore WXOR execution G2 p21oJo ojo t lilh lillo olol ol U After execution C2 D4 o 1 o 1 1 o 1 0 1 1 1 1 0 o o 0 Program Example 2 When X1 On the 32 bit D11 D10 and D21 D20 will perform DWXOR logical XOR operation and the result will be stored in D41 D40 X1 Hi on ETD b31 b15 bo Before D11 D10 1 1 1 1 1 1 1 1 o0 o o 0 1 1 1 1 1 1 1 1 1 1 1 4 of of of of 1 1 1 1 execution 1 S2 DXOR D21 D20 0 0jo 1 ojoj 1 0 0j0 1 1j0 1 oJo o of of 1 0 o 1 of of of 1 1 0 4 of o After liL execution D41 D40 1 1 1 o 1 1 o 1 o o 1 1 1 o 1 1 lihi loli loli lolol ii fiol f 5 34 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 29 D NEG P CDD 2 s Complement Negative Type Bit Devices Word Devices Program Steps OP X Y M 4S K H KnXKnY KnMKnS T C D V Z NEG NEGP 7 steps D si DNEG DNEGP 9 steps Operands D Device to store 2 s complement Explanations 1 NEG instruction supports V and Z When NEG is used as 16 bit instruction Z device cannot be adopted when NEG is used as 32 bit instruction V device cannot be adopted 2 Seethe specifications of DVP PM for its range of use NEG instruction converts a negative BIN value into an absolute value 4 API 29 adopts the pulse execut
125. EXP Y Exponent of Binary Floating Point 6 5 61 125 DLN Y Natural Logarithm of Binary Floating Point E 6 5 62 126 DLOG Y Logarithm of Binary Floating Point 9 5 63 127 DESQR Y Floating Point Square Root 5 6 5 64 128 DPOW Y Floating Point Power Operation 9 5 65 129 DINT Y Float to Integer 6 5 67 130 DSIN Y Sine 5 6 5 68 131 DCOS Y Cosine 5 6 5 70 132 DTAN Y Tangent 5 6 5 72 133 DASIN Y Arc Sine 6 5 74 134 DACOS Y Arc Cosine 6 5 75 135 DATAN Y Art Tangent 6 5 76 136 DSINH Y Hyperbolic Sine 6 5 77 137 DCOSH Y Hyperbolic Cosine 6 5 78 138 DTANH Y Hyperbolic Tangent 6 5 79 215 LD amp DLD amp s S1 amp S2 5 7 5 80 7 216 LD DLD S1 S2 5 7 5 80 o 217 LD DLD 4 S1 8S2 5 7 5 80 oS 218 AND amp DAND amp S1 amp S2 5 7 5 81 SE 219 AND DAND S1 S2 5 7 5 81 SO 220 AND DAND S1 S2 5 7 5 81 8 221 OR amp DOR amp S1 amp S2 5 7 5 82 222 OR DOR s S1 S2 5 7 5 82 223 OR DOR S1 S2 5 7 5 82 224 LD DLD S1 S2 5 7 5 83 225 LD gt DLD gt S1 gt S2 5 7 5 83 226 LD lt DLD lt S1 lt S2 5 7 5 83 228 LD lt gt DLD lt gt S1 S2 5 7 5 83 S 229 LD DLD lt S1 lt S2 5 7 5 83 230 LDs DLD gt S1 2 5 7 583 232 AND DAND S1 2 5 7 5 84 S 233 AND gt DAND S1 gt S2 5 7 5 84 S 234 AND lt DAND S1 lt S2 5 7 5 84 S 236 AND lt gt DAND lt gt S1 82 5 7 5 84 A 237 AND l
126. Example When X0 On DO will be divided by D10 and the quotient will be stored in D20 and remainder in D21 On Off of the highest bit indicates the positive negative status of the result DVP PM Application Manual 5 29 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 24 D INC P CDD Increment xn Type Bit Devices Word Devices Program Steps X Y M S K H KnX KnYKnMKKnS T C DV Z INC INCP 3 steps D i s DINC DINCP 3 steps Operands D Destination device Explanations 1 INC instruction supports V and Z When INC is used as 16 bit instruction Z device cannot be adopted when INC is used as 32 bit instruction V device cannot be adopted 2 Seethe specifications of DVP PM for its range of use 3 If the instruction is not a pulse execution one the content in the designated device D will plus 1 in every scan period whenever the instruction is executed API 24 adopts the pulse execution instruction INCP DINCP In the 16 bit operation 32 767 pluses 1 into 32 768 In the 32 bit operation 2 147 483 647 pluses 1 into 2 147 483 648 Program Example When XO goes from Off to On the content in DO will plus 1 automatically Hire o 5 30 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions
127. FD S series AC motor drive ASCII mode M1143 Off retry when communication time out data receiving error and sending address error occur When X0 On DVP PM will read the data in VFD S data address H 2100 of device 01 and store the data in ASCII format in D1070 D1085 DVP PM will automatically convert the data into numerals and store them in D1050 D1055 M1129 will be On when communication time out occurs The program will trigger M1129 and send request to M1122 for reading the data again M1140 will be On when data receiving error occurs The program will trigger M1140 and send request to M1122 for reading the data again M1140 will be On when sending address error occurs The program will trigger M1140 and send request to M1122 for reading the data again M1002 Set up communication protocol 9 600 8 E 1 SET M1120 Retain communication protocol MOV K100 D1129 Set up communication time out 100ms M1122 Set up sending request Communication time out Retry Data receiving error Retry M1141 Sending address error Retry ANTE 4 Set up communication instruction device address 01 XO MODRD H2100 data address H2101 data length 6 words receiving completed M1127 The received data are stored in D1070 D1085 in ASCII format DVP PM will automatically convert the data into numerals and store them in D1050 D1055 RST M1127 Sending receiving of data is completed The flag is reset M1129 RST M112
128. GO in Zero Return N D1832 D1912 1 Range 32 768 32 767 PULSE Positive values are for the number of pulses P in forward direction Negative values are for the number of pulses P in reverse direction 2 See explanation on b9 of D1816 D1896 zero return mode for signals of motor deceleration and stop DVP PM Application Manual 3 39 3 Functions of Devices in DVP PM X axis Y axis HW LW HW LW D1833 D1913 Number of Pulse Signals in Zero Return P il Range 32 768 32 767 PULSE Positive values are for the number of pulses P in forward direction Negative values are for the number of pulses P in reverse direction 2 See explanation on b9 of D1816 D1896 zero retuen mode for signals of motor deceleration and stop X axis Y axis HW LW HW LW Definition of Zero Point HP D1835 D1834 D1915 D1914 il Range 0 999 999 the unit is set by bO and b1 of D1816 D1896 2 After the zero return is completed current position CP will be updated into zero point HP X axis Y axis HW LW HW LW D1836 D1916 Acceleration Time Tacc Tacc is the time required from bias speed Vpjas DD 1824 DD1904 to maximum speed Vmax DD1822 DD1902 2 When the setting 10ms it will be regarded as 10ms When the setting is gt 32 767ms it will be regarde
129. H102 to D1501 in Slave to enable single speed mode of X axis in Slave When X4 On write CR 1 of Slave correspondin K K1 H402 K1 ee top Ko k H402 Ki to D1501 in Slave to enable 2 speed mode of X axis in Slave When X5 On write CR 1 of Slave corresponding H202 to D1501 in Slave to enable inserting single speed mode of X axis in Slave il X3 X4 ii X6 When X6 On write CR 1 of Slave corresponding H802 to D1501 in Slave to enable inserting 2 speed mode of X axis in Slave When X7 On write CR 1 of Slave corresponding to D1501 in Slave to enable MPG mode of X axis in Slave When XO X7 Off write CR 1 of Slave corresponding to D1501 in Slave to enable STOP mode of X axis in Slave il DVP PM Application Manual 7 3 Use DVP PM As Slave Program in DVP PM Slave Ladder diagram M1002 M1000 7 4 DMOV D184 D1842 Operation Enable O100 in Slave and clear the current position of X axis as 0 Clear the number of accumulated MPG pulses of X axis as 0 Set up the target position I of X axis P I Set up the operation speed l of X axis V I Set up the target position Il of X axis P II Set up the operation speed II of X axis V II Move D1501 corresponding to CR 0 to X axis for parameter setting Move the current position of X axis D1848 D1849 to D1502 D1503 corresponding to CR 2 CR 3 Move the current speed of X axis D1
130. H2 DVP PM as Master and DVP PM as Slave 7 1 Pict Ehe Str ctute cii iix E EE SOME E SERE ANE be CREER E Ee ER Re tas oles 7 1 7 1 2 Example of Master Slave Connection ssssssssssssssm eee 7 1 Chapter 8 Application Examples 8 1 Draw the Trajectories Below by Using Motion Instructions and G Codes 8 1 8 1 1 Design Pr ce dure a iie EE 8 3 8 2 Applying motionSample in PMSoft ssssssssssssssemm mener 8 7 B8 2 1 Design Pam e ee eee oe eee odeur ede udin vus in vba cin uua in des 8 7 8 2 2 Design Example Program sssssssssse mmm mienne 8 8 8 3 Planning Variable Speed Operation sss 8 10 8 3 Design Plat iacet Ces ote CC E oet C eles eleva 8 10 8 3 2 Design Example Program oett eet et a tesis sce a D T2 Chapter 9 Appendix 9 1 Appendix A Special Registers for Manual Motion Mode 9 1 9 2 Appendix B Motion Instructions amp G Code Instructions 9 3 9 3 Appendix G Error GOdGs c c oco eot t e tu o oer uo EF RE eee ERE SET 9 4 1 Program Structure of DVP PM Delta s DVP PM series MPU is a high speed positioning and multi functional programmable logic controller with 2 axis linear arc interpolation featuring functions as basic instructions application instruction motion instructions and G code instructions making the editing and compiling of program more diverse This chapter will introduce the program structure
131. I 111 DEZCP API 116 DRAD API 117 DDEG API 120 DEADD API 121 DESUB API 122 DEMUL API 123 DEDIV API 124 DEXP API 125 DLN API 126 DLOG API 127 DESQR API 128 DPOW API 130 DSIN API 131 DCOS API 132 DTAN API 133 DASIN API 134 DACOS API 135 DATAN API 136 DSINH API 137 DCOSH API 138 DTANH DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions Binary Floating Point DVP PM presents floating points in 32 bits and adopts the IEEE754 standard 8 bit 23 bit bs bo fs Bs Sign bit 0 positive 1 negative 1 x27 x1 M in which B 127 Therefore the range for the 32 bit floating point is 2 7 2 9 i e 1 1755x107 3 4028x10 Example 1 Representing 23 in 32 bit floating point Step 1 Convert 23 into a binary value 23 0 10111 Step 2 Normalize the binary value 10111 1 0111 x 2 in which 0111 is mantissa and 4 is exponent Step 3 Obtain the exponent VE Bs4 E 12724 E 131 100000115 Step 4 Combine the sign bit exponent and mantissa into a floating point 0 10000011 01110000000000000000000 41B80000 Example 2 Representing 23 0 into 32 bit floating point The steps required are the same as those in Example 1 The only difference is user have to alter the sign bit into i ls DVP PM uses registers of 2 continuous No to combine into a 32 bit floating point For example we use registers D1 DO for storin
132. If the set N or P is too small when the motor encounters DOG signal it will decelerate to zero return deceleration speed Vcr When the designated N is reached and after passing P the motor will stop immediately whether it has reached Vcr 3 Assume N is set as 0 and P as 0 the motor will stop immediately after it touches DOG signal P Speed PPS Away from DOG signal Touch DOG signal Zero return direction Number of pulses P in zero return Number of PGO signals N in zero return DOG b 9 10 01 overwrite mode detecting DOG falling edge in zero return is On 1 Zero return The motors operates at zero return speed Vpr and when it encounters DOG signal it will decelerate to zero return deceleration speed Vor After the motor detects the DOG falling edge and passes N PGO signals or P pulse signals for zero return it will stop 2 If the set N or P is too small when the motor encounters DOG signal it will decelerate to zero return deceleration speed Vcr When the designated N or P is reached the motor will stop immediately whether it has reached Von 3 Assume N is set as 0 and P as 0 the motor will stop immediately after it touches DOG signal Speed PPS A p Away from DOG signal Touch DOG signal VRT 1 E Vcn lt Zero return direction Number of pulse P in zero return Number of PGO signals d in zero return 1 DOG
133. Manual 5 59 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 123 D EDIV P CD G CDD Floating Point Division Type Bit Devices Word Devices Program Steps OF X Y M S FH KnX KnY KnM KnS T C D V Z DEDIV DEDIVP 9 steps S1 S D Operands S4 Dividend S5 Divisor D Quotient and remainder Explanations 1 See the specifications of DVP PM for its range of use 2 Frefers to floating point input Be sure to add a decimal point when using it 3 Only 32 bit instructions DEDIV and DEDIVP are applicable 4 Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 Operational error flag M1793 M1873 M1953 See below for more information 5 S4 S2 D The floating point value in the register designated by S is divided by the floating point value in the register designated by S and the result will be stored in the register designated by D The division is conducted in binary floating point system 6 If S or S2 is a designated floating point F the instruction will conduct the division in binary floating point 7 If S2 0 operational error will occur and the instruction will not be executed The operational error flag will be On and the error code H OE19 will be recorded 8 If the absolute value of the result gt maximum floating point
134. N format Thus they do not need to adopt this instruction Program Example When XO0 On the BCD value in K1MO will be converted into BIN value and stored in D10 X0 Remarks Explanations on BCD and BIN instructions 1 When DVP PM needs to read an external DIP switch in BCD format BIN instruction has to be first adopted to convert the read data into BIN value and store the data in DVP PM When DVP PM needs to display its stored data by a 7 segment display in BCD format BCD instruction has to be first adopted to convert the data into BCD value and send the data to the 7 segment display When X0 On the BCD value in K4X0 will be converted into BIN value and sent to D100 The BIN value in D100 will then be converted into BCD value and sent to K4Y20 X0 axo D100 BCD D100 K4Y20 DVP PM Application Manual 5 23 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 20 D anv P G2 D Addition Type Bit Devices Word Devices Program Steps OF X Y M S K H KnX IKnYKnMKnS T C D V Z ADD ADDP 7 steps S S TESI Y 1 DADD DADDP 9 steps S D Operands S Summand S5 Addend D Sum Explanations 1 ADD instruction supports V and Z When ADD is used as 16 bit instruction Z device cannot be adopted when ADD is used as 32 bit instruction V device
135. Off M1234 Counting mode of C234 On counting down Off RAN NO Off M1235 Counting mode of C235 On counting down Off R W NO Off M1236 Counting mode of C236 On counting down Off R W NO Off M1237 Counting mode of C237 On counting down Off R W NO Off M1238 Counting mode of C238 On counting down Off R W NO Off M1239 Counting mode of C239 On counting down Off R W NO Off M1240 Counting mode of C240 On counting down Off R W NO Off M1241 Counting mode of C241 On counting down Off R W NO Off M1242 Counting mode of C242 On counting down Off 5 S R W NO Off M1243 Counting mode of C243 On counting down Off R W NO Off M1244 Counting mode of C244 On counting down Off R W NO Off M1245 Counting mode of C245 On counting down Off RAN NO Off M1246 Counting mode of C246 On counting down Off R NO Off DVP PM Application Manual 3 15 3 Functions of Devices in DVP PM Special l Off MANU AUTO l Page M Function g 9 Attribute Latched Default Sumber On AUTO MANU M1247 Counting mode of C247 On counting down Off 7 E R NO Off M1248 Counting mode of C248 On counting down Off R NO Off M1249 Counting mode of C249 On counting down Off R NO Off M1250 Counting mode of C250
136. P PM Application Manual 5 57 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 121 D ESUB P Gp GD CDD Floating Point Subtraction ob Type Bit Devices Word Devices Program Steps X Y M S F H KnX KnY KnM KnS T C D V Z DESUB DESUBP 9 steps S So D Operands S4 Minuend S5 Subtrahend D Remainder Explanations 1 See the specifications of DVP PM for its range of use 2 Frefers to floating point input Be sure to add a decimal point when using it 3 Only 32 bit instructions DEADD and DEADDP are applicable 4 Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information 5 S4 S D The floating point value in the register designated by S is subtracted from the floating point value in the register designated by S and the result will be stored in the register designated by D The subtraction is conducted in binary floating point system 6 If Sq or S is a designated floating point F the instruction will conduct the subtraction in binary floating point 7 S and S can designate the same register In this case if the continuous execution instruction is in use during the period when the contact is On the register will be subtracted once in every scan by pulse execution instruction DESUBP 8 If the abs
137. Positioning G Code instruction No 2 Operand function for which axis 3 Operand parameter parameter value 4 Function of the G Code instruction Input of G Code instruction Some G Code instructions are only composed of the instruction part mnemonic e g G90 G91 However most G Code instructions are composed of the instruction part and many operands No contact is required to be placed before a G Code instruction How to use G Code a Many instructions can be placed in the same row in the program For example G91G01 X100 0 Y300 0 F500 0 M8 G04 X4 5 b When the same group of instructions is placed in the same row in the program the last instruction has the priority For example G2 GO G03 G01 X100 0 Y300 0 F500 0 gt G1 c Fast moving instruction G00 does not need to use parameter Vmax For example GO X100 2 Y500 0 DVP PM Application Manual X100 0 Y300 0 F500 0 6 3 6 Motion Instructions amp G Code Instructions 6 4 In which the speed is the maximum moving speed Vmax set in the parameter in DVP PM Fast moving instruction GO and linear interpolation instruction Gi1 have continuity NO000 GO X500 0 Y125 0 N0001 2X 400 0 Y 500 0 gt G0 X 400 0 Y 500 0 N0002 G1 X100 0 Y25 0 F200 0 N0003 2X 200 0 Y50 0 gt G1 X 200 0 Y50 0 F200 0 Speed parameter F of G1 G2 G3 has continuity NO000 G1 X500 0 Y125 0 F200 0 N0001 G3 2X 40 0 Y 50 0 HR100 0
138. RAD val 180 Ot bolinao SIN val CD binanv std point Program Example 2 When the angle radian flag 2 Off the program is in radian mode Input terminals XO and X1 will select the angle The angles will be converted into RAD value for calculating the SIN value XO X1 M1000 D15 D14 angle x 7 180 gt D41 D40 RAD binary floating point Program Example 3 When the angle radian flag On the program will be in angle mode When X0 On use the angle of D1 DO to obtain SIN value and store the binary floating point result in D11 D10 0 x angle 360 XO sew we Cs Angle value SIN value CD binary floating point Remarks M1002 For floating point operations see 5 3 Handling of Numeric Values DVP PM Application Manual 5 69 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 131 D COS JP GS CDD Cosine Type Bit Devices Word Devices Program Steps OF X Y M S F H KnX KnY KnM KnS C D V Z DCOS DCOSP 6 steps S D Operands S Source value D COS result Explanations 1 See the specifications of DVP PM for its range of use 2 Frefers to floating point input Be sure to add a decimal point when using it 3 Only 32 bit instructions DCOS and DCOSP are applicable 4 0 lt angle 360 5 Flags OX OY O100 Zero flag M1808 M1888 M1968 Ang
139. S0 S9 10 S499 500 S1023 Step relay Default non latched Default latched Start D1208 K500 End D1209 K1023 General purpose Latched Special register D1000 D1999 DO D199 D200 D9999 Also in general purpose and latched D area Regis Default non latched Default latched Some are latched and cannot be Start D1210 K200 3 modified End D1211 K9999 3 1 If you set D1200 0 and D1201 4095 DVP PM will automatically ignore M1000 M2999 and set MO M999 and M3000 M4095 as latched area 2 K 1 refers to default non latched 3 If you set D1210 0 and D1211 9999 DVP PM will automatically ignore D1000 D2999 and set DO D999 and D3000 D9999 as latched areas Status of general devices when power On Off or MPU switches between MANU AUTO excluding internal devices Memory type green MANU AUTO AUTO MANU Cera DS n cisat ens areal Default Cleared when M1033 Off Non latched Cleared Unchanged Cleared Unchanged 0 Remain unchanged when M1033 On Latched Unchanged Unchanged Cleared 0 DVP PM Application Manual 3 3 3 Functions of Devices in DVP PM 3 2 Values Constants K H Floating Points F E Decimal t K 32 768 K32 767 16 bit operation Pel K 2 147 483 648 K2 147 483 647 32 bit operation Constant BE exadecimal t HO HFFFF 16 bit operation AS tee HO HFFFFFFFF 32 bit op
140. S1 gt S2 5 7 5 84 18 BCD DBCD Y Binary Coded Decimal 5 5 5 22 B 19 BIN DBIN Y Binary 5 5 5 23 258 BRET Return to Bus Line 1 5 88 00 CJ Y Conditional Jump 3 5 12 01 CALL Y Call Subroutine 3 5 15 10 CMP DCMP Y Compare 7 9 5 19 C 97 CNT DCNT 16 bit 32 bit Counter 5 6 4 8 131 DCOS Y Cosine 5 6 5 70 137 DCOSH Y Hyperbolic Cosine 6 5 78 256 CJN Y Negated Conditional Jump 3 5 86 23 DIV DDIV Y Division 7 9 5 29 D 25 DEC DDEC Y Decrement 3 3 5 81 117 DDEG Y Radian Angle 6 5 56 110 DECMP Y Floating Point Compare 7 9 5 53 111 DEZCP Y Floating Point Zone Compare 9 12 5 54 120 DEADD Y Floating Point Addition 7 9 5 57 E 121 DESUB Y Floating Point Subtraction 7 9 5 58 122 DEMUL Y Floating Point Multiplication 7 9 5 59 123 DEDIV Y Floating Point Division 7 9 5 60 124 DEXP Y Exponent of Binary Floating Point 6 5 61 127 DESQR Y Floating Point Square Root 5 6 5 64 F 49 DFLT Y Floating Point 6 5 38 78 FROM DFROM Y Read CR Data in Special Modules 9 12 5 40 24 INC DINC Y Increment 3 3 5 30 129 DINT Y Float to Integer 6 5 67 J 257 JMP Unconditional Jump 3 5 87 DVP PM Application Manual 5 9 5 Categories and Use of Basic Application Instructions Category API iS P Functio
141. See 6 4 GOO and G01 instructions for more details 3 Can be enabled disabled by controlling the external terminals program design and Features amp functions communication 4 Able to call Pn subroutine 5 The three sequences can be piled freely when used with O100 main program and Pn subroutines 1 3 Structure of Pn Subroutine Pn subroutine is a general purpose subroutine for calling subroutines by O100 main program and OX motion subroutines When Pn subroutine is called in O100 main program the Pn subroutine area will support basic instructions and application instructions When Pn subroutines is called in OXO OX99 motion subroutines the Pn subroutine area will support basic instructions application instructions motion instructions and G Code instructions The Pn subroutine is called in 0100 or OX 0100 or OX will jump to Pn subroutine when Pn subroutine is being executed and return to the next row after Pn subroutine to resume the execution when SRET is executed 1 How to enable Pn subroutine e Call Pn subroutine in 0100 main program e Call Pn subroutine in OX motion subroutine 1 4 DVP PM Application Manual 1 Program Structure of DVP PM 2 How does the scan work The scan executes once whenever Pn subroutine is called once After Pn subroutine is called in 0100 Pn subroutine will be executed and the subroutine will end when the execution reaches SRET subroutine ends instruction The program will re
142. TU communication format with speed of up to 115 200bps COM1 and COM2 can be used at the same time COM For slave stations only COM1 supports ASCII RTU communication format adjustable baud rate with speed of up to 115 200bps and modification on data length data bits parity bits stop bits COM2 For master or slave stations COM2 supports ASCII RTU communication format adjustable baud rage with speed of up to 115 200bps and modification on data length data bits parity bits stop bits Communication format settings DVP PM Application Manual 3 23 3 Functions of Devices in DVP PM COM1 1 Communication format is set in D1036 2 Communication setting is M1138 remains 3 ASCII RTU mode is set in M1139 COM2 1 Communication format is set in D1120 2 Communication setting in M1120 remains 3 ASCII RTU mode is set in M1143 D1136 b8 b15 do not support the communication protocol of COM1 RS 232 Slave D1120 Communication protocol of COM2 RS 232 RS 485 RS 422 Master or Slave Communication protocols and how to set Content 0 1 bO Data length b0 0 7 b0 1 8 b2 b1 00 None d Parity bit b2 b1 01 Odd b2 b1 11 Even b3 Stop bits b3 0 1 bit b3 1 2 bit Content b4 b7 b4 0001 H1 110 bps i b7 b4 0010 H2 150 bps b7 b7 b4 0011 H3 300 bps b7 b4 0100 H4 600 bps b7 b4 0101 H5 1 200 bps b7 b4 0110 H6 2 400 bps b7 b4 0111 H7 4 800 bps b7 b4
143. The instructions mentioned above shall be designed in OXO OX99 motion subroutines e OX motion subroutine supports calling Pn subroutine See 1 3 for more details 5 The above explanations are sorted in the table below OX motion subroutine Explanation Start of the program OX motion subroutine OXO OX99 100 motion subroutines End of the program M2 motion subroutine ends 1 When 0100 main program is in RUN statues set D1846_b12 as 1 to enable OX motion subroutine r 2 When 0100 main program is in RUN status set D1846_b12 by communication to Execution of the also enable OX motion subroutine program 3 Stop OX motion subroutine by the input signals at external control terminal STOPO 3 Note When you need to enable OX motion subroutine make sure there are no other motion subroutines in operation How to operate Execute once whenever the subroutine is enabled Re enable it for the re execution Basic instructions application instructions motion instructions and G Code instructions Instruction supported 3 Note Avoid pulse type instruction when using basic instructions and application instructions The program can only contain 100 OX motion subroutines If you need to active other OX Quantity motion subroutines you can set up D1868 and enable the subroutine SET M1074 1 A motion subroutine which can only be enabled by designing O100 main program 2 Offers the third axis Z control
144. VP PM 4 When PV reaches up to 2 147 483 647 the next PV will turn to 2 147 483 648 When PV reaches down to 2 147 483 648 the next PV will turn to 2 147 483 647 Example LD X10 OUT M1200 4 nasi LD X11 xii X12 ce Ks DCNT C200 K 5 C200 LD C200 OUT YO 1 X10 drives M1200 to determine whether C200 is an addition or subtraction counter 2 When X11 goes from Off to On RST instruction will be executed PV in C200 will be cleared to 0 and the contact will be Off When X12 goes from Off to On PV in the counter will count up plus 1 or down minus 1 When PV in C200 changes from K 6 to K 5 the contact of C200 will go from Off to On When PV in C200 changes from K 5 to K 6 the contact of C200 will go from On to Off 5 f you use MOV instruction PMSoft or HPP03 to send a value bigger than SV to the present value register of CO next time when X1 goes from Off to On the contact of counter CO will be On and its PV will equal SV Accumulatively Accumulatively X10 increasing Progressively increasing decreasing X11 l l X12 l l 5 l l PV in C200 contact was On DES NOE d Contacts Y0 CO E Y I l I When the output l l I I I l 3 8 Numbering and Functions of Registers D 3 8 1 Data Register D A data register is for storing a 16 bit datum of values between 32 768 432 767 The highest bit is or sign Two 16 bit registers can be combined into a 32 bit
145. XO goes from Off to On write the OFFSET value KO ss into CR 22 and the GAIN value K1 000 sg into CR 28 FROM TO Application Example 4 Adjust the D A conversion curve of DVP02DA H2 Set the OFFSET value of CH2 as 2mA K400 sg and GAIN value as 18mA K3 600 sg M1002 1 Write H 10 to CR 1 of analog output module No 1 and set CH2 as mode 2 current output 4mA 20mA 2 Write H O to CR 33 and allow OFFSET GAIN tuning in CH1 and CH2 3 When XO goes from Off to On write the OFFSET value K400 sg into CR 23 and GAIN value K3 600 sg into CR 29 DVP PM Application Manual 5 43 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 100 MODRD Gp G a Read Modbus Data Type Bit Devices Word Devices Program Steps OP X Y M S K H KnX KnY KnM KnS T C D V Z MODRD 7 steps 1 So n E e Operands S Address of communication device S Address of data to be read n Length of read data Explanations 1 Range of S4 KO K254 2 Rangeofn K1 x n x K6 3 Seethe specifications of DVP PM for its range of use 4 Flags M1120 M1129 M1140 M1143 See Remarks for more information 5 MODRD is a drive instruction exclusively for peripheral communication equipment in Modbus ASCII mode RTI mode The built in RS 485 communication ports in Delta VFD series AC motor drives except for VFD A series are all compat
146. Y i OUT M1074 Set X0 Onto enable OX10 motion subroutine s c o S X0 On 2 v OX10 Startflag of motion subroutine E Hd o9 35 oc 6 xo 5 8 M2 Motion subroutine ends instruction When X0 On OX10 motion subroutine will be enabled and stop when the execution reaches M2 motion subroutine ends instruction The execution will only execute once If you need a re execution re activate XO to re enable OX10 motion subroutine 3 There are four ways to stop OX motion subroutine e When DVP PM is powered and the AUTO MANU switch goes from AUTO to MANU M1072 will be Off automatically and O100 main program will be in STOP status The operation of OX motion subroutines will stop at this moment e You can also stop OX by controlling the input signals of the external control terminal STOPO 9 When DVP PM is powered you can also stop OX by setting D1846 to be 0 through communication e When errors occur during the design compiling or operation of the motion subroutine OX will stop automatically See 3 13 for the table of the error codes and their causes DVP PM Application Manual 1 3 1 Program Structure of DVP PM 4 OX motion subroutines support basic instructions application instructions motion subroutines and G Code subroutines Therefore you can design your own motion program by using these instructions and setting up X Y axis parameters for your desired X Y motion control e
147. abling single speed positioning When b 8 is triggered receives the instruction for single speed positioning and START On the first positioning program will start to execute The number of steps and speed are determined by P I and V I Operation direction The relative coordinate positioning is determined by the sign bit of the register for P I The absolute coordinate positioning is determined by P I set in D1838 D1918 Forward running when the absolute coordinate is bigger than the current position reverse running when the absolute coordinate is smaller than the current position The operation speed will be stable from Vgi s accelerating to the expected V I When it is approaching the P l value set in the register the positioning will start to decelerate to Vgias and stop There are P lI pulses generated during the positioning The registers involved DD1824 DD1904 Vais DD1840 DD1920 V I DD1822 DD1902 Vmax DD1838 DD1918 P I D1836 D1916 Tacc and D1837 D1917 Tpec Tace Toec A amp Speed Time Start 9 b9 of D1846 D1926 inserting single speed positioning interruption When b 1 is trigger receives the instruction for single speed positioning and START On the output pulses will start When the external DOG signal is executed the P I value will be reloaded in Operation direction The relative coordinate positioning is determined by the sign bit
148. aches its target 3 8 DVP PM Application Manual 3 Functions of Devices in DVP PM X0 When XO On The PV in timer TO will count up by 10ms When the PV SV K100 the output coil TO will Ta be On When XO Off or the power is Off the PV in timer TO 1 sec gt will be cleared as 0 and the output coil will be Off SV K100 To PV 7 emu YO How to designate SV The actual set time in the timer timing unit x set value 1 Designating constant K SV is a constant K 2 Indirectly designating D SV is a data register D 3 7 Numbering and Functions of Counters C No of counters in decimal 16 bit counting up CO C199 200 points When the timing of timer Counter designated by CNT DCNT 32 bit countin Total 256 points instruction reaches its target c 9 C200 C255 56 points accumulative contact C of the same No will be up down On Features of counter 16 bit counter 32 bit counter Type General purpose General purpose Counting direction Counting up Counting up counting down Set value 0 32 767 2 147 483 648 2 147 483 647 SV designation Constant K or data register D Constant K or data register D designating 2 values Present value Counting will stop after SV is reached Counting will continue after SV is reached On and keeps being On when the counting up Output contact On and being retained when the counting reaches reaches SV
149. adaress numerals and stores the D1074 low 0 30H numeral in D1050 0100 D1074 high o 30 H H D1075 low T 31 H DVP PM automatically D1075 high 7 37H converts ASCII codes to x rb in address numerals and stores the D1076 low 6 36 H numeral in D1051 1766 D1076 high 6 36 H H D1077 low 0 30 H DVP PM automatically D1077 hiah o 30H converts ASCII codes to Sh inadaress numerals and stores the D1078 low 0 30 H numeral in D1052 0000 D1078 high o 30 H H D1079 low 0 30 H DVP PM automatically D1079 high 0 30H converts ASCII codes to rb Toapeless numerals and stores the D1080 low 0 30H numeral in D1053 0000 D1080 high o 30 H H D1081 low 0 30 H DVP PM automatically D1081 high 4 31H converts ASCII codes to E Sen ranetess numerals and stores the D1082 low 3 33 H numeral in D1054 0136 D1082 high 6 36 H H D1083 low 0 30 H Content in address DVP PM automatically D1083 high 0 30 H 2106 H converts ASCII codes to DVP PM Application Manual 5 45 5 Categories and Use of Basic Application Instructions Register DATA Explanation D1084 low 0 30 H numerals and stores the numeral in D1055 0000 D1084 high 0 30 H H D1085 low 3 33 H LRC CHK 1 D1085 high B 42 H LRC CHK 0 Program Example 2 Communication between DVP PM and VFD S series AC motor drive RTU mode M1143 On M1002 Set up communication protocol 9 600 8 E 1 Set up communicati
150. ag being On See the tables below for the error codes in hex stored in the error code register if the motion parameters set are incorrect Devices for storing error codes and number of steps in different program blocks Program block aX nn Borns Program Motion error Program Motion error error X axis Y axis error X axis Y axis Error flag M1953 M1793 M1873 M1793 M1793 M1873 Error register D1802 D1857 D1937 D1857 D1857 D1937 Number of steps D1803 D1869 D1869 D1869 Error codes in hex Code Cause of error Code Cause of error 0002 No content in the subroutine in use 0031 Forward pulses are forbidden 0003 eee PIN Col ea ard 0032 Reverse pulses are forbidden Subroutine flag exists in the main r TNT 0004 program 0033 Left right limit is reached 0005 No subroutine 0040 The device used is in incorrect range 0006 The pointer in the same program is 0041 MODRD MODWR communication repeated time out 0007 The subroutine pointer is repeated 0044 Incorrect V Z index register modification Pointers of jump instruction in different 0008 subroutines are repeated 0045 Incorrect floating point conversion The jump instruction and call subroutine 0009 instruction use the same flags 0E18 Incorrect BCD conversion oooA he pointer is the same as the pointerin oio incorrect division divisor 0 the subroutine E 0011 Incorrect target position I
151. aller than the current position The operation speed will be stable from Vpias accelerating to the expected V I When encountering DOG signals during the pulse output the pulse output will accelerate decelerate again from V I to V II and operate at V II stably In the second positioning program the external STOP input will force the pulse output unit to immediately stop the pulse output The registers involved DD1824 DD1904 Vais DD1840 DD1920 V I DD1822 DD1902 Vmax DD1838 DD1918 P I DD1842 DD1922 P II D1836 D1916 Tacc and D1837 D1917 Tpgc Tacco Toec amp Speed Time Start 4 DOG A The output accelerates to V I and operates at V I stably until it reaches P I After the external DOG signal is enabled the output will then accelerate or decelerate to V II and operate at V II stably until it reaches P II and stops 12 b12 of D1846 D1926 enabling OX b 12 1 start OX program b 12 0 stop OX program X axis Y axis HW LW HW LW Work Mode D1847 D1927 1 b2 of D1847 D1927 CLR signal output mode b 2 0 When zero return is completed CLR will output 130ms to servo as the clear signal for the error counter in the servo b 2 1 CLR output point as general output point controlled by On Off of b 3 2 b3 of D1847 D1927 CLR output On Off b 3 0 CLR is Off b 3 1 CLR is On 3 b
152. am Example 2 1 after mode Only M Code instruction in a single row of the program XKK500 Y300 F5000 The timing diagram The action of LIN is completed LIN a M100 i _ M1794 M1744 When LIN instruction is completed M Code M100 will be enabled automatically M1794 will be On automatically as well To stop M100 set On M1744 If you need to re enable M Code all you have to do is reset and re enable M Code in the program 2 with mode Place M Code instruction at the end of the motion instruction XKK500 Y300 F5000 M100 DVP PM Application Manual 4 15 4 Basic Instructions The timing diagram The action of LIN is completed i M100 LE heu M1794 M1744 When LIN instruction is triggered M Code M100 will be enabled automatically M1794 will be On automatically as well Set On M1744 to stop M100 If you need to re enable M Code you have to wait until the action of LIN instruction is completed and reset the parameter and next trigger M Code by the program design Program Example 3 N0100 and N0301 are special instruction for M Code N0105 M Code with mode N0250 M Code after mode No of row Program NO000 0100 NO001 LD M1000 N0099 OUT Y30 N0100 M102 N0101 NOP N0102 OX50 N0103 DRVZ N0104 ABS N0105 DRV XD10 FXD12 M20 N0250 M08 N0304 M2 Remarks There are two special designated methods of using M Code 1 M102 for ending 0100 main program 2 M2 for end
153. are Specifications and Wiring DVP PM and FUJI servo drive A phase B phase A phase B phase 2 14 24VDC input FUJI servo drive Le He Le EN EN EN INS MA BN EN EN KNW d 24V ov FP 0 FPO RP 0 RP 0 is CLRO STARTO yhy e stopo 7 4 e Lspo mez e LSNO d n eel DOGO mers S S0 START1 ET stop aay amp LSPI jay e im itv 3c vl DOG iiv E 1 S S1 A04 A0 BO ANN BO XYN K CLRO 5 24VDC FUJI servo drive FP1 FP1 RP1 MM RP 1 CLR1 i x PGO i pao 5 24VDC PG1 AM i BUE PG1 CLR1 5 24VDC DVP PM Application Manual 2 Hardware Specifications and Wiring 2 3 Communication Ports DVP PM has two communication ports COM1 RS 232 communication and COM2 RS 485 communication 2 3 1 COM1 RS 232 1 The interface of COM1 is RS 232 for uploading and downloading o
154. ation Manual 5 13 5 Categories and Use of Basic Application Instructions 5 14 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 01 CALL P CG Call Subroutine OP Range Program Steps CS PO P255 CALL CALLP 3 steps Operands S The pointer of call subroutine Explanations 1 Operand S can designate PO P255 2 P cannot be modified by index register V Z 3 Please compile the subroutine designated by the pointer after M102 M2 and SRET instructions 4 The number of pointer P when used by CALL cannot be the same as the number designated by CJ CJN and JMP instructions e If only CALL instruction is in use it can call subroutines of the same pointer number with no limits on the times You cannot use CALL to call other subroutines in a subroutine API Mnemonic Function 02 SRET Subroutine Return OP Descriptions Program Steps N A Automatically returns to the step immediately following the SRET 1 steps CALL instruction which activated the subroutine Explanations 1 No operand No contact to drive the instruction is required 2 The subroutine will return to O100 main program from SRET adter the termination of subroutine and exxecute the instruction next to CALL instruction Program Example 1 When X0 On CALL instruction will be executed and the program w
155. ation of Y axis RAN YES 0 Number of pulses required per revolution of motor at Y axis D1898 low word R W YES 2 000 D1899 Number of pulses required per revolution of motor at Y axis high word Distance created for 1 revolution of motor at Y axis low D1900 word R W YES 1 000 Distance created for 1 revolution of motor at Y axis high D1901 word D1902 Maximum speed of Y axis Vmax low word R W YES 500K D1903 Maximum speed of Y axis Vmax high word D1904 Bias speed of Y axis Vgias low word R W YES 0 D1905 Bias speed of Y axis Vpias high word D1906 JOG speed of Y axis Vjoa low word R W YES 5 000 D1907 JOG speed of Y axis Vjoc high word D1908 Zero return speed of Y axis Vnr low word R W YES 50K D1909 Zero return speed of Y axis Vat high word D1910 Zero return deceleration of Y axis low word R W YES 1 000 D1911 Zero return deceleration of Y axis high word D1912 Number of zero point signals at Y axis N E 2 RAN YES 0 D1913 Supplemented distance at Y axis P R W YES 0 D1914 Definition of zero point at Y axis HP low word R W YES 0 D1915 Definition of zero point at Y axis HP high word D1916 Acceleration time of Y axis Tacc RAN YES 500 D1917 Deceleration time of Y axis Tpgc z 2 R W YES 500 D1918 Target position lI of Y axis P I low word 0 R W NO 0 D1919 Target posit
156. ault 2 3 When communication Retry is successful you can return to controlling by triggering condition 2 When X0 On DVP PM will write H1770 K6 000 into VFD S data address H0100 of device 01 3 M1129 will be On when communication time out occurs The program will trigger M1129 and send request to M1122 for writing the data again The times of retry DO default 3 4 M1140 will be On when data receiving error occurs The program will trigger M1140 and send request to M1122 for writing the data again The times of retry DO default 3 5 M1141 will be On when sending address error occurs The program will trigger M1141 and send request to M1122 for writing the data again The times of retry DO default 3 DVP PM Application Manual 5 51 5 Categories and Use of Basic Application Instructions M1002 Set up communication protocol MOV bit204 Sane B EST SET M1120 Retain communication protocol MOV K100 D1129 Setup communication time out 100ms Sending address error Retry Set up communication instruction X0 device address 01 wobwa Kt Hod00 Hiz7o cea noue ce Cep 00 M1122 we ovo M1127 Receiving completed The received data are stored in D1070 D1085 in ASCII format RST M1127 Sending receiving of data is completed The flag is reset mer p100 M1129 M1129 Communication time out The flag is reset M1140 M1141 Remarks 1 The activation condition placed befo
157. axis arc high word 6 26 DVP PM Application Manual 6 Motion Instructions and G Code Instructions MON Mnemonic Operands Function 16 CANC N A Cancel Compensation Explanations 1 You can place an M Code instruction after CANC 2 When CANC instruction is executed all motion compensations will be cancelled i e special registers D1708 D1709 D1724 D1725 D1710 D1711 D1726 D1727 and D1712 D1713 will all be cleared automatically Remarks D1708 Compensation value of X axis moving distance low word D1709 Compensation value of X axis moving distance high word D1724 Compensation value of Y axis moving distance low word D1725 Compensation value of Y axis moving distance high word D1710 Compensation value of X axis center low word D1711 Compensation value of X axis center high word D1726 Compensation value of Y axis center low word D1727 Compensation value of Y axis center high word D1712 Compensation radius of X axis arc low word D1713 Compensation radius of X axis arc high word DVP PM Application Manual 6 27 6 Motion Instructions amp G Code Instructions MON Mnemonic Operands Function 17 ABST N A Set up Absolute Coordinate MON Mnemonic Operands Function 18 INCT N A Set up Relative Coordinate Explanations 1 Executing ABST instruction Starting from 0 when the targ
158. ble Word Devices Notes K H D KK HH DD a LIN instruction supports V Z index register P4 s f ji ii i modification on the devices P See specifications of DVP PM for the range of F use Operands P Target position on X axis P2 Target position on Y axis V Speed for 2 axis linear interpolation Explanations 1 2 10 Maximum V Vmax Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 Acceleration deceleration time and bias speed can be set up in special D Acceleration deceleration time increases or decreases in proportional to the setting of Vmax Individual output on X Y axis Speed A Tacc Toec lt gt Mveym ier Deu irte Erreur Vmax Interpolation speed Target position Time Start _4 The interpolation speed is monitored by special registers D1850 D1851 for X axis D1930 D1931 for Y axis D1865 is for setting up stop mode with the consideration on the remaining distance see Remarks for more information The 16 bit parameter devices and 32 bit parameter devices can be used together Target position is necessary and moving speed is not necessary There are 6 parameter combinations for LIN instruction NO Instruction Parameter combination XCP2 XCPD FCVD LIN YCP YC FCVD XCD YC xD YCP2 FAD If you set up the target position on
159. c interpolation and independent 2 axis Number of control axes control Program storage Built in 64K step storage device Units Motor system Combined system Machine system Uses FROM TO instruction to read write the contents of CR in the extension module If the content is 32 bit it needs 2 CRs for the content How does MPU read write extension module When used as an extension module the built in CRO CR199 Series connection with MPU corresponding to its own D1500 D1699 are for the MPU to read write Pulse output method 3 modes Pulse Dir FP CW RP CCW A B by differential output Maximum speed For single axis 500K PPS For interpolation axis 500K PPS Operation switch AUTO MANU auto manual selection START STOP DOG near point LSP forward running limit LSN reverser running Input signal Deus limit PGO zero point ug X0 X7 I O modules extendable maximum 256 points extendable Servo output FP forward pulse RP reverse pulse CLR clear signal RR UN YO Y7 I O modules extendable maximum 256 points extendable Output signal p Series Program write in read out communication port communication port COM1 RS 232 COM2 RS 485 can be master or slave Program stored by HPP03 Special The right side extension module and DVP EH2 series share all Maximum 8 modules dod Optional modules AD DA PT TC XA PU maximum 8 modules extendable extendable and will
160. cannot be adopted 2 Seethe specifications of DVP PM for its range of use Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information ADD instruction adds up S4 and S2 in BIN format and stores the result in D The highest bit is sign bit O and 1 which is for algebraic addition e g 3 9 6 6 Flag changes in binary addition In 16 bit BIN addition a If the operational result 0 the zero flag will be On b Ifthe operational result 32 768 the borrow flag will be On c Ifthe operational result gt 32 767 the carry flag will be On In 32 bit BIN addition a If the operational result 0 the zero flag will be On b If the operational result lt 2 147 483 648 the borrow flag will be On c If the operational result gt 2 147 483 647 the carry flag will be On Program Example 1 In 16 bit BIN addition When XO On the content in DO will plus the content in D10 and the sum will be stored in D20 X0 FE avo oo ovo 92 Program Example 2 In 32 bit BIN addition When X1 On the content in D31 D30 will plus the content in D41 D40 and the sum will be stored in D51 D50 D30 D40 and D50 are low 16 bit data D31 D41 and D51 are high 16 bit data 5 24 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions X1 HE ose Remarks Flags and the positive n
161. cation Instruction 5 Categories and Use of Basic Application Instructions 2 16 bit or 32 bit devices T C D and V Z are defined as word devices 3 You can place Kn n 1 refers to 4 bits For 16 bit instruction n K1 K4 for 32 bit instructions n K1 K8 before bit devices X Y M and S to make it a word device for performing word device operations For example K2M0 referes to 8 bits MO M7 X0 When X0 On the contents in MO M7 will be moved to H K2MO bO b7 in D19 and b8 b15 will be set as 0 Data processing of word devices combined from bit devices 16 bit instruction 32 bit instruction Designated value K 32 768 K32 767 Designated value K 2 147 483 648 K2 147 483 647 Values for designated K1 K4 Values for designated K1 K8 K1 4 bits 0 15 K1 4 bits 0 715 K2 8 bits 0 255 K2 8 bits 0 255 K3 12 bits 0 4 095 K3 12 bits 0 4 095 K4 16 bits 32 768 432 767 K4 16 bits 0 65 535 K5 20 bits 0 1 048 575 K6 24 bits 0 167 772 165 K7 28 bits 0 268 435 455 K8 32 bits 2 147 483 648 2 147 483 647 Flags The flags listed below are for indicating the operational result of the application instruction M1968 zero flag M1969 borrow flag M1970 carry flag All flags will turn On or Off according to the operational result of an instruction For example the execution result of operation instruction ADD SUB MUL DIV
162. ce low word D1709 Compensation value of X axis moving distance high word D1724 Compensation value of Y axis moving distance low word D1725 Compensation value of Y axis moving distance high word 6 24 DVP PM Application Manual 6 Motion Instructions and G Code Instructions MON Mnemonic Operands Function 14 CNTC I J Arc Center Compensation Op Type Bit Devices Double Word Devices Notes K H D KK HH DD CNTC instruction supports V Z index register L4 i f s i x modification on the devices L See specifications of DVP PM for the range of use You can place an M Code instruction after CNTC Operands L Compensation of center on X axis L2 Compensation of center on Y axis Explanations 1 When CNTC instruction is executed the set compensation will be written automatically into special registers D1710 D1711 for X axis D1726 D1727 for Y axis 2 The arc center compensation can be adopted in CW and CCW instructions 3 Write the compensation value into the compensation register and execute arc instructions and the compensation will be executed 4 Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 82 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 5 The 16 bit parameter devices and 32 bit parameter devices can be used together Remarks Relevant special registers D1710 Com
163. d store them in D1050 D1055 M1002 X0 4 M1127 receiving completed Sending receiving of data is completed The flag is reset 5 44 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions DVP PM gt VFD S DVP PM sends 01 03 2101 0006 D4 VFD S gt DVP PM DVP PM receives 01 03 OC 0100 1766 0000 0000 0136 0000 3B Registers for sent data sending messages Register DATA Explanation D1089 low 0 30 H ADR 1 Address of AC motor drive D1089 high 1 31H ADRO ADR 1 0 D1 0 30 H CMD 1 H 33H CMD 0 Instruction code CMD 1 0 ig D1091 low 2 32H D1091 high T 31 H 3 Starting Data Address D1092 low 0 30 H D1092 high T 31H D1093 low 0 30H D1093 high 0 30 H D1094 0 30H Number of Data counted by words ow D1094 high 6 36 H D1095 D 44 H LRC CHK 1 DRON Chekcsum LRC CHK 0 1 D1095 high 4 34H LRC CHK 0 Registers for received data responding messages Register DATA Explanation D1070 low 0 30 H ADR 1 D1070 high T 31 H ADR 0 D1071 low 0 30 H CMD 1 D1071 high 3 33H CMD 0 D1072 low 0 30 H Number of Data counted by byte D1072 high C 43 H D1073 low 0 30 H DVP PM automatically D1073 high 4 31H converts ASCII codes to 2 a Sa m
164. d as 32 767 ms 3 If you need a complete S acceleration curve please set the operation speed as maximum speed Vmax X axis Y axis HW LW HW LW Deceleration Time Tpec D1837 D1917 1 Tpec is the time required from maximum speed Vmax DD1822 DD1902 to bias speed Vgis DD1824 DD1904 2 When the setting 10ms it will be regarded as 10ms When the setting is 32 767ms it will be regarded as 32 767 ms 3 If you need a complete S acceleration curve please set the operation speed as maximum speed Vmax X axis Y axis HW LW HW LW Target Position I P I D1839 D1838 D1919 D1918 1 2 Attribute of target position P l Range 2 147 483 648 2 147 483 647 the unit is set by b0 and b1 of D1816 D1896 3 40 Absolute coordinate b12 of D1816 D1896 0 Starting from 0 when the target position P I gt current position DD1848 DD1928 the motor will conduct forward running When the target position P I lt current position the motor will conduct reverse running Relative coordinate b12 of D1816 D1896 1 Calculating the distance created by the motor starting from the current position DD1848 DD1928 When DVP PM Application Manual 3 Functions of Devices in DVP PM the relative coordinate is a positive value the motor will conduct forward running When the relative coordinate is a negative value the motor will conduct reverse running 3 The data multiplicatio
165. de 5 7 Default X axis Y axis Content Range setting Page HW LW HW LW D1816 D1896 Parameter setting bO b15 HO 3 33 D1817 D1897 Backlash compensation 1 32 767 PLS KO 3 37 Number of pulses required T D1819 D1818 D1899 D1898 per revolution of the motor Mois AORA K2 000 3 37 PLS REV A Distance created for 1 x D1821 D1820 D1901 D1900 motor revolution B 1 2 147 483 647 1 K1 000 3 38 D1823 D1822 D1903 D1902 Maximum speed 0 2 147 483 647 2 K500 000 3 38 D1825 D1824 D1905 D1904 Bias speed 0 2 147 483 647 2 KO 3 38 D1827 D1826 D1907 D1906 JOG speed Vioc 0 2 147 483 647 2 K5 000 3 38 D1829 D1828 D1909 D1908 Zero return speed Var 0 2 147 483 647 2 K50 000 3 39 D1831 D1830 D1911 D1910 Ze return deceleration 5 5 447 483 647 2 K1 000 3 39 speed Vcn D1832 D1912 Number of PQO signals N 0 32 767 PLS KO 3 39 D1833 D1913 Number of pulse signals P 32 768 32 767 PLS KO 3 40 D1835 D1834 D1915 D1914 Definition of zero point HP 0 999 999 1 KO 3 40 D1836 D1916 Acceleration time Tacc 10 32 767 ms K100 3 40 D1837 D1917 Deceleration time Tpgc 10 32 767 ms K100 3 40 T 2 147 483 648 D1839 D1838 D1919 D1918 Target position I P I 42 147 483 647 1 KO 3 40 2 147 483 648 D1841 D1840 D1921 D1920 O
166. ded cable Ah 5 E Al i A ase Pali r F B1 v B phase X wa K PGO ANN v M PGO W K 5 24VDC PG1 v x PG1 K 5 24VDC DVP PM Application Manual CLR1 5 24VDC Panasonic servo drive CN5 series Panasonic servo drive CN5 series 2 Hardware Specifications and Wiring DVP PM and Yaskawa servo drive 24VDC input 24V 0v Yaskawa servo drive FPO0 FP 0 RP 0 RP 0 rR 5 24VDC Yaskawa servo drive FP 1 L5 FP1 5 RP 1 Po EA RP1 LS CLR1 K sTARTO j Y E STOPO qay a p ES NN MEN LSNO BS 24V PAGI dH Q S S0 STARTI S A STOP1 FAY a LP CUhHY ak LSN1 Hi a x lt DSS iiv a MPG pulses sist Shieldedcable Li EL AO H H BO B ph phase E i E MPG pulses A14 Aphase T T4 4 B1 B phase L Ta PGO AN Z PGO AMN if Na 5 24VDC e PG1 AM zo PG1
167. dification corii eroe ior a nr tease ei E SR TREES cHRS 5 8 BO TASTUCHON Mite er 5 9 5 6 Application Instructions c susc eode deno ppt te BD HE noe e E sut ie Eod uto eR ski 2Dn RON RP erie 5 12 e API 00 09 Gop Conio nes iei tiere iiti 5 12 e API 10 19 Transmission Comparison eMe 5 19 e API 20 29 Four Arithmetic Operation sss 5 24 e API 40 49 Data Processiligsc to REO UTE UR TRE ian tine ders 5 37 e API 70 79 Display of External Settings ssssssssessss 5 40 e API 100 109 Communication ssssssss mmn 5 44 e API 110 138 Floating Point Operation sss 5 53 e API 215 223 Contact Type Logic Operation Instruction 5 80 e API 250 260 New Instructions sssssssssssssne 5 86 Chapter 6 Motion Instructions and G Code Instructions 6 1 List of Motion Instructions and G Code Instructions 6 1 6 2 Composition of Motion Instructions and G Code Instructions 6 2 6 2 1 Motion Instructions 6 2 2 G GCode INStructiOn s e eed pr a sig vag sade epa i ie EA RP REED 6 3 6 3 Motion Instruclions erro aue eese oce pua de cues uie d v Da RUN qe 6 5 e MON 00 19 Motion Instructions ssssss EEA EES 6 5 6 4 G Code WS IRUCTIONS ee I 6 30 e GO 4 90 91 G Code Instructions ssssssssese m 6 30 Chapter 7 Use DVP PM As Slave 7 1 How to Connect DVP E
168. dius 20 24ms 6 11 05 CCW Counterclockwise Arc Movement set the radius 20 24ms 6 11 06 TIM Pause Time 6 13 07 DRVZ Return to Mechanical Zero Point zero return 20 25ms 6 14 E 08 SETR Set up Electrical Zero Point 5 6 17 09 DRVR Return to Electrical Zero Point 20 25ms 6 18 E 10 INTR ELS Single Speed Interpolation ignoring 20 25ms 6 19 Z 11 SINTR Inserting Single Speed Operation 20 25ms 6 20 12 DINTR Inserting 2 Speed Operation 20 25ms 6 22 13 MOVC Set up Linear Movement Compensation 6 24 14 CNTC Arc Center Compensation 6 25 15 RADC Arc Radius Compensation 4 6 26 16 CANC Cancel Compensation 6 27 17 ABST Set up Absolute Coordinate 6 28 18 INCT Set up Relative Coordinate 6 28 19 SETT Set up Current Position 6 29 Category G Code Mnemonic Function Page 0 DRV High Speed Positioning 6 30 1 LIN 2 Axis Synchronous Linear Interpolation considering remaining distance 6 34 5 2 CW Clockwise Arc Movement set the position of center 6 37 3 3 CCW Counterclockwise Arc Movement set the position of center 6 37 2 CW Clockwise Arc Movement set the radius 6 38 3 3 CCW Counterclockwise Arc Movement set the radius 6 38 4 TIM Pause Time 6 39 90 ABS Set up Absolute Coordinate 6 39 91 INC Set up Relative Coordinate 6 39 DVP PM Application Manual 6 1 6 Motion Instructions amp G Code Instructions 6 2 Composition of Motion Instructions and G Code Instructions 6 2 1 Motion Instructions A motion instruction has two
169. e 360 M1002 Dcos elo T m COS value CD binary floating point Remarks For floating point operations see 5 3 Handling of Numeric Values DVP PM Application Manual 5 71 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 132 D TAN JP GS CDD Tangent Type Bit Devices Word Devices Program Steps OF X Y M S F H KnX KnY KnM KnS T C D V Z DTAN DTANP 6 steps S D Operands S Source value D TAN result Explanations 1 2 8 4 5 10 See the specifications of DVP PM for its range of use F refers to floating point input Be sure to add a decimal point when using it Only 32 bit instructions DTAN and DTANP are applicable 0 x angle 360 Flags OX OY O100 Zero flag M1808 M1888 M1968 Angle radian flag M1760 M1840 M1920 See below for more information S can be angle or radian decided by the angle radian flag When the angle radian flag is Off the program will be in radian mode and the RAD value angle x 7 180 When the angle radian flag is On the program will be in angle mode and the range of angle should be 0 x angle lt 360 If the result 0 the zero flag will be On The TAN value obtained by S is calculated and stored in the register designated by D The figure below offers the relation between radian and the result R
170. e Specifications This chapter only provides information on electrical specification and wiring For detailed information on program design and instructions please refer to Chapter 5 6 For how to purchase its peripheral devices please refer to the instruction sheet enclosed with the product 2 1 1 Power Specifications Item Description Power supply voltage 100 240V AC 15 1096 50 60Hz 5 Fuse capacity 2A 250V AC Power consumption 60VA DC24V current supply 500mA Power protection DC24V output short circuited Withstand voltage 1 500V AC Primary secondary 1 500V AC Primary PE 500V AC Secondary PE Insulation impedance gt 5MQ all I O point to ground 500V DC Noise immunity ESD 8KV Air Discharge EFT Power Line 2KV Digital I O 1KV Analog amp Communication I O 250V Earth The diameter of grounding wire shall not be less that of L N terminal of the power When many PLCs are in use at the same time please make sure every PLC is properly grounded Operation storage Operation 0 C 55 C temperature 50 95 humidity pollution degree 2 Storage 25 C 70 C temperature 5 95 humidity Vibration shock immunity International standards IEC61131 2 IEC 68 2 6 TEST Fc IEC61131 2 amp IEC 68 2 27 TEST Ea Weigh approx g 478 688 2 1 2 I O Point Specifications Input point specifications
171. e of use 16 bit counter and 32 bit counter can use ZRST instruction together When D gt D only operands designated by Dz will be reset Program Example 1 When XO On auxiliary relay M300 M399 will be reset to Off 2 When X1 On 16 bit counters CO C127 will all be reset being written in 0 contact and coil reset to Off 3 When X10 On timers TO T127 will all be reset being written in 0 contact and coil reset to Off 4 When X2 On steps SO 127 will be reset to Off 5 When X3 On data registers DO D100 will be reset to 0 6 When X4 On 32 bit counters C235 C254 will all be reset being written in 0 contact and coil being reset to Off X0 ZRST M300 M399 x1 ZAST C127 X10 ZRST T27 X2 ZAST 5127 X3 zmsr Do b X4 ZRST C235 C254 Remarks Bit devices Y M S and word devices T C D can use RST instruction individually DVP PM Application Manual 5 37 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 49 D FLT P CGS CDD Floating Point Type Bit Devices Word Devices Program Steps X Y M S KH KnXKKnY KnMKnS T C D V Z DFLT DFLTP 6 steps OP S D Operands S Source device for conversion D Device for storing the conversion result Explanations 1 See the specifications of DVP PM for its range of use Only 32 bit instructions
172. ecifications and Wiring 2 1 Hardware Specifications st ccccters e eese eee eos irse eo dore ve e ete epe pu 2 1 1 Power Specifications un RUD e I GE RR haa aa 2 4 2 I O Point SpeclfiCatlons 3 ee e e e eL RR IER SERE aca PX Ue BIAIS ECT ate Shee eee oe oe ne ad eee tes ns ee cee ee eee E 2 2 Installation amp Wiring ss24 oco tuo eeu dto coru keud diese ree EUM ler AE Lud M ZELUS 2 2 2 Power Input Wiring uie eerie crecen Duran er D rac pa eo a ag a pg an qa eed ed 2 2 3 Safety Willing o o o Ep or HUE a is On Re Suet eund 2 2 4 VO Point WITING auo orn o parce ine pep ted eei pe ure eee 2 2 5 Wiring witht DRIVES iie intetetuneta inten une e Lune iue e me n e e e s 2 3 Communication Ports ui aote tio ot Dui Nonne Rr OUDIS2U IRI eee anes ICOM R S 23 aca ce ce Fen C Lu EM S Gace LEE CEDE 53 2 CON WHEUIBS e oL ene cuc Name ne coe cse ec cce ric e ce Chapter 3 Functions of Devices in DVP PM 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 Device in DVP PM E d ie reed E EE eR HERE GEO sativa pene Ais teresa Values Constants K H Floating Points F c ccceeeeeeeeeeeeeees Numbering and Functions of External Input Output Contacts X Y Numbering and Functions of Auxiliary Relays M sssssss Numbering and Functions of Step Relays S seseseeeeseeeesses Numbering and Functions of Timers T eeeeeeeeeeeeeeeese Nu
173. ecting ASCII or RTU mode of COM2 RS 485 when in Off R W NO Off 3 23 Master mode used together with MODRD MODWR instructions Off ASCII On RTU 8 bit mode metre On 8 bit mode Off 16 bit mode en i TUNY NS a i M1200 Counting mode of C200 On counting down Off R W NO Off M1201 Counting mode of C201 On counting down Off R W NO Off M1202 Counting mode of C202 On counting down Off R W NO Off M1203 Counting mode of C203 On counting down Off R W NO Off M1204 Counting mode of C204 On counting down Off z R W NO Off M1205 Counting mode of C205 On counting down Off R W NO Off M1206 Counting mode of C206 On counting down Off R W NO Off M1207 Counting mode of C207 On counting down Off R W NO Off M1208 Counting mode of C208 On counting down Off R W NO Off M1209 Counting mode of C209 On counting down Off R W NO Off 3 14 DVP PM Application Manual 3 Functions of Devices in DVP PM Special l Off MANU AUTO l Page M Function g Attribute Latched Default umber On AUTO MANU M1210 Counting mode of C210 On counting down Off R W NO Off M1211 Counting mode of C211 On counting down Off R W NO Off M1212 Counting mode of C212 On counting down Off s a R W NO Off M121
174. ee 3 10 for special purpose relay and special registers and 3 11 for their functions 3 5 Numbering and Functions of Step Relays S No of step relay in decimal General purpose SO S499 490 points can be modified into latched area by setting up Step relay parameters Total 1 024 S S500 1023 524 points can be modified into non latched area by points Latched setting up parameters Functions of step relays The device No of S is SO 81023 total 1 024 points and both step relay S and output relay Y have output coils and contact A B and there is no limitation on the times of using the contact S cannot directly drive the external load and can be used as a normal auxiliary relay 3 6 Numbering and Functions of Timers T No of timers in decimal Timer i ified i i 10ms general purpose TO T255 256 points can be modified into latched area by setting up T parameters Functions of timers The unit of the timer is 10ms and the counting method is counting up When the present value in the timer equals the set value the output coil will be On The set value should be a K value in decimal and the data register D can also be a set value The actual set time in the timer timing unit x set value General purpose timer The timer executes once when the program reaches TMR instruction When TMR instruction is executed the output coil will be On when the timing re
175. ee Program Example 1 M Code generally is used in the sections of OX00 OX00 subroutines There are two modes for M Code instruction after mode and with mode The difference between the two modes is the timing of enabling M Code instruction See Program Example 2 5 When the execution of M Code is completed M1794 will turn from On to Off in two ways 1 Set M1794 to be 0 directly to reset the action 2 Set M1744 to be On directly Program Example 1 1 Howto design the procedure when you want to display the current No of M Code being executed in device Y when M6 is executed 1 First set the parameter in D1873 as follow 4 14 DVP PM Application Manual 4 Basic Instructions MOV HO L D1873 Tx N Start No of Y output 0 Disable 1 Enable 2 Execute M Code M6 and DVP PM will automatically write H 6 binary 1010 into D1703 and The value in D1703 into K2YN N is the start No of Y output MOV H6 D1703 MOV D1703 K2Yn When the M Codes of the two programs above are enabled the program will run automatically Therefore you do not need to compile the program 3 When N in D1873 is set as the settings in the table below see also the table below for the output status of K2Yn D1873 Y7 Y6 Y5 Y4 Y3 Y2 Y1 YO H00 No Y output H0100 0 0 0 0 1 0 1 0 H0101 0 0 0 1 0 1 0 H0102 0 0 1 0 1 0 H0103 0 1 0 1 0 Progr
176. egative sign of the values 16 bit Zero flag Zero flag Zero flag 2 gt 1 0 32 768 lt 1 50 1 32 767 0 1 2 S VUW 7 U2 Borrow fla The highest bit of The highest bit of 4 the data 1 negative X the data 0 positive Carry flag 32 bit Zero flag Zero flag Zero flag 2 1 0 gt 2 147 483 648 lt 1 0 1 gt 2 147 483 647 0 1 2 TSJ MOLD WA Borrow flag The highest bit of The highest bit of Carry flag the data 1 negative the data 0 positive DVP PM Application Manual 5 25 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 2 D sse P Go oD Subtraction Type Bit Devices Word Devices Program Steps OF X Y M S K H KnXIKnYKnM IKnS T C D V Z SUB SUBP 7 steps S t DSUB DSUBP 9 steps S D Operands S4 Minuend S5 Subtrahend D Remainder Explanations 1 SUB instruction supports V and Z When SUB is used as 16 bit instruction Z device cannot be adopted when SUB is used as 32 bit instruction V device cannot be adopted See the specifications of DVP PM for its range of use Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information SUB instruction subtracts S4 and S in BIN format and sto
177. emselves and Kn KAMOZO is valid and KOZOMOis invalid Grey columns in the table of operand at the beginning page of each application instruction indicate the operands modifiable by V and Z If you need to modify device P I X Y M S KnX KnY KnM KnS T C and D by V and Z you have to designate V or Z 5 8 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions When you use the instruction mode in PMSoft to modify constant K and H you have to use for example MOV K10 ZO0 DOVO 5 5 Instruction Index Sorted by alphabetic order Category API MAUS F Function alae Page 16 bit 32 bit Instruction 16 bit 32 bit 20 ADD DADD Y Addition 7 9 5 24 92 ANDP Rising Edge Series Connection 3 4 10 93 ANDF Falling Edge Series Connection 3 4 10 133 DASIN Y Arc Sine 6 5 74 134 DACOS Y Arc Cosine 6 5 75 135 DATAN Y Arc Tangent 6 5 76 218 AND amp DAND amp S1 amp S2 5 T 5 81 A 219 AND DAND S1 S2 5 7 5 81 220 AND DAND 1 82 5 7 5 81 232 AND DAND S1 S2 5 7 5 84 233 AND gt DAND gt S1 gt S2 5 7 5 84 234 AND lt DAND lt S1 lt S2 5 7 5 84 236 AND lt gt DAND lt gt S1 S2 5 7 5 84 237 AND lt DAND lt S1 lt S2 5 7 5 84 238 AND gt DAND gt
178. ency of high speed input circuit can reach up to 200KHz and is mainly for connecting to differential double wire LINE DRIVER output circuit Wiring in a high speed high noise environment Encoder output DVP20PMOOD high speed input m 5V SOURCE Relay R contact circuit wiring DVP R WY LOAD Q dq uersu POWER TS Sos LL B oj OO RELAY OUTPUT Oc To 2 2 8 DVP PM Application Manual 2 Hardware Specifications and Wiring Varistor To reduce the interference on AC load DC power supply AC power supply Neon indicator Manually exclusive output Uses external circuit and forms an interlock together with PLC internal program to ensure safe protection in case of any unexpected errors Transistor T contact circuit wiring Y Y A Ao DVP T TRANSISTOR OUTPUT DC power supply Q Emergency stop Q Circuit protection fuse Flywheel diode inductive load Manually exclusive output Uses external circuit and forms an interlock together with PLC internal program to ensure safe protection in case of any unexpected errors Wiring of differential output DVP20PMOOD Drive p Photocoupler V XX hy Input example DVP PM Application Manual 2 9 2 Hardware Specifications and Wiring 2 2 5 Wiring with Drives DVP PM and Delta ASD A series servo drive 24V 24VDC input sso B Em
179. eration Floating c aon 1 1755X10 38 3 4028X10 38 point de The floating point is presented in 32 bits with IEEE754 standard For different control purposes there are 5 types of values inside DVP PM for executing the operations See the explanations bellows for the functions and works of every type of value 1 Binary value BIN All the operations and storages of values in DVP PM are conducted in BIN See below for the terms for BIN values Bit The basic unit for a BIN value either 1 or 0 Nibble Composed of 4 continuous bits e g b3 b0 Presented as the decimal value 0 9 of a digit or 0 F in hex Byte Composed of 2 continuous nibbles i e 8 bits b7 b0 Presented as 00 FF in hex Word Composed of 2 continuous bytes i e 16 bits b15 b0 Presented as 4 digit 0000 FFFF in hex Double word Composed of 2 continuous words i e 32 bits b31 b0 Presented as 8 digit 00000000 FFFFFFFF in hex Bit nibble byte word and double word in a binary system Double word Word Byte 2 Octal value OCT The No of external input and output terminals in DVP PM in numbered in octal system For example External input XO X7 X10 X17 device No External output YO Y7 Y10 Y17 device No 3 Deci mal value DEC The timings of using decimal values in DVP PM are as follows u As u As u As 4 Bina
180. et position gt current position the motor will run forwardly When the target position lt current position the motor will run reversely 2 Executing INCT instruction Calculating the distance created by the motor from the current position When the relative coordinate is positive the motor will run forwardly When the relative coordinate is negative the motor will run reversely 3 The arc center coordinate l J radius R and the displacement coordinates set by SINT and DINT instructions are all regarded as additional values Program Example When DVP PM switches from MANU to AUTO if ABST or INCT is not designated in the program the default setting for the program will be in ABST relative coordinate system After INCT instruction is executed the motion instructions starting from the next row e g DRV LIN CW CCW will be operated in relative coordinate system The program should be written as 6 28 DVP PM Application Manual 6 Motion Instructions and G Code Instructions MON Mnemonic Operands Function 19 SETT xD YCPRD Set up Current Position P Type Bit Devices Double Word Devices Notes K H D KK HH DD SETT instruction supports V Z index register P x z z 4 i modification on the devices P amp 5 5 8 See specifications of DVP PM for the range of use You can place an M Code instruction after SETT Operands P4 Current position on X axis P
181. exceeds the range of 0 99 999 999 DBCD will not be executed 6 BCD instruction converts the BIN data in the positioning unit into BCD data 7 segment display and so on to be output to the external device Program Example When XO On the binary value in D10 will be converted into BCD value and the 1s digit of the conversion result will be stored in K1YO YO Y3 the 4 bit devices X0 If D10 001E hex 0030 decimal the execution result will be YO Y3 0000 BIN 5 22 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 19 D BIN P CS CDD Binary Type Bit Devices Word Devices Program Steps OP X YIM SIKH KnXKKnYKnMKnS T C D V Z BIN BINP 5 steps S IDBIN DBINP 6 steps D Operands S Source of data D Result of conversion Explanations 1 oa RON BIN instruction supports V and Z When BIN is used as 16 bit instruction Z device cannot be adopted when BIN is used as 32 bit instruction V device cannot be adopted See the specifications of DVP PM for its range of use Flags M1811 M1891 M1971 operational error The content in S BCD value is converted into BIN value and stored in D Valid range of S BCD 0 9 999 DBCD 0 99 999 999 Constant K and H will automatically be converted into BI
182. execution GD DOR D21 D20 ofolo 1 ofol1 ololo 1 1 ols o o of oj o 1 o oj 1 of of ol 1 1 o 1 0 o After CD ll execution D41 D40 Gorn ET GETESTET DVP PM Application Manual 5 33 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 28 D WXOR P GD G2 CDD Logical Exclusive OR OP Type Bit Devices Word Devices Program Steps X Y M S K H KnX IKnYKnM IKnS T C D V Z WXOR WXORP 7 steps S t 7 IDWXOR DWXORP 9 steps So D Operands S Source data device 1 S5 Source data device 2 D Operational result Explanations 1 WXOR instruction supports V and Z When WXOR is used as 16 bit instruction Z device cannot be adopted when WXOR is used as 32 bit instruction V device cannot be adopted 2 Seethe specifications of DVP PM for its range of use 3 WXOR instruction conducts logical XOR operation of S and S2 and stores the result in D 4 Operation rule If the bits in S and S are the same the corresponding bit of the operational result in D will be 0 If the bits in S4 and S are different the corresponding bit of the operational result in D will be 1 Program Example 1 When X0 On the 16 bit DO and D2 will perform WXOR logical XOR operation and the result will be stored in D4 X0 it fwxor oo oe o b15 bO Gs
183. f Devices in DVP PM bit Explanation When b 2 0 CLR will output 130ms signal to the servo when the zero return is completed as the clear signal for the error counter in the servo When b 2 1 CLR will be a general output point and its status will be controlled by On Off of b 3 When b 3 0 output point CLR will be Off When b 3 1 output point CLR will be On b 5 0 During the running of motor when encountering STOP signal input the motor will decelerate to stop When the next motion instruction comes in the motor will ignore the unfinished distance and immediately execute the distance in the next step b 5 1 During the running of motor when encountering STOP signal input the motor will decelerate to stop When the next motion instruction comes in the motor will complete the unfinished distance before executing the next positioning step b 6 0 No limitation on MPG pulse input b 6 1 The range for MPG pulse output is limited with P I and P II When the range is exceeded the pulse deceleration will stop b 7 0 During the running of motor the motor decelerates to stop when encountering LSP LSN signal input b 7 1 During the running of motor the motor stops immediately when encountering LSP LSN signal input MASK settings single speed positioning 2 speed positioning single speed positioning interruption 2 speed positioning interruption b 10 8 KO 00
184. f the program It supports Modbus communication format with baud rate 9 600 115 200bps The communication cable TO 20PM fi Maj MINI DIN TERMINAL a vo 0000 O00000 9 PIN D SUB PC TP COM Port PM COM1 Port Ld 9 PIN D SUB female 8 PIN MINI DIN Tx 3 4 4 Rx Boss Rx 2 lt 5 Tx p cS GND 5 8 GND XIX 7 1 29 5V 7 Lg 1 z 6 See the catalog of Delta PLCs for detailed model names or download the most updated information on the accessories on Delta s website 2 COMI is for Slave mode Therefore it can be connected to a human machine interface for monitoring purposes 2 3 2 COM RS 485 1 The interface of COM2 is RS 485 for the communication among many masters and slaves It supports Modbus communication format with baud rate 9 600 115 200bps 2 COM2 is for Master or Slave mode When for Master mode it can be connected to a Delta PLC or a drive in the next level e g Delta servo drive temperature controller AC motor drive and so on for reading writing data When for Slave mode it can be connected to a human machine interface e g Delta s TP and DOP series HMI for monitoring purposes DVP PM Application Manual 2 15 2 Hardware Specifications and Wiring MEMO 2 16 DVP PM Application Manual 3 Functions of Devices in DVP PM 3 1 Devices in DVP PM Function Specifications 2 axis synchronous linear ar
185. floating point into binary floating point n O100 M102 main control programs when using ADD SUB MUL DIV instructions the execution result will affect the status of M1968 M1970 See below for zero flag M1968 borrow flag M1970 carry flag M1969 and their corresponding status to floating point operation instructions Zero flag M1968 On if the operational result is 0 Borrow flag M1970 On if the operational result exceeds the minimum unit Carry flag M1969 On if the absolute value of the operational result exceeds the range of use 5 4 V Z Index Register Modification The index registers are 16 bit registers V is 16 bit register and Z is 32 bit register In DVP PM there are VO V7 and Z0 Z7 totaling 16 points 16 bits V0 V7 32 bits V is 16 bit data register can be read and written If you need a 32 bit register you have to designate Z Z0 Z7 High byte Low byte MOV K20 ZO0I D10VO See the diagram on the left hand side V Z index register H MOV k20 zo p tovo modification refers to the content in the operand changes with the contents in V and Z Z0s8 V0 14 E ES For example ZO 8 and K20 9ZO0 represents constant EE eres K28 20 8 When the condition is true constant K28 will Transmission K28 gt D24 be transmitted to register D24 Devices modifiable in DVP PM P I X Y M S K H KnX KnY KnM KnS T C D V and Z can modify the devices listed above but cannot modify th
186. g engineer for different motion routes Register D1868 CR72 stores the No of subroutine in which b14 or b15 has to be 1 and finally b12 of D1846 CR50 will activate the program See the example below Example To activate OX99 motion subroutine follow the two steps below 1 Set up the No to be activated D1868 H 4063 or H 8063 H C063 2 Enable OX99 D1846 H 1000 DVP PM Application Manual 4 13 4 Basic Instructions 3 Meis the instruction to end OXO OX99 motion subroutines Program Example In the program example below NO000 N0100 are 0100 main control program N0102 N0304 are OX50 motion subroutines No of row Program N000 0100 N001 LD M1000 N0099 OUT Y30 N0100 M102 N0101 NOP N0102 OX50 N0103 DRVZ N0104 ABS N0304 M2 Mnemonic Function M M Code Instruction Operand MO M65535 Explanations 1 M Code instruction is used in motion instruction When M Code is executed first store the No of M Code into D1703 When M Code is enabled M1794 will be On automatically If M1744 is set On M1794 will become Off indicating that the execution of M Code is completed 2 Execute M Code to control Y output Set the high byte of D1873 as 1 to enable the output The low byte is the start No of Y output When M1794 is On i e starting to execute M Code the Y output No corresponding to the setting in D1873 will be On When M1794 is Off the Y will be Off S
187. g a binary floating point as below le _ D1 b15 b0 J D0 b15 50 gt o 9 f 2 d 7 gh 9 gU g8 519 520 521 22 28 S E7 E6 E5 S S E1 EO A22 A21 A20 S S A6 A5 A4 A3 A2 Al AO b31 b30 b29 b28 b24 b23 b22 b21 b20 b6 b5 b4 b3 b2 bi b0 le 8bitsofexponent 23bitsof mantissa gt Hidden decimal point Sign bit 0 positive 1 negative When bO b3 is 0 the content is 0 Decimal Floating Point Since the binary floating point is not very user friendly we can convert it into a decimal floating point for use Please be noted that the decimal point operation in DVP PM is still in binary floating point The decimal floating point is represented by 2 continuous registers The register of smaller No is for the constant while the register of bigger No for the exponent DVP PM Application Manual 5 7 5 Categories and Use of Basic Application Instructions Example Storing a decimal floating point in register D1 DO Decimal floating point constant Do x 10 Pore P1 Constant DO 1 000 9 999 Exponent D1 41 35 The constant 100 does not exist in DO due to 100 is represented as 1 000x10 The range of decimal floating point is 1 175x10 3 402x10 The decimal floating point can be used in the following instructions DEBCD Converting binary floating point into decimal floating point DEBIN Converting decimal
188. g point values X7 X0 BCD values are converted into D201 and D200 BIN values D201 and D200 BIN integers are converted into D203 and D202 binary floating point values The result of K615 K10 is stored in D301 and D300 binary floating point values The result of binary decimal division D101 D100 D203 D202 is stored in D401 and D400 binary floating point values The result of binary decimal multiplication D401 D400 x D301 D300 is stored in D21 and D20 binary floating point values D21 and D20 binary floating point values are converted into D31 and D30 decimal floating point values O0 00000 Jz D21 and D20 binary floating point values are converted into D41 and D40 BIN integers DVP PM Application Manual 5 39 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 78 D FROM P aq Qm CDD CG Read CR Data in Special Modules B Type Bit Devices Word Devices Program Steps X Y M S K H KnX KnY KnM KnS T C D V Z FROM FROMP 9 steps m us DFROM DFROMP 17 steps mo D n Operands m No of special module m CR in special module to be read D Device for storing read data n Number of data to be read at a time Explanations 1 Range of m 16 bit and 32 bit 0 255 2 Range of m 16 bit and 32 bit 0 499 3 Ra
189. gt Viog gt Veas If Vuog gt Vmax Vyog Output Vmax If Vjoa lt Veias Viog Veias 4 Vj jog cannot be modified during the execution 3 38 DVP PM Application Manual 3 Functions of Devices in DVP PM Speed X axis Y axis HW LW HW LW Zero Return Speed Var D1829 D1828 D1909 D1908 1 The speed for returning to mechanical zero point Range 0 2 147 483 647 the unit is set by bO and b1 of D1816 D1896 2 Corresponding to pulse instruction 10 500KPPS If the speed is bigger than 500K the output will be in 500K if the speed is smaller than 10 the output will be in 10 3 Setup range limitation Vmax gt Vat gt Veias 4 Vrt cannot be modified during the execution X axis Y axis HW LW HW LW Zero Return Deceleration Speed Vcr D1831 D1830 D1911 D1910 1 Range 0 2 147 483 647 the unit is set by b0 and b1 of D1816 D1896 2 Corresponding to pulse instruction 10 500KPPS If the speed is bigger than 500K the output will be in 500K if the speed is smaller than 10 the output will be in 10 3 When zero return is executed the motor will operate at zero return speed Var When DOG signal is touched the motor will decelerate to zero return deceleration speed Vcg 4 To position precisely at the zero point we suggest you set up Vcg in low speed Vcg Cannot be modified during the execution X axis Y axis HW LW HW LW Number of Zero Signals P
190. he designated device will stay intact Program Example Ladder diagram Instruction code Operation LD X0 Loading in contact A of X0 X0 vs H xe RST Y5 Resetting contact Y5 Mnemonic Function TMR 16 bit Timer T K TO T255 KO K32 767 Operand T D TO T255 DO D9999 Explanations When TMR instruction is executed the designated coil of the timer will be On and the timer will start to time When the set value in the timer is reached present 2 set value The contact will be NO normally open contact Open collector NC normally closed contact Close collector Program Example Ladder diagram Instruction code Operation X0 LD X0 Loading in contact A of X0 TMR K1000 m TMR T5K1 000 Set value in timer T5 as K1 000 Remarks See the specification of DVP PM for the range of operand T DVP PM Application Manual 4 7 4 Basic Instructions Mnemonic Function CNT 16 bit Counter C K CO C199 KO K32 767 Operand C D CO C199 DO D9999 Explanations 1 When CNT instruction goes from Off to On the designated counter coil will be driven and the present value in the counter will plus 1 When the counting reaches the set value present value set value the contact will be NO normally open contact Open collector NC normally closed contact Close collector 2 If there are other counting pulse inputs after the coun
191. he value K10 will be moved to data register D10 b When X1 Off the content in D10 will remain unchanged If X1 On the present value in K2M4 will be moved to data register D10 DMOV instruction has to be adopted in the moving of 32 bit data When X2 Off the content in D31 D30 and D41 D40 will remain unchanged If X2 On the present value in D21 D20 will be sent to data register D31 D30 Meanwhile the present value in D51 D50 will be moved to data register D41 D40 DVP PM Application Manual 5 21 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 18 D BCD PGO CDD Binary Coded Decimal Type Bit Devices Word Devices Program Steps oP X Y M S K H KnX KnY KnM KnS T C D V Z BCD BCDP 5 steps S nes DBCD DBCDP 6 steps D Operands S Source of data D Result of conversion Explanations 1 BCD instruction supports V and Z When BCD is used as 16 bit instruction Z device cannot be adopted when BCD is used as 32 bit instruction V device cannot be adopted See the specification of DVP PM for its range of use Flags M1811 M1891 M1971 operational error The content in S BIN value is converted into BCD value and stored in D c RON If the conversion result exceeds the range of 0 9 999 BCD will not be executed If the conversion result
192. ible with Modbus communication format MODRD can be used for controlling communication data reading of Delta AC motor drives 6 If So is illegal to the designated communication device the device will respond with an error and DVP PM will record the error code in D1130 M1141 will be On as well 7 The feedback returned data from the peripheral equipment will be stored in D1070 D1085 After receiving the feedback data is completed DVP PM will auto check if all data are correct If there is an error M1140 will be On 8 In ASCII mode due to that the feedback data are all in ASCII DVP PM will convert the feedback data into numerals and store them in D1050 D1055 D1050 D1055 will be invalid in RTU mode 9 After M1140 or M1140 turns On the program will send a corrent datum to the peripheral equipment If the feedback datum is correct M1140 and N1141 will be reset Program Example 1 Communication between DVP PM and VFD S series AC motor drive ASCII mode M1143 Off Set up communication protocol D1120 9 600 8 amp SET Mi 120 Retain communication protocol K100 D1129 Set up communication time out 100ms SET Mi 122 Set up sending request X0 Setup communication instruction K1 H2101 Ke device address 01 MOBRD Kr H2101 data address H2101 data length 6 words f The received data are stored in D1070 D1085 in ASCII format Process of received data pyp_pM will automatically convert the data into numerals an
193. ications of DVP PM for its range of use 2 F refers to floating point input Be sure to add a decimal point when using it 3 Only 32 bit instructions DACOS and DACOSP are applicable 4 Flags OX OY O100 Zero flag M1808 M1888 M1968 Operational error flag M1793 M1873 M1953 See below for more information 5 ACOS value cos The figure below offers the relation between the entered cos value and the result R S Entered data cosine value R ACOS value radian 6 The decimal floating point of the COS value designated by S should be in the range 1 0 1 0 If the value falls without the range the operational error flag will be On and the error code H 0E19 will be recorded 7 If the result 0 the zero flag will be On Program Example When X0 On obtain the ACOS value of binary floating point D1 DO and store the binary floating point result in D11 D10 X0 Hips T o D DO Binaryfloating point ACOS value CD binary floating point Remarks For floating point operations see 5 3 Handling of Numeric Values DVP PM Application Manual 5 75 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 135 D ATAN IP GS CDD Arc Tangent Type Bit Devices Word Devices Program Steps SE X Y M S F H KnX KnY KnMi KnS T C D V Z DATAN DATANP 6 steps
194. ill jump to the subroutine designated by P2 When SRET instruction is executed the program will return to address 24 and continue its execution X0 U Call subroutine P2 20 24 Subroutine P2 E Subroutine return Program Example 2 1 When X10 goes from Off to On its rising edge trigger will execute CALL P10 instruction and the program will DVP PM Application Manual 5 15 5 Categories and Use of Basic Application Instructions jump to the subroutine designated by P10 OY GO When X11 is On CALL P11 will be executed and the program will jump to the subroutine designated by P11 When X12 is On CALL P12 will be executed and the program will jump to the subroutine designated by P12 When X13 is On CALL P13 will be executed and the program will jump to the subroutine designated by P13 When X14 is On CALL P14 will be executed and the program will jump to the subroutine designated by P14 When SRET is executed the program will return to the previous P subroutine and continue its execution 6 After SRET instruction is executed in P10 subroutine the execution will return to the main program X0 X2 lt gt Main program Subroutine P12 M lt gt aC P13 Subroutine lt i gt P13 X2 2s A CALL Subroutine I P14 X2 INC D50 Subroutine SRET DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions
195. ing OX0 OX99 motion subroutines Therefore please avoid using M02 and M102 when using M Codes 4 16 DVP PM Application Manual DVP PM Application Manual MEMO 4 Basic Instructions 4 17 5 Categories and Use of Basic Application Instructions 5 1 List of Instructions Mnemonic P A STEPS Category API Function Page 16 bit 32 bit instruction 16 bit 32 bit 00 CJ Y Conditional Jump 3 5 12 E 01 CALL Y Call Subroutine 3 5 15 02 SRET Subroutine Return 1 5 15 E 08 RPT Repetition Start only 1 layer 3 5 17 09 RPE 3 Repetition End 1 5 5 17 ce 10 CMP DCMP Y Compare 7 9 5 19 E 5 11 ZCP DZCP v Zone Compare 9 12 5 20 Eg 12 mov DMOV Y Move 5 6 521 S 3 18 BCD DBCD Y Binary Coded Decimal 5 5 5 22 n 19 BIN DBIN Y Binary 5 5 523 20 ADD DADD Y Addition 7 9 5 24 S 21 SUB DSUB Y Subtraction 7 9 5 26 E 22 MUL DMUL Y Multiplication 7 9 5 28 amp 23 DIV DDIV Y Division 7 9 5 29 2 24 INC DINC Y Increment 3 3 5 30 E 25 DEC DDEC Y Decrement 3 3 5 31 26 WAND DWAND Y Logical Word AND 7 9 5 32 S 27 WOR DWOR Y Logical Word OR 7 9 5 33 I 28 WXOR DWXOR Y Logical Exclusive OR 7 9 5 34 29 NEG DNEG Y 2 s Complement Negative 3 3 5 35 40 ZRST Y Zone Reset 5 5 37 49 DFLT Y Floating Point 6 5 38
196. ing error and sending address error occur When X0 On DVP PM will write H1770 K6 000 into VFD S data address H0100 of device 01 M1129 will be On when communication time out occurs The program will trigger M1129 and send request to M1122 for writing the data again 4 M1140 will be On when data receiving error occurs The program will trigger M1140 and send request to M1122 5 50 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions for writing the data again 5 M1141 will be On when sending address error occurs The program will trigger M1141 and send request to M1122 for writing the data again Set up communication protocol M1002 D1120 SET M1120 Retain communication protocol K100 D1129 Set up communication time out 100ms Set up sending request 4 Communication time out Retry Data receiving error Retry SA 4 Sending address error Retry Set up communication instruction XO device address 01 data address H0100 M1127 receiving completed The received data are stored in D1070 D1085 in ASCII format RST M1127 Sending receiving of data is completed The flag is reset M1129 RST M1129 Communication time out The flag is reset Program Example 4 1 In the communication between DVP PM and VFD S series AC motor drive ASCII mode M1143 Off retry when communication time out data receiving error and sending address error occur The times of retry DO def
197. ion 6 Device type 7 Device name Parameter column marked with is the device applicable for the operand 9 Parameter column marked with and in grey refers to V Z index register modification is applicable Notes for the instruction 6 2 DVP PM Application Manual 6 Motion Instructions and G Code Instructions Input of motion instruction Some motion instructions are only composed of the instruction part mnemonic e g DRVZ SETR ABS and so on However most motion instructions are composed of the instruction part and many operands No contact is required to be placed before a motion instruction 6 2 2 G Code Instructions AG Code instruction has two parts the mnemonic and operand Mnemonic Function of the instruction Function For which axis Operand Parameter Parameter value Function part in the operand must not be ignored Enter integer or decimal in numeral The operand parameters are all in 32 bits For example GO X100 Y100 or GO X100 0 Y100 0 Operand with decimal is 1 000 times larger than it being without decimal point For example GO X100 0 Y100 02 GO X100000 Y100000 Program steps occupied by G Code instruction Mnemonic 1 step X Operand parameter with numeral 3 steps per operand Format of a G Code instruction 0 Y Y Mnemonic _ i i Operands Function CE exer 3 GO XD YC ZED High Speed
198. ion lI of Y axis P I high word D1920 Operation speed I of Y axis V I low word 1 000 R W NO 1 000 D1921 Operation speed lI of Y axis V I high word D1922 Target position II of Y axis P II low word 0 R W NO 0 D1923 Target position II of Y axis P II high word D1924 Operation speed II of Y axis V II low word 2 000 R W NO 2 000 D1925 Operation speed II of Y axis V II high word DVP PM Application Manual 3 21 3 Functions of Devices in DVP PM eom Off MANU AUTO P pecia f age D Function gu gu Attribute Latched Default eoor On AUTO MANU D1926 Operation instruction of Y axis 0 x RAN NO 0 3 30 D1927 Work mode of Y axis 0 R W NO 0 3 30 D1928 Current position of Y axis CP PLS low word 0 R W NO 0 D1929 Current position of Y axis CP PLS high word D1930 Current speed of Y axis PPS low word 0 0 0 R W NO 0 D1931 Current speed of Y axis PPS high word D1932 Current position of Y axis CP unit low word 0 R W NO 0 D1933 Current position of Y axis CP unit high word D1934 Current speed of Y axis CS unit low word 0 0 0 R W NO 0 D1935 Current speed of Y axis CS unit high word D1936 Execution status of Y axis 0 3 R NO 0 3 31 D1937 Incorrect No of Y axis 0 R NO 0 3 28 D1938 Electronic gearing of Y axis numerator
199. ion instruction NEGP DNEGP Program Example 1 When XO goes from Off to On the phase of every bit of the content in D10 will be reversed i e 01 10 and plus 1 The result will then be stored in D10 Ht pes v Program Example 2 Obtaining the absolute value of a negative value 1 When the 15 bit of DO is 1 MO will be On DO is a negative value 2 When MO On use NEG instruction to obtain 2 s complement of DO and further its absolute value M1000 Normally On contac MO Program Example 3 Obtaining the absolute value of the remainder in the subtraction When X0 On 1 If DO gt D2 MO On 2 If DO D2 M1 On 3 If DO lt D2 M2 On 4 D4 is then able to remain positive DVP PM Application Manual 5 35 5 Categories and Use of Basic Application Instructions Remarks Negative value and its absolute value 1 5 3 The sign of a value is indicated by the highest most left bit in the register O indicates that the value is a positive on and 1 indicates that the value is a negative one NEG instruction is able to convert a negative value into its absolute value D0 2 Lojojojo o o o o o ojojo o o t o DO 1 ojojojo o o o o o ojojo o o o t D0 0 0 0 0 0 ofof ojo of ofojo ofofofo DO 1 DO 1 1 ppupnpni pp nb e pn D Fn fs h gt ofofofofofofofofofofofofojojo 1 D0 2 DO 1 2 ppp po p n n 6 6 4 1 161150 9 o ofofofofofofofofofofofo
200. ion performs log operation of the content in S and S and stores the result in D Only positives are valid for the content in Sq and S2 When designating D registers the data should be 32 bit and the operation should be performed in floating point system Therefore S and S should be converted into floating point values SP S D gt D Logs If the absolute value of the result gt maximum floating point available the carry flag will be On If the absolute value of the result lt minimum floating point available the borrow flag will be On If the result 0 the zero flag will be On Program Example 1 When MO On convert D1 DO and D3 D2 into binary floating points and store them in the 32 bit registers D11 D10 and D13 D12 2 When M1 On perform log operation on the binary floating points in the 32 bit registers D11 D10 and D13 D12 and store the result in the 32 bit register D21 D20 3 When M2 On convert the binary floating point D21 D20 into decimal floating point D30 x 10 and store it in register D31 D30 MO M1 M2 Remarks For floating point operations see 5 3 Handling of Numeric Values DVP PM Application Manual 5 63 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 127 D ESQR P CDD Floating Point Square Root Type Bi
201. ions required with the Planned by the user column and add the functions in the example program to execute all kinds of control modes offered by DVP PM 2 D1500 D1699 are the special registers planned internally in the Slave among which D1500 is the read only register for storing the model code H 6260 of DVP PM Therefore D1501 D1699 are the registers which can be used freely Program in DVP EH2 Master Operation When DVP EH2 Master is in RUN read CR 0 of the Slave corresponding to D1500 in Slave Write CR 1 of Slave corresponding to D1501 in Slave to enable STOP mode for X axis in Slave Read CR 2 of Slave corresponding to D1502 D1503 in Slave Read CR 2 of Slave corresponding to D1504 D1505 in Slave Read CR 2 of Slave corresponding to D1506 Ladder diagram i row xo xo oo M1000 row vo e os D1507 Read CR 2 of Slave corresponding to D1508 DFROM Ko ks bs Kt pisos 7 2 DVP PM Application Manual Use DVP PM As Slave X0 When XO On write CR 1 of Slave corresponding E to D1501 in Slave to enable JOG mode of X axis in Slave X1 When X1 On write CR 1 of Slave corresponding to D1501 in Slave to enable JOG mode of X axis in Slave X2 f When X2 On write CR 1 of Slave corresponding to D1501 in Slave to enable zero return mode of X axis in Slave When X3 On write CR 1 of Slave corresponding
202. jo i o D0 3 D0 1 3 ppp ppp n n 6 6 16115011 9 fojo ojojojo o o o o o o 00 H1 1 D0 4 D0 1 4 pata fs tf ats fs 6 6 1115050 o ofofofofofofofofofofofo s Jojo D0 5 D0 1 5 HRBRBRRBBRRPRDPPREPRBRBIORR olofofolofofojo ofojo fo fo fof D0 32 765 DO 1 32 765 1 ojo ojojojo oJo o ojo o o 1 1 Jo 1 1 1 1 1 151 51 1 1 1 1 1 0 1 D0 32 766 D0 1 32 766 1jo o ojojojo o o o o o o o 1 o o 1 1 1 1 1 15151 1 1 t 1 1 10 D0 32 767 D0 1 32 767 1 o o ojojo o o o o o o o o o 1 o 1 1 1 1 11 1 P1 1 1 1 11111 D0 32 768 D0 1 32 768 1fo ofofofofofofo ofojojojojojo 1 o oro o o o o o o ojo o o ofo Maximum aAbsolute value 32 767 6 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 40 ZRST P Zero Reset OP Type Bit Devices Word Devices Program Steps X Y JM S K H KnXKnY KnMKnS T C V Z ZRST ZRSTP 5 steps D O D2 Operands D Start device of the range to be reset D End device of the range to be reset Explanations 1 o o hom The No of operand D x the No of operand D D and D have to designate devices of the same type All the devices do not support V and Z index modification See the specifications of DVP PM for its rang
203. l Mnemonic Function AND Series Connection A Contact X0 X377 YO Y377 MO M4095 S0 81023 TO T255 C0 C255 D0 D9999 Operand v v v v v v Explanations AND instruction is used in the series connection of A contact The functions are to read out the status of present series connection contacts and perform the AND operation with the logical operation result obtained The final result will be stored in the accumulative register Program Example Ladder diagram Instruction code Operation LD X1 Loading in contact B of X1 X1 XO V Yi gt AND X0 Connecting to contact A of X0 in series OUT Y1 Driving Y1 coil Mnemonic Function ANI Series Connection B Contact X0 X377 YO Y377 MO M4095 S0 81023 TO T255 C0 C255 D0 D9999 Operand v v v v v v Explanations ANI instruction is used in the series connection of B contact The functions are to read out the status of present designated series connection contacts and perform the AND operation with the logical operation result obtained The final result will be stored in the accumulative register DVP PM Application Manual 4 3 4 Basic Instructions Program Example Ladder diagram Instruction code Operation LD X1 Loading in contact A of X1 X1 XO y di v1 ANI X0 Connecting to contact B of X0 in series OUT Y1 Driving Y1 coil Mnemonic Function OR Parallel Connection
204. l Y outputs Off R W NO Off M1039 Fixing scan time Off 5 z R W NO Off 3 26 M1072 Executing AUTO instruction communication Off On Off R W NO Off M1074 Enabling OX motion subroutine Off R W NO Off M1077 Battery in low voltage malfunction or no battery Off R W NO Off M1087 Enabling LV signal Off z RAN NO Off Retaining the communication setting of COM2 RS 485 i M1120 Modifying D1120 will be invalid when M1120 is set Off i bids No on ias M1121 Waiting for the sending of RS 485 communication data Off On R NO Off M1122 Sending request Off Off RAN NO Off M1123 Receiving is completed Off Off RAN NO Off M1124 Waiting for receiving Off Off E R NO Off M1125 Communication reset Off Off R W NO Off M1127 Sending receiving data of communication instruction is Off Off z R W NO Off r completed M1128 Sending receiving indication Off Off R NO Off M1129 Receiving time out Off Off R W NO Off Retaining the communication setting of COM1 RS 232 M1138 Modifying D1036 will be invalid when M1138 is set oif FON NOE CE tees Selecting ASCII or RTU mode of COM1 RS 232 when in M1139 Slave mode Off R W NO Off 3 23 Off ASCII On RTU M1140 MODRD MODWR data receiving error Off Off s R NO Off M1141 MODRD MODWR parameter error Off Off R NO Off Selecting ASCII or RTU mode of COM2 RS 485 when in Slave mode Off ASCII On RTU M1143 Sel
205. le radian flag M1760 M1840 M1920 See below for more information 6 Scan be angle or radian decided by the angle radian flag 7 When the angle radian flag is Off the program will be in radian mode and the RAD value angle x 7 180 8 When the angle radian flag is On the program will be in angle mode and the range of angle should be 0 x angle lt 360 9 If the result 0 the zero flag will be On 10 The COS value obtained by S is calculated and stored in the register designated by D The figure below offers the relation between radian and the result R S Radian R Result COS value 11 Switch between radian and angle by the angle radian flag When the flag Off S will be a RAD value when the flag On S will be an angle value 0 360 Program Example 1 When the angle radian flag Off the program will be in radian mode When XO On use the RAD value of binary floating point D1 DO and obtain its COS value The binary floating point result will be stored in D11 D10 M1002 Dcos zo n m 5 70 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions RAD value angle x 2 180 Cs oa bdo binary floating point COS value CD binary floating point Program Example 2 When the angle radian flag On the program will be in angle mode When XO On use the angle of D1 DO to obtain COS value and store the binary floating point result in D11 D10 0 x angl
206. lta AC motor drives 5 If S2 is illegal to the designated communication device the device will respond with an error and DVP PM will record the error code in D1130 M1141 will be On as well For example if 8000H is illegal to VFD S M1140 will be On and D1130 2 For error codes please refer to the user manual of VFD S 6 The feedback returned data from the peripheral equipment will be stored in D1070 D1076 After receiving the feedback data is completed DVP PM will auto check if all data are correct If there is an error M1140 will be On 7 After M1140 or M1140 turns On the program will send a correct datum to the peripheral equipment If the feedback datum is correct M1140 and M1141 will be reset Program Example 1 Communication between DVP PM and VFD S series AC motor drive ASCII mode M1143 Off D1120 M1120 zs Set up communication time out 100ms t ser m22 Set up sending request X0 Set up communication instruction device address 01 MODWR H0100 H1770 data address H0100 data H1770 The received data are stored in D1070 D1085 in ASCII format Process of received data DVP PM will automatically convert the data into numerals and store them in D1050 D1055 Sending receiving of data is completed DVP PM gt VFD S DVP PM sends 01 06 0100 1770 71 M1002 Set up communication protocol 9 600 8 E 1 Retain communication protocol M1127 receiving completed The flag is reset
207. lue Data register D as SV can be positive or negative When PV reaches up to 32 767 The next PV will turn to 32 768 Example LD X0 X0 LD X1 X1 CO LD Co OUT YO When X0 On RST instruction will be executed PV in CO will be 0 and the output contact will be reset to Off When X1 goes from Off to On PV in the counter will count up plus 1 When the counting of CO reaches SV K5 the contact of CO will be On and PV of CO SV K5 The X1 trigger signal comes afterwards will not be accepted by CO and PV of CO will stay at K5 PV in CO Contacts YO CO l 32 bit general purpose addition subtraction counters C200 C255 1 The setup range of 32 bit counter K 2 147 483 648 K2 147 483 647 Addition or subtraction of the counter is designated by On Off status of special auxiliary relay M1200 M1255 For example when M1200 Off C200 will be an addition counter when M1200 On C200 will be a subtraction counter SV can be constant K or data register D excluding special data register D1000 D1999 Data register D as SV can be a positive or negative value and an SV will occupy 2 consecutive data registers PV in the general purpose counter will be cleared when the power of DVP PM is switched off If the counter is a latched type PV and the contact status before the power is off will be retained and the counting will resume after the power is On again 3 10 DVP PM Application Manual 3 Functions of Devices in D
208. ly open B contact normally closed FALSE OFF OFF ON TRUE ON ON OFF Program Example Ladder diagram Instruction code Operation LDI X0 Loading in contact B of XO XO X1 p CD AND X1 Connecting to contact A of X1 in series OUT Y1 Driving Y1 coil Mnemonic Function SET Latched On X0 X377 YO Y377 MO M4095 S0 S1023 TO T255 C0 C255 DO D9999 Operand z p F Explanations When SET instruction is driven its designated device will be On and keep being On both when SET instruction is still being driven or not driven Use RST instruction to set Off the device Program Example Ladder diagram xo YO H 4 6 Instruction code LD X0 ANI YO SET Y1 Operation Loading in contact A of X0 Connecting to contact B of YO in series Y1 latched On DVP PM Application Manual 4 Basic Instructions Mnemonic Function RST Clear the Contact or Register X0 X377 YO Y377 MO M4095 S0 81023 TO T255 CO C255 DO D9999 V Z z A v v v v v v Operand Explanations 1 When RST instruction is driven the actions of the designated devices are Device Status S Y M Coil and contact will be set to Off Present value in the timer or counter will be set to 0 and the coil and contact will be set to be Off D V Z The content will be set to 0 T C 2 If RST instruction is not being executed the status of t
209. m Off of Input Point X Number M1304 Contents When M1304 On the peripheral devices e g PMSoft HPP03 can force On Off of XO X17 but the hardware LED will not respond to ot Function Group Right Side Special Extension Module ID Number D1320 D1327 Contents 1 The ID of special extension module if any connected to DVP PM are stored in D1320 D1327 in sequence 2 Special extension module ID for DVP PM Module Name Module ID hex Module Name Module ID hex DVPO04AD H2 H 6400 DVP01PU H2 H 6110 DVP04DA H2 H 6401 DVPO4PT H2 H 6402 DVPO4TC H2 H 6403 DVPO6XA H2 H 6604 DVPPM H 6260 DVP01HC H2 H 6120 Function Group Clearing M Code In Execution Number M1744 M1794 D1703 Contents 1 Make M1744 1 to clear the M Code instruction When M1744 is executed D1703 will be cleared and M1794 will be reset DVP PM Application Manual 3 27 3 Functions of Devices in DVP PM 2 M1794 is the flag indicating M Code of OX has been executed D1703 is the register for M Code of OX Function Group Clearing Erroneous Motion Number M1793 D1857 M1873 D1937 Contents 1 When errors occur on X or Y axis the error flags are M1793 for X and M1873 for Y and the error messages will be stored in D1857 for X and D1937 for Y 2 To eliminate the error please clear the error message registers and reset the error flags Function Group Setting up Polarity of Input Terminal Numbe
210. mal point when using it 3 Only 32 bit instructions DASIN and DASINP are applicable 4 Flags OX OY O100 Zero flag M1808 M1888 M1968 Operational error flag M1793 M1873 M1953 See below for more information 5 ASIN value sin The figure below offers the relation between the entered sin value and the result R S Entered data sine value R ASIN value radian 6 The decimal floating point of the SIN value designated by S should be in the range 1 0 1 0 If the value falls without the range the operational error flag will be On and the error code H OE19 will be recorded 7 Ifthe result 0 the zero flag will be On Program Example When X0 On obtain the ASIN value of binary floating point D1 DO and store the binary floating point result in D11 D10 X0 Hie oo T CS Binary floating point a er on Remarks ASIN value binary floating point For floating point operations see 5 3 Handling of Numeric Values 5 74 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 134 D ACOS P GS CDD Arc Cosine Type Bit Devices Word Devices Program Steps RE X Y M S F H KnX KnY KnM KnS T C DV Z DACOS DACOSP 6 steps z Operands S Source value binary floating point D ACOS result Explanations 1 See the specif
211. mbering and Functions of Counters C cceceeeeeeee ee eeeeeeeeeeeaeee Numbering and Functions of Registers D cceeeeeeeeee tees eeeeeeees o oan Oo 10 15 15 15 3 9 1 Data Register D aaa ese Gees ees Ges ees Geis D Ges des eds Ges es Ges ERIA 3 11 3 8 2 Index Registers V Z uee ee eee eter E eee ete e nett tenet ne E eees 3 12 3 9 Potter N Pointer P r avaccecece vets ege pete eta teresa tetas cet o e pete re tevt Eu 3 13 3 10 Special Auxiliary Relays M Special Data Register D 3 13 3 11 Functions of Special Auxiliary Relays and Special Registers 3 22 3 12 Special Registers for Manual Motion Mode cccececeeeeeeeeeeeeeeeees 3 32 3 12 1 Functions of Special Registers for Manual Motion Mode ssssss 3 33 3 12 2 Manual MOdes iie eR ME 3 48 3 12 3 Application Position amp Speed Control Registers for Manual Modes 3 49 Chapter 4 Basic Instructions 41 Basic Instr ctiofis s Mee enr exte 4 1 4 2 Explanations of Basic Instructions ssssseee 4 2 Chapter 5 Categories and Use of Basic Application Instructions RENE doR Idem O m 5 1 5 2 Composition of Application Instruction seseseseeee ee eeeaeeeee 5 3 5 3 Handling of Numeric Values oe edet e oen EE ERSTE Een eP ciepetedivatlaie belies 5 5 5 4 V Z Index Register Mo
212. more details 4 Index register V Z V is a 16 bit register and Z is a 32 bit register VO V7 ZO Z7 total 16 points 3 8 2 Index Registers V Z 16 bits Register V is a 16 bit data register and can be written and read V as a general register can only be used in 16 bit instructions 32 bits Z is a 32 bit data register Z as a general register can only be used in 32 bit instructions X0 When X0 On VO 8 Z1 14 If you need to use V and Z to modify the operand you can a mix use16 bit and 32 bit instructions see left The index register is the same as normal operands can be used for moving or comparison on word devices KnX KnY KnM KnS T C D and bit devices X Y M S It supports constant K H index register VO V7 Z0 Z7 total 16 point Some instructions do not support index registers For how to use index register V Z to modify the operands see Chapter 4 4 4 for more details When you use the instruction mode in PMSoft to generate constant K H index register function please use symbol For example MOVK10 VODOV1 When you use index register V Z to modify the operands the modification range CANNOT exceed the area of special purpose registers D1000 D1999 and special auxiliary relays M1000 M1999 in case errors may occur 3 12 DVP PM Application Manual 3 Functions of Devices in DVP PM 3 9 Pointer N Pointer Py N For master control loop NO N7 8
213. n if LSP or LSN is enabled the output will stop immediately If LSP is enabled the forward pulse will be forbidden and reverse pulse will be allowed If LSN is enabled the reverse pulse will be forbidden and forward pulse will be allowed 4 The pulse input generated by MPG is proportional to the electronic gearing D1858 D1938 D1859 D1939 X axis Y axis HW LW HW LW MPG Input Frequency D1861 D1860 D1941 D1940 The frequency of MPG input is not affected by the MPG electronic gearing ratio X axis Y axis HW LW HW LW Accumulated Number of MPG Input Pulses D1863 D1862 D1943 D1942 1 Accumulating the number of pulse from MPG input Forward pulses are accumulated by plus and reverse pulses are accumulated by minus 2 The accumulated value will not be affected by the electronic gearing ratio D1858 D1938 D1859 D1939 X axis Y axis HW LW HW D1864 LW Response Speed of MPG Input D1944 1 The faster the response speed the more synchronous the pulse output and MPG input 2 The slower the response speed the more possible the pulse output lags behind MPG input Set value Response speed 25 4ms default 4 32ms 3 108ms 2 256ms 1 or0 500ms 3 12 2 Manual Modes 1 There are 8 motion modes in DVP PM as a position module 1 Mechanical zero return 5 2 speed positioning 2 JOG
214. n if the contents of the operand are designated as bit devices K1 K3 or K4 K7 the vacant high bits will be regarded as 0 Therefore the operation is a positive value one MO H BIN kexa 0o You can choose any No for bit devices but please make the 1s place of X and Y 0 e g X0 X10 X20 YO Y10 and the 1s place of M and S 8 s multiple O is still the best choice e g MO M10 M20 8 The BCD value composed of X4 X13 will be converted to BIN value and sent to DO Designating continuous device No Take data register D for example continuous D refers to DO D1 D2 D3 D4 For bit devices with specifically designated digit continuous No refers to K1X0 K1X4 K1X10 K1X14 K2YO K2Y10 K2Y20 Y2X30 K3MO K3M12 K3M24 K3M36 K4S0 K4S16 K4S32 K4S48 Please follow the No in the table and do not skip No in case confusion may occur In addition if you use KAYO in the 32 bit operation the higher 16 bits will be regarded as 0 For 32 bit data please use K8YO The operations in DVP PM are conducted in BIN integers When the integer performs division e g 40 3 13 the remainder is 1 When the integer performs square root operations the decimal point will be left out Use decimal point operation instructions to obtain the decimal point Application instructions relevant to decimal point API 110 DECMP AP
215. n DRVZ in OX04 subroutine DMOV K200000 D1908 and set up relevant parameters for DRVZ DMOV 1100000 D1910 DRVZ M2 7 6 DVP PM Application Manual Application Examples 8 1 Draw the Trajectories Below by Using Motion Instructions and G Codes 110 000 100 000 90 000 80 000 70 000 60 000 50 000 Axis 40 000 30 000 20 000 10 000 10 000 60 000 60 000 40 000 20 000 0 20 000 40 000 60 000 80 000 100 000 120 000 AxisX Trajectory 1 1 ER M LR TUTTA TTL TEILT ue DIEA A DE Position Pulse Velocity Hz 40 000 20 000 20 000 40 000 60 000 AXISX Trajectory 2 DVP PM Application Manual 8 1 Application Examples 100 000 95 000 30 000 85 000 80 000 75 000 70 000 65 000 60 000 55 000 50 000 45 000 40 000 35 000 30 000 25 000 20 000 15 000 10 000 5 000 AxisY 5 000 10 000 15 000 60 000 40 000 20 000 0 20 000 40 000 60 000 Axisx Trajectory 3 1 28010004 Gestion Pulse Vabat 1 240 000 432 0 220 000 200 000 180 000 160 000 140 000 120 000 z 100 000 80 000 60 000 40 000 20 000 o 20 000 40 000 150 000 100 000 50 000 50 000 100 000 150 000 AxisX Trajectory 4 8 2 DVP PM Application Manual Application Examples 8 1 1 Design Procedure 1 Trajectory 1 Set up the absolute coordinates of the four points 20 20 60 20 60 100 and 20 100 Depart from 0 0
216. n PRSE Page 16 bit 32 bit Instruction 16 bit 32 bit 90 LDP Rising Edge Detection Operation 3 4 9 91 LDF Falling Edge Detection Operation 3 4 91 125 DLN Y Natural Logarithm of Binary Floating Point 6 5 62 126 DLOG Y Logarithm of Binary Floating Point 9 5 63 215 LD amp DLD amp S1 amp S2 5 7 5 80 216 LD DLD S1 S2 5 7 5 80 L 217 LD DLD S1 S2 5 7 5 80 224 LD DLD S1 S2 5 7 5 83 225 LD gt DLD gt S1 gt S2 5 7 5 83 226 LD lt DLD lt S1 lt S2 5 7 5 83 228 LD lt gt DLD lt gt 1282 5 7 5 83 229 LD DLD S1 lt S2 5 7 5 83 230 LD gt DLD gt 1282 5 7 5 83 12 MOV DMOV Y Move 5 6 5 21 22 MUL DMUL Y Multiplication 7 9 5 28 M 100 MODRD Read Modbus Data 7 5 44 101 MODWR Write Modbus Data 7 5 48 259 MMOV Y Magnifying Transfer with Sign Extension 6 5 89 N 29 NEG DNEG Y 2 s Complement Negative 3 3 5 35 94 ORP Rising Edge Parallel Connection 3 4 10 95 ORF E Falling Edge Parallel Connection 3 4 11 221 OR amp DOR amp S1 amp S2 5 7 5 82 222 OR DOR S1 S2 5 7 5 82 223 OR DOR S1 S2 5 7 5 82 O 240 OR DOR S1 S2 5 7 5 85 241 OR gt DOR gt S1 gt S2 5 7 5 85 242 OR lt DOR lt S1 lt S2 5 7 5 85 244 OR lt gt DOR lt gt S1 S2 5 7 5 85 245 OR lt DOR lt S1 lt S2 5 7 5 85 246 OR gt DOR gt S1 gt S2 5 7 5 85 89 PLS Rising Edge Output 3 4 11
217. n Y axis high word 6 18 DVP PM Application Manual 6 Motion Instructions and G Code Instructions MON Mnemonic Operands Function 2 Axis Synchronous Single Speed Interpolation 10 we XCPO Y F ignoring remaining distance OB Type Bit Devices Double Word Devices Notes K H D KK HH DD INTR instruction supports V Z index register P y s i i ii modification on the devices P 8 E 8 See specifications of DVP PM for the range of F use You can place an M Code instruction after INTR Operands P Target position of arc on X axis P2 Target position of arc on Y axis V Speed for 2 axis linear interpolation Explanations 1 Maximum V Vmax 2 Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 Acceleration deceleration time and bias speed can be set up in special D 4 Acceleration deceleration time increases or decreases in proportional to the setting of Vmax 5 Individual output on X Y axis Speed Tacco Toec Interpolation spega Target position Time Stat A S The interpolation speed is monitored by special registers D1850 D1851 for X axis D1930 D1931 for Y axis The functions of LIN and INTR are the same except that LIN can set up stop mode Target position is necessa
218. n in series connection EAM Seu OUT Y1 Driving Y1 coil Mnemonic Function ANDF Falling Edge Series Connection X0 X377 YO Y377 MO M4095 S0 81023 TO T255 C0 C255 D0 D9999 Operand v A v v Y v Explanations ANDF instruction is used in the series connection of the contacts falling edge detection Program Example Ladder diagram Instruction code Operation LD X0 Loading in A contact of X0 fi M ANDF X1 X1 falling edge detection in seri nnection i V C n2 alling edge detection in series connectio OUT Y1 Driving Y1 coil Mnemonic Function ORP Rising Edge Parallel Connection X0 X377 YO Y377 MO M4095 S0 S1023 TO T255 C0 C255 D0 D9999 Operand v A v v Y v a Explanations ORP instruction is used in the parallel connection of the contacts rising edge detection DVP PM Application Manual 4 Basic Instructions Program Example Ladder diagram Instruction code Operation X0 LD X0 Loading in A contact of X0 X1 ORP X1 X1 rising edge detection in parallel connection t OUT Y1 Driving Y1 coil Mnemonic Function ORF Falling Edge Parallel Connection X0 X377 YO Y377 MO M4095 S0 81023 TO T255 C0 C255 D0 D9999 Operand A v Y Y v Y z Explanations ORF instruction is used in the parallel connection of the contacts falling edge detection Program Example Operation Ladder diagram Instruction code
219. n of the target position P I varies according to the settings of b2 and b3 in D1816 D1896 X axis Y axis HW LW HW LW Operation Speed I V l D1841 D1840 D1921 D1920 Range 2 147 483 648 2 147 483 647 the unit is set by bO and b1 of D1816 D1896 Corresponding to pulse instruction 10 500KPPS If the speed is bigger than 500K the output will be in 500K if the speed is smaller than 10 the output will be in 10 Setup range limitation Vmax gt V I gt Veas When operating in variable speed b4 of D1846 D1926 1 the operation speed V I can be modified during the operation When the sign of V I is the motor will conduct forward running when the sign of V I is the motor will conduct reverse running X axis Y axis HW LW HW LW Target Position II P II D1843 D1842 D1923 D1922 Range 2 147 483 648 2 147 483 647 the unit is set by bO and b1 of D1816 D1896 Attribute of target position P Il e Absolute coordinate b12 of D1816 D1896 0 Starting from 0 when the target position P II gt current position DD1848 DD1928 the motor will conduct forward running When the target position P II lt current position the motor will conduct reverse running e Relative coordinate b12 of D1816 D1896 1 Calculating the distance created by the motor starting from the current position DD1848 DD1928 When the relative coo
220. nY KnM KnS T C D V Z AND 5 steps S DAND 7 steps So Operands S Data source device 1 S5 Data source device 2 Explanations 1 2 3 oN OD g See the specifications of DVP PM for its range of use amp AND instruction compares the content in S and S If the result is not 0 the instruction will be On If the result is 0 instruction will be Off ANDXZ is series connected to contacts API No Tip dm Rond On condition Off condition 218 AND amp DAND amp S4 amp S8 0 Si amp S2 0 219 AND DAND S 0 S amp S 0 220 AND DAND Si 7 S2 70 Si S2 0 amp Logical AND operation Logical OR operatioin Logical XOR operation When 32 bit counters C200 C255 are used in this instruction for operation please adopt 32 bit instruction DAND If 16 bit instruction AND is adopted program error will occur and the ERROR LED indicator on the panel of DVP PM will flash Program Example 1 2 3 When the result of logical AND operation of CO and C10 0 Y10 will be On When the result of logical OR operation of D10 and DO 0 and X1 Off Y11 will be On and held When X2 On and the result of logical XOR operation of 32 bit register D200 D201 and 32 bit register D100 D101 0 or M3 On M50 will be On X0 s D X1 DAND 4 D200 D100 DVP PM Application Ma
221. nY KnM KnS Z CMP CMPP 7steps 7 S 9 zr Frog m T DCMP DCMPP 9 steps S a SIE Eee x D A API No 2 Indication of if there is a 16 bit or 32 bit instruction If there is a 32 bit instruction the column will be marked with D 3 Mnemonic of the application instruction 4 Indication of if there is a pulse execution type instruction If there is a pulse instruction the column will be marked with P 5 Operands 6 Function of the application instruction 7 Steps occupied by the 16 bit 32 bit instruction Column marked with and in grey refers to V Z index register modification is applicable 9 Column marked with is the device applicable for the operand Device name 9 Device type Input of application instruction Some application instructions are only composed of the instruction such as BRET and SRET However most application instructions are composed of the instruction part and many operands The application instructions represented as API 00 API 260 for DVP PM and every application instruction has its own mnemonic e g the mnemonic of API 12 is MOV Therefore when using the ladder diagram editing software PMSoft to input API 12 into the program you simply need to enter MOV when using the hand held programming panel HPP03 to input API 12 into the program enter the API No 12 The different application instructions designate different operands Take MOV inst
222. nable OX subroutine in Slave Write CR 1 of Slave corresponding to D1501 in Slave to enable OX02 and execute CW instruction in Slave Write CR 2 of Slave corresponding to D1502 in Slave to enable OX subroutine in Slave Write CR 1 of Slave corresponding to D1501 in Slave to enable OX03 and execute CCW instruction in Slave Write CR 2 of Slave corresponding to D1502 in Slave to enable OX subroutine in Slave Write CR 1 of Slave corresponding to D1501 in Slave to enable OX03 and execute DRVZ instruction in Slave Write CR 2 of Slave corresponding to D1502 in Slave to enable OX subroutine in Slave 7 5 Use DVP PM As Slave When XO X4 Off write CR 1 of Slave corresponding to D1501 in Slave to disable OX subroutine in Slave Program in DVP PM Slave Instruction mode Operation O100 LD M1002 Place the initialized value in O100 main program DMOV KO D1848 Enable 0100 in Slave and clear the record of the DMOV KO D1928 current position of X Y axis as 0 M102 OX00 DRV X200000 FX100000 Y200000 FY100000 Place motion instruction DRV in OX00 subroutine M2 OX01 LIN X100000 Y100000 F200000 Place motion instruction LIN in OX01 subroutine M2 OX02 CW X0 Y100000 l0 J50000 F200000 Place motion instruction CW in OX02 subroutine M2 OX03 CCW X0 Y100000 l0 J50000 F200000 Place motion instruction CCW in OX03 subroutine M2 OX04 BRET DMOV K200000 D1828 DMOV K100000 D1830 Place motion instructio
223. nces from dropping in to ensure normal heat dissipation of the PLC Use 60 75 C copper conductor only The power input of DVP PM series is AC When operating it please make sure that 1 The input voltage should be current and its range should be 100 240V AC The power should be connected to L and N terminals Wiring AC110V or AC220V to 24V terminal or input terminal will result in serious damage on the PLC 2 The AC power input for PLC MPU and I O extension modules should be On or Off at the same time Use wires of 1 6mm or longer for the grounding of PLC MPU 4 The power shutdown of less than 10ms will not affect the operation of DVP PM However power shutdown time that is too long or the drop of power voltage will stop the operation of DVP PM and all outputs will go Off When the power supply turns normal again DVP PM will automatically return to its operation Please be aware of the latched auxiliary relays and registers inside DVP PM when programming DVP PM Application Manual 2 5 2 Hardware Specifications and Wiring AC power input 100 240VAC 0 5A is the maximum power supply for 24V power supply output terminal DO NOT connect other external power supplies to this terminal Every input terminal requires 6 7mA to be driven e g the 16 point input will require approximately 100mA Therefore 24V cannot give output to external load that is more than 400mA 2 2 3 Safety Wiring Since DVP PM
224. nd M2 will be On When XO Off ZCP instruction will not be executed and MO M1 and M2 will remain their status before XO Off X0 MO L wnhenK10 C10 MO On M1 When K10 C10 lt K100 M1 On M2 When C10 gt K100 M2 On 5 20 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 12 D MOV P GS CDD Move Type Bit Devices Word Devices Program Steps OP XI YIM S K H KnX KnY KnM KnS T C D V Z MOV MOVP 5 steps S e ES g 1 IDMOV DMOVP 6 steps D Operands S Source of data D Destination of data Explanations 1 MOV instruction supports V and Z When MOV is used as 16 bit instruction Z device cannot be adopted when MOV is used as 32 bit instruction V device cannot be adopted See the specification of DVP PM for its range of use When MOV instruction is executed the content in S will be moved directly to D When MOV is not executed the content in D will remain unchanged If the operational result refers to a 32 bit output e g application instruction MUL and so on you will have to use DMOV instruction to move the data Program Example 1 MOV instruction has to be adopted in the moving of 16 bit data a When XO Off the content in D10 will remain unchanged If XO On t
225. nd terminal is correctly grounded in order to prevent electromagnetic interferences 2 4 DVP PM Application Manual 2 2 1 Wiring How to install DIN rail DVP PM can be secured to a cabinet by using the DIN rail of 35mm in height and 7 5mm in depth When mounting PLC to DIN rail be sure to use the end bracket to stop any side to side movement of PLC and reduce the chance of wires being loosen A small retaining clip is at the bottom of PLC To secure DVP PM to DIN rail place the clip onto the rail and gently push it up To remove it pull the retaining clip down and gently remove DVP PM from the DIN rail shown in the figure the product 2 Hardware Specifications and Wiring SS 1 How to screw Please use M4 screws which fit the dimension of lt 2 Please install DVP PM in an enclosure with sufficient space around it to allow heat dissipation as shown in the figure m Wiring notes Below s Oa To suit M3 5 screw terminals Below 6 2 2 2 2 Power Input Wiring Use O type or Y type terminal See the figure in the right for its specification PLC terminal screws should be tightened to 5 8 kg cm 4 3 6 9 in Ibs DO NOT wire empty terminai DO NOT place the input signal cable and output power cable in the same wiring circuit DO NOT drop tiny metallic conductor into the PLC while screwing and wiring Tear off the sticker on the heat dissipation hole for preventing alien substa
226. ng the first scan when DVP PM starts to be AUTO and remains On afterward M1003 enables negative direction Off immediately when AUTO pulses DVP PM RUN 1 Ld M1000 i I I M1001 I M1002 M1003 gt k Scan time Function Group Monitor Timer Number D1000 Contents 1 The monitor timer is used for monitoring DVP PM scan time When the scan time exceeds the set time in the monitor timer the red ERROR LED indicator will keep beaconing and all outputs will be Off 2 Theinitial set value of the time in the monitor timer is 200ms If the program is too long or the operation is too complicated MOV instruction can be used for changing the set value See the example below for SV 300ms M1002 oH MOV K300 D1000 Initial pulse 3 The maximum set value in the monitor timer is 32 767ms Please be noted that if the SV is too big the timing of detecting operational errors will be delayed Therefore it is suggested that you remain the scan time of shorter than 200ms 4 Complicated instruction operations or too many extension modules being connected to DVP PM will result in the scan time being too long Check D1010 D1012 to see if the scan time exceeds the SV in D1000 If so modify the SV in D1000 Function Group Communication Port Function Number M1120 M1138 M1139 M1143 D1036 D1120 Content COM ports COM1 RS 232 COM2 RS232 RS 485 RS 422 in DVP PM support Modbus ASCII R
227. nge of n 16 bit 1 500 m2 32 bit 1 500 m2 2 4 FROM instruction supports V and Z When FROM is used as 16 bit instruction Z device cannot be adopted when FROM is used as 32 bit instruction V device cannot be adopted FROM instruction is used for reading the data in the CR in special modules See Remarks of API 79 TO for the numbering of special modules Program Example 1 Read CR 29 of special module No 0 into DO and CR 30 into D1 Only 2 groups of data are read at a time n 2 2 When X0 On the instruction will be executed When XO Off the instruction will not be executed and the data read will not be changed X0 Hp Tes 9 T9 5 40 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 79 D TO P m ma CS Cn Write CR Data into Special Modules Type Bit Devices Word Devices Program Steps OP X Y M S KH KnXiKnY KnMKnS T C D V Z TO TOP 9 steps m ys IDTO DTOP 17 steps Mo S Ww n Operands m No of special module m CR in special module to be written S Data to be written in CR n Number of data to be written at a time Explanations 1 2 3 Range of m 16 bit and 32 bit 0 255 Range of m 16 bit and 32 bit 0 499 Range of n 16 bit 1 500 m2 32
228. nit D1816 D1896 Parameter setting D1823 D1822 D1903 D1902 Maximum speed Vmax D1825 D1824 D1905 D1904 Bias speed Vaiss D1827 D1826 D1907 D1906 JOG speed Vuoa E E z D1829 D1828 D1909 D1908 Zero return speed Vnr Zero return deceleration D1831 D1830 D1911 D1910 speed Ver Number of PGO signals in 7 7 D1832 D1912 zero return N Number of pulse signals in D1833 pists zero return P D1835 D1834 D1915 D1914 Definition of zero point HP D1836 D1916 Acceleration time Tacc D1837 D1917 Deceleration time Tpec D1839 D1838 D1919 D1918 Target position l P I g D1841 D1840 D1921 D1920 Operation speed I V 1 D1843 D1842 D1923 D1922 Target position II P II D1845 D1844 D1925 D1924 Operation speed Il V II D1846 D1926 Operation instruction D1847 D1927 Work mode D1849 D1848 D1929 D1928 Current position CP PLS DVP PM Application Manual 3 49 3 Functions of Devices in DVP PM Operation Mode Registers for the Motion cO ootc D oc E E oc oceo 2 o 5 Parameter Name m AS oe
229. nual 5 81 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 2 D OR CD G2 Contact Logical operation OR Type Bit Devices Word Devices Program Steps OP X Y M S K H KnX KnY KnMi KnS T C D V Z OR 5 steps S DOR 7 steps So Operands S Data source device 1 Explanations S5 Data source device 2 1 See the specifications of DVP PM for its range of use 2 amp 3 OR instruction compares the content in S and S If the result is not 0 the instruction will be On If the result is 0 instruction will be Off 4 OR is parallel connected to contacts API No et Reet On condition Off condition 221 OR amp DOR amp Si amp S 0 1 amp Se 222 OR DOR S S2 0 S S 223 OR DOR Si 8 0 1 S2 5 amp Logical AND operation 6 Logical OR operatioin 7 Logical XOR operation 8 When 32 bit counters C200 C255 are used in this instruction for operation please adopt 32 bit instruction DOR If 16 bit instruction OR is adopted program error will occur and the ERROR LED indicator on the panel of DVP PM will flash Program Example 1 When X1 On or the result of logical AND operation of CO and C10 0 YO will be On 2 M60 will be On when X2 On
230. o add a decimal point when using it 3 Only 32 bit instructions DTANH and DTANHP are applicable 4 Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809 M1889 M1969 Carry flag M1810 M1890 M1970 See below for more information 5 TANH value e e e e Program Example 1 When X0 On obtain the TANH value of binary floating point D1 DO and store the binary floating point result D11 D10 XO t DTANH Do CS i Bat dio 359 Binary floating point TANH value CD binary floating point 2 If the absolute value of the result gt maximum floating point available the carry flag will be On If the absolute value of the result minimum floating point available the borrow flag will be On 4 Ifthe result 0 the zero flag will be On Remarks For floating point operations see 5 3 Handling of Numeric Values DVP PM Application Manual 5 79 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function p D LD CD G2 Contact Logical Operation LD Type Bit Devices Word Devices Program Steps oP X Y M S K H KnX KnY KnM KnS C D V_ Z LD 5 steps 1 DLD 7 steps So Operands S Data source device 1 S Data source device 2 Explanations 1 2 3 oo iS oc See the specifications
231. o return on X Y axes D1848 D1928 X Y axes move to 200000 200000 by 100KHz Clear the current position of X axis as 0 Clear the current position of Y axis as 0 Y calls PO subroutine End of OX0 motion subroutine 8 8 DVP PM Application Manual Application Examples 2 O100 M102 Main program control O100 main program controls whether to enable OXO subroutine When XO condition contact for enabling OX0 and M1792 flag deciding whether OX is ready in the program are On OXO subroutine will be enabled You can further place other operations in the main program Ladder diagram Operations au 792 M1074 When OX is ready M1792 On prepare to enable OXO motion subroutine Enable OX0 motion subroutine It can execute other operations It can execute other operations It can execute other operations 3 P255 SRET Generation of the 3 axis Z control signals When we use GO and G1 G Code in given in Chapter 6 for the target position on Z axis the generated value in D1328 will decide the On Off status of Y7 which will further give signals for DVP EH series MPU to lift or release the pen i e up down movement of Z axis When Z operand appears in the G Code NC Code instruction in PO subroutine P255 subroutine will be enabled automatically For more details please refer to GO and G1 instructions in Chapter 6 Ladder diagram Operations Start of P255 subrou
232. of the program When the contact before CJN is Off the execution will jump to where the designated P is When you do not want to execute a particular part of O100 main program in order to shorten the scan time and execute dual outputs CJN instruction or CJNP instruction can be adopted When the program designated by pointer P is prior to CJN instruction WDT time out will occur and O100 main program will stop running Please use it carefully CJN instruction can designate the same pointer P repeatedly However CJN and CALL cannot designate the same pointer P otherwise errors may occur Actions of all devices while the negated conditional jump is being executed a Y Mand S remain their previous status before the jumping takes place b The 10ms timer which is executing stops c General purpose counter will stop counting and general application instruction will not be executed d If the reset instruction of the timer is executed before the jumping the device will be in the reset status while the jumping is being executed Program Example 1 1 When X0 On the program will automatically jump from address 0 to N the designated label P1 and keep its execution The addresses between 0 and N will not be executed When X0 On as an ordinary program the program will keep on executing from address 0 CJN instruction will not be executed at this time CJN instruction 5 86 DVP PM Application Instruction 5 Categories
233. oller will start to operate at variable speed V I and DVP PM will start to send out pulses The action The operation speed will be stable from VBIAS accelerating to the expected V I During the pulse output you can modify V I and the pulse output from DVP PM will accelerate or decelerate according to the modification At this point the external STOP input contact cannot stop the pulse output from DVP PM To stop the pulse output you have to control the software STOP flag b0 of D1846 D1926 1 by the operation instruction e Action diagram Tacc i i Toec 4 amp Speed gt Time Start Stop KR 6 b5 of D1846 D1926 manual pulse generator MPG input b 5 t enabling MPG input See D1858 D1864 D1938 D1944 for more details 7 b6 of D1846 D1926 enabling zero return mode b 6 01 starting zero return The motions of zero return vary depending on different current positions CP Zero return route 3 42 DVP PM Application Manual 3 Functions of Devices in DVP PM Direction of Hardware polarity switch Zero return Hardware d switch N NY CP 1 Starting from position 1 to the right of zero and DOG DOG Off CP 2 Starting from position 2 to the right of zero DOG On CP 3 Starting from position 3 to the left of zero and DOG DOG Off LSN Off CP 4 Starting from position 4 to the left of zero and DOG DOG Off LSN On 8 b8 of D1846 D1926 en
234. olute value of the result gt maximum floating point available the carry flag will be On 9 If the absolute value of the result lt minimum floating point available the borrow flag will be On 10 If the result 0 the zero flag will be On Program Example 1 When X0 On binary floating point D1 DO binary floating point D3 D2 and the result will be stored in D11 D10 X0 Li oes oo oe ovo Program Example 2 When X2 On F1234 0 automatically converted into binary floating point binary floating point D1 DO and the result will be stored in D11 D10 X2 Remarks For floating point operations see 5 3 Handling of Numeric Values 5 58 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 122 D EMUL P GD G2 CDD Floating Point Multiplication Type Bit Devices Word Devices Program Steps DP X Y M S F H KnX KnY KnM KnS T C D V Z IDEMUL DEMULP 9 steps Si So D Operands S4 Multiplicand S Multiplicator D Product Explanations 1 See the specifications of DVP PM for its range of use 2 Frefers to floating point input Be sure to add a decimal point when using it 3 Only 32 bit instructions DEMUL and DEMULP are applicable 4 Flags OX OY O100 Zero flag M1808 M1888 M1968 Borrow flag M1809
235. omatically converts the ASCII data in D1070 0 R NO 0 D1055 D1085 into hex data Process of data for Modbus communication instruction D1070 when the RS 485 communication instruction built in in DVP PM sent out is received the response message will be 0 R NO 0 D1085 Stored in D1070 D1085 You can view the response messages by checking these registers Process of data for Modbus communication instruction D1089 When the RS 485 communication instruction built in in l DVP PM is executed the words of the instruction will be 0 z k R NO 0 D1099 Stored in D1089 D1099 You can check whether the instruction is correct by the contents in these registers D1120 COM2 RS 485 communication protocol H 86 s RAN NO H 86 3 23 D1121 DVP PM communication address latched a R W YES 1 D1122 Remaining number of words of sent data 0 0 R NO 0 D1123 Remaining number of words of received data 0 0 R NO 0 D1129 Abnormal communication time out ms 0 s 2 RAN NO 0 D1130 Error code returning from Modbus 0 0 R NO 0 D1140 Number of right side special extension modules max 8 0 z R NO 0 3 27 D1142 Number of points X in digital extension unit 0 R NO 0 3 27 D1143 Number of points Y in digital extension unit 0 z 2 R NO 0 3 27 D1200 Start latched address for auxiliary relays M R W YES 500 3 27 D1201 End latched address for auxiliary relays M z R W YES 999 3 27 D1202 Start latched address
236. on B contact X Y M S T C 3 3 3 4 4 ANB Series connection loop blocks N A 2 3 3 4 5 ORB Parallel connection loop blocks N A 2 3 3 4 5 Output Instructions oed Function Operands PUE d Step d OUT Output coil YM S 7 3 3 4 6 SET Latched On Y M S 5 6 3 4 6 RST Clear the contact or register Y M S T C D V Z 6 9 3 4 7 Timers Counters API Pa Function Operands eae fae Step d 96 TMR 16 bit timer T K or T D 19 5 4 7 97 CNT 16 bit counter C K or C D 16 bits 16 5 4 8 97 DONT 32 bit counter C K or C D 32 bits 16 5 6 4 8 Instructions for Detecting Contacts of Rising Falling Edge API ee Function Operands Spes Speer Step a 90 LDP tha detection X Y M S T C 12 3 3 4 9 91 LDF P detection x Y M S T C 12 3 3 4 9 92 ANDP Re ES X Y M S T C 12 3 3 4 10 93 ANDF ri X Y M S T C 12 3 3 4 10 94 ORP DENEA n paralel X Y M S T C 12 6 3 4 10 95 ORF eee X Y M S T C 12 6 3 4 11 Rising Falling Edge Output Instruction DVP PM Application Manual 4 1 4 Basic Instructions Instruction Execution speed Page API deum Function Operands us Step Dor 89 PLS Rising edge output Y M 20 7 3 4 11 99 PLF Falling edge output Y M 20 9 3 4 12 Other Instructions Instruction Execution speed Page API EARS Function Operands us Step DET NOP No operation N A 1 9 3 4 12 Pointer PO P255 1 4 13 O Subroutine pointer O100 OX0 OX99 1 4 13 MO
237. on time out 100ms Set up as RTU mode Retain communication protocol XO t SET M1122 Set up sending request X0 Set up communication instruction device address 01 data address H2102 data length 2 words pomo e reed ve P f ived dat The received data in hex are stored in rocess of received data D1070 D1085 pid Sending ivi f data i leted M ending receiving of data is completed receiving M1127 The flag is reset completed DVP PM gt VFD S DVP PM sends 01 03 2102 0002 6F F7 VFD S gt DVP PM DVP PM receives 01 03 04 1770 0000 FE 5C Registers for sent data sending messages Register DATA Explanation D1089 low 01H Address D1090 low 03 H Function D1091 low 21H Starting Data Address D1092 low 02 H D1093 low 00 H Number of Data counted by words D1094 low 02 H D1095 low 6F H CRC CHK Low D1096 low F7 H CRC CHK High Registers for received data responding messages Register DATA Explanation D1070 low 01H Address D1071 low 03 H Function D1072 low 04 H Number of Data counted by byte ML rm Content in address 2102 H D1074 low 70 H zoe eds Content in address 2103 H D1076 low 00 H D1077 low FE H CRC CHK Low D1078 low 5C H CRC CHK High 5 46 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions Program Example 3 1 In the communication between DVP PM and V
238. ondition 3 M1002 MOV D1824 MOVP D1846 DMOVP K20000 D1840 5 8 14 Operations Set up the bias speed of X axis Vaias Set up the acceleration time of X axis Tacc Set up the deceleration time of X axis Tpgc Clear the current position of X axis as 0 Set up the moving distances of all segments for X axis Set up the operation speed for the 1 segment on X axis X7 On the software enables the motion instruction single speed of X axis and starts to count preparing for switching to the D segment TO On modify the operation speed into 20 000Hz and start to count preparing for switching to the 3 segment T1 On modify the operation speed into 9 000Hz and start to count preparing for switching to the 4 segment T2 On modify the operation speed into 18 000Hz and start to count preparing for switching to the 5 segment T2 On modify the operation speed into 7 000Hz The output executes until the end of the entire route DVP PM Application Manual Application Examples 8 4 How to Connect DVP PM as Master and DVP01PU H2 as Slave for 3 Axis Control The operation 1 Enable O100 and execute OXO 2 Wen the execution encounters G01 Z 25000 F10000 in OXO subroutine the program will call P255 3 When in P255 and D1328 lt 0 execute DVP01PU H2 with target position K1 000 and operation speed K10 000 4 Return to OXO after the execution of P
239. ortional to the setting of Vmax 2 axis synchronous interpolation Target point R A P Pa Target point P P3 i R Center Center Starting point Starting point a current position current position CCW Counterclockwise Operation CW Clockwise Operation The 16 bit parameter devices and 32 bit parameter devices can be used together Target position is necessary and moving speed is not necessary There are 6 parameter combinations for CW CCW instruction NO Instruction Parameter combination XCPO RCL xD RCLD FCVD cwicow Y RGD Yd RCLD F XCP D YCP2D RCL XCPO YCP2 RGD FCVD If you set up the target position on the axis without setting up the moving speed the operation will run at Vmax o o1 2 0 mj Program Example 1 Set the program in absolute coordinate using CW clockwise arc instruction target position of arc as 10000 DVP PM Application Manual 6 11 6 Motion Instructions amp G Code Instructions 10000 radius 500 radian lt 180 and speed at 1 000 pulses per second b Target point absolute position Operation speed 10000 10000 t Radius R t 5 000 arc radius compensation 5 000 E E 700777 Center Starting point current position 5000 5000 5 000 10 000 The program should be written as ABS CW XK10000 YK10000 RK5000 FK1000 2 Forhow to set up arc radius compensation
240. os a p a 16 bit instruction when n 2 6 32 bit instruction whenn 23 FROM TO Application Example 1 Adjust the A D conversion curve of DVPO4AD H2 Set the OFFSET value of CH1 as OV KOisg and GAIN value as 2 5V K2 000 sg M1002 1 Write H O into CR 1 of analog input module No 0 and set CH1 as mode 0 voltage input 10V 10V Write H 0 into CR 33 and allow OFFSET GAIN tuning in CH1 CH4 When XO goes from Off to On write the OFFSET value KO ss into CR 18 and GAIN value K2 000 sg into CR 24 FROM TO Application Example 2 Adjust the A D conversion curve of DVPO4AD H2 Set the OFFSET value of CH2 as 2mA K400 sg and GAIN value as 18mA K3 600 sg M1002 1 Write H 18 into CR 1 of analog input module No 0 and set CH2 as mode 3 current input 20mA 20mA 2 Write H O into CR 33 and allow OFFSET GAIN tuning in CH1 CH4 3 When XO goes from Off to On write the OFFSET value K400 sg into CR 19 and the GAIN value K3 600 sg into CR 25 5 42 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions FROM TO Application Example 3 Adjust the D A conversion curve of DVP02DA H2 Set the OFFSET value of CH2 as OmA K0 sg and GAIN value as 10mA K1 000 sg M1002 1 Write H 18 into CR 1 of analog output module No 1 and set CH2 as mode 3 current output OMA 20mA 2 Write H 0 into CR 33 and allowe OFFSET GAIN tuning in CH1 and CH2 3 When
241. outine ends instruction E MOV H8000 D1868 SetOXas OXO o Sc SET M1074 Enable OX0 motion subroutine 2 5 fe c on A M1000 S CALL P2 Call P2 subroutine D P1 P1subroutine Ze O 25 3 aE o SRET Motion subroutine ends instruction o OX3 Start flag of OX3 motion subroutine ie Es o o 38 f ems e l a M2 Motion instruction ends instruction PO PO subroutine o se MOV H8003 D1868 SetOX as OX3 saj o 35 5 23 SET M1074 Enable OX3 motion subroutine 77 SRET Motion subroutine ends instruction DVP PM Application Manual 1 7 1 Program Structure of DVP PM 1 8 Explanations on the program design 1 The compiling sequence is from 1 to 5 but there is not a rule for the sequence of how and where you place them 2 There can only be one 0100 main program 2 and it cannot be called by other programs 0100 can call OX motion subroutines and Pn subroutines motion subroutine Note 3 OX motion subroutine can be called by O100 main program and Pn subroutine and it can also call a Pn subroutine 4 Pn subroutine can be called by O100 main program and OX motion subroutine and it can also call a OX 1 More then two OX motion subroutines cannot be executed at the same time Therefore when OXO motion subroutine is executed OX3 will not be able to work and vice versa 2 Once O100 main program or Pn subroutine enables an OX motion subroutine it will continue to execute
242. p communication protocol MOV H87 D1120 9 600 8 E 1 M1120 Retain communication protocol K100 D1129 SET M1143 Set up as RTU mode SET m1143 t SET Mi 122 Set up sending request X0 Set up communication time out 100ms Set up communication instruction device address 01 k MODWR H2000 H12 data address H2000 write in data H12 7 The received data in hex are stored in 4 Process of received data p4 070 D1085 uid Sending receiving of data is completed receiving M1127 The flag is reset completed DVP PM gt VFD S DVP PM sends 01 06 2000 0012 02 07 VFD S gt DVP PM DVP PM receives 01 06 2000 0012 02 07 Registers for sent data sending messages Register DATA Explanation D1089 low 01H Address D1090 low 06 H Function D1091 I 20H ad Data Address D1092 low 00 H D1093 low 00 H Data content D1094 low 12H D1095 low 02 H CRC CHK Low D1096 low 07 H CRC CHK High Registers for received data responding messages Register DATA Explanation D1070 low 01 H Address D1071 low 06 H Function D1072 low 20 H Data Address D1073 low 00 H D1074 low 00 H Data content D1075 low 12H D1076 low 02 H CRC CHK Low D1077 low 07 H CRC CHK High Program Example 3 1 In the communication between DVP PM and VFD S series AC motor drive ASCII mode M1143 Off retry when communication time out data receiv
243. parts the mnemonic and operand Mnemonic Function of the instruction Function For which axis Operand Parameter Parameter value Function part in the operand must not be ignored Parameter part in the operand can be represented as follows 1 Enter numeral 32 bit register DD The operand parameters are all in 32 bits For example DRV X1000 FX1000 Y1000 FYDD1000 2 Enter K H D numeral The operand parameters are all in 16 bits For example DRV XK1000 FXH1000 YK1000 FYD1000 3 Enter numeral The operand parameters can be 16 bits or 32 bits For example DRV X1000 FXH1000 YK1000 FY1000 Program steps occupied by motion instruction Mnemonic 1 step Operand parameter with only numeral 3 steps per operand Operand parameter with K H D DD numeral 2 steps per operand Operand parameter with KK HH numeral 3 steps per operand Format of a motion instruction 0 QOO vy Y MON Mnemonic i Operands Function 00 DRV XCPD FXCV YCPD FYD High Speed Positioning Type Bit Devices Double Word Devices Notes ORE ordnen dedii 4t 8 V ii aaa of DVP PM for the range of 5 4 n You can place an M Code instruction after RADC on D MON motion No 2 Mnemonic 3 Operand function for which axis 4 Operand parameter parameter value 5 Function of the MON instruct
244. pensation value of X axis center low word D1711 Compensation value of X axis center high word D1726 Compensation value of Y axis center low word D1727 Compensation value of Y axis center high word DVP PM Application Manual 6 25 6 Motion Instructions amp G Code Instructions MON Mnemonic Operands Function 15 RADC RCL Arc Radius Compensation Type Bit Devices Double Word Devices Notes PE K H D KK HH DD RADC instruction supports V Z index register L 4 z 9 y i modification on the devices See specifications of DVP PM for the range of use You can place an M Code instruction after RADC Operands L Compensation of arc radius on X Y axis Explanations 1 When RADO instruction is executed the set compensation will be written automatically into special registers D1712 D1713 The arc radius compensation can be adopted in CW and CCW instructions Write the compensation value into the compensation register and execute arc instructions and the compensation will be executed 4 Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 5 The 16 bit parameter devices and 32 bit parameter devices can be used together Remarks Relevant special registers D1712 Compensation radius of X axis arc low word D1713 Compensation radius of X
245. perands Function 22 bD wu P G2 GD Multiplication Type Bit Devices Word Devices Program Steps OF X Y M S K H KnX IKnYKnM KnS T C D V Z MUL MULP 7 steps S RR PEST RAT E DMUL DMULP 9 steps S D Operands S4 Multiplicand S Multiplicator D Product Explanations 1 MUL instruction supports V and Z When SUB is used as 16 bit instruction Z device cannot be adopted when MUL is used as 32 bit instruction V device cannot be adopted See the specifications of DVP PM for its range of use MUL instruction multiplies S by S in BIN format and stores the result in D Be careful with the positive negative sign of S4 S and D when doing 16 bit and 32 bit operations In 16 bit BIN multiplication CS CS 1 ik eee eee BOs Bibounudtsta bO bS12ssss bil6 b15 ducis bO b15 is a sign bit b15 is a sign bit b31 is a sign bit i e b15 of D 1 Sign bit 0 refers to a positive value Sign bit 1 refers to a negative value In 32 bit BIN multiplication G Got CDD 3 CDD 1 CDD ccce acera ees b31 b16 b15 b0 b31 b16 b15 b0 b63 b48 b47 b32 b31 b16 b15 b0 x b31 is a sign bit b31 is a sign bit b63 is a sign bit i e b15 of D 3 Sign bit 0 refers to a positive value Sign bit 1 refers to a negative value Program Example The 16 bit DO is multiplied by the 16 bit D10 and brings forth a 32 bit product
246. peration speed I V I 42 147 483 647 1 K1000 3 41 M 2 147 483 648 D1843 D1842 D1923 D1922 Target position II P II 42 147 483 647 1 KO 3 41 D1845 D1844 D1925 D1924 Operation speed II V II 0 2 147 483 647 1 K2 000 3 41 D1846 D1926 Operation instruction bO b15 HO 3 42 D1847 D1927 Work mode b0 b15 HO 3 45 T 2 147 483 648 D1849 D1848 D1929 D1928 Current position CP PLS 12 147 483 647 1 KO 3 46 D1851 D1850 D1931 D1930 Current speed CS PPS 0 2 147 483 647 PPS KO 3 46 Current position CP unit 2 147 483 648 D1853 D1852 D1933 D1932 2 12 147 483 647 1 KO 3 47 D1855 D1854 D1935 D1934 Current speed CS unit 2 0 2 147 483 647 PPS KO 3 47 D1856 D1936 Execution status bO b15 HO 3 47 D1857 D1937 Error code See the error code table HO 3 47 D1858 D1938 Electronic gear numerator 1 32 767 K1 3 47 Electronic gear D1859 D1939 denominator 1 432 767 K1 3 47 D1861 D1860 D1941 D1940 MPG input frequency nie frequency by MB ias 3 48 Accumulated number of Number of input pulses D1863 D1862 D1943 D1942 MPG input pulses from MPG KO 3 48 D1864 D1944 Response speed of MPG Response speed of MPG K5 3 48 input input DVP PM Application Manual 9 1 9 Appendix Operation Mode Registers for the Motion Parameter Name X axis Y axis JOG Zero return Single speed positioning Single speed positioning interruption 2 speed positioning 2 speed
247. please refer to MON 15 RADC The arc movement cannot reach 360 Combination of parameters The instructions below can also adopt indirect set value and are legal CW XK123 YDD10 RKK450000 FKK50000 CCW XHAABB R350000 F400000 V5 6 12 DVP PM Application Manual 6 Motion Instructions and G Code Instructions MON Mnemonic Operands Function 06 TIM Pause Time Op Type Bit Devices Double Word Devices Notes K H D KK HH DD TIM instruction supports V Z index register T x s j y x modification on the devices See the specifications of DVP PM for the range of use You can place an M Code instruction after DRV Operands T Pause time unit 10ms gt K100 refers to pausing for 1 second Explanations 1 TIM instruction is used for setting up the pause time between instruction and instruction Time ET TIM 2 Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 Program Example The program should be written as follow OX0 TIM K100 Pausing for 1 second DVP PM Application Manual 6 13 6 Motion Instructions amp G Code Instructions MON Mnemonic Operands Function 07 DRVZ N A Return to Mechanical Zero Point Zero Return Explanations 1 You can place an M Code instruction after DRVZ 2 Before enabling DRVZ you have to
248. plication instructions please avoid pulse type instructions Quantity The program can only contain 256 Pn subroutines 1 Ageneral purpose subroutine 2 For O100 main program and OX motion subroutine to call a subroutine Features amp functions 3 The three sequences can be piled freely when used with O100 main program and OX motion subroutine 1 4 Structure of O100 OX and Pn Program Design O100 main program OX motion subroutine and Pn subroutine are introduced in 1 1 1 3 In this section we will further illustrate how to mix the structures of the three and how to design it 1 4 4 The Program Structure Assume we would like to design a O100 main program OXO motion subroutine P1 subroutine and P2 subroutine 5 program sections please follow the design procedure as the follow 1 6 DVP PM Application Manual 1 Program Structure of DVP PM 0100 main program Call OXO OXO0 motion subroutine Call P1 P1 subroutine SRET OX3 motion subroutine To explain the example in an easier way the program design will be given in section 1 5 as shown below c OXO0 Start flag of OXO motion subroutine E ES M1000 33 CABE PA Call P1 subroutine 1 o S 7 M2 Motion subr
249. points Control point of master control loop Pointer P For CJ CJN JMP instructions PO P255 256 points Position pointer of CJ CJN JMP Pointer P Used with API 00 CJ API 256 CJN and API 257 JMP See Chapter 5 for explanations on CJ CJN and JMP instructions for more details CJ conditional jump ft a When X0 On the program will jump from address 0 to N 2 N designated label P1 and keep on the execution The I Cn 5 addresses in the middle will be ignored When XO Off the program will execute from address 0 and x2 keep on executing At this time CJ instruction will not be 2 I C v executed 3 10 Special Auxiliary Relays M Special Data Register D The types and functions of special auxiliary relays special M and special data register special D are listed in the ket tables below Special M and special D marked with will be further illustrated in 3 11 Columns marked with R refers to read only R W refers to read and write refers to the status remains unchanged and refers to the system will set it up according to the status of DVP PM EMI Off MANU AUTO peria Function g u g Attribute Latched Default Peg M number On AUTO MANU M1000 A normally open contact A Normally On when in Off On Off R NO Off 3 22 M1001 ee normally closed contact B Normally Off when in On
250. r D1799 Contents Set bit to be On to make the polarity of the input terminal as contact A Set bit to be Off to make the polarity of the input terminal as contact B bit Polarity of input terminal on X axis bit Polarity of input terminal on Y axis 0 PGO 8 PGO 1 MPGB 9 MPGB 2 MPGA 10 MPGA 3 LSN 11 LSN 4 LSP 12 LSP 5 DOG 13 DOG 6 STOP 14 STOP 7 START 15 START Function Group Reading the Status of Input Terminal Number D1800 Contents bit On indicates there is signal input bit Off indicates there is no signal input bit Input terminal status on X axis bit Input terminal status on Y axis 0 PGO 8 PGO 1 MPGB 9 MPGB 2 MPGA 10 MPGA 3 LSN 11 LSN 4 LSP 12 LSP 5 DOG 13 DOG 6 STOP 14 STOP 7 START 15 START 3 28 DVP PM Application Manual 3 Functions of Devices in DVP PM Function Group Error Check on 0100 Number M1953 D1802 D1803 Contents 1 When errors occur in O100 program the error flag in 0100 M1953 will be set On and the error message will be D1802 The STEP where the error occurs will be stored in D1803 2 See the table of error messages in Appendix C of Chapter 9 Function Group Parameter Settings on X Y Axis Number D1816 D1896 Contents D1816 is the parameter setting for X axis and D1896 for Y axis See the tables below
251. rd D1836 Acceleration time of X axis Tacc D1837 Deceleration time of X axis Tpec DVP PM Application Manual 6 21 6 Motion Instructions amp G Code Instructions MON Mnemonic Operands Function 12 DINTR XCPD FAD FOD Inserting 2 Speed Operation YCP2 FWD FCV2 OR Type Bit Devices Double Word Devices Notes K H D KK HH DD DINTR instruction supports V Z index register P4 5 j i A modification on the devices P See specifications of DVP PM for the range of use Ni n 5 F 5 n You can place an M Code instruction after DINTR 2 Operands P4 Additional distance on X axis P2 Additional distance on Y axis V4 The first speed V2 The second speed Explanations 1 e Oho Maximum V4 V2 Vmax The first operand in DINTR can be inserting 2 speed positioning on X axis or Y axis Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 Acceleration deceleration time and bias speed can be set up in special D Acceleration deceleration time increases or decreases in proportional to the setting of Vmax The 16 bit parameter devices and 32 bit parameter devices can be used together The operation Speed Tace TDEC JEU 000000000 Second speed V II Start 4 DOG
252. rdinate is a positive value the motor will conduct forward running When the relative coordinate is a negative value the motor will conduct reverse running The data multiplication of the target position P II varies according to the settings of b2 and b3 in D1816 D1896 X axis Y axis HW LW HW LW Operation Speed Il V II D1845 D1844 D1925 D1924 Range 2 147 483 648 2 147 483 647 the unit is set by bO and b1 of D1816 D1896 Corresponding to pulse instruction 10 500KPPS If the speed is bigger than 500K the output will be in 500K if the speed is smaller than 10 the output will be in 10 Setup range limitation Vmax gt VII gt Vgias DVP PM Application Manual 3 41 3 Functions of Devices in DVP PM X axis Y axis HW LW HW LW Operation Instruction D1846 D1926 1 bO of D1846 D1926 software STOP e Action timing 01 The function is the same as external input force STOP The positioning controller will decelerate and stop positioning 2 b1 of D1846 D1926 software START b 1 2 051 The operation starts and operates according to the settings of D1846 D1926 3 b2 of D1846 D1926 enabling JOG b 2 1 JOG sends out forward pulses CW 4 b3 of D1846 D1926 enabling JOG b 3 1 JOG sends out reverse pulses CCW 5 b4 of D1846 D1926 variable speed operation When b 4 is triggered and START On the positioning contr
253. re API 101 MODWR Function Code H 06 H 10 cannot use rising edge contacts LDP ANDP ORP and falling edge contacts LDF ANDF ORF and have to enable sending request M1122 first 2 There is no limitation on the times of using this instruction in the program but only one instruction is allowed to be executed at a time 5 52 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 110 D ECMP P CD GD CDD Floating Point Compare Type Bit Devices Word Devices Program Steps OF X Y M S F H KnX KnY KnM KnS T C D V Z DECMP DECMPP 9 steps S So D Operands S Binary floating point comparison value 1 S2 Binary floating point comparison value 2 D Comparison result Explanations 1 2 3 4 5 See the specifications of DVP PM for its range of use Only 32 bit instructions DECMP and DECMPP are applicable D occupies 3 consecutive devices F refers to floating point input Be sure to add a decimal point when using it The binary floating point values S4 and S are compared with each other The comparison result gt lt is stored in D If 4 or S is a designated floating point F the instruction will compare in binary floating point Program Example 1 Designate device M10 and M10 M12 will be occupied automatically 2 When X0
254. register D 1 D of smaller No is for lower 16 bits The highest bit is or sign and it can store a 32 bit datum of values between 2 147 483 648 2 147 483 647 DVP PM Application Manual 3 11 3 Functions of Devices in DVP PM General purpose DO D199 200 points can be modified into latched area by setting up parameters Data register Latched D200 D999 D3000 D9999 7 800 points can be modified into Total 10 000 D non latched area by setting up parameters points Special purpose D1000 D2999 2 000 points some are latched Index register V Z VO V7 ZO Z7 16 points File register KO K9 999 MPU 10 000 points fixed as latched 10 000 points There are five types of registers 1 General purpose register When DVP PM goes from AUTO to MANU or the power is switched off the data in the register will be cleared to 0 When M1033 On and DVP PM goes from AUTO to MANU the data will not be cleared but will still be cleared to 0 when the power is Off 2 Latched register When the power of DVP PM is switched off the data in the register will not be cleared but will retain at the value before the power if off You can use RST or ZRST instruction to clear the data in the latched register 3 Special purpose register Every register of this kind has its special definition and purpose mainly for storing the system status error messages and monitored status See 3 10 and 3 11 for
255. res the result in D The highest bit is sign bit O and 1 which is for algebraic subtraction 6 Flag changes in binary subtraction In 16 bit DIN subtraction a If the operational result 0 the zero flag will be On b Ifthe operational result 32 768 the borrow flag will be On C Ifthe operational result gt 32 767 the carry flag will be On In 32 bit BIN subtraction a If the operational result 0 the zero flag will be On b Ifthe operational result 2 147 483 648 the borrow flag will be On c If the operational result gt 2 147 483 647 the carry flag will be On 7 For flag operation of SUB instruction and the positive negative sign of the values see the explanations in ADD instruction on the pervious page Program Example 1 In 16 bit BIN subtraction When XO On the content in DO will minus the content in D10 and the remainder will be stored in D20 X0 Lif se oo Tes Tos Program Example 2 In 32 bit BIN subtraction When X1 On the content in D31 D30 will minus the content in D41 D40 and the remainder will be stored in 5 26 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions D51 D50 D30 D40 and D50 are low 16 bit data D31 D41 and D51 are high 16 bit data X1 Hose DVP PM Application Manual 5 27 5 Categories and Use of Basic Application Instructions API Mnemonic O
256. rget position I of X axis P I high word D1840 Operation speed l of X axis V I low word 1 000 R W NO 1 000 D1841 Operation speed I of X axis V I high word D1842 Target position Il of X axis P II low word 0 R W NO 0 D1843 Target position Il of X axis P II high word D1844 Operation speed Il of X axis V II low word 2 000 R W NO 2 000 D1845 Operation speedi Il of X axis V II high word D1846 Operation instruction for X axis 0 R W NO 0 3 30 D1847 Work mode of X axis 0 R W NO 0 3 30 D1848 Current position of X axis CP PLS low word 0 R W NO 0 D1849 Current position of X axis CP PLS high word D1850 Current speed of X axis PPS low word 0 0 0 R W NO 0 D1851 Current speed of X axis PPS high word D1852 Current position of X axis CP unit low word 0 R W NO 0 D1853 Current position of X axis CP unit high word D1854 Current speed of X axis CS unit low word 0 0 0 R W NO 0 D1855 Current speed of X axis CS unit high word D1856 Execution status of X axis 0 R NO 0 3 31 D1857 Incorrect No of OX X axis 0 R NO 0 3 28 D1858 Electronic gearing of X axis numerator R W YES 1 D1859 Electronic gearing of X axis denominator R W YES 1 D1860 MPG input frequency at X axis low word 0 0 R W NO 0 D1861 MPG input frequency at X axis high word Accumulated number of MPG input pulses at
257. rol GO 2100 F200 A A is first executed At this time DVP PM writes target position K100 on Z axis into the 32 bit D1328 and 2 axis linear interpolation speed K200 into the 32 bit D1330 After that call and execute P255 subroutine Operation of step A M1000 G1 Z100 DMOV K100 D1328 When A is executed P255 is a subroutine for controlling the 3 axis e g pen lifting clipping and release and so on compiled from the data in 32 bit D1328 and 32 bit D1330 Moving data 3 axis control P255 controls the Execute G Code 7 WS DE pua ee gt movement of 3 axis program designed by user Use 32 bit D1328 and 32 bit D1330 to control the 3 axis Using Z axis control please do not use D1328 D1331 and P255 repeatedly DVP PM Application Manual 6 35 6 Motion Instructions amp G Code Instructions Mnemonic Operands Function 2 Axis Synchronous Linear Interpolation G1 CP YCP2 XCPO YC considering remaining distance Explanations See Remarks of MON 01 LIN for how to position 6 36 DVP PM Application Manual 6 Motion Instructions and G Code Instructions Mnemonic Operands Function G Code G2 x YCP2 ICD Clockwise Counterclockwise Arc Movement G3 JCP F set the position of center Operands P Target position of arc on X axis P2 Target position of arc on Y axis P5 Center of arc on X axis P4 Center of arc on Y axis V
258. routine for controlling the 3 axis e g pen lifting clipping and release and so on compiled from the data in 32 bit D1328 and 32 bit D1330 Moving data 3 axis control P255 controls the movement of 3 axis designed by user Execute G Code Store the position data in D1328 program Write K 1 into D1330 Use 32 bit D1328 and 32 bit D1330 to control the 3 axis When you use Z axis control please do not use D1328 D1331 and P255 repeatedly 6 32 DVP PM Application Manual G Code 6 Motion Instructions and G Code Instructions Mnemonic Operands Function GO XCPO YCPO High Speed Positioning II Explanations See Remarks of MON 00 DRV for relevant special registers DVP PM Application Manual 6 33 6 Motion Instructions amp G Code Instructions Mnemonic Operands Function 2 Axis Synchronous Linear Interpolation G1 CP YCR ZCP3 FV XCPD YP z PO FCVD considering remaining distance Operands P4 Target position on X axis P2 Target position on Y axis P5 Target position on Z axis built in 3 axis control V Speed for 2 axis linear interpolation Explanations 1 Range of P4 P2 2 147 483 648 2 147 483 647 without decimal point 2 147 483 648 2 147 483 647 with decimal point 2 Range of V 0 500 000 without decimal point 0 500 0 with decimal point 3 The speed has continuity See Remarks 4 Forhow to position see MON 01 LIN
259. rpolation Can also be written as LIN Y100000 Move to designated position by linear LIN X 20000 Y100000 F20000 interpolation Can also be written as LIN X 20000 Move to designated position by linear LIN X 20000 Y20000 F20000 interpolation Can also be written as LIN Y20000 SRET DVP PM Application Manual 8 3 Application Examples 8 4 Program codes below are how to write G Code for trajectory 1 Place the motion program to be operated in the pointer PO G90 GO G1 G1 G1 G1 SRET X 20 0 X60 0 X60 0 X 20 0 X 20 0 Y20 0 Y20 0 Y100 0 Y100 0 Y20 0 F20 0 F20 0 F20 0 F20 0 PO subroutine Obtain absolute coordinate Fast move to designated position Move to designated position by linear interpolation Can also be written as G1 X60 0 F20 0 Move to designated position by linear interpolation Can also be written as G1 Y100 0 Move to designated position by linear interpolation Can also be written as G1 X 20 0 Move to designated position by linear interpolation Can also be written as G1 Y20 0 Program codes below are how to write the motion instruction for trajectory 2 PO ABST DRV LIN COW LIN COW SRET Program codes below are how to write G Code for trajectory 2 PO G90 GO G1 G3 G1 G3 SRET X 10000 X20000 X20000 X 10000 X 10000 X 10 0 X20 0 X20 0 X 10 0
260. ruction for example Cc CDD Instruction mnemonic Operands MOV instruction is to move the operand designated in S to the operand designated in D DVP PM Application Manual 5 3 5 Categories and Use of Basic Application Instructions 5 4 S Source operand If there are more than 1 source operands they will be represented as S1 S2 and so on D Destination operand If there are more than 1 destination operands they will be represented as D4 D and so on If the operand can only be constant K H or a register it will be represented as m m m n n no Length of operand 16 bit instruction or 32 bit instruction The length of an operand can be 16 bit or 32 bit depending on the contents in the operand The 32 bit instruction is indicated by adding a D before the 16 bit instruction 16 bits MOV instruction When X0 On K10 will be sent to D10 XO H 32 bits DMOV instruction When X1 On the content in D11 D10 will be sent to D21 D20 X1 H Continuous execution instruction and pulse execution instruction Continuous execution and pulse execution are two types of execution for an application instruction The pulse execution instructions are used more because it can decrease the period of program scan And if the continuous execution instruction is not working the required execution time will be shorter Thus some instructions are mostly used as pulse execution type e g INC DEC
261. ry and moving speed is not necessary There are 6 parameter combinations for INTR instruction NO Instruction Parameter combination 1 X 2 X F INTR YC 4 YC FCV 5 XCPD YCPR2D 6 XCPD YCP2 FCVD Remarks See Remarks of LIN instruction for relevant special registers DVP PM Application Manual 6 19 6 Motion Instructions amp G Code Instructions MON Mnemonic Operands Function 11 SINTR XCPO FCVD Inserting Single Speed Operation YCP2 F OR Type Bit Devices Double Word Devices Notes K H D KK HH DD SINTR instruction supports V Z index register P4 5 4 i i 3 modification on the devices P See specifications of DVP PM for the range of use E You can place an M Code instruction after SINTR Operands P4 Additional distance on X axis P2 Additional distance on Y axis V Operation speed Explanations 1 2 e Ide COD SOT Rx Maximum V Vmax The first operand in SINTR can be inserting single speed positioning on X axis or Y axis Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 Acceleration deceleration time and bias speed can be set up in special D Acceleration deceleration time increases or decreases in proportional to the setting of Vmax The 16 bit parameter devices and 32 bit parameter devices can be u
262. s the data should be 32 bit and the operation should be performed in floating point system Therefore S1 and S2 should be converted into floating point values If S1 and S2 are invalid operational error will occur and the instruction will not be executed The operational error flag will be On and the error code H 0E19 will be recorded If the absolute value of the result gt maximum floating point available the carry flag will be On If the absolute value of the result lt minimum floating point available the borrow flag will be On 10 If the result 0 the zero flag will be On Program Example 1 When MO On convert D1 DO and D3 D2 into binary floating points and store them in the 32 bit registers D11 D10 and D13 D12 When M1 On perform POW operation on the binary floating points in 32 bit registers D11 D10 and D13 D12 and store the result in the 32 bit registers D21 D20 D31 h When M2 On convert the binary floating point D21 D20 into decimal floating point D30 x 10 and store it in register D31 D30 DVP PM Application Manual 5 65 5 Categories and Use of Basic Application Instructions DFLT Do D10 M1 M2 DEBCD D20 D30 MO Remarks For floating point operations see 5 3 Handling of Numeric Values 5 66 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions
263. s and Use of Basic Application Instructions Device Contact status before CJ Contact status when CJ Output coil status when CJ is being is executed is being executed executed M1 M2 M3 Off ae MECMS Ol Y1 M20 S1 Off Y M S M1 M2 M3 On gt M1 M2 M3 On Off Y1 M20 S1 On M4 Off M4 Off gt On Timer TO is not enabled Time TO immediately stops and is eon MEO Ot latched MO On gt Off TO is reset as 0 10ms Timer M6 Off M6 Off On Timer T240 is not enabled Time T240 immediately stops and is M6 Or Me On On latched MO On gt Off T240 is reset as 0 M7 M10 Off M10 On Off trigger Counter CO does not count CO C234 Counter CO stops counting and stays we Moon M10 On Off trigger latched After MO goes Off CO will 99 resume its counting M11 Off M11 Off On Application instructions are not executed Application The skipped application instructions are inetructon M11 On M11 On gt Off not executed but API 53 59 API 157 159 keep being executed 1 Y1 is a dual output When MO is Off M1 will control Y1 When MO is On M12 will control Y1 2 When the timers used by a subroutine are driven and encounter the execution of CJ instruction the timing will resume After the timing target is reached the output contact of the timer will be On 2 Y1 is a dual output When MO Off Y1 is controlled by M1 When MO On Y1 is controlled by M12 DVP PM Applic
264. sed together The operation Speed Taco Toec v M Additional distance Time Start DOG A When SINTR instruction is enabled the operation speed will start from Vgias and accelerate to V I and then operate stably When the execution encounters triggered DOG signals it will follow the additional distance set in the program and continue the operation The target position and moving speed have to be set up There are 2 parameter combinations for SINTR instruction NO Instruction Parameter combination Sia DEED 2 YCP2 FCVD Program Example d When X0 On SINTR instruction in program OX00 will be executed X axis accelerates to single speed 6 20 DVP PM Application Manual 6 Motion Instructions and G Code Instructions operation at 500KHz in 100ms When the DOG signal is triggered the additional 500 000 pulses output set in the program and the positioning will be completed 2 Program OX00 and SINTR instruction will be disabled X0 MOVP H8000 D1868 SET M1074 RST M1074 MOVP K100 D1836 MOVP K100 D1837 SINTR XKK500000 FKK500000 Remarks 1 Even you adopt absolute coordinate system in the program once SINTR is executed the displacement will be regarded as additional distance 2 Relevant special registers D1848 Current position of X axis CP low word D1849 Current position of X axis CP high wo
265. speed of X axis Vgias 1 8 0 0 AE modify the operation speed into a modify the operation speed into 6 7 X7 On software enables motion instruction fomove H102 D1846 H102 D184 single speed of X axis The output executes until the end of the entire route X X X2 X X 8 12 DVP PM Application Manual Ladder diagram for trigger condition 2 M1002 MOV D1824 DMOV D1840 D gt D1848 K15000 set wo MO D D1848 K30000 SET m tt D gt 1848 K50000 K sET M2 iF D D1848 K80000 c set vs th X7 DVP PM Application Manual Application Examples Operations Set up the bias speed of X axis Vpias Set up the acceleration time of X axis Tacc Set up the deceleration time of X axis Tpgc Clear the current position of X axis as 0 Set up the moving distances of all segments for X axis Set up the operation speed for the 1 segment on X axis Compare the current position MO On modify the operation speed into 20 000Hz Compare the current position M1 On modify the operation speed into 9 000Hz Compare the current position M2 On modify the operation speed into 18 000Hz Compare the current position M3 On modify the operation speed into 7 000Hz The output executes until the end of the entire route X7 On software enables motion instruction single speed of X axis 8 13 Application Examples Ladder diagram for trigger c
266. stored in D If 4 or S2 is a designated floating point F the instruction will compare in binary floating point When S gt So S will be used as upper lower bound for the comparison Program Example 1 Designate device MO and MO M2 will be occupied automatically 2 When X0 On DEZCP instruction will be executed and one of MO M2 will be On When X0 Off DEZCP will not be executed and MO M2 will remain in their status before X0 Off 3 Use RST or ZRST instruction to clear the result XO MO Onwhen D1 DO gt D21 D20 M1 I Onwhen D1 DO D21 D20 lt D11 D10 M2 I Onwhen D21 D20 gt D11 D10 Remarks For floating point operations see 5 3 Handling of Numeric Values 5 54 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function 116 D RAD P CS CDD Angle gt Radian Type Bit Devices Word Devices Program Steps OF X Y M S F H KnX KnY KnM KnS T C D V Z DRAD DRADP 6 steps S D Operands S Source angle D Result radian Explanations 1 See the specifications of DVP PM for its range of use 2 Frefers to floating point input Be sure to add a decimal point when using it 3 Only 32 bit instructions DRAD and DRADP are applicable 4 Flags OX OY O100 Zero flag M1808 M
267. struction for comparison please adopt 32 bit instruction DLD x If 16 bit instruction LD3x is adopted program error will occur and the ERROR LED indicator on the panel of DVP PM will flash Program Example 1 When the content in C10 K200 Y10 will be On 2 When the content in D200 gt K 30 and X1 n Y11 will be On and held 3 When the content in C200 K678 493 or M3 On M50 will be On K678493 C200 M3 DVP PM Application Manual 5 83 5 Categories and Use of Basic Application Instructions API Mnemonic Operands Function oa D AND CD G2 AND Compare or Type Bit Devices Word Devices Program Steps X Y M S K H KnX KnY KnM KnS T C D V Z AND3 5 steps S DAND x 7 steps So Operands S4 Data source device 1 S Data source device 2 Explanations 1 2 3 5 See the specifications of DVP PM for its range of use X gt lt lt gt 5 2 AND instruction compares the content in Sq and S Take API 232 AND for example if the result is the instruction will be On If the result is the instruction will be Off AND is series connected to contacts API No 16 bit instruction 32 bit instruction On condition Off condition 232 AND DAND S1 S2 S1z S2 233 AND gt DAND gt S gt S2 S lt S2 2
268. structions Mnemonic Operands Function G Code GO XCPO YCP2 Z High Speed Positioning I Operands P4 Target position on X axis P Target position on Y axis P5 Target position on Z axis built in 3 axis Explanations 1 Range of parameters 2 147 483 648 2 147 483 647 without decimal point 2 147 483 648 2 147 483 647 with decimal point For relevant special registers see Remarks of MON 00 DRV When GO instruction is executed the moving speed will be fixed at maximum speed Vmax The settings of position have continuity See Remarks Acceleration deceleration time and bias speed can be set up in special D Acceleration deceleration time and bias speed increase or decrease in proportional to the setting of Vmax pb x Ov d 0 Qe The operation Speed Moving at Vmax H Number of output pulses Bias speed Time e gt lt gt Acceleration Deceleration time time 8 DVP PM does not support 3 axis synchronous control therefore you have to design a 2 axis high speed interpolation in X Y axis and Z axis for independent high speed movement For the safety of the mechanical operation when GO instruction is executed Z axis high speed movement will be executed first before the X Y axis high speed interpolation That is to say when DVP PM is executing GO instruction with X Z Y Z X Y Z combinations the program will automatically be divided as GO ZP A GO XP YP B See
269. t Auto Manual Communication flag of O100 When the scan reaches M102 main program ends instruction it will return to the start flag of O100 and resume the scan as shown in the figure below The instruction can be compiled in any forms when Auto Manual is in the main control program section i e the sequential control program area Main program start flag Cyclic scan Sequential control program area Section Main program ends instruction ac a o 2 a 2 5 z 9 amp 3 There are three ways to stop the operation of 0100 main program e When DVP PM is powered and the AUTO MANU switch goes from AUTO to MANU M1072 will be Off automatically and 0100 main program will be in STOP status The operation of OX and Pn subroutines will stop at this moment e When DVP PM is powered you can set M1072 to be Off or O100 main program to be in STOP DVP PM Application Manual 1 1 1 Program Structure of DVP PM status by communication The operation of OX and Pn subroutines will stop immediately e When errors occur during the design compiling or operation of the program 0100 main program will stop automatically See 3 13 for the table of the error codes and their causes 4 0100 main program supports basic instructions and application instructions therefore you can design the program according to your actual needs Besides you can further activate OXO OX99 motion subroutines by
270. t DAND lt S1 lt S2 5 7 5 84 Z 238 AND gt DAND gt S1 gt S2 5 7 5 84 S 240 on DOR S1 S2 5 7 5 85 8 241 OR gt DOR gt S1 gt S2 5 7 5 85 242 OR lt DOR lt S1 lt S2 5 7 5 85 244 OR lt gt DOR lt gt S1 S2 5 7 5 85 245 OR lt DOR lt S1 lt S2 5 7 5 85 246 OR gt DOR gt S1 gt S2 5 7 5 85 256 CJN Y Negated Conditional Jump 3 5 86 E 257 JMP g Unconditional Jump 3 5 87 8 258 BRET E Return to Bus Line 1 5 88 ot 2 259 MMOV Y Manifying Transfer with Sign Extension 6 5 5 89 E 260 RMOV Y Reducing Transfer with Sign Holding 6 5 90 5 2 DVP PM Application Instruction 5 Categories and Use of Basic Application Instructions 5 2 Composition of Application Instruction Anapplication instruction has two parts the instruction and operands Instruction The function of the instruction Operands The device for processing the operation of the instruction An application instruction usually occupies 1 step and 1 operand occupies 2 or 3 steps depending on the instruction is a 16 bit or 32 bit Format of an application instru 00 yy vy y one ction Y 6 Y API Mnemonic Operands Function 41 D CMP P GG CDD Compare ay Type Bit Devices Word Devices Program Steps do X Y MS H KnX K
271. t Devices Word Devices Program Steps BE X YIM SIF H KnX KnY KnM KnS C D V Z DESQR DESQRP 6 steps s Operands S Source device D Operational result Explanations 1 See the specifications of DVP PM for its range of use 2 S20 3 F refers to floating point input Be sure to add a decimal point when using it 4 Only 32 bit instructions DESQR and DESQRP are applicable 5 Flags OX OY O100 Zero flag M1808 M1888 M1968 Operational error flag M1793 M1873 M1953 See below for more information 6 ESQR instruction performs a square root operation on the content in the register designated by S and stores the result in the register designated by D The square root operation is performed in floating point system 7 If Sis a designated floating point F the instruction will convert it into a binary floating point value before the operation 8 If the result of the operation 0 the zero flag will be On 9 Scan only be a positive value Performing any square root operation on a negative value will result in operational error and ESQR will not he executed The operational error flag will be On and the error code H 0E19 will be recorded Program Example 1 When X0 On calculate the square root of the binary floating point D1 DO and store the result in register D11 D10 X0 H IDESQR Do D1 DO Binary floating point D11 D10 Binary floating point Program Example 2 When X2 On
272. the axis without setting up the moving speed the operation will run at Vmax O o R oO rm DVP PM Application Manual 6 7 6 Motion Instructions amp G Code Instructions Program Example 1 LIN XK12345 YH7567 FKK40000 In this example the two axes fast move to K12 345 H7567 in linear movement The target position can be an absolute coordinate or relative coordinate which is determined by the instruction closest to LIN The linear movement operates at speed 40KHz 2 Moving path X Target position Current position 3 Combination of operand LIN XKK 345289 YDD10Z5 FD100 LIN XDD20 Y456 V4 These instructions are legal Device D is indirect set value Remarks Relevant special registers D1822 D1823 Maximum speed of X axis D1822 for low word D1823 for high word D1824 D1825 Bias speed of X axis D1824 for low word D1825 for high word D1836 Acceleration time of X axis D1837 Deceleration time of X axis Stop mode for OXO 99 K1 completing unfinished distance after next activation gt considering D1865 remaining distance K2 executing the next instruction after next activation Others restart D1902 D1903 Maximum speed of Y axis D1902 for low word D1903 for high word D1904 D1905 Bias speed of Y axis D1904 for low word D1905 for high word D1916 Acceleration time of Y axis D1917 Deceleration time of Y axis
273. tine Y7 control signals for pen lifting is decided by the target position D1328 on Z axis Pausing for 0 1 second End of P255 subroutine Due to that there is the control signal Y7 to drive Z axis in P255 subroutine in DVP PM offering On Off of Y7 to the external input point XO in DVP EH when X0 On the output pulses will control the step motor and move the Z axis to position 1 i e lifting the pen When XO Off the output pulses will control the step motor and move the Z axis to position 2 i e releasing the pen The program of DVP EH DVP PM Application Manual 8 9 Application Examples iF Yk Connect the input devices YO and Y1 in DVP EH to the pulse input terminals on the step motor 4 PO SRET 2 axis X Y interpolation control After we convert the letter or graph into G Code NC Code we will not place the G Code into OXO subroutine but into PO subroutine in order to simplify the program We will then be able to draw the letter or graph following the three program blocks above Ladder diagram Operations Start of PO subroutine G0G90X1 759Y87 87 G1Z0 0F19 4 Where we place G Code NC Code G0X56 164Z5 0 End of PO subroutine When the program blocks 1 4 are completed we will be able to draw English letters graphs or any text by DVP PM 8 3 Planning Variable Speed Operation This section introduces how to trigger many segments of speed variable speed in a fixed route
274. ting reaches its target the contact and present value will stay intact Use RST instruction to restart or reset the counting Program Example Ladder diagram Instruction code Operation X0 LD XO Loading in contact A of X0 H pany CNT C20 K100 Set value in counter C20 as K100 Mnemonic Function DCNT 32 bit Counter C K C200 C255 K 2 147 483 648 K2 147 483 647 Operand C D C200 C255 DO D9999 Explanations 1 DONT is the instruction for enabling the 32 bit counters C200 C255 2 For general purpose addition subtraction counter C200 C255 when DCNT instruction goes from Off to On the present value in the counter will plus 1 counting up or minus 1 counting down according to the modes set in M1200 M1234 Program Example Ladder diagram Instruction code Operation MO Loading in contact A of MO S en 999 DCNT C254 K1 000 Set value in counter C254 as K1 000 4 8 DVP PM Application Manual 4 Basic Instructions Mnemonic Function LDP Rising Edge Detection Operation X0 X377 YO Y377 MO M4095 S0 81023 TO T255 C0 C255 D0 D9999 v v Y v v Y E Operand Explanations The method of using LDP instruction is the same as using LD but the actions of the two instructions differ LDP saves the current content and store the detected status of the rising edge into the accumulative register Program Example Ladder diagram Instruction code Operation
275. tions Mnemonic Operands Function G Code G4 XCIO P Pause Time Operands XT Pause time unit 1 sec G4X1 refers to pausing for 1 second G4 X2 5 refers to pausing for 2 5 seconds PT Pause time unit 1 ms G4 P100 refers to pausing for 0 1 second G4 P4500 refers to pausing for 4 5 seconds Explanations 1 10msis the base for PT If PT lt 10ms PT will be regarded as Oms That is to say if PT 23ms it will be regarded as 20ms 2 See MON 06 TIM for the operation of G4 Mnemonic Operands Function G90 N A Set up Absolute Coordinate See MON 17 ABS for the operation of G90 Mnemonic Operands Function G91 N A Set up Relative Coordinate See MON 18 INC for the operation of G90 DVP PM Application Manual 6 39 Use DVP PM As Slave 7 1 How to Connect DVP EH2 DVP PM as Master and DVP PM as Slave There is a special register area in DVP PM which corresponds to the control registers in the Master The users can thereby control the data exchange and motion between the Slave and Master depending on their actual demands 7 1 1 The Structure DVP EH2 and DVP PM Master use FROM TO instruction to drive DVP PM Slave for executing all kinds of motions JDVP EH2 and DVP PM Master use FROM TO instruction to read write the control registers CR 0 CR 199 corresponding to special registers D1500 D1699 in the Slave in DVP PM Slave CR 0 CR 199
276. to external output points MO M499 500 points 2 M3000 M4095 2 096 points 3 M500 M999 500 points 3 M1000 M2999 2 000 points part for latched Total 4 096 points The contact can be On Off in the program TO T255 256 points 2 Total 256 points TMR instruction If the timing reaches its target the T contact of the same No will be On CO C99 100 points 2 C100 C199 100 points 3 C200 C219 20 points 2 C220 C255 36 points 3 Total 256 points The counter indicated by CNT DCNT instruction If the counting reaches its target the C contact of the same No will be On S0 S499 500 points 2 S500 1023 524 points 3 Total 1 024 points The contact can be On Off in the program TO T255 256 points When the timing reaches its target the contact of the timer will be On CO C199 16 bit counter 200 points C200 C255 32 bit counter 56 points When the counting reaches its target the contact of the counter will be On DO D199 200 points 2 D200 D999 800 points 3 D3000 D9999 7 000 points 3 D1000 D2999 2 000 points part for latched VO V7 16 bit ZO Z7 16 points 32 bit 1 Total 10 000 points Memory area for data storage V Z can be used for indirect designation PO P255 256 points Position index of CJ CJN
277. ts and the range is YO Y7 Y10 Y17 Y370 Y377 W Functions of input contact X The input contact X is connected to the input device and reads the input signals into DVP PM There is no limitation on the times of using contact A or B of input contact X in the program On Off of the input contact X only changes with On Off of the input device You cannot use the peripheral devices HPP03 or PMSoft to force On Off of input contact X W Force On Off of M1304 When M1304 On the peripheral HPP03 or PMSoft will be allowed to forced On Off of input contact X on DVP PM However the function of updating the input signals by external scan will be disabled W Functions of output contact Y Output contact Y sends out On Off signals to drive the load connected to output contact Y There are two types of output contacts relay and transistor There is no limitation on the times of using contact A or B of output contact Y in the program but the No of output coil Y can only be used once in the program otherwise according to the scan principle of the program the output status will be determined by the circuit of the last output Y in the program xo The output of YO will be determined by circuit i e On Off of X10 will determine the output status of YO 3 6 DVP PM Application Manual 3 Functions of Devices in DVP PM The handling process of DVP PM program Regenerate input signal Regenerate input signal X input 1 Before
278. turn to the next row after Pn and resume the scan The same operation also applied to OX motion subroutine calling Pn subroutine M1000 amp CALL PO CallPOsubroutine 0100 andOX10 X0 program bifurcation point Fs i MOV H800A D1868 SetOXas OX10 When X0 On OX10 motion subroutine will be enable Path a will be true OUT M1074 Cyclic scan c o o o E LS o o p a o Sen Z o cz o o F 624 OX10 Start flag of motion subroutine o0 Ss 5 i E o o S i id aes f ce z CALL P2 Call P2 subroutine 0 o HJ e o 21 3 ui f 1 M2 Motion subroutine ends instruction Q i P2 P2 subroutine Cc i 3 re Zo i o oO 0 o nd i i SRET Subroutine ends instruction PO PO subroutine o X So 77 Execute once W SRET Subroutine ends instruction In PO subroutine section you can compile basic instructions and application instructions freely and in P2 subroutine section you can compile basic instructions application instructions motion instructions and G Code instructions freely 3 There are three ways to stop Pn subroutine e When DVP PM is powered and the AUTO MANU switch goes from AUTO to MANU M1072 will be Off automatically and 0100 main program will be in
279. ual 6 23 6 Motion Instructions amp G Code Instructions MON Mnemonic Operands Function 19 MOVC XCLO YCL2D Set up Linear Movement Compensation E Type Bit Devices Double Word Devices Notes p K H D KK HH DD MOVC instruction supports V Z index register Ly 4 e x ij modification on the devices Lo See specifications of DVP PM for the range of use You can place an M Code instruction after MOVC Operands L Compensation on X axis L2 Compensation on Y axis Explanations i You can set up only the compensation on X axis e g MOVC XDDO 2 When MOVC instruction is executed the set compensation will be written automatically into special registers D1708 D1709 for X axis D1724 D1725 for Y axis The linear movement compensation can be adopted in DRV LIN and TNTR instructions 4 Write the compensation value into the compensation register and execute linear movement instructions and the compensation will be executed 5 Range of parameters 16 bit K 32 768 32 767 H 2 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 6 The 16 bit parameter devices and 32 bit parameter devices can be used together NO Instruction Parameter combination 1 MOVC m S Remarks Relevant special registers D1708 Compensation value of X axis moving distan
280. urrent position The operation speed will be stable from Vgjis accelerating to the expected V I After the pulse output unit sends out the number of pulses equivalent to P I it will accelerate decelerate again from V I to V II and operate at V II stably until P II is reached The pulse output will then decelerate to Vgiis and stop Total P I P Il pulses are sent during the operation The registers involved DD1824 DD1904 Vgias DD1840 DD1920 V I DD1822 DD1902 Vmax DD1838 DD1918 P I DD1842 DD1922 P II D1836 D1916 Tacc and D1837 D1917 Tpgc Speed The output accelerates to V I and operates at V I stably until it reaches P l It will then accelerate or decelerate to V II stably until it reaches P II and stops 11 b11 of D1846 D1926 inserting 2 speed positioning interruption When b 11 is triggered and START On the second positioning program will start immediately after an external DOG signal is enabled during the first positioning program The pulse output unit will start to send 3 44 DVP PM Application Manual 3 Functions of Devices in DVP PM out pulses Operation direction The relative coordinate positioning is determined by the sign bit of the register for P I The absolute coordinate positioning is determined by P I set in D1838 D1918 Forward running when the absolute coordinate is bigger than the current position reverse running when the absolute coordinate is sm
281. xis HW LW HW LW Current Speed CS Unit D1855 D1854 D1935 D1934 1 Range 0 2 147 483 647 2 The unit of the current speed varies according to be settings of bO and b1 in D1816 D1896 X axis Y axis HW LW HW LW Execution Status D1856 D1936 bit D1856 D1936 bit D1856 D1936 0 Forward pulses output in progress 8 Reverse MPG input 1 Reverse pulses output in progress 9 Not defined 2 Operation in progress 10 Not defined 3 Error occurs 11 Not defined 4 Operation pauses 12 Not defined 5 Error occurs 13 Not defined 6 Operation pauses 14 Not defined 7 Forward MPG input 15 Not defined X axis Y axis HW LW HW LW Error Code D1857 D1937 See Appendix C in Chapter 9 for details X axis Y axis f Special Registers HW LW HW LW D1858 D1938 Electronic gear numerator D1859 D1939 Electronic gear denominator 1 Set On b5 of D1846 D1926 to enable the work mode of MPG input 2 Generate A B phase pulse input by MPG to A and OB See the figure below for the relation between FP RP input and output pulses DVP PM Application Manual 3 47 3 Functions of Devices in DVP PM Servo Drive A phase D1858 D1938 Servo Motor TITULU Le JLILIL gt l Input pulse X p 859 D1939 FP c3 UL 1 Output pulse RP I LILI Le B phase 3 During the operatio
282. xis low word D1867 Electrical zero point address on X axis high word D1928 Current position of Y axis CP low word D1929 Current position of Y axis CP high word D1946 Electrical zero point address on Y axis low word D1947 Electrical zero point address on Y axis high word DVP PM Application Manual 6 17 6 Motion Instructions amp G Code Instructions MON Mnemonic Operands Function 09 DRVR N A Return to Electrical Zero Point Explanations 1 You can place an M Code instruction after DRVR When DRVR instruction is executed X and Y axes will return to electrical zero point at Vmax 0 500KHz Moving path x Current position Electrical zero point Program Example The program should be written as Remarks Relevant special registers D1822 Maximum speed of X axis Vmax low word D1823 Maximum speed of X axis Vmax high word D1848 Current position of X axis CP low word D1849 Current position of X axis CP high word D1866 Electrical zero point address on X axis low word D1867 Electrical zero point address on X axis high word D1902 Maximum speed of Y axis Vmax low word D1903 Maximum speed of Y axis Vmax high word D1928 Current position of Y axis CP low word D1929 Current position of Y axis CP high word D1946 Electrical zero point address on Y axis low word D1947 Electrical zero point address o
283. zero return b 10 0 detecting DOG falling edge On b 10 1 detecting DOG rising edge Off b 9 10 00 normal mode detecting DOG falling edge in zero return On 1 Zero return The motors operates at zero return speed Vpr and when it encounters DOG signal it will decelerate to zero return deceleration speed Vor After passing N PGO signals and P pulse signals for zero return the motor will stop 2 If the set N or P is too small when the motor encounters DOG signal it will decelerate to zero return deceleration speed Vcg and detect the DOG falling edge When the designated N is reached and after passing P the motor will stop immediately whether it has reached Ven 3 Assume N is set as 0 and P as 0 the motor will stop immediately after it touches DOG signal and detects DOG falling edge Speed PPS e l s Away from DOG signal EO Touch DOG signal Zero return direction Number of pulses P in zero return Number of PGO signals N i eerste di A t 4 f e ND Rd DOG l Detecting DOG falling edge b 9 10 10 normal mode detecting DOG falling edge in zero return is Off 1 Zero return The motors operates at zero return speed Vpr and when it encounters DOG signal it will decelerate to zero return deceleration speed Vor After passing N PGO signals and P pulse signals for zero DVP PM Application Manual 3 35 3 Functions of Devices in DVP PM return the motor will stop 2

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