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5Applied Instructions and Basic Usage

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1. i rf i J oO oO Doe I eal oc al 5l of PAW WE o ooo oc DYP 20PFM oO OOOO IL o 000000 o0o000 y J wie XxX LS MES x Ee gk p 7 164 174 hr Profile E DVP 10PM series motion controller o Unit mm O N7 PaA a BAD EAP EAA ee e VE ji te u 7 J U Ps X U J TF i TEI D j t j J NEZ l n L n 5 on n N L FA oo 5 k U U7 W J U lt N n N n L n L n ra n UT RUT a7 l a7 a7 a e 246 24v _ xo x2 x4f x6 xto Dor ut Det GS _ s s xi
2. DVP 10PM series motion controller Drive a YIO45 PLS 43 VWW FP ro JOC00000 0O0QCOE key G Optocoupler circuit OW IV 10 A L PLS 41 m Twisted pair FGo Neo ee l o af SIGN 36 ee ye Nii _ SIGN 37 2W _ a DVP 10PM Application Manual 2 13 2 Hardware Specifications and Wiring 2 2 5 Wiring a DVP 10PM Series Motion Controller and an Inferior Servo Drive Wiring a DVP 10PM series motion controller and a Delta ASDA A series AC servo drive Four axis wiring 24V OV Delta servo drive Y10 Y10 Y11 Y11 YO CLRO co ASDA A series VDD COM PLS 43 PLS 41 ISIGN 36 SIGN 37 DI2 Ol COM Delta servo drive o X0 DOGO v iat X2 DOG1 7 AT he o X4 DOG2 MMA
3. R WW C AC power R C R 104200 C 01 Q24uU 4 Transistor output circuit DVP 10PM Load 3 YO WV LED J a a Q J I eon or a a p L aa z b Transistor output Y Direct current power Emergency stop Q Fuse DVP 10PM Application Manual 9 11 2 Hardware Specifications and Wiring Transistor output terminals are open collectors If YO Y1 is a pulse output terminal the output current passing through an output pull up resistor must be larger than 0 1 A to ensure that transistor output terminals operate normally 1 Diode It is used when the power of the load connected is small PLC transistor output Yo Low power load Ld k eal D CO D 1N4001 diode 2 Diode and zener diode They are used when the power of the load connected is large and the load is turned ON OFF frequently PLC transistor output The power of the load is large and YO the loadis turned ON OFF frequently P ro f V DC SOONE aaa T gt I N CO D 1N4001 diode 6 Mutually exclusive output Y4 controls the clockwise rotation of a motor and Y5 controls the counterclockwise rotation of a motor The interlock circuit which is formed and the program in the DVP 10PM series motion controller ensure that there will be protective measur
4. values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed Make sure that other uniaxial motion control function The motion control function block conflicts with other blocks are not started or the execution of other motion control function blocks uniaxial motion control function blocks is complete before the motion control function block is started 4 Module which is supported The motion control function block T_ MPG supports DVP10PMOOM 5 178 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 5 10 9 Electronic Gear Motion 1 Motion control function block The value of the RatioNum input pin is the numerator of an electronic gear ratio The value of the RatioDen input pin is the denominator of an electronic gear ration The Reset input pin is used to clear the number of input pulses The speed at which the electronic gear used responds does not depend on the value of the Tacc input pin and the value of the Tdec input pin The electronic gear used operates in accordance with the source of input The input terminals for electronic gear motion are the same as the input terminals which can be connected to a manual pulse generator 2 Input pins Output pins Ome rmon ee as Sees SWORD Ke The value of the Axis input pin is valid Axis WORD K1 K6 when there is a transition in the Enable number i
5. Pulse X Counting pulses U A Present value gt Direction _ C200 Counting pulses D B A Users can selecta mode of counting oo by setting M1200andM1201 Resetting C200 M1203 1 X10 C204 Users can select a mode of counting by setting M1204 and M1205 Input signals are controlled by X2 and X3 If M1207 is ON the function of resetting C204 will be enabled Resetting signals are controlled by X11 Pulse Cou nting pulse s Presentvalue C204 Counting pulses Users can selecta mode of counting by setting M1204and M1205 Resetting C204 M1207 1 X11 3 12 DVP 10PM Application Manual 3 Devices C208 Users can select a mode of counting by setting M1208 and M1209 Input signals are controlled by X4 and X5 If M1211 is ON the function of resetting C208 will be enabled Resetting signals are controlled by X12 Pulse XA Counting pulses U A Present value _ gt Direction _ C208 Counting pulses D X5 sia 5 A Users canselecta mode of counting by setting M1208 andM1209 Resetting C208 M1i211 1 X12 C212 Users can select a mode of counting by setting M1212 and M1213 Input signals are controlled by X6 and X7 If M1215 is ON the function of resetting C212 will be enabled Resetting signals are controlled by X13 Pulse Counting pulses Presentvalue C212 Counting pulses Users c
6. instruction 32 bit instruction 7 steps Continuity instruction J A Note represents amp or e Flag None Please refer to specifications for more information about device ranges S4 Source device 1 S2 Source device 2 The instruction is used to compare the value in S with that in S2 If the comparison result is not 0 the condition of the instruction is met If the comparison result is 0 the condition of the instruction is not met The instruction LD can be connected to a busbar directly 16 bit instruction D8 DLD amp S amp Se 0 S amp Se O Explanation ae o om S 1 S oS g h o amp Logical AND operation Logical OR operation Logical exclusive OR operation Ifa32 bit counter is used the 32 bit insturciton DLD must be used If a 32 bit counter and the 16 bit instruction LD are used a program error will occur and the ERROR LED indicator on the DVP 10PM series motion controller used will blink C200 C255 are 32 bit counters A logical AND operator takes the values in CO and C10 and performs the logical AND operation on each pair of corresponding bits If the operation result Example is not 0 Y10 will be ON A logical OR operator takes the values in D200 and D300 and performs the logical OR operation on each pair of corresponding bits If the operation result is not O and X1 is ON Y11 will be se
7. co Y1 C1 PLS 7 PLS 8 SIGN 11 ISIGN 12 Y2 Yaskawa servodrive Yaskawa series rh C2 Y3 YK C3 PLS 7 PLS 8 SIGN 11 ISIGN 12 2 19 2 Hardware Specifications and Wiring Wiring a DVP 10PM series motion controller and a Mitsubishi MJR2 series servo drive Four axis wiring 2 20 Pulses generatedbya manual pulse generator A phase B phase 24VDC 24VDC 24VDC 24VDC e Shielded cable LOON HEK LOHE EBEA re WHS X5 PG2 SOK Mitsubishi servo drive Mitsubishi MJR2 series htneeemeeemenes ceee nee lt e e p N e f eo ee HEE meh 24VDC Mitsubishi MJR2 series Mitsubishi servo drive Mitsubishi MJR2 series conn vide See r 008 H Mitsubishi servo drive Mitsubishi MJR2 series pE AR roon H i EAT Fone 2 src var era O Charan DC 24V GND 24V 4a eee pocon as EST 5 EN DVP 10PM Application Manual 2 Hardware Specifications and Wiring Wiring a DVP 10PM series motion controller and a Mitsubishi MJR2 series servo drive Six axis wiring Mitsubishi servo drive Mitsubishi MJR2 series rs PMO fs vis wr fe K lt lai A Mre fa om X6 DO G3 e ay so K Mitsubishi servo drive Mitsubis
8. ranges Explanation Example 1 Example 2 l Ai S Source device D Device in which an encoding result is stored n Number of bits which are encoded The low 2 bits in S are encoded as the low n bits in D If there are many bits which are 1 in S the first bit which is 1 from the left will be processed Generally the pulse instruction ENCOP is executed If S is a bit device n is in the range of 1 to 8 If S is a word device n is in the range of 1 to 4 When S is a bit device n is in the range of 1 to 8 If n is 0 or greater than 8 an error will occur If n is 8 the maximum number of bits which can be decoded is 28 256 When XO is turned from OFF to ON the instruction ENCOP encodes the 8 bits in MO M7 as the low 3 bits in DO and b15 b3 in DO become 0 After the instruction ENCOP is executed X0 will be OFF and the data in D will remain unchanged X0 ino wo 20 a M7 M6 M5 M4 M3 M2 Mi MO rololofo ololo 7 6 5 4 3 2 1 0 b15 CO0OO0OCO0ON00ONN Bit 15 bit3in DO become 0 When S is a word device n is in the range of 1 to 4 If n is 0 or larger than 4 an error will occur If n is 4 the maximum number of bits which can be decoded is 2 16 When XO is turned from OFF to ON the instruction ENCOP encodes the 8 bits in D10 as the low 3 bits in D20 and b15 b3 in D20 become 0 Bit 8 bit 15 in D10 are invalid data After the instruction ENCOP is executed X0 will be OFF
9. Staringrising edge detection 3 40 9DF Staringfaling edge detection AT 92 ANDP __Connecting rising edge detection in series 3 41 93 ANDF Comnecting faling edge detection in series 3 412 4 oRP Comecting rising edge detection in parallel 3 412 95 ORF Comnecting faling edge detection in paralel 3 413 mm eime o B no a 97 CNT DONT __ 16 bit counter sje a 9 PE Falngedeoupt 3 aa CORS a suonony sul oiseg UOI EOIUNWILWOD S am DEZCP v Binary floating point zonal comparison 9 12 5295 12 DMOVR Transferring afioating point value 9 5296 16 DRAD vV Converingadegreetoaradan 6 597 117 DDEG V Converingaradiantoadegree 6 598 120 DEADD v Binary floating point addition 7 9 599 121 DESUB V Binary floating point subtraction 7 9 5100 122 DEMUL V Binary floating point multiplication 7 9 5101 123 DEDV V Binary floating point divison 7 9 5102 X 124 _ DEXP_ V _ Exponent of a binary floating point value 6 5103 DLN Pog logarithm of a binary floating point EES 5 104 126 DLoG V Logarithm of a binary fioating pointvale 9 5105 127 DESGR V Square root of a binary floating point vale 5 6 5 106 128 DPOW V Power of a floating pointvaue 9 5107 DINT Converting a binary floating point value into a 5 108 binary
10. Number of supplementary pulses 3 Number of PGO pulses ANA RT r E dees wecederaaces DOG f DVP 10PM Application Manual 3 Devices Bit 9 10 in D1816 D1896 D1976 D2056 D2136 D2216 is 11 gt The mode of returning home is an overwrite mode and the return to home is not triggered by a transition in DOG s signal from high to low Steps The motor used rotates at the speed Var When DOG s signal is generated the speed of the motor begins to decrease to the speed Vcr After the motor rotates for a specific number of PGO pulses or rotate for a specific number of supplementary pulses it will stop lf the number of PGO pulses or the number of supplementary pulses is not large the speed of the motor used will decrease to the speed Vcr after DOG s signal is generated After the motor rotates for a specific number of PGO pulses or rotates for a specific number of supplementary pulses it will stop whether its speed is Vcr lf the number of PGO pulses is 0 and the number of supplementary pulses is 0 the motor used will stop after DOG s signal is generated Velocity PPS yi Away from DOG s signal o Close to DOG s signal lt Direction in which the axis specified returns home Numberof supplementary pulses Numberof PGO pulses DOG 8 Bit 11 inD1816 D1896 D1976 D2056 D2136 D2216 Direction in which the motor used rotates Bit 11 0 When the motor rotates clockwise the value indicating the pr
11. _ is sia en a e ia al e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If i 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system a S Data source m Start digit which will be transferred from the source device Exp lanation m2 Number of digits which will be transferred D Data destination n Start digit where the source data is stored in the destination device The value used by the instruction is a binary coded decimal value M1168 is OFF The value used by SMOV is a binary coded decimal value When the instruction is executed the mg digits of the four digit binary code decimal value in S which start from the m digit of the four digit binary code decimal value in S are transferred to the mz digits of the four digit binary code decimal value in D which starts from the n digit of the four digit binary code decimal value in D The value used by the instruction is a binary value M1168 is ON When the instruction is executed
12. Applications of the instructions BCD and BIN Additional 1 IfaDVP 10PM series motion controller wants to read a binary coded remark decimal value created by a DIP switch users have to use the instruction BIN af to convert the value into a binary value and store the conversion result in the DVP 10PM series motion controller 2 If users want to display a value stored in a DVP 10PM series motion controller on a seven segment display on which binary coded decimal values can be displayed they have to use the instruction BCD to convert the value into a binary coded decimal value and transfer the conversion result to the seven segment display 3 When XO is ON the binary coded decimal value in K4MO is converted into a binary value and the conversion result is stored in D100 Subsequently the binary value in D100 is converted into a binary coded decimal value and the conversion result is stored in K4Y20 XO Kaxo D100 BCD D100 K4Y20 Example 5 34 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Binary addition C XI YM SK H Kaka kS T e 1D LV 2 app onunu apo Vs DONON instruction instruction _ a 32 bit instruction 9 steps fs nas o Pot TT EA ssise nsion e Flags e Note The instruction supports V devices and Z devices If the 16 bit Ox 0100 instruction is used Z devices can not be used If the 32 bit M1808 M1968 Zero flag instruction is
13. device C Worddevice f T6bitinstruction 9 steps KYM Sp K H KXK KM KSL T e D Y E a Continuity sprp Pulse instruction instruction C e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges f S Initial bit device which is moved D Initial bit device which is moved n4 Explanation Number of bits which are moved n2 Number of bits forming a group The states of the n bit devices starting from D are divided into groups nz bits as a group and these groups are moved leftwards The states of the n bit devices starting from S are moved to the vacant devices in the devices starting from D Generally the pulse instruction SFTRP is used 1Snosn s1024 When XO is turned from OFF to ON the states of the sixteen bit devices starting Exam pl e from MO are divided into groups four bits as a group and these groups are moved leftwards The states of the bit devices are moved leftwards in the order during a scan cycle M15 M1i2 The states of M3 M0 are carried Mi1 M8 M15 M12 M7 M4 M11 M8 M3 MO M M4 X3 X0 gt M3 M0 X0 i i Four bits asa group are moved leftwards o A x3 X2 X1 xo
14. 32 bit instruction The floating point value in S4 is in the range of the minimum source value and the maximum source value i e the floating point value in S DVP 10PM Application Manual 5 137 5 Applied Instructions and Basic Usage is a 32 bit floating point value available If the floating point value in S exceeds the minimum source value the maximum source value the minimum source value the maximum source value will be used If users use the instruction the maximum source value must be greater than the minimum source value and the maximum destination value does not have to be greater than the minimum destination value 5 138 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage api N Negated conditional jum o oM 256 CJ p Cs g jump 0PM x Y MS K H _ KnX KnY KnM KnS T C D V Z Continuity Pulse e Note The operand S can be a pointer Instruction instruction S is in the rage of PO P255 A pointer can not be modified by a V device or a Z device e Flag None A S Pointer Explanation Ifthe conditional contact connected to CJN is ON the next address will be l executed If the conditional contact connected to CJN is not ON the address to B which S points will be executed If some part of the main program O100 does not need to be executed users can use CJN or CJNP to shorten the scan time Besides if a dual output is used users can use CJ or CJP Ifthe pro
15. Ifthe divisor in S is 0 the instruciton will not be executed 16 bit binary division Quotient Remainder S S2 D D gt 1 nanam a y ee a DIS arrn b0 Eo eer DO Dl Sacncee DG b15 b0 32 bit binary division Quotient Remainder CSi 1 CS2 41 S2 d CD CD 3 CD 2 D1 SenaB DI SnD Dlo DODI aB DIS DOGS aab D1 OnwD0 DI SaD s When XO is ON the dividend in DO is divided by the divisor in D10 the quotient Example is stored in D20 and the remainder is stored in D21 Whether the quotient and the remainder are positive values or negative values depends on the leftmost bit in D20 and the leftmost bit in D21 DVP 10PM Application Manual 5 39 5 Applied Instructions and Basic Usage Applicable model 10PM Bit device Word device XT IMI S KH KnxX Kn knM kns TCL DVT 2 inc Contnuty Inch ee 1 AARS ee ne ere einstein ___instruction N The i eyda d Z devi f the 16 bit 32 bit instruction 3 steps ote Ihe instruction supports V devices an evices If the 16 bi DING Continuity p yop Pulse instruction is used Z devices can not be used If the 32 bit 3 __ instruction _ instruction instruction is used V devices can not be used e Flag None Please refer to specifications for more information about device ranges D Destination device If the instruction used is not a pulse instruction the value in D used by the instruction increases by one whenever the instru
16. 2 The AC power input of a DVP 10PM series motion controller and the AC power input of the I O module connected to the DVP 10PM series motion controller must be ON or OFF at the same time 3 The length of the cable connected to the ground terminal on a DVP 10PM series motion controller is at least 1 6 millimeters 4 Ifa power cut lasts for less than 10 milliseconds the DVP 10PM series motion controller used will keep running without being affected If a power cut lasts for long or if the voltage of the power input of DVP 10PM series motion controller decreases the DVP 10PM series motion controller will stop running and the output terminals will be OFF When the power input returns to normal the DVP 10PM series motion controller will resume Users have to notice that there are latching auxiliary relays and registers in a DVP 10PM series motion controller when they write a program 5 The maximum current which can flows from the power output terminal 24V is 0 5 A Please do not connect any external power to 24V The current flows into any input terminal must be in the range of 6 mA to 7 mA If there are 16 input terminals 100 mA will be required As a result the current that flows 2 6 DVP 10PM Application Manual 2 Hardware Specifications and Wiring from 24 V to an external load can not be greater than 400 mA 2 2 3 Safety Wiring A DVP 10PM series motion controller controls many devices and the activity of any devic
17. An error occurs in the motion control function block 3 Troubleshooting The values of input pins in the motion control function block are incorrect There is a transition in the Valid output pin s signal from low to high when an interrupt is enabled There isa transition in the Busy output pin s signal from low to high when there isa transition in the Enable input pin s signal from low to high Input values are incorrect The source specified has been occupied There is a transition in the Valid output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Error output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low Troubleshooting 4 Example Purpose Check whether the values of the input pins are in the ranges allowed A time interrupt and an external interrupt are used Users can use the motion control function block T_InputPolarity to simulate the state of an external terminal lO m1000 INC D4000 1 m1000 I
18. Binary number Octal number Decimal number mn Stake cerca a a BIN OCT DEC BCD HEX For internal operations in a SON deite Constant K Input value of a DIP switch and DVP 10PM series motion Sey M S T C D V Z P the value displayed ona Constant H controller device number seven segment display 0000 0000 0 0 0 0000 0001 1 1 0000 0001 1 0000 0010 2 2 0 0 0 0000 0011 3 3 0 0 1 0000 0100 4 4 0000 0100 4 0000 0110 6 6 0000 0110 6 000 0111 7 0000 1000 00 0 0 0 0 0000 1001 11 9 0000 1001 9 A 0000 1011 13 11 0001 0001 B we T A C 0000 1101 00 1 011 0000 1110 O u eoon ao O71 0701 0001 0000 0 1 1 1 0 111 3 3 External Input Devices and External Output Devices E Input devices X0O X377 Input device numbers are octal numbers ADVP 10PM series motion controller has 256 input devices at most XO X7 X10 X17 X370 X377 E Output devices YO Y377 Output device numbers are octal numbers A DVP 10PM series motion controller has 256 output devices at most YXO Y7 Y10 Y17 370 Y377 E Functions of input devices After X devices in a DVP 10PM series motion controller are connected to an input device the input signals sent to the DVP 10PM series motion controller will be read There is no limitation on the number of times the Form A contact the Form B contact of an X device can be used in a program The state of an X device varies with the state of the input device
19. vivovyv They are carried M15 M14 M13 M12 M11 M10 M9 M8 M7 M6 M5 M4 M3 M M MO 5 52 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model 10PM Moving the values in word devices rightwards ee E o Pe ON Pe BYTE Continuity wysp use instruction instruction ey SF e Note The instruction supports V devices and Z devices lf the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system S Initial word device which is moved D Initial word device which is moved nj Explanation Number of values which are moved n2 Number of values forming a group The values in the n word devices starting from D are divided into groups n2 values as a group and these groups are moved rightwards The values in the n2 word devices starting from S are moved to the vacant word devices in the word devices starting from D Generally the pulse instruction WSFRP is used If the operand S is KnX KnY
20. CANopen Communication Card Homing acceleration time CR Speed at which motion homes after a transition in a DOG signal in oe Enabling a homing mode a Target position of an interpolation mode Enabling an interpolation mode CANopen common mode CR 505 Execution status of a heartbeat protocol R Wa 1 506 Heartbeatstatuses O O C R W i Object dictionary parameters CRnumber Function Attribute Datatype Length H 1400 H 143F Parameter settings fora RPDO R W Word 3 H 1600 H 163F Parameter settings for RPDO data mapping R W DWord 4 H 1800 H 183F Parameter settings for a TPDO H 1A00 H 1A3F Parameter settings for TPDO data mapping H 2000 H 207F PDO data registers 7 5 Descriptions of Control Registers Normal mode Common parameters CR 001 Firmware version of DVP FPMC Description The firmware version of DVP FPMC is displayed in a hex value e g H 8161 indicates that the data of issuing the firmware of DVP FPMC is Afternoon August 16 CR 052 CANopen synchronous packet sending setting Description The control register has two functions e The low byte of CRO52 sets up a CANopen synchronous function If the value of the low byte is 1 DVP FPMC will send out a synchronous packet If the value is 0 the function will be disabled e The high byte of CRO52 sets up a synchronous cycle Setting valuex5 Value in D1040 I
21. D1865 instruction will be executed next time Ox0 Ox99 are started Others Ox0 Ox99 are executed again D1866 Electrical zero of the X axis Low word D1867 Electrical zero of the X axis High word D1868 Setting an Ox motion subroutine number D1869 Step address in the Ox motion subroutine at which an error occurs D1872 Enabling a Y device when the Ox motion subroutine is ready High byte K1 Low byte Starting Y device address Enabling a Y device when an M code in the Ox motion subroutine is executed D1873 High byte K1 Low byte Starting Y device address D1874 Using an X device to reset the M code D1875 Starting the X axis manually ZRN MPG JOG JOG D1896 Setting the parameters of the Y axis Number of pulses it takes for the motor of the Y axis to rotate D1898 once Low word Number of pulses it takes for the motor of the Y axis to rotate once High word Distance generated after the motor of the Y axis rotate once Low word Distance generated after the motor of the Y axis rotate once High word D1902 Maximum speed Vmax at which the Y axis rotates Low word D1903 Maximum speed Vmax at which the Y axis rotates High word D1904 Start up speed Vs as at which the Y axis rotates Low word D1905 Start up speed Vsg as at which the Y axis rotates High word D1906 JOG speed Vjoc at which the Y axis rotates Low word D1907 JOG speed Vjoc at which the Y axis rotat
22. D41 D40 Radian gt D51 D50 Sine Binary floating point value A radian degree flag is set to ON The value in D1 DO is a degree in the range of 0 to 360 When XO is ON the sine of the value in D1 DO is stored in D11 D10 The value in D11 D10 is a binary floating point value M1002 SET Radian Degree flag X0 5 Degree Sine Binary floating point value Please refer to section 5 3 for more information about performing operations on floating point values DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model 10PM 32 biiir instruction n 6 steps Continuity Pulse DOOS instruction _PCOSP instruction _ Note 0 lt Degrees 360 e Flags Please refer to specifications for more information about device Ox 0100 M1808 M1968 Zero flag M1760 M1920 Radian Degree flag e Please refer to the additional remark below ranges F represents a floating point value There is a decimal point in a floating point value Only the 32 bit instructions DCOS and DCOSP are valid S Source value D Cosine value Explanation Whether the source value in S is a radian or a degree depends on the state of a radian degree flag lf a radian degree flag is OFF the source value in S is a radian Radian DegreexTt 180 lf aradian degree flag is ON the source value in S is a degree 0 lt Degrees 360 If an operation result is 0 a zero flag will be O
23. DEADD Do When XO is ON F1234 0 is added to the a floating point value in D11 D10 and the sum is stored in D21 D20 X2 DEADD D10 F1234 0 o D20 Please refer to section 5 3 for more information about performing operations on floating point values DVP 10PM Application Manual 5 99 5 Applied Instructions and Basic Usage Se Bitdevice device Word device XY MS EH KX KY IKM KNS TC 1D LV te 32 bit instruction 9 steps Continuity Pulse s a pL DESUB instruction _DESUBP instruction _ ot tT tT tT ft tt Fags e Note Please refer to specifications for more information about device Ox 0100 ranges M1808 M1968 Zero flag l l SGS M1809 M1969 Borrow flag F represents a floating point value There is a decimal point in a M1810 M1970 Carry flag floating point value Only the 32 bit instructions DEADD and DEADDP are valid Please refer to the additional remark below S4 Minuend S2 Subtrahend D Difference The binary floating point value in S2 is subtracted from the binary floating point value in S4 and the difference is stored in D If S is a floating point value the instruction will be used to subtract the binary floating point value in S2 from S4 If S2 is a floating point value the instruction will be used to subtract S from the binary floating point value in S4 SS and S can be the same register If the instruction DESUB is used under the circumstances the value in the reg
24. M Power Clearing all Clearing all Fact R STOP gt RUN RUN gt STOP non latching devices latching devices C 9ry OF ETON M1031 is ON M1032is OoN SCUInd Cleared when M1033 is OFF Non latchi h h on latching Cleared Unchanged Unche when Cleared Unchanged M1033 is ON Latching Unchanged Unchanged _ Cleared O 3 2 Values Constants and Floating point Numbers Dacinnalevsteni 16 bit operation K 32 768 K32 767 32 bit operation K 2 147 483 648 K2 147 483 647 Constant Hezadecimai system 16 bit operation HO HFFFF 32 bit operation HO HFFFFFFFF Floating point te ee 32 bit operation 1 1755X10 3 4028X10 number The IEEE 754 standard is used A DVP 10PM series motion controller performs operations on five types of values according to various control purposes The functions of the five types of values are described below 1 Binary number BIN The values on which a DVP 10PM series motion controller performs operations and the values stored in the DVP 10PM series motion controller are binary numbers Binary numbers are described below Bit A bit is the basic unit of information in the binary system Its state is either 1 or 0 Nibble A nibble is composed of four consecutive bits e g b3 b0 Nibbles can be used to represent 0 9 in the decimal system or O F in the hexadecimal system Byte A byte is composed of two consecutive nibbles i e 8 bits b b0 Bytes can be used to represent OO FF i
25. RW no Of M121 C218 Soleciing a mode of counting On Counting dow OF RW No Of C220 EE a mode of counting on E down Off RW No Off M1221 0221 Selecting a mode of counting On Courting down O SRW No Of M1222 C222 Selecting a mode of counting On Counting down Of RW No of C223 ean a mode of counting On eColinting down Off RW No Off M1224 C224 Selecting a mode of counting On Counting down Of RW No Of C225 PE a mode of counting On Counting down Off RW No Off M1226 C226 Selecting a mode of counting On Counting down Of lt RW No Of M1227 0227 Selecting a mode of counting On Counting dow OF RW No OF ECA Nr N Sr AN An xee Ne N N S N ee l Nr AN A xe Ne N N N M1228 0228 Selecting a mode of counting On Counting down Off PRW M1229 C229 Selecting a mode of counting On Counting down Of RW 1290 C250 Selecting a mode of courting On Counting down ON Rw M1231 C231 eens a mode of counting On Counting down Off Ni i M1232 C232 Selecing a mode of counting On Counting down OFAN OF M1233 C283 Selecting a mode of counting On Counting down Off RW No M1234 C234 Selecting a mode of counting On Counting down O RW No M1235 0235 Selecting a mode of coun
26. Y37 Y30 Ifthe operand S is KnX KnY KnM KnS andthe operand D is KnY KnM KnS Kn in KnX KnY KnM KnS whichis S and Kn in KnY KnM KnS must be the same EES S XO E WSFRP K1X20 K1Y20 Two nibbles asa group are moved rightwards r gt X27 X26 X25 X24 X23 X22 X21 X20 gt Y37 Y36 Y35 Y34 Y33 Y32 Y31 Y30 Y27 Y26 Y25 Y24 Y23 Y22 Y21 Y20 They are carried 5 54 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Moving the values in word devices leftwards a 16 bit instruction 9 steps AY IMTS K H Nox toy feo ins T C pve Continuity weryg Pulse ase instruction ___instmuction _ a Nene ne ne ne ee nn en en ee SS 0580 SS eS I e Note The instruction supports V devices and Z devices lf the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system S Initial word device which is moved D Initial word device which is moved nj Exp lanation N
27. instruction _ instruction me PPP EEE Ee m Se ET EE ag e Note The instruction supports V devices and Z devices If the 16 bit Ox 0100 instruction is used Z devices can not be used If the 32 bit M1808 M1968 Zero flag instruction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system S Device which is moved D Initial device n Number of devices The values in the n word devices starting from D are defined as first in first out Explanation values and D is taken as a pointer When the instruction is executed the value of the pointer D increases by one and the value in S is written into the device to which the pointer D points When the value of the pointer is greater than or equal to n 1 the instruction does not process the writing of the value and a carry flag is ON When the value of the pointer D is greater than n 1 the instruction does not process the writing of a value and the carry flag M1022 is ON Generally the pulse instruction SFWRP is used 2sns512 The value of the pointe
28. o o Example DVP 10PM Application Manual 5 129 5 Applied Instructions and Basic Usage Tebi instrucion 5 stees x y m s k IH KnxX knY KnM Kns T c DIV Z iggy Continuity x instruction 32 bitinstruction 7 steps tS Continuity i instruction e Note X represents gt lt lt gt lt Or 2 e Flagi None Please refer to specifications for more information about device ranges f S4 Source device 1 S2 Source device 2 Explanation The instructions are used to compare the value in S4 with that in S2 Take the instruction OR for instance If the comparison result is that the value in S4 is equal to that in Se the condition of the instruction is met If the comparison result is that the value in S is not equal to that in S2 the condition of the instruction is not met The instruction ORX is connected to a contact in parallel 16 bit instruction 2400 OR DOR SS Sheo Cm lone oono O Ses O ses Ifa 32 bit counter is used the 32 bit insturciton DORX must be used If a 32 bit counter and the 16 bit instruction ORX are used a program error will occur and the ERROR LED indicator on the DVP 10PM series motion controller used will blink C200 C255 are 32 bit counters When X1 is ON or when the present value in C10 is equal to K200 YO is ON Example When X2 and M30 are ON or when the value in D101 D100 is greater than or equal
29. y X6 DO G3 a A 24V AY Na S S 24VDC X12 m DOG4 y p X12 Wy A 24VDC aj X13 T DOGS Y X13 mo A DOGS Shielded cable X1 0 MA al X10 om X114 WN y X11 WN a 24VDC S S t G X1 PGO 24VDC S S tK X3 PG1 24VDC y S S 4 a X5 PG2 24VDC y S S 4 a X7 PG3 o o DVP 10PM Application Manual 24V OV Yaskawa servo drive Yaskawa series Y10 Y10 Y11 Pe Vile PLS 7 PLS 8 SIGN 11 ISIGN 12 Yaskawa servodrive Yaskawa series Y1 2 Y12 Y13 Bq M Y13 PLS 7 PLS 8 SIGN 11 ISIGN 12 Y1 4 Yaskawa servodrive Yaskawaseries Y14 Y15 Y15 PLS 7 PLS 8 SIGN 11 SIGN 12 Yaskawa servo drive Yaskawa series Y1 6 Y1 6 Y1 7 Y1 7 PLS 7 PLS 8 SIGN 11 ISIGN 12 YO Yaskawa servo drive Yaskawa series
30. A NELTA Smarter Greener Together I ndustrial Automation Headquarters Delta Electronics Inc Taoyuan Technology Center No 18 Xinglong Rd Taoyuan City Taoyuan County 33068 Taiwan TEL 886 3 362 6301 FAX 886 3 371 6301 Asia Delta Electronics Jiangsu Ltd Wujiang Plant 3 1688 Jiangxing East Road Wujiang Economic Development Zone Wujiang City Jiang Su Province P R C 215200 TEL 86 512 6340 3008 FAX 86 769 6340 7290 Delta Greentech China Co Ltd 238 Min Xia Road Pudong District ShangHai P R C 201209 TEL 86 21 58635678 FAX 86 21 58630003 Delta Electronics Japan Inc Tokyo Office 2 1 14 Minato ku Shibadaimon Tokyo 105 0012 Japan TEL 81 3 5733 1111 FAX 81 3 5733 1211 Delta Electronics Korea Inc 1511 Byucksan Digital Valley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 Delta Electronics Int l S Pte Ltd 4 Kaki Bukit Ave 1 05 05 Singapore 417939 TEL 65 6747 5155 FAX 65 6744 9228 Delta Electronics India Pvt Ltd Plot No 43 Sector 35 HSIIDC Gurgaon PIN 122001 Haryana India TEL 91 124 4874900 FAX 91 124 4874945 Americas 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 3800 FAX 1 919 767 8080 Delta Greentech Brasil S A Sao Paulo Office Rua Itapeva 26 3 andar Edificio Itapeva One Bela Vis
31. After a motion control function block is started the input values which are not in ranges allowed will be limited or result in an error occurring in the motion control function block If an error occurring in a motion control function block results in an error occurring in an axis the motion control function block is applied incorrectly Users should prevent incorrect values from being generated in an applied An output value is valid The execution of the motion control Aborted function block is interrupted by a command DVP 10PM Application Manual 5 145 5 Applied Instructions and Basic Usage program Output pins are mutually exclusive m fthe input pin that a motion control function block has is the Execute input pin only the Busy output pin the Done output pin the Aborted output pin or the Error output pin can be set to True If the Execute input pin is set to True the Busy output pin the Done output pin the Aborted output pin or the Error output pin must be set to True m fthe input pin that a motion control function block has is the Enable input pin the Valid output pin and the Error output pin are mutually exclusive and only the Valid output pin or the Error output pin can be set to True Time when output data states are valid E lf the input pin that a motion control function block has is the Execute input pin the Done output pin the Error output pin the Aborted output pin and data output are reset w
32. DDEC V Subtracting one from a binay vae 3 3 BAI 25 WAND DWAND V LogicalAND operation SSS 27 WOR DWOR V Logical OR operation 7 9 543 28 WXOR DWXOR 7 Logioal exclusive OR operaion 7 9 544 29 NEG DNEG V Taking the two s complement ofa vae 3 3 545 30 ROR DROR V Rotating bis rightward 5 9 547 DROL V Rotating bis lefwards iB 32 RCR DACR V Rotating bits rightwards wih a cary feg 5 9 BAO RCL DRCL v Rotating bits leftwards with a carry flag 5 9 5 50 34 SFR 7 Moving the states of bit devices rightwards 9 551 35 sL 7 Moving the states of bit devices leftwards 9 552 WSFR v Moving the values in word devices rghtwards 9 lt 553 mws 7 Movie values in word dees otwards 9 gt 885 evice SNOWY lt P AT AT AT AT AE AE AE AE AE AE AE AE AE AE AE S JJ 9 i S 5 Q 3 O lt D S wom o ov Megawandesinantonawod yay a ZRST X Resetingazone o 5 58 m DECO Z Decoder OOOO 7o a S a2 ENCO 7 Enoder O OO O OOO y o7z a E a8 SUM DSUM Number ofits which are ON 5 9 563 3 DBON 45 MEAN DMEAN 7 Means 8 3 46 ANS _ Drivinganannunciator 7 56 AT ANR lt 7 Resetinganannunicator 1 557 48 SQR _ DSOR V Square root of a binary value 5 9 569 ee DVP 10PM Application Manual 7 5 Applied Instructions and Basic Usage 32 bit instruction DFLT Converting a binary inte
33. Data type Double word CR n87 CR n88 Homing acceleration time Description The control registers are used to set homing acceleration time Range 0 2 147 483 647 Data type Double word CR n89 Enabling a homing mode Description A homing mode will be executed if the value in the control register is 1 After homing is completed the value in the control register will be cleared to 0 automatically 7 14 DVP 10PM Application Manual r4 CANopen Communication Card CR n90 CR n91 Target position of an interpolation mode Description The control registers are used to set the target position of an interpolation mode Range 2 147 483 648 2 147 483 647 Data type Double word CR n92 Enabling an interpolation mode Description An interpolation mode will be executed if the value in the control register is 1 An interpolation mode will be disabled if the value in the control register is 0 CANopen common mode CR 500 CANopen mode switch Description The control register is used to switch the CANopen mode of DVP FPMC If the value in the control register is 1 the CANopen mode of DVP FPMC is an A2 mode If the value in the control register is 2 the CANopen mode of DVP FPMC is a normal mode Default value 1 Control registers for an A2 mode will be unavailable if the CANopen mode of DVP FPMC is a normal mode Control registers for a normal mode will be unavailable if the CANopen mode of DVP FPMC is an A2 mode C
34. Done2 Error2 i of Motion S AE 3000 Velocity T 0 Pet epee terete tere Pt ias 35000 Position 1 PE 25000 mnm mm nfa a a fa n a a anaana iat aandaa E F F F E H H F H F F F n I i i i i i i i i 1 1 I 1 n i 1 i F i H i i H H LLLE Ck ee eee ee ee ERERER ER EERE EIEE eee ee LETT PP After the first single speed motion is complete the second single speed motion will be executed After the execution of the motion control function block named FIRST is complete the motion control function block named SECOND will be executed The first axis moves for 25 000 pulses The second single speed motion is executed before the execution of the first single speed motion is complete When Error2 is set to True the first axis moves for 10 000 pulses The motion control function block named SECOND is invalid 5 Module which is supported The motion control function block T_AbsSeg1 supports DVP10PMOOM DVP 10PM Application Manual 5 155 5 Applied Instructions and Basic Usage 5 10 2 Relative Single speed Motion 1 Motion control function block The motion control function block T_RelSeg1 is used to start relative single sopeed motion After relative single speed motion is started the speed of the relative single speed motion will increase from the Veias set to the velocity set The speed of the relative single speed motion will not decrease from the velocity set to t
35. Only the 32 bit instructions DDEG and DDEGP are valid M1810 M1970 Carry flag e Please refer to the additional remark below S Source radian D Conversion result degree The equation below is used to convert a radian into a degree Degree Radianx 180 tTr If the absolute value of a conversion result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of a conversion reuslt is less than the minimum floating point value available a borrow flag will be ON lf a converseion result is 0 a zero flag will be ON When XO is ON the radian in D1 DO is converted into a degree and the conversion result is stored in D11 D10 The degree in D11 D10 is a binary floating point value XO Hi os vo oo or po Rasian 5 Binary floating point number D pit Dio pio Degree Radian x 180 p Binary floating point number a _ Please refer to section 5 3 for more information about performing operations Additional on floating point values remark Explanation Example 5 98 DVP 10PM Application Manual Bit device 5 Applied Instructions and Basic Usage Word device ALM S EH Kox Koy icons Te Tp tv 2 i 32 bit instruction 9 steps ee DEADD oomoo DEADDP ee an re Instruction instruction i Pot TE TTT ET tT YT gs e Note Please refer to specifications for more information about device Ox 0100 ran
36. p Away from DOG S signal PO Close to DOG s signal mm _ Direction in which the axis specified returns home Number of supplementary pulses Number of PGO pulses DVP 10PM Application Manual 3 51 3 Devices Bit 9 10 in D1816 D1896 D1976 D2056 D2136 D2216 is 10 gt The mode of returning home is 3 52 an overwrite mode and the return to home is triggered by a transition in DOG s signal from high to low Steps The motor used rotates at the speed Var When DOG s signal is generated the speed of the motor begins to decrease to the speed Vcr After DOG s signal goes from high to low the motor will rotate for a specific number of PGO pulses or rotate for a specific number of supplementary pulses and then stop lf the number of PGO pulses or the number of supplementary pulses is not large the speed of the motor used will decrease to the speed Vcr after DOG s signal is generated After DOG s signal goes from high to low the motor will rotate for a specific number of PGO pulses or rotate for a specific number of supplementary pulses and then stop whether the its speed is Vcr lf the number of PGO pulses is 0 and the number of supplementary pulses is 0 the motor used will stop after DOG s signal is generated and there is a transition in DOG s signal from high to low Velocity PPS Away from DOG s signal o Close to DOG s signal Direction in which the axis specified returns home
37. s signal output pin s signal from high to low from low to high The motion control function block is being executed An error occurs in the motion control function block 3 Troubleshooting The values of input pins in the motion control function block are incorrect There isa transition in the Busy output pin s signal from low to high when there isa transition in the Enable input pin s signal from low to high Input values are incorrect The source specified has been occupied There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Error output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low Troubleshooting Check whether the values of the input pins are in the ranges allowed 4 Example Purpose A high speed capturer and the motion control function block T_CapMask are used If the present position of the first axis is in the range the value of the CapValue output pintthe value of the MaskValue input pin which is masked it will not be captured after an external device is set to ON M1000 M1000 T_SeiPosition_Ul T_SetPasitio T_
38. 0 30H te 37 H D1075 high 0 30H LRC CHK 1 LRC CHK 0 5 90 DVP 10PM Application Manual Example 2 5 Applied Instructions and Basic Usage A DVP 10PM series motion controller is connected to a VFD B series AC motor drive RTU mode M1143 ON M1002 MOV H87 D1120 Communication protocol 9600 8 E 1 SET M1120 The communication protocol setis retained MOV K100 D1129 Communication timeout 100 ms SET M1143 RTU mode X1 A SET M1122 Requestforsending data xo Communication command Device address 01 MODWR K1 H2000 H12 Data address H2000 M1127 Data H12 in the form of hexadecimal values RST M1127 M1127 is reset The reception of datais complete DVP 10PM series motion controller gt VFD B series AC motor drive The DVP 10PM series motion controller sends 01 06 2000 0012 02 07 VFD B series AC motor drive gt DVP 10PM series motion controller The DVP 10PM series motion controller receives 01 06 2000 0012 02 07 Data transmission registers in the DVP 10PM series motion controller message sent by the DVP 10PM series motion controller Register Data Description Address Pata acaress OH Data Data reception reigsters in the DVP 10PM series motion controller message with which the VFD B series AC motor drive responds Register Data Description D1070 low D1
39. 1 0 If it is not in the range the instruction will not be executed an operation error flag will be ON and the error code HOE19 will appear Ifa conversion result is 0 a zero flag will be ON When X0 is ON the arccosine of the binary floating point value in D1 DO is stored in D11 D10 Example os fees oe DO Binary floating point value Arccosine value D D 11 D10 Binary floating point value a o N Please refer to section 5 3 for more information about performing operations on Additional floating point values remark 5 116 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Bit device Word device Px TY mM s FT H knx kny KnM knS T CTD v Zz 32 bit instruction 6 steps Continuity DATANP Pulse l __instruction instruction DATAN Note Please refer to specifications for more information about device Flags ranges Ox 0100 Only the 32 bit instrucitons DATAN and DATANP are valid M1808 M1968 Zero flag F represents a floating point value There is a decimal point in a e Please refer to the additional remark below floating point value SS Source value binary floating point value D Arctangent value Explanation Arctangent value tan The relation between tangent values and arctangent values is shown below R S Tangent value R Arctangent value gt S lf a conversion result is 0 a zero flag will be ON When XO is ON
40. 3 O Q ep O gt ep as x Cc O O ep ze 2m oR pone 2a OR DOR 22 OR DOR 244 2 zs DVP 10PM Application Manual 5 3 5 Applied Instructions and Basic Usage TOS Instruction code Pulse PP 16bit 32 bit instruction 147 SWAP DSWAP DRAND the low byte in the device Unconditionaljump Retumingtoabusbar 5 2 Structure of an Applied I nstruction SUOIONAJSUI JOUIOC An applied instruction is composed of an instruction name and operands Instruction name An instruction name represents a function Operand An operand is the object of an operation An instruction name occupie one step The number of steps an operand occupies can be two or three depending on the instruction used is a 16 bit instruciton or a 32 bit instruction Descriptions of the applied instructions 00 Applicable model Comparing valuese 10PM i 6 bit instruction 7 steps 1 O a x vy tM sel k H knx kny knm kns gt T co bv Zz Continuity eppp Pulse S f et CCC Eee eee ao Continuity Pulse Poy EECCA T 1N T ersten if Flag None V fe instruction supports Y devices and lt devices If the Ne bit 9 lt 0 instruction is used lt devices can not be used Ifthe 32 bit instruction is used Y devices can not be used 2 Please refer to specifications for more information about device ranges API number The upper cell indicates a 16 bit ins
41. 5 Applied Instructions and Basic Usage 4 Example Purposes After the first single speed motion is complete the second single speed motion will be executed The second single speed motion is executed before the execution of the first single speed motion is complete The motion control function block named FIRST is set so that the first axis moves at a speed of 2 000 pulses per second and moves for 10 000 pulses The motion control function block named SECOND is set so that the first axis moves at a speed of 3 000 pulses per second and moves for 15 000 pulses M1000 FIRST Donel Excute T FelSezl _ M1000 SECOND T_Felbezl After the first single soeed motion is complete the second single speed motion will be executed Steps a Set Execute to True b Wait for a transition in Done2 s signal from low to high or a transition in Error2 s signal from low to high The second single speed motion is executed before the execution of the first single speed motion is complete Steps a Set Execute to True b Set Test to ON when Busy1 is set to true c Wait for a transition in Done2 s signal from low to high or a transition in Error2 s signal from low to high 5 158 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Timing diagram First The second motion The second motion can follows the first motion not interrupt the first motion Execute A i Busy U Of H q o
42. 500 Target position of the Z axis P l Low word 0 eee RA Now Gr Pulse width for the Z axis Low word O RW No O Target position of the Z axis P 1 High word O RW No O Pulse width for the Z axis High word o0 AME No 0 TT Speed at which the Z axis rotates V I Low word 00 RW No 1000 Speed at which the Z axis rotates V 1 High word Target position of the Z axis P Il Low word O RW No O Output period for the Z axis Low word oO RW No O 52003 J arget position of the Z axis P 11 High word 0 ee RNA M 0J Output period for the Z axis High word oO RW No O Speed at which the Z axis rotates V Il Low word 20005 e RW No 2K Speed at which the Z axis rotates V II High word 02006 Z axis Operation command o o wi e o e D2007 Z axis Mode of operaion o o CRW Present command position of the Z axis Pulse Low word o RW No Present command position of the Z axis Pulse High word Present command speed of the Z axis PPS Low word o ojo RW No j Present command speed of the Z axis PPS High word Present command position of the Z axis Unit Low word of RW njoj Present command position of the Z axis Unit High word Present command speed of the Z axis Unit Low word oojo RW njoj Present command speed of the Z axis Unit High word Do6 Satec
43. 9 Appendix 9 2 MEMO DVP 10PM Application Manual
44. AYN e X6 DOG3 5 7 9 24V aY G s s Pulses generatedbya manual pulse generator Shielded cable TT X104 AW a A phase DA X10 on X11 y B phase A X11 a 24VDC S S AW IK X1 PGO NW 24VDC x l S S ni K X3 PG1 ER 24VDC y i S S y K X5 PG2 a 24VDC y S S y K X7 PG3 A 2 14 ASDA A series VDD COM ff Y12 IPLS 43 A 12 PLS 41 MS Y134 77 ISIGN 36 Y13 SIGN 37 Im M Ol ple C1 LAU Ol COM 24VDC Delta servo drive ASDA A series VDD COM 4 Yidis EA to PLS 43 Q via H Ao pig 41 Yi5 fib ya tO SIGN 36 Lo Y15 HE 0 SIGN 37 y an Y2 CLR2 DI2 C2 COM 5 24V DC Delta servo drive ASDA A series T VDD COM 7 vie H to PLS 43 yie ey Ao pis 41 PE Y17 PR O ISIGN 36 Yi7 ee 0 SIGN 37 a Y3 CLR3 DI2 C3 COM 5 24V DC DVP 10PM Application Manual 2 Hardware Specifications and Wiring Wiring a DVP 10PM series motion controller and a Delta ASDA A series AC servo drive Six axis wiring 24VDC Pulses generatedbya manual pulse generator Shielded cable A phase x ENET 9 O 24VDC 24VDC 24VDC 24VDC Delta servo drive ASDA A series DVP 10PM
45. Binary floating point values ou R me oN OFF Decimal integers M1168 SMOV Mode of operation RW ONO OO M1200 C200 Selecting a mode ofcouning OS SRW no OOF M1201 C200 Selecting amode of counting SO PW w OO M1203 ResettingC200SCS itEEC RW ONO OO DVP 1 OPM Application Manual 3 1 7 3 Devices Special STOP RUN M 4 aN Latching Page device RUN STOP M1204 C204 Selecting a mode of counting SO PW No OO M1205 C204 Selecting a mode of counting PW w M1207 Resetingc24 OOOO A w o o M1208 C208 Selecting a mode of counting On Counting down Of RW no o M1209 C209 Selecting a mode of counting On Counting down Of lt RW No Of M1210 C210 Selecting a mode of counting On Counting down Of RW No Of M1211 C211 Selecting a mode of counting On Counting joan Off RW No Off M1212 C212 Selecting a mode of counting On Counting down Of lt RW No Of M1213 C213 Selecting a mode of counting On Counting dow OF RW No Of M1214 C214 S a mode of counting On Counting down Off R W Off M215 C215 Selecing a mode of sountng On Gouning dowry O0 RW no OF M1216 C216 Selecting a mode of counting On Counting down Of RW no Of M1217 C217 Selecting a mode of counting On Counting down Of lt RW No Of M1218 C218 Selecting a mode of counting On Counting down OF
46. Class Identifiers Address Type Initial Comment VAR Group WORD E O64 VAR Groupe WORD 6 G VAR Position DORDE 0i6 VAR Distance DVVWORD A 0i6 M1002 Moy kl group l 0 Moy k3 zroupl 2 DOMOVY k15000 position 0 DOMOWY ka0000 position l DOMOWY k 1 5000 position 2 M1002 Moy k4 groupa Moy k groupe 2 DOMOVY k1000 distance 0 mm a 5 10000 distance DMOY k 10000 distance 2 DVP 10PM Application Manual 5 199 5 Applied Instructions and Basic Usage M1000 T_AbsMoveLinear_Ul T_AbsMoveLi M1000 T_MotionObserve_U3 T_MotionObs Eno Position D4 Velocity H Dg Position HDR Velocity D10 M1000 T_MotionObserve_U4 T_MotionObserve_U5 T_MotionObserve_U6 Position D12 Velocity D14 Position D16 Velocity HD18 Position D20 Velocity HD22 Create the two identifiers Group1 and Group2 in the local symbol table in 0100 Group1 is an array composed of 6 words Group2 is an array composed of 6 words Create the two identifiers Position and Distance in the local symbol table in 0100 Position is an array composed of 6 double words Distance is an array composed of 6 double words When the program is executed the array indicated by Group1 is set to 1 2 3 0 0 0 The first axis the second axis and the third axis are used to execute linear interpolation When the program is executed the array indicated by Group2 is set to 4 5 6 0 0 0 The f
47. D0 1 4 ahlil fiji ojo olojojojojojojojojofojojo 1 jojo D0 5 D0 1 5 aHhbhbhbhhhkhhhh fs fof sts tlolojojojojojojojojolojoj jojt e e e e e D0 32 765 D0 1 32 765 PEER GEE EEE fo D0 32 766 D0 1 32 766 gt bEEEEEELEEEEE GET D0 32 767 D0 1 32 767 COO RD HEHEHEHEHE D0 32 768 D0 1 32 768 The maximum absolute value is 32 767 5 46 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage a a a ee ee x Y M S k H Knx Kny KnM KnS T c D v Z iRorp Continuity instruction instruction p C 32 bit instruction 9 steps DROR Continuity DRORP Pulse Note The instruction supports V devices and Z devices If the 16 bit a ARTURON a ee instruction is used Z devices can not be used If the 32 bit Flags instruction is used V devices can not be used Ox 0100 M1810 M1970 Carry flag Please refer to specifications for more information about device ou p e Please refer to the additional remark below ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system D Device which is rotated n Number of bits forming a group The
48. D100High 20 40 D100High D101 Low D101 Low D101 High C D101 High XO DXCHP D100 D101 5 32 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Converting a binary value into a binary coded decimal value 16 bit instruction 6 steps xX M S K H KnX KnY KnM KnS T C D V Z Continuity Pulse instruction instruction 32 bit instruction 6 steps DBCD Continuity DBCDP Pulse Note The instruction supports V devices and Z devices If the 16 bit SARIEN instruction instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges M1793 M1953 Operation error flag The binary value in S is converted into a binary coded decimal value and the Explanation conversion result is transferred to D If a binary value is converted to a binary coded decimal value which is not in the range of 0 to 9 999 the instruction BCD will not be executed If a binary value is converted to a binary coded decimal value which is not in the range of 0 to 99 999 999 the instruction DBCD will not be executed BCD can be used to convert the binary value in a positioning unit to a binary coded decimal value and transfer the conversion result to an external device e g a seven segment display _ When XO is ON the binary value in D10 is converted i
49. D2154 Home poston ofthe Baxs Low word o es o D2155 Home postion ofthe axis High word o o Rw Ye o Time Tacco it takes for the B axis to accelerate RW Yes 500 Time Tp c it takes for the B axis to decelerate RAW Yes 500 D2158 Target postion ofthe B axis P M Lowword SSRN DaS Tage postion othe Banis P M gh OWN D2160 Speed at which the B axis rotates V D Low word 1000 RW No 1000 D2161 Speed at which the Baxi rotates V i High word 1000 RW No 100 02162 Target postion ofthe Bas P Lowword OWN D216 Target postion ofthe Bais P I gh word OWN lt D2164 Speed at which the B axis rotates V I Low word 2000 RW No x Speed at which the B axis rotates V T re 2000 RW No 2K Z D2166 B axis Operation command o o W m o pe D2i67 Baxis Modeofopraon o O WwW w o a Presen command position of the B axis Pulse Low wor 0O RW No 0 Present command position of the B axis Pulse High word O RW No OF Present command speed of the B axis PPS Low word 0 0 0 RW No O D2171 Present command speed of the B axis PPS High word 0 0 0 RW No 0 D2172 Present command position of the B axis Unit Low word 0 RW No 0 D2173 Present command postion ofthe B axis Unit High word 0 RW No 0 D2174 Present command spee
50. DEMUL 6 1 us Execution speed 1 1 Structure of 0100 O100 is a sequence control program It is the main program in a DVP PM series motion controller It only supports basic instructions and applied instructions Users can use these two types of instructions to process O data call P subroutines and enable Ox motion subroutines Ox0 Ox99 0100 functions as a main program Motion subroutines are enabled through 0100 There is hierarchical relation between 0100 and motion subroutines The characteristics of O100 are described below 1 There are two methods of enabling 0100 e Ifthe STOP RUN switch of a DVP PM series motion controller module is turned form the STOP position to the RUN position when the DVP PM series motion controller is powered M1072 will be ON and 0100 will run DVP 10PM Application Manual 1 1 7 Program Framework of a DVP PM Series Motion Controller e Ifa DVP PM series motion controller is powered users can use communication to set M1072 to ON and to run O100 STOP RUN switch 0100 M1072 gt ee 2 0100 is scanned cyclically The scan of the main program O100 starts from the starting flag O100 After the ending instruction M102 is scanned the scan of the main program 0100 will go back to the starting flag O100 Communication The main program starts The sequence control program is scanned cyclically weI old UIEN The main program ends 3 There are three method
51. Donel i of H Second Vi Test i i i f Execute2 o of og i I Busy2 Li O i Done2 Error2 A Motion i i 3000 Velocity a H H ae Position P Lb ieee nnn 25000 30000 F OE a n EE E EE ENSE i t After the first single speed motion is complete the second single speed motion will be executed When the motion control function block named FIRST is executed the first axis moves for 10 000 pulses After the execution of the motion control function block named FIRST is complete the motion control function block named SECOND will be executed When the motion control function block named SECOND is executed the first axis moves for 15 000 pulses The second single speed motion is executed before the execution of the first single speed motion is complete When Error2 is set to True the first axis moves for 10 000 pulses The motion control function block named SECOND is invalid 5 Module which is supported The motion control function block T_RelSeg1 supports DVP10PMOOM DVP 10PM Application Manual 5 159 5 Applied Instructions and Basic Usage 5 10 3 Absolute Two speed Motion 1 Motion control function block The motion control function block T_AbsSeg2 is used to start absolute two speed motion After absolute two speed motion is started the speed of the absolute two speed motion will increase from the Vs as set to the V I set The speed of the absolute two speed motion will not increase decrea
52. ExtRstEN InitialValue 5 204 The motion control function block is enabled when there is a transition in the Enable input pin s signal from low to high Input pulse type External reset switch Initial value in the counter specified An output value is valid The motion control function block is being executed An error occurs in the motion control function block mcUD 0 mcPD 1 mcAB 2 mc4AB 3 True False 2 KO 2 147 483 647 State output pin Time when there is a transition in an output pin s signal from low to high There is a transition in the Valid output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high There isa transition in the Busy output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high Input values are incorrect The source specified has been occupied _ When the motion control function block is executed the value of the InputType input pin is updated repeatedly The value of the ExtRstEN input pin is valid when there is a transition in the Enable input pin s signal from low to high The value of the InitialValue input pin is valid when there is a transition in the Enable input pin s signal from low to high Time when there is a transition in an output pin s signal from high to low There is a transition in the
53. If users set a bit in D1400 to ON an interrupt will be enabled Bit Interrupt Interruptnumber o Timeinterupt O O boo o 7 External terminal X7 If an interrupt enabled is a time interrupt users can write the cycle of the interrupt into D1401 There are two types of interrupts E External interrupt If an interrupt is triggered by the rising edge falling edge of a pulse received through an external terminal the execution of the present program will stop and the interrupt will be executed After an interrupt is executed the program which is executed before the interrupt is triggered will be executed E Time interrupt The execution of the present program stops at regular intervals Whenever the execution of the present program stops an interrupt is executed If users want to clear the M code in D1703 they have to set M1744 to ON If M1744 is set to ON the value in D1703 will be cleared and M1794 will be reset If an M code in an Ox motion subroutine is executed M1794 will be ON The M code which is executed is stored in D1703 Every motion axis uses a ready flag The X axis uses M1792 the Y axis uses M1872 the Z axis uses M2082 the A axis uses M2112 the B axis uses M2192 and the C axis uses M2272 Users can use the ready flags to judge whether the axes operate Description of the ready flag for the X axis Before the X axis operates M1792 is ON When the X axis operates M1792 is OFF After the fi
54. In order to ensure that the DVP 10PM series motion controller radiates heat nce Ns normally there should be space between the DVP 10PM series motion controller and the control box N D gt 50mm Points for attention 1 Please use O type terminals or Y type terminals The specifications for terminals are on the right The torque applied to the terminal screws used should be 9 50 kg cm 8 25 Ib in Please use copper conducting wires The temperature of the copper conducting wires used should be 60 75 C Some meter i 2 Please do not wire NC Please do not put the cables connected to input terminals and the cables connected to output terminals in the ii same cable tray l 6 2 millimeters mH 3 Users have to make sure that there are no tiny metal conductors inside a DVP 10PM series motion controller when they tighten screws and wire terminals In order to ensure that the DVP 10PM series motion controller radiates heat normally the users have to remove the sticker on the heat hole 2 2 2 Wiring Power Input The power input of a DVP 10PM series motion controller is AC input Users have to pay attention to the following points 1 The voltage of AC power input is in the range of 100 V AC to 240 V AC A live wire and a neutral wire are connected to L and N If 110 V AC power or 220 V AC power is connected to 24V or an input terminal on a DVP 10PM series motion controller the DVP 10PM series motion controller will be damaged
55. O Z OJOJO Z JJ JJ SSJ N O do do U oO O Z T 2 J a amp ms Yes U ml O U D No Z converts the ASCII data in D1070 D1085 to hexadecimal values D1056 Present value of CHO in the function card 2AD D1057 Present value of CH1 in the function card 2AD Modbus communication data is processed D1070 ADVP 10PM series motion controller has an RS 485 communication instruction After a receptor receives the D1085 No O command sent by an RS 485 communication instruction it will reply with a message which will be stored in D1070 D1085 Users can view the message by D1070 D1085 Modbus communication data is processed D1089 A DVP 10PM series motion controller has an RS 485 communication instruction The command sent by the RS 485 communication instruction is stored in D1089 D1099 Users can check whether the command is correct by viewing the values in D1089 D1099 D1099 IT Oo oO E T gt L Clo ie 00 0 0 gt O O O 2 a Z D1109 Communication protocol of COM3 communication card D1110 Number by which the sum of several values of CHO in the function card 2AD is divided D1111 Number by which the sum of several values of CH1 in the function card 2AD is divided D1116 Present value of CHO in the function card 2DA O O Z O 2 z z OJO D1117 Present value of CH1 in the function card 2DA D1120
56. T_MationCibse M1000 Create the identifier Group1 in the local symbol table in 0100 Group is an array composed of 6 words Create the identifier Position in the local symbol table in 0100 Position is an array composed of 6 double words When the program is executed the array indicated by Group1 is set to 1 2 3 4 5 6 The first axis the second axis the third axis the fourth axis the fifth axis and the sixth axis are used to execute linear interpolation 5 202 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage When the program is executed the array indicated by Position is set to 15000 30000 1000 10000 10000 15000 15000 30000 1000 10000 10000 15000 indicates the target positions of the absolute linear interpolation executed by the first axis the second axis the third axis the fourth axis the fifth axis and the sixth axis After M1 is set to ON the multiaxial absolute linear interpolation set will be started Set M10 to ON when M1 is ON When the multiaxial absolute linear interpolation set is stopped the Aborted output pin the the motion control function block T_AbsMoveLinear is True and the Done output pin in the motion control function block T_GroupStop is True 5 Module which is supported The motion control function block T_GroupStop supports DVP10PMOOM 5 12 Other Motion Control Function Blocks 5 12 1 High speed Counter 1 Motion control function
57. blocks Reading the present Reading the present position speed of an 5 489 position speed of an axis axis Saec nE Reading and clearing the present 5 194 erroneous state of an axis Sou eee Setting the present position of an axis 9 193 position of an axis Inserting single speed motion 5 166 Setting the poante ol Setting the polarities of input terminals 5 194 input terminals o Multiaxial absolute linear Starting multiaxial absolute linear 5 196 Multiaxial interpolation interpolation motion SEKI a eT BORO Multiaxial relative linear Starting multiaxial relative linear 5 197 Ancon interpolation interpolation blocks Stopping multiaxial linear Stopping multiaxial linear interpolation 5 200 interpolation High speed counter Starting a high speed counter 5 203 High speed timer Starting a high speed timer 5 206 l Setting high speed Starting high speed comparison 5 209 Other motion Comparison control Resetting high speed l ee l iunelion amran speed Reset high speed comparison 5 211 blocks Setting high speed capture Starting high speed capture 5 215 High speed masking Starting high speed masking 5 218 l Setting the trigger for an interrupt 5 144 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 5 8 Introduction of the Pins tn a Motion Control Function Block 5 8 1 Definitions of Input Pins Output Pins Common input pins and output pins in motion control function blocks are listed below The pins
58. from low to Execute high Transition in DOG s signal DogEdge _ from low to high BOOL or from high to low Target speed before a transition in Velocity DOG s signal DWORD from low to high or from high to low Distance for which motion moves after a transition in Distance DOG s signal DWORD from low to high or from high to low Target speed after a transition in Velocity2 DOG s signal DWORD from low to high or from high to low DVP 10PM Application Manual mcRising True mcFalling False K1 K2 147 483 647 K 2 147 483 648 K2 147 483 647 K1 K2 147 483 647 input pin s signal from low to high The value of the DogEdge input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the Velocity1 input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the Distance input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the Velocity2 input pin is valid when there is a transition in the Execute input pin s signal from low to high 5 171 5 Applied Instructions and Basic Usage e There isa There is a transition in the Done transition in the output pin s signal from high to low The execution Done output pin s when there is a transition in the of the motion signal when Execute input pin s signal from
59. from the Veias set to the V I set The speed of the absolute single speed motion will not decrease from the V I set to the Vgias set until the number of pulses output is near the P I set Vegas D1824 D1904 D1984 D2054 D2134 D2214 V 1 D1840 D1920 D2000 D2080 D2160 D2240 Vmax D1822 D1902 D1982 D2062 D2142 D2222 P 1 D1838 D1918 D1998 D2078 D2158 D2238 Tacc D1836 D1916 D1996 D2076 D2156 D2236 Toec D1837 D1917 D1997 D2077 D2157 D2237 Taco Tbec A a Speed Start__A lf bit 6 in D1816 D1896 D1976 D2056 D2136 D2216 is ON and bit 8 in D1846 D1926 D2006 D2086 D2166 D2246 is ON YO Y83 will execute PWM 9 Bit9 in D1846 D1926 D2006 D2086 D2166 D2246 A mode of inserting single spoeed motion is activated After bit 9 in D1846 D1926 D2006 D2086 D2166 D2246 is set to 1 a mode of inserting single speed motion will be activated and the DVP 10PM series motion controller will send pulses by a pulse generator After DOG s signal goes from low to high or from high to low the axis specified will move to the target position indicated by the P I set lf relative single speed motion is activated the sign bit of the P I set by users will determine the direction of the relative single speed motion Absolute single speed motion If the target position of the axis specified is greater than its present command position the motor used will rotate clockwise If the t
60. gotten will affect the states of M1968 M1970 If a floating point operation instruction is used the result gotten will also affect the state of the zero flag M1968 the state of the borrow flag M1969 and the state of the carry flag M1970 Zero flag If the operation result gotten is 0 M1968 will be ON Carry flag If the absolute value of the operaiton result gotten is greater than the maximum value allowed M1969 will be ON Borrow flag If the absolute value of the operation result gotten is less than the minimum value allowed M1970 will be ON 5 4 Using Index Registers to Modify Operands V devices are 16 bit index registers and Z devices are 32 bit index registers There are 6 V devices VO V5 8 Z devices Z0 Z7 in a DVP 10PM series motion controller V devices are 16 bit registers Data can be freely 16 bits written into a V device and data can be freely read vow from a V device If a 32 bit value is required please l use a Z device 32 bits n AMS High byte Low byte Index registers can be used to modify P I X Y M S KnX KnY KnM KnS T C D devices but they can not be used to modify index registers constants and Kn For example K4 ZO is invalid K4AMO0 ZO is valid DVP 10PM Application Manual 5 9 5 Applied Instructions and Basic Usage and KO ZOM0O is invalid The devices marked with displayed in grayscale in the table in the explanation of an applied instruction can be modified by V devices and
61. i rme X FY 000 X2 DOG1 mest 4 Laie PE te M EK X6 DOG3 24V aes a Fuji servo drive x amp D O Q ine L ee R m POOOU EE 24VDC kE E 24VDC DOGS Fuji servo drive X13 DOGS Pulses generatedbya manual pulse generator Shielded cable A phase E Bphase S EI I I COCO _ _ _ q IYU T abee eea pgn 1600 Gs ER k t E meee j x gt i 7 2 SYmssss snos senemeneman 24VDC pejt pe 24VDC E BK 7 X3 PG1 M 24VDC X5 PG2 LEK 24VDC X7 PG3 Lt DVP 10PM Application Manual 2 23 2 Hardware Specifications and Wiring 2 3 Communication Ports A DVP 10PM series motion controller is equipped with COM1 RS 232 port COM2 RS 485 port anda communication card COM3 RS 232 or RS 485 communication COM1 It is an RS 232 port It can function as a slave station A program is edited through this port COM1 can be used in a Modbus ASCII mode or an RTU mode CON2 It is an RS 485 port It can function as a master station or a slave station It can be used ina Modbus ASCII mode or an RTU mode COMS It is an RS 232 RS 485 port It can function as a slave station It can be used in a Modbus ASCII mode Communication architecture Communication port RS 232 port RS 485 port RS 232 RS 485 port Communication parameter COAT SOLE O10 M r ion ASCII mode Slave station ase Stalo l Slave station Slave station M r ion RTU mode Slave station aai S1aul
62. ime Tacc it takes forthe 19 35 767 ms K100 axis specified to accelerate 997 D2077 Time Toec it takes forthe 19 35 767 ms K100 axis specified to decelerate Target an of the axis 2 147 483 mae 0 D1921 D1920 D2001 D2000 D2081 D2080 SPeed at ich why a 0 2 147 483 647 K1000 specified rotates V Target peu of hee axis 2 147 483 648 2 D1923 D1922 D2003 D2002 D2083 D2082 A Me E e E 5 D1924 D2005 D2004 D2085 D2084 Seed at which the axis 9 5 447 483 6472 K2 000 specified rotates V Il D2006 D2086 Operation command Bit O bit 15 D2007 D2087 Mode of operation Bit O bit 15 z i JEA a Present command position 2 147 483 par co A NEUSE heaves of the axis specified Pulse 2 147 483 647 Present ea Sa of 0 2 147 483 647 Present sient sosten 2 147 483 ie D1853 D1852 D1933 D1932 om om w D2092 of the axis specified unit 12 147 483 647 K1 000 O D1855 D1854 D1935 D1934 D2015 D D2095 D2094 Present command hae s Ona PALAGIDA the axis specified unit PPS D1856 D1936 D2 D2096 State of the axis ane Bit O bit 15 A Please refer to D1857 D1937 D2017 D2097 Axis error code appendix A for more information 3 44 DVP 10PM Application Manual 3 Devices Special D device number Default X axis Y axis Z axis Araxis__ Special data register Setting range AE saw IW HW iW AW LW HW W Electronic gear of the axis a 22038 specified Numer
63. incorrect The axis specified is in motion before the motion control function block is executed Output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high There is a transition in the Aborted Output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when the execution of the motion control function block is interrupted the Aborted output pin will be set to False in the next cycle There is a transition in the Error output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low Bor Troubleshooting The values of input pins in the motion control function block are incorrect The motion control function block conflicts with other motion control function blocks 4 Module which is supported Check whether the values of the input pins are in the ranges allowed Make sure that other uniaxial motion control function blocks are not started or the execution of other uniaxial motion control func
64. je _ D1 b15 b0 gt D0 b15 b0 gt 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 S E7 E6 E5 5 E1 EO A22 A21 A20 5 5 A6 A5 A4 A3 A2 A1 AO b31 b30 b29 b28 b24 b23 b22 b21 b20 b6 b5 b4 b3 b2 bi bO k _ Exponent gt Mantissa 23 bits p gt 8 bits signed number Position where a decimal pointis hidden Mantissa sign bit 0 Positive number 1 Negative number When the value of b0 b31 is 0 the value of b31 is 0 Decimal floating point value Since binary floating point values are not widely accepted by people they can be converted into decimal floating point values However the decimals on which operations are performed ina DVP 10PM series motion controller are still binary floating point values A decimal floating point value is stored in two consecutive registers The constant part is stored in the register whose device number is smaller and the exponent part is stored in the register whose device number is bigger Take D1 DO for instance Exponent D1 Decimal floating point number Constant DO 10 Base D0 1 000 9 999 Exponent D1 41 35 Besides the base 100 does not exist in DO because 100 is represented by 1 000x10 A decimal floating point value is in the range of 1 175x107 to 3 402x10 If the instruction ADD SUB MUL DIV is used in the main program 0100 M102 the operation result
65. mcCapC212 Device which The value of the TriggerDevice input l triggers the pin is valid when there is a transition TOJSTOEMICE capture of a vee in the Enable input pin s signal from value low to high mcxX11 mcxX12 mcx13 DVP 10PM Application Manual 5 215 The value of the Source input pin is valid when there is a transition in the Enable input pin s signal from low to high NOOR WDY CO 5 Applied Instructions and Basic Usage Data Time when a value is valid The value of the InitialValue input pin is valid when there is a transition in the Enable input pin s signal from low to high K 2 147 483 648 K2 147 483 647 InitialValue Initial value DWORD State output pin Time when there is a transition in an output pin s signal from low to high Time when there is a transition in an output pin s signal from high to low An output value Is valid The motion control function block is being executed An error occurs In the motion control function There is a transition in the Valid output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high There isa transition in the Busy output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high Input values are incorrect The source specified has been occupied There is a transition in the Valid output pin
66. mcCmpC204 Present value in C204 mcCmpC204 Present value in C208 mcCmpC204 Present value in C212 Output device 9 210 mcCmpyYo0 YO mcCmpyY1 Y1 mcCmpY2 Y2 mcCmpyY3s Y3 mcCmpRstC200 Resetting C200 mcCmpRstC204 Resetting C204 mcCmpRstC208 Resetting C208 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage E mcCmpRstC212 Resetting C212 Output mode m The device specified is YO Y1 Y2 or Y3 McCmpSet Enabling the output device specified McCmpRst Diabling the output device specified m The device specified is C200 C204 C208 or C212 McCmpSet The value in the counter specified is cleared McCmpRst The counter specified counts 3 Troubleshooting Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed The comparator specified has been used Use another comparator 4 Module which is supported The motion control function block T_ Compare supports DVP10PMOOM 5 12 4 Resetting High speed Comparison T_CmpRstCnt Eno Vald Cmp tO Cmp i Cmp i 2 Crp ys Cmpl200 Cmpl204 CmpCsoe Cmpl2la Busy 1 Motion control function block The motion control function block T_CmpRstOut is used to reset high speed comparison CLRYO CLRY1 CLRY2 CLRY3 CLRC200Rst CLRC204Rst CLRC208Rst and CLRC212Rst determine the output devices which will be reset The values of the output pins indicate
67. used Evey axis is controlled by two bits Ir in S S 4 0 Not participating in interpolation 1 Participating in interpolation 2 Noted CR 3 Stopping interpolation XO Module CR Initial Quantity number number device of data Data Device Setting Axes specified i device aoe R is a ae below o 76 54 32 EN EJ C axis B axis A axis Z axis Y axis X axis number used Evey axis is controlled by two bits ir in S 4 O0 Not participating in interpolation 1 Stopping linear interpolation DVP 10PM Application Manual 6 1 6 Multiaxial Interpolation O 2 Noted Not used m Users can set the parameters of the axes participating in linear interpolation by means of D1816 D1896 D1976 D2056 D2136 and D2216 Parameter of the axis Bit Parameter ofthe axis eT OTS 8 Direction in which the axis returns home Note 3 9 Mode of returning home Note 3 10 Mode of triggering the return to home Note 3 11 Direction in which the motor rotates Note 3 12 Relative Absolute coordinates Note 3 14 15 Ratio Note 2 Output type Note 2 Mode of triggering the calculation of the target position Note 3 Curve Note 3 PWM mode Note 3 bO Unit Motor unit Compound unit Mechanical unit Speed inchiminute Description Description Bit 6 1 Enabling a PWM mode 1 If positive JOG motion is started YO Y3 will execute PWM 2 If si
68. 152 5 10 1 Absolute Single speed Molosi T 5 152 5 10 2 Relative Single speed Motion ccccssscccssececeeeeceeeeeceeeeeceeeeesseeeesseees 5 156 5 10 3 Absolute Two speed Motion se enetcsesteredsnes onnierca meres Sivates Grareen Glace sR laceeaelays 5 160 5 10 4 Relative Two speed Motion ccccccccseecceeeeceeeeceeeeceeeceueecseeeseeeesseeeaees 5 163 5 10 5 Inserting Single speed Motion cccscccsseccsseeeceeeeceeeceeecseeeseeeeseeeesees 5 166 510 6 Inserting TWo Sp ed MOON sivredersecetersvocderdesadun dv viakaralaadeinee dies 5 170 SIOZ OG IOUT specter ot ceteris celc sedi deeded alsin ete EO 5 173 5 10 8 Manual Pulse Generator MOQ rcii AA 5 176 5 10 9 Electronice Gear MOO Messens E 5 179 5 10 10 Returning MONE Sa iivesecvstevsnne idee ianebove EEEE EE EEE AEE EEE EEE 5 181 9 TOTT lt StOO PING Uniaxial MOIO Messiren 5 183 91012 Parameter Seting Toraen E sbotaewe stole 5 186 510 13 Parameter Seting irens 5 187 5 10 14 Reading the Present Position Speed of an AXiS cccecseeeeeseeeeeeeeeenaees 5 189 SITER SAE AMA EE E E O E O ene ee 5 191 5 10 16 Setting the Present Position of an AXIS ccccseeeeeeseeeeeeeeeseeseeeeeeeneeseees 5 193 5 10 17 Setting the Polarities of Input Terminals cccccscccsseeeeceseeesseeeeseeeees 5 194 5 11 Multiaxial Motion Control Function BIOCKS cccccceccecseeeeeeeeeeseeeeeseeeeeeaeees 5 196 5 11 1 Multiaxial Absolute Linear
69. 32 bit counter CKorC D 2bis 28 6 o Rising edge Falling edge detection instructions Instruction Execution Page Ci O speed us oe detection detection detection in series 93 ANDF Connecting falling edge X Y M S T C 0 4 3 4 12 detection in series 94 Connecting nsing eage X Y M S 7 C 0 5 3 4 12 detection in parallel 95 ORF eee ees Te 0 4 3 4 13 detection in parallel DVP 10PM Application Manual 4 1 4 Basic Instructions Rising edge Falling edge output instruction Instruction Execution Page 89 PLS Aising edge output 99 PLF Falling edge output Other instructions Instruction Execution Page PO Pointer POPS DVP 10PM Application Manual 4 Basic Instructions 4 2 Descriptions of the Basic Instructions Instruction Applicable oaaing a Form A contac O 4 X0 X377 YO Y377 MO M4 095 SO S1 023 TO T255 CO C255 DO D9 999 ioe AD a l a l a l a The instruction LD applies to the Form A contact which starts from a busbar or Expl ti the Form A contact which is the start of a circuit It reserves the present ey Aii contents and stores the state which is gotten in the accumulation register a Ladder diagram Instruction code Description Example XO XI LD X0 Loading the Form A lt v1 gt contact X0 A AND Xt Connecting the Form A contact X1 in series OUT YI Driving the coil Y1 Instruction Function Applicable code model oaaing a Form D conta
70. 5 5 5 5 5 5 5 Z Q N O 2 zp Z O 2 gt w o amp Se 00 ggeeeee 2 ees Q Z Q M1920 Z Z Z 53 Q Z Q Z g Q Z Z P co on Z R w Co 222e 3 3 Q No SE oo Z a co co EE 3 M2113 Q No P oo M2145 M2192 Z Z Ki oo co BE 53 M2193 M2225 M2272 Q No re oo O p O Z JIR ae S R RSIS S SRR RNR S 3 5 g Ww Co O M2273 Q No O gt S Q N N ice Ce gt oo 5 U i D 222 D D 2 OO OJO 0O 0 0 0 0 0 0 0 0 0 O O DVP 10PM Application Manual 3 19 3 Devices Special D device D1000 Watchdog timer Unit ms Latching STOP RUN U 4 RUN e 5 OJO D1002 Size of the program D1003 Checksum of the program Firmware version of the DVP 10PM series motion controller D1005 i factory setting D1008 Step address at which the watchdog timer is ON D1011 Minimum scan time Unit 1 millisecond proset Delay which is allowed when an RS 485 port on the D1038 DVP 10PM series motion controller functions as a slave station Setting range 0 3000 Unit 10 ms D1039 Fixed scan time Unit ms D1050 Modbus communication data is processed The DVP 10PM series motion controller automatically D1055 Z O O R No Z
71. 5 32 bit instruction Continuity DMOVR P Pulse instruction instruction e Flag None Note All devices can not be modified by V devices and Z devices Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system S Source D Destination The operand S can be a floating point value When the instruction is executed the value in S is transferred to D When the instruction is not executed the value in D is unchanged When XO is OFF the value in D11 D10 is unchanged When XO is ON the value F1 2 is transferred to the data a D11 D10 XO DMOVR F12 Explanation 0 Example 5 96 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage C x Y M S F H KnX KnY KnM KnS T C D V Z J e Gees comm mown cme ws com een cme mms comme wn comm ewes comme ewwn coo owen 32 bit instruction 6 steps Continuity Pulse instruction instruction Note Please refer to specifications for more information about device ranges F represents a floating point value There is a
72. API 135 D ATAN API 136 D SINH API 137 D COSH API 138 D TANH a Representations of binary floating point values The floating point values in a DVP 10PM series motion controller are 32 bit floating point values and the representations of the floating point values conform to the IEEE 754 standard pE 23 bit Ds Do Sign bit 0 Positive number 1 Negative number Representation of a floating point value 1 x27 x1 M B 127 A 32 bit floating point value is in the range of 2 to 2 that is a 32 bit floating point value is in the range of 1 1755x10 to 3 4028x10 Example 1 23 is represented by a 32 bit floating point value Step 1 Converting 23 into a binary value 23 0 10111 Step 2 Normalizing the binary value 10111 1 0111x24 0111 is a mantissa and 4 is an exponent Step 3 Getting the exponent which is stored E B 4 E 127 4 E 131 1000001 12 Step 4 Combining the sign bit the exponent and the mantissa to form a floating point value O 10000011 01110000000000000000000 2 41B80000 5 8 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Example 2 23 0 is represented by a 32 bit floating point value 23 0 is converted in the same way as 23 0 Users only need to change the sign bit to 1 A DVP 10PM series motion controller uses two consecutive registers to form a 32 bit floating point values Take D1 DO in which a bianry floating point value is stored for instance
73. Adding then axis is valid when there is a transition in xesGroup execute WORDJ6 n is in the range of 1 the Execute input pin s signal from interpolation to 6 low to high The first cell must be set Motion is started when there is a Execute Medel in the BOOL True False xecute Input pin s signal from low to high The value of the Position input pin is y ai Lo valid when there is a transition in the Position Target positions DWORD 6 K 2 147 483 648 Execute input pin s signal from low to K2 147 483 647 high The value of the Velocity input pin is Speed of a valid when there is a transition in the meet interpolation DWORD eae a Execute input pin s signal from low to high 5 196 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Data type State output pin Time when there is a transition in an output pin s signal from low to high Time when there is a transition in an output pin s signal from high to low Aborted 3 dede The motion control function block conflicts with other motion control function blocks The execution of the motion control function block is complete The motion control function block is being executed An error occurs in the motion control function block The execution of the motion control function block is interrupted by a command 4 Module which is supported BOOL Thereisa transition in the Done output pin s signal from low
74. B phase pulses RP B phase pulses T t i T T T Four times the 1 1 Clockwise Counterclockwise frequency of A B phase pulses DVP 10PM Application Manual 3 67 3 Devices 3 12 2 Introduction of Modes of Motion 1 There are eight modes of motions 1 Returning home 5 Two speed motion 2 JOG motion 6 Inserting two speed motion 3 Single speed motion 7 Variable motion 4 Inserting single speed motion 8 Manual pulse generator mode 2 If more than one mode of motion is activated they will be executed in particular order 1 Stopping the motion of the axis specified by software 6 Variable motion 2 Returning home 7 Single speed motion 3 Positive JOG motion 8 Inserting single speed motion 4 Negative JOG motion 9 Two speed motion 5 Manual pulse generator mode 10 Inserting two speed motion If a mode of motion is activated when another mode of motion is executed the DVP 10PM series motion controller will continue executing the original mode 3 There are two types of acceleration curves 1 Trapezoid curve b14 1 reer S curve Velocity b14 0 A F Trapezoid curve 3 68 DVP 10PM Application Manual 3 Devices 3 12 3 Special Data Registers for Motion Axes Mode of operation Special data registers tor motion axes data Special data registers tor motion axes for motion axes X axis Y axis ilinin E uolow 5or ewoy Huluinjay uolow peeds
75. COM2 RS 485 M1120 port is retained After M1120 is set to ON changing the value Off Off R W No Off 3 31 in D1120 will be invalid M1121 The transmission of the RS 485 data is ready Oof On R No o M1122 Request for sending the data ow o RW wo Of M1123 The reception of the data is complete Of Of RW No Of M1124 The reception of the data is ready w oa R j M1125 The reception of the data is reset o Of RW No J M1127 The sending reception of the data is complete Off Off RW No Off M1128 The data is being sent received of Of R No Off M1129 Reception timeout Of Of RW No j M1136 The setting of the communication through COM3 Off No Of 3 31 communication card is retained The setting of the communication through COM1 RS 232 M1138 port is retained After M1138 is set to ON changing the value Off R W No Off 3 31 in D1036 will be invalid Selecting an ASCII mode or an RTU mode when COM1 M1139 RS 232 port is in a slave mode OFF ASCII mode ON Off R W No Off 3 31 RTU mode M1140 o that users receive by means of MODRD MODWR is Of Of R ooo Off gt M1141 The values of parameters of MODRD MODWR are incorrect Off Off R No Off M1143 M1161 8 bit mode ON 8 bit mode OFF 16 bitmode On PW no Using decimal integers or binary floating point values when SCLP is executed viiga ON
76. D1852 Present command position of the X axis Unit Low word D1853 Present command position of the X axis Unit High word D1854 Present command speed of the X axis Unit Low word D1855 Present command speed of the X axis Unit High word E E E D1858 Electronic gear ratio of the X axis Numerator J gt D1859 Electronic gear ratio of the X axis Denominator A NO D1850 Present command speed of the X axis PPS Low word o pete i ES R Yes D do A O 32200 DVP 10PM Application Manual 3 Devices Special tal ee D Latching Page Frequency of pulses generated by the manual pulse generator D1860 for the X axis Low word R W Frequency of pulses sent by the master axis Low word ojojoj pw te Frequency of pulses generated by the manual pulse generator D1861 for the X axis High word R W No Frequency of pulses sent by the master axis High word oo pw te Number of pulses generated by the manual pulse generator ce aw me o D1862 for the X axis Low word R W Sopa EA Position of the master axis Number of pulses generated by the manual pulse generator D1863 for the X axis High word Position of the master axis D1864 Response speed of the manual pulse generator for the X axis Mode of stopping Ox0 Ox99 K1 The execution of Ox0 Ox99 will resume next time Ox0 Ox99 are started K2 The next
77. D1860 D1941 D1940 D2021 D2020 D2101 D2100 Generated by the manual pulse generator for the axis specified Number of pulses D1863 D1862 D1943 D1942 D2023 D2022 D2103 D2102 Generated by the manual pulse generator for the axis specified Response speed of the D1864 D1944 D2024 D2104 manual pulse generator for the axis specified Ea of a press Ts Te e Ea D1867 D1866 D1947 D1946 D2027 D2026 lel eel One ac specified D1868 ER oe Ox motion eee number Step address in the Ox D1869 motion subroutine at which an error occurs Enabling a Y device D1872 when the Ox motion o jojojo jojojo o subroutine is ready Enabling a Y device D1873 when an M code in the Ox motion subroutine is executed Using an X device to meral eode keem l 3 70 o DVP AOPM Application Manual uolow 5or ewoy buluinjey uolow peeds ajbuls uoi ow p ds OML uonow p ds om Hur su j uoow JIQeLeA uonow p ds jHuis Bulyiasu pow 10 21 U f sjnd jenuelyy 3 Devices Mode of operation Special data registers for motion axes nnn Starting the axis specified manually D1875 D1955 ZRN MPG JOG JOG Special data registers for motion axes uai E Number of pulses it D2139 D2138 D2219 poeta axes tor Me molor or ime axis specified to rotate once Distance generated after If the unit used is a mechanical unit or a D2141 D2140 D2221 D2220 dihemoorolite axis COMP Und UnIL Ihe special galaregisiers a
78. D2136 Setting the parameters ofthe Baris W es o w D2138 Number of pulses it takes for the motor of the B axis to rotate R W Yes 2000 once Low word D2139 Number of pulses it takes for the motor of the B axis to rotate R W 2000 once High word D2140 Distance generated after the motor of the B axis rotate once R W 1000 Low word D2141 Distance generated after the motor of the B axis rotate once R W 1000 High word Maximum speed Vmax at which the B axis rotates Low word oe ni Moea ae E pel speed Tuan at which the B axis rotates High TT RW Yes 500K wor Start up speed Vesias at which the B axis rotates Low word RW Yes 0 Start up speed Vgias at which the B axis rotates High word S CRs Ys 0o JOG speed Vjog at which the B axis rotates Low word RW Yes 5000 JOG speed VJog at which the B axis rotates High word RW Yes 5000 Speed Vet at which the B axis returns home Low word RW Yes 50K Speed Vat at which the B axis returns home High word o RW Yes 50K Speed Vcr to which the speed of the B axis decreases when f Rw Yes 1000 the axis returns home Low word Speed Vcr to which the speed of the B axis decreases when f Rw Yes 1000 the axis returns home High aon D2152 Number of PGO pulses forthe Bas O O w e o D2153 Supplementary pulses forthe Baxs o o Rw Ye o
79. DV ZI Continuity S BEB eee instruction 1 32 bit instruction 12 steps Continuity instruction Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges S4 Minimum value S2 Maximum value S Comparison value D Comparison result The instruction is used to compare the value in S with that in S4 and compare the value in S with that in S2 The comparison result is stored in D The value in Sz must be greater than that in S4 The operand D occupies three consecutive devices If the operand D is MO MO M1 and M2 will be occupied automatically When XO is ON the instruction ZCP is executed and MO M1 or M2 is ON When XO is OFF the execution of the instruction ZCP stops and the states of Mo M1 and M2 remain unchanged XO Explanation 000 F Example Mo If K10 gt the value in C10 MO willbe ON M1 H ___ If K1 0s the value in C10 lt K100 M1 willbe ON M2 HH If the value in C10 gt K100 M2 will be ON DVP 10PM Application Manual 5 23 5 Applied Instructions and Basic Usage 16 bit instruction 6 steps x Y M S K H KnX KnY KnM KnS _ T C D V Z Continuity Pulse instruction instruction 32 bit instruction 6 steps C
80. DVP 10PM series motion controllers support this function a bi b0 Unit _ Motor unit Compound unit Mechanical unit 0 0 Motorunit 0 1 Mechanical unit 10 10 inches parameters Bit Parameteroftheaxis Bit Parameter oftheaxis of the axis 9 inr 8 Direction in which the axis returns home Siete braos ag rctring home oo o D1976 D2056 2 10 Mode of triggering the retum to home D136 ard 3 Peto a precion in which Pe molor rotes D2216 a 12 Relative Absolute coordinates ELE pulse second centimeter minute 10 pulseiee cone degrees minute pulse second inch minute 3 40 DVP 10PM Application Manual DVP 10PM Application Manual 3 Devices Description et going pulse Negative going pulse 0 1 Pulse Direction Le oT A B phase pulse two phases and two inputs Bit 6 1 Enabling a PWM mode 1 If positive JOG motion is started YO Y3 will execute PWM 2 If single soeed motion is started YO Y3 will send single phase pulses 3 Pulse width D1838 D1918 D1998 and D2078 4 Output period D1842 D1922 D2002 and D2082 Bit 8 0 The value indicating the present command position of the axis decreases progressively Bit 8 1 The value indicating the present command position of the axis increases progressively Bit 9 0 Normal mode bit 9 1 Overwrite mode Bit 10 0 Bit 10 1 Bit 11 0 Bit 11 1 Bit 12 0 Bit 12 1 Bit 13 0 Bit 13 1 The return to home i
81. High word D1926 Y axis Operation command D1927 Y axis Mode of operation Present command position of the Y axis Pulse Low word Present command position of the Y axis Pulse High word Present command speed of the Y axis PPS Low word Present command speed of the Y axis PPS High word D1932 Present command position of the Y axis Unit Low word Present command position of the Y axis Unit High word Present command speed of the Y axis Unit Low word Present command speed of the Y axis Unit High word D1940 Frequency of pulses oie E the manual ve generator for the Y axis Low word D1941 Frequency of pulses generated by the manual pulse generator for the Y axis High word D1942 Number of pulses generated by the manual pulse generator for the Y axis Low word Number of pulses generated by the manual pulse generator No ees for the X axis High word D1944 Response speed ofthe manual pulse generatorforthe Y axis RW Yes 5 Electrical zero of the Y axis Low word ojojo Rw ves foo Electrical zero of the Y axis Hor word Drass suring te Yas manua zan WS JOR JOG f awd ee a Setting the parameters of the Z axis ee Z axis RW Yes 0 3 40 D1978 Number of pulses it takes for the motor of the Z axis to rotate once Low word R W Yes 2000 Number of pulses it takes for the motor of the Z axis to rotate D1979 once High word Distance generated after the motor of the Z axis rotate onc
82. Instructions and Basic Usage Velocity 3 Position k kK gt Tacc Toec 2 Input pins Output pins Name Function i Setting value Time when a value is valid Motion The value of the Axis input pin is valid Axis axis WORD K1 KK when there is a transition in the Execute number KK pin s signal from low to high Ifthe PositiveEnable input pin and the NegativeEnable input pin are set to True simultaneously positive JOG motion will be enabled and the N iveEnable input pin will be reset Enabling fase PositiveEnable ad BOOL True False If the PositiveEnable input pin is set to MOON True after the NegativeEnable input pin is set to True the NegativeEnable input pin will be reset to False the negative JOG motion will stop and the positive JOG motion will be enabled If the PositiveEnable input pin and the NegativeEnable input pin are set to True simultaneously positive JOG motion will be enabled and the Enabling NegativeEnable input pin will be reset l negative to False METAN CE MANIE JOG ee MUG ae If the NegativeEnable input pin is set motion to True after the PositiveEnable input pin is set to True the PositiveEnable input pin will be reset to False the positive JOG motion will stop and the negative JOG motion will be enabled Taraet When the motion control function block Velocity arg d DWORD K1 K2 147 483 647 is executed the value of the Velocity SPES input pin is updated repeatedly 5 17
83. JOG JOG their needs l Default Special data register Setting range Setting the parameters of Bit O bit 15 HO the axis specified Number of pulses it takes a D2138 D2219 D2218 for the motor of the axis 17 2147 483 64 k2 000 a pulses revolution specified to rotate once A Enabling a us device woen Users have to set a an M code in an Ox motion i a value according to subroutine is executed iheraeeds High byte l Distance generated after D2140 D2221 D2220 the motor of the axis 1 2 147 483 647 K1 000 specified rotate once B Maximum speed Vmax at D2142 D2223 D2222 which the axis specified 0 2 147 483 647 K500 000 rotates Start up speed Vpias at D2145 D2144 D2225 D2224 which the axis specified 0 2 147 483 647 KO rotates D2147 D2146 D2227 D2226 JOG speed Voge at which 9 5 447 483 6473 K5 000 the axis specified rotates DVP 10PM Application Manual 3 45 3 Devices Special D device number O Bais axis Speci i Setting range Deval value PAW iw Ww W D2149 D2148 D2229 D2228 Speed Vrr atwhich the 9 5 447 483 6473 K50 000 axis specified returns home Speed Vcr to which the speed of the axis specified decreases when the axis returns home D2152 D2232 Number of PGO signals for 4 35 767 PLS KO the axis specified D2153 D2233 Number of supplementary _35 7 8 39 767 PLS KO pulses for the axis specified D2235 D2234 Home position of the axis 9 49
84. KnM KnS the operand D can be a counter timer or a data register If the operand D is KnY KnM KnS the operand S can be a counter timer or a data register If the operand S is KnX KnY KnM KnS and the operand D is KnY KnM KnS Kn In KnX KnY KnM KnS which is S and Kn in KnY KnM KnS must be the same 1Snosnys512 When XO is turned from OFF to ON the values in the sixteen word devices starting from D20 are divided into groups four values as a group and these groups are moved rightwards The values in the word devices are moved rightwards in the order during Example 1 a scan cycle D23 D20 The values in D23 D20 are carried D27 D24 D23 D20 D381 D28 D27 D24 D35 D32 D31 D28 D13 D10 D35 D32 i a Four values as a group are moved rightwards D13 D12 D11 D10 O vyv v y gt D35 D34 D33 D32 D31 D30 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 They are carried Q DVP 10PM Application Manual 5 53 5 Applied Instructions and Basic Usage When XO is turned from OFF to ON the values in the sixteen bit devices Example 2 starting from Y20 are divided into groups eight values as a group and these groups are moved rightwards The values in the word devices are moved rightwards in the order during a scan cycle Y2 7 Y20 The values in Y27 Y20 are carried Y37 Y30 Y27 Y20 X27 X20
85. MO M4 095 SO S1 023 TO T255 CO C255 D0 D9 999 The logical operation result prior to the application of the instruction OUT is sent to the device specified Explanation Action of a coil UT Operation o Contact O result J A contact Form B contact Normally open Normally closed contact contact False OFF ON la Ladder diagram Instruction code Description x0 X1 LDI XO Loading the Form B Example L 4 4 C_ vt seek ee ii A AND X1 Connecting the Form A contact X1 in series OUT Y1 Driving the coil Y1 DVP 10PM Application Manual 4 7 4 Basic Instructions Instruction Applicable 10PM 00 0255 vem o a a y a a S When the instruction SET is driven the device specified is set to ON Whether Expl ti the instruction SET is still driven or not the device specified remains ON Users Xplanation can set the device specified to OFF by means of the instruction RST Ladder diagram Instruction code Description LD XO Loading the Form A XO YO Example He u set m contact X0 i lt ANI YO Connecting the Form B contact YO SET Y1 YO1 remains ON Instruction Applicable esetting a Contact or a register vom Fs LY YT a When the instruction RST is driven the device specified acts in the way described below Explanation S Y M The coil and the contact are set to OFF Ifthe instruction RST is not executed the state of the device specified will remain
86. OFF and the states of M100 M107 will remain unchanged X20 x2 XI XO pot ttt sl Ta 7 6 5 4 3 2 1 0 ojo jo o j jo jofo M107 M106 M105 M104 M103 M102 M101 M100 When D is a word device n is in the range of 1 to 8 If n is 0 or greater than 8 an error will occur If n is 8 the maximum number of bits which can be decoded is 2 256 When X20 is turned from OFF to ON the instruction DECOP decodes b2 b0 in D10 as b7 b0 in D20 and b15 b8 in D20 become 0 The low 3 bits in D10 are decoded as the low 8 bits in D20 The high 8 bits in D20 are 0 After the instruciton is executed X20 will be OFF and the value in D20 will remain unchanged X20 Explanation Example 1 0 0 060909 o Example 2 DVP 10PM Application Manual 5 59 5 60 5 Applied Instructions and Basic Usage Bit 15 bit8 in D10 become O 765 4G 2 1 0 ofofofofojo ojofofojo ojsjojojo b15 D20 bo DVP 10PM Application Manual 5 Applied Instructions and Basic Usage pe lee CD D Encoder ey Bitdevice device poeme Word device 16 bit instruction 7 steps Sere rw o pe Te ENT e TT VT Noo Continuity ENCOM instruction instruction e Note The instruction supports V devices and Z devices lf the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device
87. PM series motion controllers support are shown in the table below Funcion DVP2OPM_ DVPAOPM Main program 0100 o e Ox motion subroutines o eo General instructions Applied instructions o Motion instructions O o e Gods l Modes Cid JOGmotion OO o e Retuminghome J o e Variablemo on OO o o e E C i O o o O o o CO O ae a uolonssu wesbold Single speed motion Inserting single speed motion of an external signal Cyclic Noncyclic electronic cam motion In this chapter the basic program frameworks of DVP PM series motion controllers are described Owing to the fact that the functionality of a DVP PM series motion controller is composed of sequence control and positioning control a program comprises 0100 Ox motion subroutines and P subroutines 0100 Ox motion subroutines and P subroutines are described in this chapter Basic instructions applied instructions motion instructions and G codes will be introduced in other chapter 4 chapter 6 The specifications for DVP PM series motion controllers are shown in the table below Specifications DVP 10PM DVP 20PM High speed output 4 axes 1000 kHz 3 axes 500 kHz x x x x x UOI OW JeIxeIup x PWM Precision 0 3 200 kHz 6 input terminals 2 differential input terminals and 4 input High speed counter terminals whose collectors are 2 input terminals open collectors Program capacity 64K steps 64K steps LD 0 14 us MOV 2 us DMUL 7 6 us
88. S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system S Initial device D Device into which a value is written n Number of devices Exp lanation The values in the n word devices starting from S are defined as first in first out values and S is taken as a pointer When the instruction is executed the value in S decreases by one the value in S 1 is written into D the values in S n 1 S 2 are moved rightwards and the value in S n 1 is unchanged When the value in S is equal to 0 the instruction does not process the reading of the values and a zero flag is ON When the value in S is equal to 0 the instruction does not process the reading of the values and the zero flag M1020 is ON Generally the pulse instruction SFRDP is used 2sns512 When X0 is turned from OFF to ON the value in D1 is written into D21 the Example values in D9 D2 are moved rightwards the value in D9 is unchanged and the value in DO decreases by one The value in D1 is moved and written into D21 in the way described below The value in D1 is written into D21 The values in D9 D2 are moved rightwards The value in DO decreases by one XO srno oo oat xo e n 10 foo oe o7 os 05 o va o2 6 00 Poin
89. STOP RUN M 4 4 Latching Page device RUN STOP Incorrect request for communication If a PC or an HMI is connected to a DVP 10PM series motion controller and the M1025 DVP 10PM series motion controller receives illegal request Off Off No Off for communication during data transmission M1025 will be set to ON and an error code will be stored in D1025 WI026 Selecting aRAMP mode W SSN The sending of pulses through CHO YO Y1 is complete Off R No Off M1081 Ali the nonatching devices are cleared O SSRN M1082 Athe latching devices are cleared O e o Rw e moss ages nomu ee or rw no on does not run M034 Alhe outputs ae dse o WN M1085 Using STOPO STARTO as extemal VO terminas O OM OF RW No Of The scan time for the program is fixed Off RW Moas Status ofthe alam o RN M1049 Monitoring the alarm w RW No Of M1072 The DVP 10PM series motion controller is made to run Off On Off R W No Off Communication M1077 ee voltage is low or malfunctions or there is no on R W ono p oo Selecting an ASCII mode or an RTU mode when COM2 RS 485 port is in a slave mode OFF ASCII mode ON RTU mode Selecting an ASCII mode or an RTU mode when COM2 ot UAY No Om IRRA RS 485 port is in a master mode M1143 is used with MODRD MODWR OFF ASCII mode ON RTU mode M1087 The low voltage signal occurs w RW wo Of The setting of the communication through
90. Source device D Conversion result The binary floating point value in S is converted into a binary value The integer part of the binary value is stored in D and the fractional part of the binary value is dropped The instruction is the opposite of API 49 DFLT If a conversion result is 0 a zero flag will be ON lf the fractional part of a conversion result is dropped a borrow flag will be ON If a converesion result is not in the range of 2 147 483 648 to 2 147 483 647 a carry flag will be ON When X1 is ON the binary floating point value in D21 D20 is converted into Exam pl e a binary value The integer part of the binary value is stored in D31 D30 and the fractional part of the binary value is dropped X1 iiom Explanation 5 108 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage X Y MS F H KnX KnY KnM KnS T C D V Z x S 32 bit instruction 6 steps i t lt s S Continuity Pulse ESIN nee instruction 2 SINP __ instruction e e Note 0 lt Degrees 360 e Flags Please refer to specifications for more information about device Ox 0100 ranges M1808 M1968 Zero flag M1760 M1920 Radian Degree flag F represents a floating point value There is a decimal point ina Pisasse fairies headdiionarienark balow floating point value Only the 32 bit instructions DSIN and DSINP are valid S Source value D Sine value Explanation
91. T InputPola After MO is set to ON the motion control function block T_InputPolarity will be started After M100 is set to ON high speed timer 3 will be started Set M12 to ON Set M12 to OFF The value of the TimerValue input pin indicates the time it takes for M12 to be turned from ON to OFF If the value of the TimerValue input pin is multiplied by 0 01 the product gotten will be the number of microseconds 5 Module which is supported The motion control function block T_HTmr supports DVP10PMOOM 5 208 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 5 12 3 Setting High speed Comparison 1 Motion control function block The motion control function block T_Compare is used to start high speed comparison The value of the Channel input pin indicates a comparator number the value of the Source input pin indicates a source the value of the CmpMode input pin indicates a comparison condition and the value of the OutputDevice indicates an output device 2 Input pins Output pins Name Function Datatype Setting value Time when a value is valid The value of the Channel input pin is Comparator WORD 0 7 valid when there is a transition in the number Enable input pin s signal from low to high The motion control function block Is enabled when Enable _ tere isa BOOL True False transition in the Enable input pin s signal from low to high mcCmpAxis1 mcCmpAxis2 Aa The value of the Sour
92. Valid output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Error Output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Value output pin Name Funetion che Output range Time when a value is valid When the Valid output pin is set to KO 2 147 483 647 True the value of the CountValue output pin is updated repeatedly 1 Value of the Channel input pin 2 External terminals for resetting the high speed counters in a DVP 10PM series motion controller Value in the CountValue aa counter specified 3 Troubleshooting Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed The counter specified has been used Use another counter or stop the counter which has been used 4 Example Purpose The first axis sends pulses to high speed counter 4 Users can check whether the numb
93. Velocity output pin DVP 10PM Application Manual 5 189 5 Applied Instructions and Basic Usage 2 Input pins Output pins Name Function ie Setting value Time when a value is valid NMaLneneude The value of the Axis input pin is valid Axis WORD K1 K6 when there is a transition in the Enable number ee l input pin s signal from low to high Manual pulse State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high e There is a The execution of the motion control function block Is complete The motion control function block is being executed transition in the Valid output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high There isa transition in the Busy output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high Input values are There is a transition in the Valid Output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Valid output pin s signal from high to low when there is a transition in the Error input pin s signal from low to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Enable input pin s signal from
94. a 5 35 API 30 39 Rotation and MOVE ceccecceccesseessessersersesecessereerserevenenteereeeeeaees 9 47 AP140749 Data DIOCCSSING rets n Going sterner TE RE ERER 5 58 APL50O HION SHEE DOCES SINO aecasesesesetussseweevaseyeiesuasrsteumenvedesmenealenaueredesss 5 72 APLOISOI CONVENIENCE errienniin uuena NE N 5 73 APITO STNO ea teeta ee 5 80 API 100 101 Communication oonnsoannoennnsnnnsennnsnnnsennesnrnsrrrerrrsnrrerrresnn 5 85 e API 110 175 Floating point Value ceccccccceeeceeecseecceeeeeeeseeeseeeeeeeesaees 5 94 e API 215 223 Logical operation cccccsecceeeceeeeeeeeseeeseeeeeeeeneeeseeeseeeens 5 125 e API 224 246 Comparison instructions ccccceeeeeeeeeeeeeeeeeeeeeeeeneeeeeeaes 5 128 e API 147 154 202 203 256 260 Other instructions cece eeee eee e ees 5 131 5 7 Motion Control Function Block Table cccccccceececeeeeceecesenceceeeesenseseneesanees 5 144 5 8 Introduction of the Pins in a Motion Control Function Block c ccceeee 5 145 5 8 1 Definitions of Input Pins Output PINS ee cceeee cece eeeeeeeeeeeeeeaeeeeeeaeees 5 145 5 8 2 Timing Diagram for Input Output PINS sirocic erene 5 147 5 8 3 Introducing the Use of PMSOflksrssins 5 148 5 9 Delta defined Parameter Table cccccccceccsececeeeseeeeeeeeseeeseeeeseeeseeeseeeeeaeess 5 150 5 10 Uniaxial Motion Control Function BIOCKS riirii 5
95. address PW Yes 10 337 D1205 Terminal latching 16 bit counter address PW Yes 199 337 D1206 Starting latching 32 bit counter address PW Yes 220 337 D1207 Terminal latching 32 bit counter address PW Yes 255 337 D1208 Starting latching stepping relay address PW Yes 500 337 D1209 Terminal latching stepping relay address R W Yes 1023 3 37 Special STOP RUN D UY Latching Page device RUN STOP D1210 Starting latching data register address CRW Ys 20 337 D1211 Terminal latching data register address RW Yes 9999 3 87 Value of the second in the real time clock RTC 00 59 o RW Yes O Value of the minute in the real time clock RTC 00 59 RW Yes 0 Value of the hour in the real time clock RTC 00 23 RW Yes O Value of the day in the real time clock RTC 1 31 Fo RW Yes 1 Value of the month in the real time clock RTC 01 12 RW Yes 1 Value of the week in the real time clock RTC 1 7 Po RW Yes 25 Value of the year in the real time clock RTC 00 99 A D RW Yes 8 10 D1320 lID of ihe frst rghtside mode o RN D13217 ID ofthe second rightside module o R mw o pa D2 ofthe third rghtside module o i R w i o a D1323 ID of he fourhrightside module o R w o a D1324 I
96. ae 24VDC sp DVP 10PM Application Manual ee Cn Ean OON aee RT pW T E a ia ARE 00C RT Pep UU fice fo 24V Panasonic servo drive lt E ea wo Fee p aaa pira DODO free ob ELETE E evens y Panasonic servo drive Aoma poe Pees PULS2 R M HOO sicn2 6 smenee seme cenemaeemed Panasonic servo drive SES x EHn E IINA Panasonic servo drive Foa ee x E E sien i T y S oe 6 x umunns nome nnnnmnnnmn Panasonic servo drive ee Avmuamacnmann ana nnn Panasonic servo drive E 1 A SIGNI 5 2 Hardware Specifications and Wiring Wiring a DVP 10PM series motion controller and a Yaskawa servo drive Four axis wiring Yaskawa servo drive Yaskawaseries fy SIGN Pulses generatedbya f cir fis manual pulse generator gI tt Shieldedcable TY CI a q orr 14 A phase a sme ETOO ES ORB Yaskawa servo drive Yaskawa series ce mis fe pee g sien fu fis f MOK doae iam ar fe 58 edi 4 24VDC 24VDC Yaskawa servo drive oo EAA 24VDC Pal ai FG ALLA py arf Yaskawaseries 24VDC 2 18 DVP 10PM Application Manual 2 Hardware Specifications and Wiring Wiring a DVP 10PM series motion controller and a Yaskawa servo drive Six axis wiring Pulses generatedbya manual pulse generator A phase B phase X0 DO GO Iiv z oe X2 DO0G1 tt TAY fa e X4 DO G2
97. and that M device numbers S device numbers should start from a number which is a multiple of 8 DVP 10PM Application Manual 5 5 Applied Instructions and Basic Usage Consecutive devices Take data registers for instances DO D1 D2 D3 and D4 are consecutive data registers The consecutive word devices composed of bit devices are shown below K1X0 K1X4 K1X10 K1X14 K2Y0 K2Y10 K2Y20 Y2X30 K3MO0 K3M12 K3M24 The consecutive word devices composed of bit devices are shown above To avoid confusion please do not skip any word device composed of bit devices Beisdes if a 32 bit operation is performed on K4Y0 the high 16 bits in the 32 bit register to which the value in K4Y0 is moved will be set to 0 Ifa 32 bit value is required please use K8Y0 After an operation is performed the binary integer gotten will be given priority For example 40 3 13 and the remainder 1 is dropped The integer part of the square root of an integer is retained and the fractional part of the square root is dropped However if a decimal instruiction is used a decimal will be gotten The applied intructions listed below are decimal instructions API 110 D ECMP API 111 D EZCP API 116 D RAD API 117 D DEG API 120 D EADD API 121 D ESUB API 122 D EMUL API 123 D EDIV API 124 D EXP API 125 D LN API 126 D LOG API 127 D ESQR API 128 D POW API 129 D INT API 130 D SIN API 131 D COS API 132 D TAN API 133 D ASIN API 134 D ACOS
98. and the data in D will remain unchanged al DVP 10PM Application Manual 5 61 5 Applied Instructions and Basic Usage b15 D10 bO 0 10 1101 1 0 1 0 0 01 0110 00 Bit 8 bit18in D10 are invalid data b15 D20 y v 0 0 10 0 0 0 000 00 0 0001 1 Bit 15 bit3 in D20 become O 5 62 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model Number of bits which are ON C Bit device Word device 16 bit instruction 5 steps l X y m s k H_ knx kny kmjkns T C bD v Z isum Continuity Sump instruction instruction e cnennennaaamnmmnaaaam mamamana a aamen C 32 bit instruction 9 steps i ENET Df CTT LiT d kih i e Dsum Continuity psump Pulse Note The instruction supports V devices and Z devices If the 16 bit E SS ee S MUCNON instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device Ox O100 M1808 M1968 Zero flag ranges If KnX KnY KnM KnS is used it is suggested that X device numbers Y device numbers M device numbers S device numbers should start from a number which is a multiple of 16 including 0 e g K1X0 K4Y20 and K4M16 S Source device D Destination device The number of bit
99. bit 15 in DO is 1 MO is ON The value in DO is a negative value 2 When MO is ON the instruction NEG is used to take the two s complement of the negative value in DO M1000 Bon oo wo es MO Getting the absolute value of the difference between two values Suppose X0 is ON 1 When the value in DO is greater than that in D2 MO is ON 2 When the value in DO is equal to that in D2 M1 is ON 3 When the value in DO is less than that in D2 M2 is ON 4 The value in D4 is a positive value XO DVP 10PM Application Manual 5 45 5 Applied Instructions and Basic Usage a _ The representation of a negative value and its absolute value are described Additional below remark 1 Whether the value in a register is a positive value or a negative value depends on the leftmost bit in the register If the leftmost bit in a register is 0 the value in the register is a positive value If the leftmost bit in a register is 1 the value in the register is a negative value 2 The negative value in a register can be converted into its absolute value by means of the instruction NEG D0 2 D0 1 D0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 o DO 1 DO 1 1 gt o o ojojo ojojo o o ojo o o o 1 D0 2 D0 1 2 apap aps ta sysfs fats t fs fs 1 1 of gt Lolojojojojojojojojofojojojo j1 jo D0 3 D0 1 3 Ataf fs ttf sis fs lill 1 fol Lelolojojojojojojojofo ojojoj1 f1 D0 4
100. bits in D are divided into groups n bits as a group and these groups are rotated rightwards The n bit from the right is transmitted to a carry flag Generally the pulse instructions RORP and DRORP are used If the operand D is KnY KnM KnS Kn in KnY KnM KnS must be K4 16 bits or K8 32 bits 16 bit instruction 1 lt n lt 16 32 bit instruction 1 lt n lt 32 i When XO is turned from OFF to ON the bits in D10 are divided into groups Exam pl e four bits as a group and these groups are rotated rightwards The bit marked with X is transmitted to a carry flag Explanation 0 0609 OF RORP D10 K4 Rotating the bits in D10 rightwards p High byte Low byte D eee Carry flag ia x Rotating the 16 bits inD10 High byte Low byte D10 0101011110110100 gt 0 Carry flag DVP 10PM Application Manual 5 47 5 Applied Instructions and Basic Usage X Y MI S K H KnX kKnY KnM KnS T C D V Z Roy D Continuity instruction ROLF instruction G 32 bit instruction 9 steps P o fT tT tT dete L S S TT DRoL Continuity grog Pulse e Note The instruction supports V devices and Z devices If the 16 bit ee UEC eel ee instruction is used Z devices can not be used If the 32 bit Flags instruction is used V devices can not
101. decelerate and stop 5 Bit 7 in D1847 D1927 D2007 D2087 D2167 D2247 Mode of stopping the motor used when the motor used comes into contact with a positive limit switch negative limit switch Bit 7 0 If the motor used comes into contact with a positive limit switch negative limit switch when it rotates it will decelerate and stop Bit 7 1 If the motor used comes into contact with a positive limit switch negative limit switch when it rotates it will stop immediately 6 Bit 15 in D1847 D1927 D2007 D2087 D2167 D2247 Restoring the DVP 10PM series motion controller to the factory settings Bit 15 1 The values of parameters are restored to factory settings Present command position of the axis specified Pulse Description The value in D1849 D1848 D1929 D1928 D2009 D2008 D2089 D2088 D2169 D2168 D2249 D2248 is in the range of 2 147 483 648 to 2 147 483 647 2 The present command position of the axis specified is indicated by the number of pulses The unit used is determined by bit O and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 After the axis specified returns home the value in D1835 D1834 D1915 D1914 D1995 D1994 D2075 D2074 D2155 D2154 D2235 D2234 will be written into D1849 D1848 D1929 D1928 D2009 D2008 D2089 D2088 D2169 D2168 D2249 D2248 Xaxis Yas Zaxis HW LW ok Present command speed of the axis specified C a
102. high speed timers Counter Mode of measuring time External Storage Setting value signal device 2 K1M12 X10 C201 Enabling Selecting 02 K1M1208 Bit2 Enabling a timer ue Bit 1 0 General mode The interval between the rising edge of a C212 K1M1212 pulse and the falling edge of the pulse is measured C216 K1M1216 2 1 Cyclic mode The interval between the rising edge of a C220 KiM1220 pulse and the rising edge of the next pulse is measured Example 1 Using the third timer in a general mode 1 Users have to select the general mode and enable the timer that is they have to write K4 into K1M1208 2 C208 is enabled The interval between the rising edge of a pulse received through X12 and the falling edge of the pulse is measured The interval is written into C209 Unit 0 01 microseconds a C209 E 209 7 Cornel node Unit 0 01 us ciwi208 The program is shown below XO Example 2 Using the third timer in a cyclic mode 1 Users have to write K5 into K1M1208 2 C208 is enabled The interval between the rising edge of a pulse received through X12 and the rising edge of the next pulse is measured The interval is written into C209 Unit 0 01 microseconds et Jl gl a a lt C209 p lt C209 gt Cyclic mode Unit 0 01 us DVP 10PM Application Manual Detecting expansion D1140 D1142 and D1143 Latching device range D1200 D1211 Turning the X de
103. i O x Q O Q O pn Q ia a i Lt pt pt pot Ss 1 1 J 1 J J 1 J 1 1 J 1 J i O Q oi O Q R i O Q O s Q i O Q O Q a lt a 4 or i i O O s Q Q i O Q R W R W R W R W R W R W R W R W R W R W R W R W R W R W R W R W R W W O Q 7 2 DVP 10PM Application Manual CANopen Communication Card A2 mode Four axis parameters CR 020 CANopen bus communication status RW 040 Errorstatusofasener O O OR We i 00 NodeID OO O OOOO O O OR wa OYO o 0 5 Se 09 CANopen node communication status R Wod 1 10 Emergencyerrorcode si R Wa 1 Manufacturer s error code Word n12 20 Sewodivestats o O R Ww 1i n21 Present motion mode ofasevo drive R Wa 1 SDO OD object dictionary index RN Wd 4 54 SDOtransmission reception register3 RW Wod 52 55 SDO transmission reception register4 RW Wod 52 61 Motionmode selection PW Wa 1i 7 ane eS position of a profile position mode 7 Word a Target speed of a profile position mode Word oO 3 n m5 Acceleration time of a profile position mode ms EE Word EEEN ae Deceleration time of a profile position mode ms RW Word Profile positon settings Homing method a tr aa P t DVP 10PM Application Manual 73
104. in S2 users have to use the slope equation below round the result to the nearest integer and get a 16 bit integer To obtain the value in S3 the users have to use the offset equation below round the result to the nearest integer and get a 16 bit integer Slope equation S2 Maximum destination value Minimum destination value Maximum source value Minimum source value x 1 000 Offset equation S Minimum destination value Minimum source valuexS2 1 000 Output curve Explanation A o o Destination value Maximum destination value Source value Maximum source value Minimum source value S1 Minimum destination value Suppose the values in S4 So and S3 are 500 168 and 4 respectively When X0 is ON the instruction SCAL is executed and a scale is stored in DO Equation DO 500x168 1000 4 80 XO Example 1 DVP 10PM Application Manual 5 133 5 Applied Instructions and Basic Usage Destination value A D eset Z Slope 168 Offset 4 gt Source value 0 S71 500 gt Suppose the values in S S2 and S are 500 168 and 534 respectively Exam p le 2 on 0 is ON the instruction SCAL is executed and a scale value is stored Equation D10 500x 168 1000 534 450 X10 m SCAL K500 K 168 K534 Destination value ai EN aiene Slope 168 Offset 534 Source value a E Only when a slope and an offset are known can the instruction SCAL
105. in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low executed to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high Input values are There is a transition in the Error incorrect output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed 4 Module which is supported The motion control function block T_AxisSetting2 supports DVP10PMOOM An error occurs in the motion control function block 3 Troubleshooting 5 10 14 Reading the Present Position Speed of an Axis T_MotionObsernre nee 1 Motion control function block The motion control function block T_MotionObserve is used to read the present position speed of an axis The value of the Axis input pin indicates an axis number After the motion control function block is started users can read the present position of the axis specified through the Position output pin and the speed of the axis specified through the
106. instruction When X11 is ON the instruction CALL P11 is executed and the execution of the program jumps to the subroutine to which P11 points When X12 is ON the instruction CALL P12 is executed and the execution of the program jumps to the subroutine to which P12 points When X13 is ON the instruction CALL P13 is executed and the execution of the program jumps to the subroutine to which P13 points When X14 is ON the instruction CALL P14 is executed and the execution of the program jumps to the subroutine to which P14 points When the instruction SRET is executed the execution of the program returns to the previous subroutine When the instruction SRET in the subroutine to which P10 points is executed the execution of the program returns to the main program SAMPE SRET is executed the execution of the program returns to address 24 XO 20 U P2 points to a subroutine X1 H D U Ip Qo Subroutine When X20 is turned from OFF to ON the instruction CALL P10 is executed Example 2 and the execution of the program jumps to the subroutine to which P10 points 6M DVP 10PM Application Manual 5 17 5 Applied Instructions and Basic Usage XO nc Do INC D30 X20 13 Main X0 Program Subroutine aera Ta FEND SRET X2 X11 14 X2 Subroutine Subroutine EANN EARN SRET SRET X2 X12 Subroutine CALL P12 SRET X2 Subroutine inc pat SRET 5 18 DVP 10PM Application Manual 5 Applied Instruct
107. instruction eee aema aaa an an on oo oe oe l l lmam 32 bit instruction 9 steps re TOLL Dol Dwanp Continuity pwanpp Puss Ps E E ea e a e Flag None e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges S Source device 1 S2 Source device 2 D Operation result Exp lanation A logical AND operator takes the binary representations in S and Se and performs the logical AND operation on each pair of corresponding bits The operation result is stored in D The result in each position is 1 if the first bit is 1 and the second bit is 1 Otherwise the result is 0 When XO is ON a logical AND operator takes the values in the 16 bit device DO and the 16 bit device D2 and performs the logical AND operation on each pair of corresponding bits and the operation result is stored in D4 XO i fwano oo o2 o4 b15 bO CSD polih hhh fs fofofofofs fs fafi WAND ve oobi berekenen Afterthe instruction D4 pp is executed When X1 is ON a logical AND operator takes the values in the 32 bit device D11 D10 and the 32 bit device D21 D20 and performs the logical AND ees on each pair of corresponding bits and the operation result is stored D41 D40 r pn oo om 0 Before the er T at ew EN
108. integer 130 DSIN _ Sine of a binary floating point value 5 6 5 109 S al O pa m a O O pre lt D Cc D ANP S S 5 2 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 16 bit 32 bit instruction 16 bit 32 bit No DCOS Y Cosine of a binary floating point value 5 6 510 132 DTAN Tangent ofa binary floating point vale 5 6 5113 133 DASIN v Aresine of a binary floating pointvaue 6 5115 134 DACOS v Arccosine of a binary floating point value 6 5 116 135 DATAN v Arctangent of a binary floating point value 6 5 117 136 DSINH v Hyperbolic sine of a binary floating point value 6 5 118 az DCOSH r cosine of a binary floating point e 5 119 po DTANH oe tangent of a binary floating point e 5 120 172 DADDR Floatngpontaddton S18 SBT 473 DSUBR V Floating point subtraction 13 5122 A74 DMULR V Floating point mutipication 13 5123 a75 DDIR V Floatingpointdvison B SBA 215 108 bloa sse OOOO y B7 a z610 oo o sse y Byr a 27 on oo o o sese OO y Byr BN 218 AND DANDa sese O O y y o 5y7 ae 219 anD DAND sise OOOO y Byr ae 220 AND DANDS sese y Byr ae 221 0R amp DORE sse o y Byr oa 51 52 1 O Q me gt sm O O gt pre lt D Cc D uo eado jeoi6bo7 AND DANDS O O
109. is installed should be equipped with a safeguard For example the control cabinet in which a DVP 10PM series motion controller is installed can be unlocked with a special tool or key DO NOT connect AC power to any of I O terminals otherwise serious damage may occur Please check all wiring again before a DVP 10PM series motion controller is powered up Make sure that the ground terminal on a DVP 10PM series motion controller is correctly grounded in order to prevent DVP 10PM Application Manual 2 5 2 Hardware Specifications and Wiring electromagnetic interference 2 2 1 Installation of a DVP 10PM Series Motion Controller in a Control Box Installing a DIN rail The installation is applicable to a 35 millimeter DIN rail Before users hang a DVP 10PM series motion controller on a DIN rail they have to insert a slotted screw into the slots on the mounting clips and pull out the mounting clips After the users hang the DVP 10PM series motion controller on the DIN rail they have to push the mounting clips back If the users want to remove the DVP 10PM series motion controller they have to insert a slotted screw into the slots on the mounting clips and pull out the mounting clips After the mounting clips are pulled out they will not move back 1 Using screws Please mount a DVP 10PM series motion SX controller on a DIN rail by means of M4 screws 2 ADVP 10PM series motion controller has to be installed in a closed control box
110. is stored in D51 D50 X1 DADD Dso Dao D50 DVP 10PM Application Manual 5 35 5 36 5 Applied Instructions and Basic Usage Additio nal 16 bit addition Zero flag remark an f N Dani lt 0 32 768 The relations between flags and values are shown below Zero flag Zero flag lt 1 0 1 gt 32 7 67 0 gt 1 gt 2 B A Negative number Positive number Cart fla ohn Ie The value of the The value of the y g highest bitis 1 highest bit is 0 32 bit addition Zero flag Zero flag Zero flag 2 1 gt 0 gt 2 147 483 648 lt 1 0 1 gt 2 147 483 647 0 1 gt 2 Borrow flag Th highest bitis 1 Negative number Positive number e value of the The value of the Carry flag highest bitis 0 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage S p tdevce cial instruction instruction x MI S k H KnX KnY KnM kKnS T C D V Z sug Continuity supp Pulse Si a EE aN aR eT RE SARI Li Pe RR NERS 32 bit instruction 9 steps F i S tT tT sus Cony psusp Puse pot Ti N o a an e Flags e Note The instruction supports V devices and Z devices If the 16 bit Ox 0100 instruction is used Z devices can not be used If the 32 bit M1808 M1968 Zero flag instruction is used V devices can not be used M1809 M1969 _ Borrow flag Please refer to specifications for more informatio
111. is stored in D 16 bit instruction n 0 15 32 bit Instruction n 0 31 If the 15 bit in DO is 1 when XO is ON MO will be ON If the 15 bit in DO is 0 when XO is ON MO will be OFF When XO is turned OFF the state of MO remains unchanged o_o eT OTOOTO ooroo o oT woor b15 KE KCE KCEE KCN EE OA CC E KNA M0 0n Explanation 0 Example 5 64 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model Ts Mean a Nae Bitdevice Worddevice n dda AY TM S 1K A KX Kay tenes T oD YLE MEAN Continuity MEANP eae instruction INStruction ee ey 32 bit instruction 13 steps H eee DMEAN Continuity pmganp Pulse r i moan CC e Flag None e Note The instruction supports V devices and Z devices lf the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system 4 S Initial device D Device in which a mean is stored n Number of devices Explanation Afte
112. listed below do not appear in a single motion control function block For example a motion control function block only has one input pin that is it has either the Execute input pin or the Enable input pin Name Description Format Setting value Starting the motion control function block BOOL True False Starting the motion control function block BOOL True False Name Description Format Setting value are cent ann incionbodiis There is a transition in the Done output pin s Done amlee BOOL signal from low to high when the execution of pea motion control function block is complete There is a transition in the Valid output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high There is a transition in the Busy output pin s The motion control function block is signal from low to high when there is a being executed transition in the Execute input pin s signal from low to high There is a transition in the Aborted output pin s signal from low to high when the execution of the motion control function block is interrupted by a command There is a transition in the Error output pin s Error An error occurs in a function block BOOL signal from low to high when an error occurs in the motion control function block A motion control function block has either the Execute input pin or the Enable input pin The Execute input pin The Enable input pin in a motion control funct
113. numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system i S Minimum random value S Maximum random value D Result Explanation 16 bit instruction The value in S and the value in Sz are in the range of KO to K32 767 32 bit instruction The value in S and the value in Sz are in the range of KO to K2 147 483 647 The value in S must be less than the value in S2 If the value in S4 is greater than the value in Se an operation error will occur When X0 is ON the instruction RAND is used to generate a random value in Exam pl e the range of the value in DO to the value in D10 and the random value is stored in D20 i aano oo mo f o2 5 132 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage scarp E G2 Gs D Scale ee Bitdevice device Word device 16 16 bit instruction 9 steps instruction 9 ster 16 bit instruction 9 steps x Y M S K H KnX KnY KnM KnS T C D V Z_ SCAL Continuity SCALP Pulse instruction _ instruction _ Pe CCE EEE EE ECE a ps ee tt ey ff Fac None pot Tt TT tT tT Tt tT yet e Note Please refer to specifications for more information about device ranges S Source device S2 Slope Unit 0 001 S3 Offset D Destination device The values in S4 S2 and S must be in the range of 32767 to 32767 Equation D S xS2 1000 S3 To obtain the value
114. of an SDO server Description The control register is used to set the node ID of an SDO server A node ID is in the range of 1 to 127 CR 071 SDO access command and status Description The control register is used to set an SDO access command and obtain a status Please refer to the table below for more information Bt gt BHSS BEI BRIO Command 0 Completed Data length Unit Byte Writing including a check 1 Setting Subindex of a target OD Range 1 8 2 Reading including a check 3 If users want to write data they Writing not including a have to specify a data length check 4 Reading not including a check Example SDO data transmission 1 Specify the OD index of an SDO server CR 070 in CR 072 2 Set the data to be transmitted in CR 073 CR 076 3 Refer to the table above Specify a subindex in bit 15 bit 8 in CR 071 and an SDO access command Q OD index _ Subindex Data gt a Subindex Data E Subindex Data Subindex Data Subindex Data Subindex Data 7 6 DVP 10PM Application Manual r4 CANopen Communication Card CR 072 SDO OD index Description The control register is used to specify a target OD index Range H 0000 H FFFF CR 073 CR 76 SDO OD transmission reception register 1 SDO OD transmission reception register 4 Description The data to be accessed through an SDO protocol is s
115. of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON If an operation result is 0 a zero flag will be ON When XO is ON the floating point value F2 200E 0 is added to the floating point value F1 200E 0 and the sum F3 400E 0 is stored in D11 D10 The floating point value F1 2 is represented by the scientific notation F1 200E 0 in a ladder diagram The number of decimal places which are displayed can be set by means of the View menu in WPLSoft X0 H DADDR F1 200E 0 F2 200E 0 D10 When XO is ON the floating point value in D3 D2 is added to the floating point value in lt u DO and the sum is stored in D11 D10 H DADDR Do Explanation OOF Example 1 Example 2 DVP 10PM Application Manual 5 121 5 Applied Instructions and Basic Usage X Y M S F H KnxX KnY KnM KnS T C D V Z 32 bit instruction 13 steps S1 ec instruction instruction eo tT tT tt tT tt MI e Note Please refer to specifications for more information about device ranges Only the 32 bit instructions DSUBR and DSUBRP are valid M1810 M1970 Carry flag M1968 Zero flag M1809 M1969 Borrow flag e Please refer to the additional remark below S Minuend S2 Subtrahend D Subtrahend S and S can b
116. parameters of the instruction MODRD are incorrect when a DVP 10PM series motion controller is connected to a VFD B series AC motor drive ASCII mode M1143 OFF the sending of data will be retried The number of times the sending of data is retired is stored in DO The default value in DO Is 3 If communication is retried successfully users can control the communication by means of triggering a condition When X0 is ON the DVP 10PM series motion controller used write H1770 K6000 into the data address H0100 in the VFD B series AC motor drive whose device address is 01 5 92 DVP 10PM Application Manual Additional remark 5 Applied Instructions and Basic Usage If a communication timeout occurs M1129 will be ON If M1129 is ON M1122 will be set to ON The number of times the sending of data is retired is stored in DO The default value in DO is 3 lf the data received is incorrect M1140 will be ON If M1140 is ON M1122 will be set to ON The number of times the sending of data is retired is stored in DO The default value in DO is 3 If the values of parameters of the instruction MODWR is incorrect M1141 will be ON If M1141 is ON M1122 will be set to ON The number of times the sending of data is retired is stored in DO The default value in DO is 3 M1002 MOV H87 D1120 Communication protocol 9600 8 E 1 SET M1120 The communication protocol setis retained MOV K100 D1129 Communicati
117. pulses is a unit for the Position input pin and the number of pulses per second is a unit for the Velocity input pin The users can change the unit used by means of the motion control function block T_AxisSetting2 A T T Speed os gt lt oes eae ee a gt A Vmax Velocity Veis y y o Position Execute A Start position Target position 2 Input pins Output pins O Name Function nhc Setting value Time when a value is valid l l The value of the Axis input pin is valid Axis MOU ans WORD eee TOP OOE when there is a transition in the Execute number K1 K6 ae input pin s signal from low to high 5 152 DVP 10PM Application Manual Data Execute Position Ki Velocity Target speed DWORD K2 147 483 647 Aborted Motion is started when there is a transition in the Execute input pin s signal from low to high Absolute position The execution of the motion control function block is complete The motion control function block is being executed The execution of the motion control function block is interrupted by a command DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Timewhenavalueisvalid when a value is valid E _ lo K 2 147 483 648 K2 147 483 647 Time when there is a transition in an output pin s signal from low to high e There isa transition in the Done output pin s signal when motion is complete T
118. servo drives the servo drives can exchange data with DVP FPMC Master 10PM DVP FPMC Node 127 CANopen network Node 4 In the A2 mode there are six PDOs for the setting of servo parameters The users can monitor the statuses of the servo drives directly by accessing control registers in a CANopen network They do not need to set PDO parameters Four PDOs are assigned to DVP FPMC and two PDOs are assigned to the servo drives Please refer to the table below for more information Master transmission Slave transmission Target position of a profile position mode CR n70 CR Nn71 PDO 1 Target speed of a profile position mode CR n72 CR n73 Acceleration time of a profile position mode 2 CR n74 CR n75 Deceleration time of a profile position mode CR n76 CR n77 3 3 Servo drive control CR n60 Target position of an interpolation mode CR n90 CR n91 Servo drive status CR n20 5 Present motion mode of a servo drive CR n21 Servo drive position CR n22 CR n23 DVP 10PM Application Manual 7 19 CANopen Communication Card Setting communication in an A2 mode Setting the ASDA A2 series servo drives Before creating a CANopen connection the users have to set the servo drives to CANopen mode 1 2 3 Set P1 01 to H OB The servo drive is set to CANopen mode Set P3 00 The value of P3 00 indicates a node number It is in the range of H 01 to H 04 Se
119. specified by means of the ClearError input pin The value of the AxisErrorlD output pin indicates the present erroneous state of the axis specified 2 Input pins Output pins Name Funetion bt Setting value Time when a value is valid The value of the Axis input pin is valid Motion axis WORD K1 K6 when there is a transition in the number Enable input pin s signal from low to high Reading the present Enable erroneous state BOOL True False of the axis specified The erroneous state of the axis specified is cleared when The value of the ClearError input pin ClearError there is a BOOL True False is valid when the motion control transition in the function block is executed ClearError input pin s signal from low to high State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high e There isa e There is a transition in the Valid transition in the output pin s signal from high to low Valid output pin s when there is a transition in the signal from low to Enable input pin s signal from high An output value high when there is to low is valid a transition in the There is a transition in the Valid Enable input pin s output pin s signal from high to low signal from low to when there is a transition in the high Error output pin s signal from low to high DVP 10PM Application Manual 5
120. stored 5 consecutive devices are occupied n Number of values S is the initial register involved in a comparison and n is the number of values which are compared The values in the n registers starting from S are compared with the value in Sz and the comparison results are stored in the five registers starting from D If the 32 bit instruction is used S4 S2 D and n will be 32 bit registers 16 bit instruction n 1 256 n 1 128 32 bit instruction When XO is ON the values in D10 D19 are compared with the value in DO Exam pl e and the comparison results are stored in D50 D54 If none of the values in D10 D19 are equal to the value in DO the values in D50 D52 will be 0 Acomparison is based on algebra 10 lt 2 o 9 The number of the minimum value is stored in D53 and the number of the maximum value is stored in D54 If there is more than one minimum value maximum value the number which is the biggest will be stored Af sen oo oo oso Kio DVP 10PM Application Manual 5 73 5 Applied Instructions and Basic Usage Value Value which is compared Number of values which pm ee are equal to the value in DO Number of the first value Di1 100 1 Equal which is equal to the value in DO Number of the last value D12 110 2 which is equal S2 to the value in DO K100 DO D1 Number of the 150 minimum value Number of the maximum value 5 74 DVP 10PM Application Manual 5 Applied Instruct
121. switch X3 Back position switch g X4 Resetting button Y0 Forward Y 1 Backward 2 Indicator S912 Forward annunciator S920 Backward annunciator f ns n reo S00 rs ee ANRP If YO is ON for more than 10 seconds and X2 is OFF S912 will be ON lf Y1 is ON for more than 20 seconds and X3 is OFF S920 will be ON If X1 and Y1 are ON Y1 will not be OFF until X3 is ON If an annuciator is driven Y2 will be ON When X4 is turned from OFF to ON the annunciator whose number is smallest in the annunciators which are driven is reset When X4 is turned from OFF to ON again the next annunciator whose number is smallest in the annunciators which are driven Is reset oa Pe 5 68 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model Square root of a binary value 10PM S SEE ccs x Y MI S K H KnX KnY KnM KnS T c DI V1 Z isan Continuity instruction instruction a a S m 32 bit instruction e OE i aa Gy sone pise PI i e Flags Ox 0100 e Note All devices can not be modified by V devices and Z devices M1808 M1968 Zero flag Please refer to specifications for more information about device M1809 M1969 Borrow flag ranges M1810 M1970 Carry flag e Please refer to the explanation below S Source device D Device in which a result is stored Explanation The square root of the value in S is calculated and the result is stored in D _ The valu
122. the Signal_N input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the Distance_P input pin is valid when there is a transition in the Execute input pin s signal from low to high Time when there is a transition in an output pin s signal from high to low e There is a transition in the Done Output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when the execution of the motion control function block is complete the Done output pin will be set to False in the next cycle DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Data type State output pin Time when there is a transition in an output pin s signal from low to high Time when there is a transition in an output pin s signal from high to low There is a transition in the Busy Aborted 3 Troubleshooting The motion control function block is being executed The execution of the motion control function block Is interrupted by a command An error occurs in the motion control function block e There isa transition in the Busy output pin s signal from low to high when there is a transition in the Execute input BOOL pin s signal from low to high The execution of the motion control function block is interrupted by a command Input values are
123. the arctangent of the binary floating point value in D1 DO is stored in D11 D10 Xo n DATAN Do Binary floating point value Example p Arctangent value D D 11 D10 Binary floating point value d E Please refer to section 5 3 for more information about performing operations Additional on floating point values remark DVP 10PM Application Manual 5 117 5 Applied Instructions and Basic Usage Hyperbolic sine of a binary floating point value Bit device Word device x 32 bit instruction 6 steps Continuity instruction e Note Please refer to specifications for more information about device ranges Only the 32 bit instructions DSINH and DSINHP are valid M1968 Zero flag F represents a floating point value There is a decimal point in a M1809 M1969 Borrow flag floating point value M1810 M1970 Carry flag e Please refer to the additional remark below S Source value binary poo point value D Hyperbolic sine value Explanation Hyperbolic sine value e e 2 When X0 is ON the hyperbolic sine of the binary floating point number in D1 DO is stored in D11 D10 XO DSINH Do Binary floating point value Example a Hyperbolic sine value DU D 11 D 10 Binary floating point value lf the absolute value of a conversion result is greater than the maximum floating point value available a carry flag will be ON lf the absolute
124. the mz digits of the four digit decimal value in S which start from the m digit of the four digit decimal value in S are transferred to the mz digits of the four digit decimal value in D which starts from the n digit of the four digit decimal value in D m is in the range of 1 to 4 Mz is in the range of 1 to m It can not be greater than m n is in the range of mz to 4 It can not be less than mz o o DVP 10PM Application Manual 5 25 5 Applied Instructions and Basic Usage When M1168 is OFF the value used by SMOV is a binary coded decimal Example 1 value When XO is ON the two digits of the decimal value in D10 which start from the fourth digit of the decimal value the digit in the thousands place of the i A decimal value in D10 are transferred to the two digits of the decimal value in D20 which start from the third digit of the decimal value the digit in the hundreds place of the decimal value in D20 After the instruction is executed the digits in the thousands place of the decimal value 10 and the ones place of the decimal value 10 in D20 will be unchanged Ifthe binary coded decimal value used is not in the range of 0 to 9 999 an operation error will occur the instruction will not executed M1067 will be ON and the error code in D1067 will be 0E18 hexadecimal value M1001 X0 D10 16 bit binary value i Coversion D10 4 digit binary coded decimal value Unchanged Unchan
125. the time it takes for the input terminals XO0 X7 to respond by setting D1020 The value in D1020 must be in the range of 0 to 20 Unit ms If the DVP 10PM series motion controller is turned form OFF to ON the value in S D1020 will automatically become 10 Terminal Response time D1020 is A The value inD1020 is 10 aoe Regenerating an input 15ms The state is memorized state The state is memorized memorized Ae If the program below is executed the time is takes for the input terminals XO X7 to respond will be 0 milliseconds Owing to the fact that the input terminals are connected to resistor capacitor circuits in series the shortest time it takes for the input terminals to respond is 50 microseconds M1000 ve wor re oa Normally open contact If high spedd counters and interrupts are used in a program the value in D1020 does not have any effect The communication ports with which a DVP 10PM series motion controller is equipped Gommunisation are COM1 RS 232 port and COM2 RS 485 port They support Modbus ASCII RTU port _ The maximum speed available is 115 200 bps COMS RS 232 RS 485 communication card supports Modbus ASCII The maximum speed available is M1120 M1136 38 400 bps COM1 COM2 and COM3 can be used simultaneously M1138 M1139 GOM1 COM1 can only be used as a slave station It supports ASCII RTU M1143 D1036 D1109 and D1120 and the adjustment of a communication speed Th
126. to a contact in parallel 16 bit APINo ingtructon instruction ON OFF wt ORK Doha Si amp S 0 S 8 S 0 me OR DOR S e 0 Explanation l S o amp Logical AND operation Logical OR operation Logical exclusive OR operation Ifa 32 bit counter is used the 32 bit instruction DOR must be used If a 32 bit counter and the 16 bit instruction OR are used a program error will occur and the ERROR LED indicator on the DVP 10PM series motion controller used will blink C200 C255 are 32 bit counters When X1 is ON YO is ON Besides when a logical AND operator performs the Exam pl e logical AND operation on each pair of corresponding bits in CO and C10 and the operation result is not 0 YO is ON lt When X2 and M30 are ON M60 is ON When a logical OR operator performs the logical OR operation on each pair of corresponding bits in the 32 bit register D11 D10 and the 32 bit register D21 D20 and the operation result is not 0 M60 is ON Besides when the logical XOR operator performs the logical exclusive OR operation on each pair of corresponding bits in the 32 bit counter C235 and the 32 bit register D201 D200 and the operation result is not 0 M60 is ON i D X2 M30 Meo Lone T 5235 D200 DVP 10PM Application Manual 5 127 5 Applied Instructions and Basic Usage aaa ee X Y M S K H KnX KnY KnM KnS T C D V Z ip Continuity instructio
127. to high when the execution of the motion control function block is complete There isa transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high Input values are incorrect The execution of the motion control function block is interrupted by a command There is a transition in the Done output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Error output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low There is a transition in the Aborted output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low Troubleshooting PE values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed Make sure that other uniaxial motion control function blocks are not started or the execution of other uniaxial motion control function blocks i
128. up if M1208 is OFF and C208 will count down if M1208 is ON 2 The setting value of a 32 bit up down counter can be a constant preceded by K or the value stored in two consecutive data registers The special data registers D1000 D2999 can not be used A setting value can be a positive value or a negative value 3 Ifa power cut occurs when a general counter in a DVP 10PM series motion controller counts the present value of the counter will be cleared If a power cut occurs when a latching counter counts the present value of the counter and the state of the contact of the counter will be retained and the latching counter will not continue counting until power is restored 4 Ifa counter counts up from the present value 2 147 483 647 the next value following 2 147 483 647 will be 2 147 483 648 If a counter counts down from the present value 2 147 483 648 the next value following 2 147 483 648 will be 2 147 483 647 Example LD X10 X10 OUT M1255 LD X11 X11 LD X12 ALA DCNT C255 K 5 i C255 LD C255 OUT YO 1 M1255 is driven by X10 The state of M1255 determines whether C255 counts up or counts down 2 If X11 is turned form OFF to ON the instruction RST will be executed the present value of C255 will become 0 and the contact will be OFF 3 If X12 is turned form OFF to ON the present value of the counter will increase by one or decrease by one 4 Ifthe present value of the counter C255 increases from K 6 to K 5 the cont
129. used Sz will occupy four consecutive devices 32 bit instruction The setting of S2 is decribed below number Integer Floating point value 2 147 483 648 32 bit floating point Maximum destination value 2 147 483 647 values available If the 32 bit instruction is used Sz will occupy eight consecutive devices Equation D S Minimum source value x Maximum destination value Minimum destination value Maximum source value Minimum source value Minimum destination value Relation between the source value in S and the destination value in D y kx b y Destination value D k Slope Maximum destination value Minimum destination value Maximum source value Minimum source value x Source value S4 b Offset Minimum destination value Minimum source valuexSlope After the parameters above are substituted for y k x and b in the equation y kx b the equation below will be obtained y kx b D k b Slopex Offset Slopex S Minimum destination value Minimum source valuexSlope Slopex S Minimum source value Minimum destination value S Minimum source value x Maximum destination value Minimum destination value Maximum source value Minimum source value Minimum destination value If the value in S4 is greater than the maximum source value the value in S will be equal to the maximum source value If the value in S4 is less than the minimum source value the value in S will be equal to the min
130. used V devices can not be used M1809 M1969 _ Borrow flag Please refer to specifications for more information about device M1810 M1970 Carry flag ranges Please refer to the additional remark below S Augend S2 Addend D Sum The binary value in S2 is added to the binary value in S4 and the sum is stored in D Explanation The highest bit in S and the highest bit in S2 are sign bits If the sign bit in a register is 0 the value in the register is a positive value If the sign bit ina register is 1 the value in the register is a negative value The flags related to 16 bit binary addition and 32 bit binary addition are listed below 16 bit binary addition 1 If the operation result gotten is 0 a zero flag will be ON 2 Ifthe operation result gotten is less than 32 768 a borrow flag will be ON 3 If the operation result gotten is greater than 32 767 a carry flag will be ON 32 bit binary addition 1 If the operation result gotten is 0 a zero flag will be ON 2 If the operation result gotten is less than 2 147 483 648 a borrow flag will be ON 3 Ifthe operation result gotten is greater than 2 147 483 647 a carry flag will be ON 16 bit binary addition When XO is ON the addend in D10 is added to the augend in DO and the sum is stored in D20 Example 1 0 32 bit binary addition When X1 is ON the value in D41 D40 is added to the Example 2 augend in D31 D30 and the sum
131. value is valid The value of the Channel input pin is valid when there is a transition in the Channel MMe OUD WORD 1 Enable input pin s signal from low to high 5 206 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Name Funetion ibs Setting value Time when a value is valid The motion control function block Is enabled when Enable there isa BOOL True False transition in the Enable input pin s signal from low to high Mode of When the motion control function TriaaerMode triggering the mcUp_Down False block is executed the value of the gg measurement mcUp_Up True TriggerMode input pin is updated of timer repeatedly State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high There is a There is a transition in the Valid transition in the output pin s signal from high to Valid output pin s low when there is a transition in signal from low the Enable input pin s signal from An output value to high when high to low is valid there is a transition in the Enable input pin s signal from low to high There is a There is a transition in the Busy transition in the output pin s signal from high to Busy output low when there is a transition in The motion pin s signal from the Error output pin s signal from control function low to high when low to high bloc
132. value of a conversion result is less than the minimum floating point value available a borrow flag will be ON If a conversion result is 0 a zero flag will be ON a o b Please refer to section 5 3 for more information about performing operations on Additional floating point values remark oe o 5 118 DVP 10PM Application Manual ee niu 5 Applied Instructions and Basic Usage Applicable model Hyperbolic cosine of a binary 10PM floating point value Word cewce 32 bit instruction 6 steps Continuity DCOSHP Pulse BCOSH instruction instruction _ e Note Please refer to specifications for more information about device e Flags ranges Ox 0100 Onlyt the 32 bit instructions DCOSH and DCOSHP are valid M1808 M1968 Zero flag F represents a floating point value There is a decimal point in a floating point value Explanation Example Additional remark M1809 M1969 Borrow flag M1810 M1970 Carry flag e Please refer to the additional remark below S Source value binary floating point value D Hyperbolic cosine value Hyperbolic cosine value e e 2 When XO is ON the hyperbolic cosine of the binary floating point number in D1 DO is stored in D11 Tor X0 DCOSH Do DO Binary floating point value 7 i prO H rboli ine val D D 11 D10 A fiesta eon eine lf the absolute value of a conversion result is greater than the maximum flo
133. when there is high The motion a transition in the There is a transition in the Busy Bus control function Roo Execute input output pin s signal from high to low y block is being pin s signal from when there is a transition in the Error executed low to high output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high The execution of There is a transition in the Aborted the motion control output pin s signal from high to low The execution of the motion Aborted C ntroi function BooL ock is interrupted by a command An error occurs Error in the motion BOOL control function ORE function block is executed function block is when there is a transition in the interrupted by a Execute input pin s signal from high The number of pulses is a unit for the Distance input pin the Distance2 input pin and the number of pulses per second is a unit for the Velocity1 input pin the Velocity2 input pin Users can change the command to low If the Execute input pin is set to unit used by means of the motion control function block T_AxisSetting2 3 Troubleshooting False when the execution of the motion control function block is interrupted the Aborted output pin will be set to False in the next cycle There is a transition in the Error output pin s signal from high to low The axis specified when th
134. will be ON Ifthe absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON Ifan operation result is 0 a zero flag will be ON When X1 is ON the binary floating point value in D1 DO is divided by the binary floating point value in D11 D10 and the quotient is stored in D21 Example 1 D20 J P E lt When X2 is ON the binary floating point value in D1 DO is divided by Examp le 2 F1234 0 and the quotient is stored in D11 D10 X2 DEDIV DO F1234 0 D10 a Ba Please refer to section 5 3 for more information about performing operations Additional on floating point values remark 5 102 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Exponent of a binary floating point value ee cla Word cewce 32 bit instruction 6 steps Continuity instruction Note Please refer to specifications for more information about device ranges F represents a floating point value There is a decimal point in a M1808 M1968 Zero flag floating point value M1809 M1969 Borrow flag Only the 32 bit instructions DEXP and DEXPP are valid M1810 M1970 Carry flag Please refer to the additional remark below S Source device D Device in which an operation result is stored EXP PllS 1 gt S e is a base e 2 71828 and S is an exponent The value in S can be a positive value or a negative value D must be a 32 bit r
135. zero flag will be ON When X11 is ON the binary integer in D1 DO is converted into a binary Explanation floating point value and the conversion result is stored in D21 D20 Example 1 ae l j Suppose the value in the 32 bit register D1 DO is K100 000 When X11 is ON K100 000 is converted into the 32 bit floating point value H4735000 and H4735000 is stored in the 32 bit register D21 D20 X11 DFLT gt Users can use applied po to the following calculation Example 2 j D11 D10 X7 X0 i iina 32 bitbinary Two digit D21 D20 Binary floating point value value binary coded decimal value D31 D30 Decimal floating point value D101 D100 D301 D300 D41 D40 Binary Binary Pea floating point C a floating point E value 8 value D203 D202 Binary floating point raug D401 D400 Binary floating point value 5 70 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage M1000 i X s i n 7 i k DVP 10PM Application Manual DINT D20 D40 DINT The binary integer in D11 D10 is converted into a binary floating point value and the conversion result is stored in D101 D100 The binary coded decimal value in X7 X0 is converted into a binary value and the conversion result is stored in D201 D200 The binary integer in D201 D200 is converted into a binary floating point value and the conversion result is stored in D203 D202 The constant K615 is d
136. 0 When M1 is ON the natural logarithm of the floating point value in D11 D10 is calculated and the operation result is stored in D21 D20 When M2 is ON the binary floating point value in D21 D20 is converted into a decimal floating point value and the conversion result is stored in D31 D30 The value in D31 is the value in D30 to the power of 10 Explanation Example 0 O Mo Jo oo ov M1 DLN D10 D20 M2 530 C B Please refer to section 5 3 for more information about performing operations Additional on floating point values remark 5 104 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Logarithm of a binary floating point value 32 bit instruction 9 steps Continuity Pulse BLOG instruction BLOCH Ox 0100 M1808 M1968 Zero flag M1809 M1969 Borrow flag e Note Please refer to specifications for more information about device ranges F represents a floating point value There is a decimal point in a M1810 M1970 Carry flag floating point value Only the 32 bit instructions DLOG and DLOGP are valid Please refer to the additional remark below S Device in which the base is stored S2 Source device D Device in which an operation result is stored The logarithm of the value in Sz with respect to the value in S4 is calculated and the operation result is stored in D The values in S and S can only be positive values D must be a 32 bi
137. 00100 0o 0ol0ol11 0 1l0 o lol o 0 1 0 0 1 0 0 0 1 1 0 1 0 0 After the instruction D p is executed D41 D40 1 1l1lol1 l lol1lololilililol ili 4 1 110 _s 11100001111 _s 1 0 1 0 0 1 1 1 0 1 1 5 44 DVP 10PM Application Manual Bit device 5 Applied Instructions and Basic Usage Word device 16 bit instruction 7 steps instruction X Y M S K H KnX KnY KnM kns T C D V Z Continuity Note The instruction supports V devices and Z devices lf the 16 bit Continuity instruction is used Z devices can not be used If the 32 bit instruction instruction is used V devices can not be used 32 bit instruction 9 steps DNEGP e Flag None Please refer to specifications for more information about device ranges Explanation Example 1 Example 2 Example 3 D Device in which the two s complement of the value in the device is stored The instructions can be used to convert a negative binary value into an absolute value Generally the pulse instructions NEGP and DNEGP are used When XO is turned from OFF to ON all the bits in DO are inverted 0 becomes 1 and 1 becomes 0 1 is added to the result and the final value is stored in the original register D10 XO ineo oo Getting the aboluste value of a negative value 1 When
138. 02AD 02DA function card purchase and COMS Number of basic instructions Number of applied 130 instructions Number of motion instructions 0 DVP 10PM Application Manual 3 1 3 Devices tem O Specifications Remark mM Ox0 Ox99 motion subroutine positioning program M02 The execution of a program stops END MO00 M01 MO3 M101 and M103 M65535 The execution of a program pauses WAIT Users can use them freely O100 main program in a DVP 10PM series motion controller subtask program M102 The execution of a program stops END Geode Not supported _ T Errors such as parameter errors program errors and SARER MEEI external errors are displayed i Ml Exiarmalinoutrela X0 X377 octal numbers 256 external input relays p y corresponding to external input terminals cinreavs iiia Yl External OutbGtrela Y0 Y377 octal numbers 256 external output relays p y corresponding to external output terminals MO M499 500 general auxiliary relays 2 There are 4 096 M3000 M4095 1096 general auxiliary ese 3 auxiliary relays in _ Latching M500 Mg999 500 latching auxiliary relays 3 total They can be set se Aaa to ON OFF in a Special M 000 M2999 2000 special auxiliary relays me program Special ere auxiliary relays are latching auxiliary relays Auxiliary There are 256 timers in total If the present D value of the timer 2 T Timer TO T255 256 timers 2 ee match
139. 071 low ene ON Data address D1073 low D1075 low D1076 low D1077 low DVP 10PM Application Manual 5 91 5 Applied Instructions and Basic Usage z Ifacommunication timeout occurs the data received is incorrect or the values Example 3 of parameters of the instruction MODRD are incorrect when a DVP 10PM series motion controller is connected to a VFD B series AC motor drive ASCII mode M1143 OFF the sending of data will be retried When X0 is ON the DVP 10PM series motion controller used write H1770 K6000 into the data address H0100 in the VFD B series AC motor drive whose device address is 01 If a communication timeout occurs M1129 will be ON If M1129 is ON M1122 will be set to ON If the data received is incorrect M1140 will be ON If M1140 is ON M1122 will be set to ON If the values of parameters of the instruction MODWR is incorrect M1141 will be ON If M1141 is ON M1122 will be set to ON M1002 gi When the data received isincorrect the sending of data is retried M1141 A When the values of parameters of MODRD are incorrect the sending of data is retried XD Communication command Device address 01 K1 H0100 H1770 Data add H0100 es sya The data received is stored in D1070 D1085 in the form of ASCII characters The reception ie Merete ser of data is complete M1129 RST M1129 is reset Ifa communication timeout occurs the data received is incorrect or the values Exam p le 4 of
140. 1 D20 00000 DVP 10PM Application Manual 5 5 5 Applied Instructions and Basic Usage Continuity instruction Pulse instruction The applied instructions can be grouped into continuity instructions and pulse instructions in terms of the ways the applied instructions are executed If an instruction in a program is not executed the execution of the program will take less time As a result if there are pulse instructions in a program the scan cycle will be shorter If P is added to the back of an instruction the instruction becomes a pulse instruction Some instructions are mostly used as pulse instructions Pulse instruction When XO is turned from OFF to ON the instruction MOVP is executed once MOVP will not be executed XO MOVP D10 D12 again during the scan cycle and therefore it is a pulse instruction Continuity instruction Whenever X1 is ON the instruction MOV is A executed once MOV is a continuity instruction When the contacts X0 and X1 are OFF the instructions are not executed and the values in the destation operands are not changed Operand 1 A word device can consist of bit devices Applied instructions can use KnX KnY KnM and KnS Values can be stored in KnX KnY KnM and Kns 2 Data registers timers counters and index registers can be used as general operands 3 A data register is a 16 bit register If users want to use a 32 bit data register they have to specify two consecuti
141. 10 X10 X11 Differential terminals for a manual pulse 200 kHz I5 mA 5x24 V and X11 generator differential terminals for a counter Pe pao Differential terminals for a counter 200 kHz 5 24 V E DVP10PMOOM Six axis mode Terminal Description Response Maximum input __ Termin Desert Voltage They are single A B phase input terminals DOG signals for the X axis the Y axis the Z axis and the A axis X0 X2 X4 and X6 200 kHz 15 mA 24 V PG signals for the X axis the Y axis the Z axis and the A axis X1 X3 X5 and X7 X0 X7 X10 4 X10 Differential terminals for a manual pulse L X11 and X11 generator differential terminals for a counter EUNE RER DVP 10PM Application Manual 2 1 2 Hardware Specifications and Wiring Terminal Description Response __Maximum input Terminal scription i Voltage 1 Differential terminals for a counter X124 X12 2 DOG signals for the B axis and the C axis i X12 X12 and X13 X13 200 kHz 15mA 5 24V X13 and X13 i 3 PG signals should ne used with I O extension modules Electrical specifications for output terminals E DVP10PMOOM Four axis mode current output They are high speed output terminals whose YO Y3 collectors are open collectors PWM 200 kHz 40 mA Y10 Y10 12 U D Counting up om Y12 Y14 Y14 P D Pulse 1000 kHz 40 mA Y16 and Y16 A B A phase Y11 Y11 Y13 U D Counting down Y13 Y15 Y15 P D Direction 1000 k
142. 10 degrees minute pulse second Position Home position of the axis specified target position of the axis specified P I target position of the axis specified P Il and present command position of the axis specified Speed Maximum speed Vmax at which the axis specified rotates start up speed Vpias at which the axis specified rotates JOG speed Vjog at which the axis specified rotates speed Var at which the axis specified returns home speed Vcr to which the speed of the axis specified decreases when the axis returns home speed at which the axis specified rotates V l and speed at which the axis specified rotates V Il Example 1 Bit 1 0 00 gt Motor unit Position Pulse Speed Pulse second PPS Target position of the axis specified P I 10 000 pulses Speed at which the axis specified rotates 10K PPS After the DVP 10PM series motion controller sends 10 000 pulses the axis specified can move to the target position specified The frequency of pulses is 10K PPS The distance for which the axis specified can move after a pulse is sent is calculated according to the physical quantity used DVP 10PM Application Manual 3 47 3 Devices Example 2 Bit 1 0 01 Mechanical unit Position um Speed Centimeter minute N 0 D1818 D1898 D1978 D2058 D2138 D2218 1 000 pulses revolution D1820 D1900 D1980 D2060 D2140 D2220 100 micrometers revolution P 1 10 000 micrometers V I 6 ce
143. 1000 D2242 Target position of the C axis P II Low word D2243 Target position of the C axis P II High word D2244 Speed at which the C axis rotates V II Low word D2245 Speed at which the C axis rotates V II High word D2246 C axis Operation command D2247 C axis Mode of operation D2248 Present command position of the C axis Pulse Low word D2249 Present command position of the C axis Pulse High word D2250 Present command speed of the C axis PPS Low word D2251 Present command speed of the C axis PPS High word D2252 Present command position of the C axis Unit Low word D2253 Present command position of the C axis Unit High word D2254 Present command speed of the C axis Unit Low word D2255 Present command speed of the C axis Unit High word D2256 State of the C axis D2257 C axis error code D2258 Electronic gear ratio of the C axis Numerator O N N N N lt Nr NO NO l O O O O O O O x ol eee ee el Se Sele Se Se Se eel Sale S S S S S S i ep NO PO A A w w amp D O W NO 328000000 DVP 10PM Application Manual w 3 Devices Special STOP RUN D G 4 Latching Page device RUN STOP D2259 Electronic gear ratio of the C axis Denominator Se D2260 Frequency of pulses generated by the manual pulse generator
144. 10PM Application Manual 3 Devices present command position of the axis specified There are two situations Direction in which the axis specified returns home DOG lt lt Limit switch Limit switch LSN i lt LSP Home 2 1 x Position 1 Position 1 is at the right side of the home and DOG and DOG is OFF Position 2 Position 2 is at the right side of the home and DOG is ON Position 2 does not support the B axis and the C axis 8 Bit 8 in D1846 D1926 D2006 D2086 D2166 D2246 A mode of single speed motion is activated After bit 8 in D1846 D1926 D2006 D2086 D2166 D2246 is set to 1 a mode of single speed motion will be activated The target position of the single sopeed motion and the speed of the single speed motion depend on the P I and the V I which are set by users and the DVP 10PM series motion controller sends pulses by a pulse generator If relative single speed motion is activated the sign bit of the P I set by users will determine the direction of the relative single speed motion Absolute single speed motion If the target position of the axis specified is greater than its present command position the motor used will rotate clockwise If the target position of the axis specified is less than its present command position the motor used will rotate counterclockwise After single speed motion is activated the speed of the absolute single speed motion will increase
145. 1234 0 of DO a E Please to section 5 3 CEER more Le about performing operations Additional on floating point values remark DVP 10PM Application Manual 5 101 5 Applied Instructions and Basic Usage ey S i i 32 bit instruction 9 steps Pe eon SY oeoa pe oT Instruction instruction _ pot tT TTT Tt fT E Fos e Note Please refer to specifications for more information about device Ox 0100 ranges M1808 M1968 Zero flag l n M1809 M1969 Borrow flag F represents a floating point value There is a decimal point in a M1810 M1970 Carry flag floating point value M1793 M1953 Operation error flag Only the 32 bit instructions DEDIV and DEDIVP are valid Please refer to the additional remark below S Dividend S Divisor D Quotient and remainder Explanation The binary floating point value in S4 is divided by the binary floating point value in S2 and the quotient is stored in D If S is a floating point value the instruction will be used to divide S by the binary floating point value in S2 If Se is a floating point value the instruction will be used to divide the binary floating point value in S4 by S2 Ifthe value in Sz is 0 an operation error will occur the instruciton will not be executed an operation error flag will be ON and the error code H0OE19 will appear Ifthe absolute value of an oepration result is greater than the maximum floating point value available a carry flag
146. 1900 D1980 D2060 D2140 D2220 and D1821 D1901 D1981 D2061 D2141 D2221 If the unit selected is a motor unit users do not need to set D1820 D1900 D1980 D2060 D2140 D2220 and D4821 D1901 D1981 D2061 D2141 D2221 Maximum speed Vmax at which the axis specified rotates Description Users can set the maximum speed of motion The value in D1823 D1822 D1903 D1902 D1983 D1982 D2063 D2062 D2143 D2142 D2223 D2222 is in the range of 0 to 2 147 483 647 The unit used is determined by bit O and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 2 The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS If the value in D1823 D1822 D1903 D1902 D1983 D1982 D2063 D2062 D2143 D2142 D2223 D2222 is greater than 500K the frequency of pulses generated will be 500K PPS If the value in D1823 D1822 D1903 D1902 D1983 D1982 D2063 D2062 D2143 D2142 D2223 D2222 is less than 10 the frequency of pulses generated will be 10 PPS a 3 54 DVP 10PM Application Manual 3 Devices X axis vaxis Zaxis Start up speed Vaias at which the axis specified Aaxis Beaxis C axis rotates Description 1 Users can set the start up speed of motion The value in D1825 D1824 D1905 D1904 D1985 D1984 D2065 D2064 D2145 D2144 D2225 D2224 is in the range of 0 to 2 147 483 647 The unit used is determined by bit O a
147. 191 5 Applied Instructions and Basic Usage State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high e There isa e There is a transition in the Busy transition in the output pin s signal from high to low Busy output pin s when there is a transition in the The motion signal from low to Enable input pin s signal from high control function high when there is to low block is being a transition in the There is a transition in the Busy executed Enable input pin s output pin s signal from high to low signal from low to when there is a transition in the high Error output pin s signal from low to high Input values are There is a transition in the Error incorrect output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low An error occurs in the motion control function block Value output pin Data When the motion control function block is executed the value of the Mode of motion WORD HO H32x 1 Mode output pin is updated repeatedly When the motion control function Ready flag for the block is executed the value of the AKIS REAGY axis specified RORE TURI AIRE AxisReady output pin is updated repeatedly When the motion control function l l block is executed the value of the AxisError Axis error flag BOOL True False AxisError output pin i
148. 208 and C208 M1212 and C212 M1216 and C216 M1220 and C220 C200 K1M1200 0 U D X10 M1203 XO X1 and S S 1 P D C204 K1M1204 2 A B One X11 M1207 X2 X3 and S S time the 3 C208 K1M1208 frequency of x412 M1211 X4 X5 and S S A B phase inputs 4 212 KiM1212 X13 M1215 X6 X7 and S S times the X10 X10 X11 C216 K1M1216 eguenero X0 M1219 Sad X11 A B phase 6 C220 K1M1220 inputs X1 M1223 en 1 U D Counting up Counting down P D Pulse Direction A B A phase B phase 2 The input terminals of the first counter the fourth counter are transistors whose collectors are open collectors The input terminals of the fifth counter the sixth counter are differential input terminals The steps of setting the second counter are as follows 1 Write K2 into K1M1204 2 Enable C204 The program for step 1 and step 2 is shown below XO MOVP K1M1204 DCNT C204 K10 3 If users want to clear the present counter value by means of an external signal they have to write HA into K1M1024 M1027 M1026 M1025 M1204 pt feof 4 C204 is enabled If X11 is ON the present value of C204 will become zero The program for step 3 and step 4 is shown below XO MOVP K1M1204 DONT C204 K10 DVP 10PM Application Manual 3 35 3 Devices High speed timing M1200 and C201 M1204 and C205 M1208 and C209 M1212 and C213 M1216 and C217 M1220 and C221 3 36 There are six
149. 226 is less than 10 the frequency of pulses generated will be 10 PPS 3 Vuax gt Vuog gt Veias If the Vjog set is greater than the Vmax set the actual Vjog will be equal to the Vmax If the Vjog set is less than the Veias Set the actual Vjog will be equal to the Vgias and an error will occur 4 When an axis operates users can not modify the JOG speed of the axis Velocity DVP 10PM Application Manual 3 55 3 Devices Speed Var at which the axis specified returns home D2068 D2149 Description Users can set the speed at which the axis specified returns home The value in D1829 D1828 D1909 D1908 D1989 D1988 D2069 D2068 D2149 D2148 D2229 D2228 is in the range of 1 to 2 147 483 647 The unit used is determined by bit O and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 2 The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS If the value in D1829 D1828 D1909 D1908 D1989 D1988 D2069 D2068 D2149 D2148 D2229 D2228 is greater than 500K the frequency of pulses generated will be 500K PPS If the value in D1829 D1828 D1909 D1908 D1989 D1988 D2069 D2068 D2149 D2148 D2229 D2228 is less than 10 the frequency of pulses generated will be 10 PPS 3 Vivax gt Veart gt Veias 4 When an axis returns home the speed at which the axis returns home can not be changed a D1990 Speed Vcr to which the speed of the axis
150. 235 C254 are reset The values of C235 C254 are cleared to 0 and the contacts and the coils are reset to OFF XO ZRST M300 M399 X1 ZRST 5127 X10 ZST T27 X2 ZRST S127 X3 zast Do D100 X4 ZRST C235 C254 The instruction RST can be used to reset a single device e g a Y device an M device an S device a T device a C device or a D device DVP 10PM Application Manual 5 Applied Instructions and Basic Usage lean ope Decoder o 16 bit instruction 7 steps SSS I SSR Sere iw o pe Te ONR PST TV TE poe Deco COMMURY pe DECO P instruction instruction e Note The instruction supports V devices and Z devices lf the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges S Source device D Device in which a decoding result is stored n Number of bits which are decoded The low n bits in S are decoded as the low 2 bits in D Generally the pulse instruction DECOP is used D is in the range of 1 to 8 When D is a bit device n is in the range of 1 to 8 If nis 0 or greater than 8 an error will occur If n is 8 the maximum number of bits which can be decoded is 2 256 When X20 is turned from OFF to ON the instruction DECOP decodes X0 X2 as M100 M107 If the value in S is 3 M103 will be ON After the instruciton is executed X20 will be
151. 4 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Time when there is a transition in an output pin s signal from low to high e There isa Time when there is a transition in an output pin s signal from high to low There is a transition in the Busy Aborted Error The motion control function block is being executed The execution of the motion control function block Is interrupted by a command An error occurs in the motion control function block transition in the Busy output pin s signal from low to high when there is a transition in the PositiveEnable input pin s signal from low to high or when there is a transition in the NegativeEnable input pin s signal from low to high The execution of the motion control function block is interrupted by a command Input values are incorrect The axis specified is in motion before the motion control function block is executed output pin s signal from high to low when motion stops There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high There is a transition in the Aborted output pin s signal from high to low when there Is a transition in the PositiveEnable input pi
152. 4 Hen e Time Tacc it takes for D1836 D1916 D1996 D2076 the axis specified to e o accelerate Time Topec it takes for D1837 D1917 D1997 D2077 the axis specified to decelerate D1839 D1838 Diso pise D1999 D1998 D2079 D2078 1arget position 7 y axis specified P D1841 D1840 D1921 D1920 D2001 D2000 D2081 D2080 Peed at which he an el ep Sei ll ee specified rotates V D1843 D1842 D1923 D1922 D2003 D2002 D2083 D2082 a get position y ne axis specified P D1845 D1844 D1925 D1924 D2005 D2004 D2085 D2084 Peed at which he i specified rotates V D1846 p 1926 D2006 D2086 Operation meee DVP 10PM Application Manual 3 69 3 Devices l Mode of operation Special data registers for motion axes Y axis rr D1847 1927 D2007 D2087 D2087 Mode of operation Dn Present command D1849 D1848 D1929 D1928 D2009 D2008 D2089 D2088 position of the axis specified Pulse Present command D1851 D1850 D1931 D1930 D2011 D2010 D2091 D2090 speed of the axis specified PPS Present command D1853 D1852 D1933 D1932 D2013 D2012 D2093 D2092 position of the axis specified Unit Present command D1855 D1854 D1935 D1934 D2015 D2014 D2095 D2094 speed of the axis specified Unit Electronic gear ratio of D1858 D1938 D2018 D2098 the axis specified Numerator Electronic gear ratio of D1859 D1939 D2019 D2099 the axis specified Denominator Frequency of pulses D1861
153. 41 D1840 D1921 D1920 D2001 D2000 D2081 D2080 D2161 D2160 D2241 D2240 is in the range of 2 147 483 647 to 2 147 483 647 The unit used is determined by bit O and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 2 The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS If the value in D1841 D1840 D1921 D1920 D2001 D2000 D2081 D2080 D2161 D2160 D2241 D2240 is greater than 500K the frequency of pulses generated will be 500K PPS If the value in D1841 D1840 D1921 D1920 D2001 D2000 D2081 D2080 D2161 D2160 D2241 D2240 is less than 10 the frequency of pulses generated will be 10 PPS mak M 3 58 DVP 10PM Application Manual 3 Devices 3 Vax gt V 1 gt Veias 4 When bit 4 in D1846 D1926 D2006 D2086 D2166 D2246 is ON the speed at which the axis specified rotates V 1 can be changed If the Speed at which the axis specified rotates is a positive value the motor used will rotate clockwise If the Speed at which the axis specified rotates is a negative value the motor used will rotate counterclockwise Target position of the axis specified P II Description 1 The value in D1843 D1842 D1923 D1922 D2003 D2002 D2083 D2082 D2163 D2162 D2243 D2242 is in the range of 2 147 483 648 to 2 147 483 647 The unit used is determined by bit O and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 2 Targ
154. 46 24v xo x2 x4 xd Xo Dart x2 et ER s s x x3_ x5 _ x7 x0 xui x12 x13 B aif A Ji POWER f l Y RUN A ERROR __ O BAT LOW 2 4 00000000G OGO O OOHLOO O p ALSHAK BEI S p 82 2 7 Communication port cover Input Output terminal cover Input LED indicators Input Output terminals Connector cover Input Output terminal numbers Function card memory card cover Output LED indicators DIN rail mounting clip COM2 RS 485 port STOP RUN switch COM1 RS 232 port Battery compartment Battery Function card slot POWER LED indicator RUN LED indicator ERROR LED in
155. 66 H D1077 low 0 30H The DVP 10PM series motion controller D1077 high 0 30H automatically converts D1077 high eA ot the ASCII characters D1078 low oo 30H AGUES into values and store the values in D1052 D1079 low 0 30H The DVP 10PM series motion controller D1079 high 0 30H automatically converts D1079 high E the ASCII characters D1080 low 0 30H eee into values and store the values in D1053 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Data D1081 low oO 30H The DVP 10PM series motion controller automatically converts Contents of the the ASCII characters 31H D1081 high D1082 low 33 H into values and store the values in D1054 D1082 high EJ 36 H D1054 0136 H address 2105 H D1083 low 30 H The DVP 10PM series motion controller D1083 high automatically converts Contents of the address 2106 H the ASCII characters 30 H into values and store the values in D1055 D1084 high 0 D1055 0000 H D1085 high B LRC CHK 0 A DVP 10PM series motion controller is connected to a VFD B series AC motor drive RTU mode M1143 ON M1002 MOV H87 D1120 SET M1120 MOV K100 D1129 Communication timeout 100 ms SET M1143 RTU mode X0 i SET M1122 Requestforsending data Communication command X0 l Device address 01 MODRD K1 H2102 K2 Data address H2102 Data length 2 words M1127 Processing the data received The reception MRE of data is complete
156. 99 999 KO specified D2236 Time Tace it takes for the 10 432 767 ms K100 axis specified to accelerate D2237 Time Toec it takes forthe 49 35767 ms K100 axis specified to decelerate Target position of the axis 2 147 483 648 eea D2238 specified P I 2 147 483 647 2 D2241 D2240 Speed at which the axis 0 42 447 483 647 K1000 specified rotates V I Target position of the axis 2 147 483 648 Peete D2242 specified P IN 2 147 483 647 no D2245 D2244 Speed at which the axis 9 15 447 483 6472 K2 000 specified rotates V Il D2246 Operation command Bit O bit 15 D2247 Mode of operation Bit O bit 15 Present command position 2 147 483 648 DERAS RERS of the axis specified Pulse 2 147 483 647 Present command speed of 0 2 147 483 647 Present command position 2 147 483 648 eae Peeve of the axis specified unit 2 147 483 647 A BO J J J KO D2151 D2150 D2231 D2230 0 2 147 483 647 K1 000 D2155 D2154 D2156 D2157 D2159 D2158 D2161 D2160 D2163 D2162 D2165 D2164 D2166 D2167 D2169 D2168 D2171 D2170 D2173 D2172 D2175 D2174 Present command speed of 0 2 147 483 647 peany D2254 the axis specified unit PPS D2256 State of the axis specified Bit O bit 15 Please refer to D2257 Axis error code appendix A for more HO information D2258 Electronic gear of the axis 1 32 767 Ki specified Numerator D2259 Electronic gear of the axis 1 32 767 Ki specified Den
157. A oo 32 bit instruction 6 steps Continuity Pulse pe BESaR instucton PESORP instruction e Note Please refer to specifications for more information about device e Flags ranges Ox 0100 S is greater than or equal to 0 M1808 M1968 Zero flag F represents a floating point value There is a decimal point in a M1793 M1953 Operation error flag floating point value e Please refer to the additional remark below Only the 32 bit instructions DESQR and DESQRP are valid S Source device D Device in which a result is stored Explanation The square root of the binary floating point value in S is calculated and the result is stored in D IfSisa floating point value the instruction will be used to calculate the floating point value Ifan operation result is 0 a zero flag will be ON lf the value in S is not a positive value an operation error will occur the instruciton will not be executed an operation error flag will be ON and the error code HOE19 will appear When X0 is ON the square root of the binary floating point value in D1 DO is calculated and the result is stored in D11 D10 Example 1 XO gt D11 D10 Binary floating point Binary floating point number number When X2 is ON the square root of F1234 0 is calculated and the result is Example D a in D11 D10 a E Please refer to section 5 3 for more information about performing operations on Additional floating p
158. ANopen network Node ID 1 CR 100 1 Node ID 2 CR 200 2 Node ID 3 CR 300 3 Node ID 4 CR 400 4 CR n01 CR n02 Manufacturer ID Description The control registers are used to display the manufacturer ID of an ASDA A2 series servo drive Data type Double word CR n03 CR n04 Product ID Description The control registers are used to display the product ID of an ASDA A2 series servo drive Data type Double word CR n05 CR n06 Firmware version Description The control registers are used to display the firmware version of an ASDA A2 series servo drive Data type Double word DVP 10PM Application Manual 7 9 CANopen Communication Card CR n07 CR n08 Product type Description The control registers are used to display the product type of an ASDA A2 servo drive Data type Double word CR n09 CANopen node communication status Description The control register is used to display a node communication status in a CANopen network Please refer to the table below for more information Disconnected Connected Operation mode Error Reset CR n10 Emergency error code Description The control register is used to display an error code defined by a CANopen protocol when an error occurs in a certain node CR n11 CR n12 Manufacturer s error code Description The control registers are used to display an error code defined by a manufacturer when an error occurs in an ASDA A2 series servo drive Please refer to Delta
159. ASDA A2 User Manual for more information about error codes CR n20 Servo drive status Description The value in the control register indicates the present status of an ASDA A2 series servo drive Please refer to the table below for more information Status word X OM OM OM X TR RM X WR X QS X FT SO X RS Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 RS The servo drive is ready After the initialization of the servo drive is completed the bit will be 1 SO The servo drive is ON The bit will be 1 if the servo drive is ON FT Itis an error flag If an error occurs in the servo drive the bit will be 1 QS If the bit is 1 the servo drive can be stopped urgently WR It is a warning flag If the servo drive sends a warning message the bit will be 1 RM If the bit is 1 remote monitoring can be executed TR If the execution of a motion command is completed the bit will be 1 OM 14 12 The bits indicate the statuses of motion modes Please see the table below for more information Profile position mode Interpolation mode OM 12 A target position has A homing mode is being An interpolation mode is been set successfully executed being executed OM 3 Following error 7 10 DVP 10PM Application Manual r4 CANopen Communication Card ip ee Profile position mode Interpolation mode OM 14 Enabling synchronization CR n21 Present motion mode of a servo drive Description The control regi
160. Application Manual ak a eat wld K eK EAA SHB Ear Delta servo drive ASDA A series gc OON OF SIGN S000 Delta servo drive ASDA A series _ I EF Pere LUU Delta servo drive ASDA A series P Ka eee nuun nunnmnnn KA rra O ms 2 15 2 Hardware Specifications and Wiring Wiring a DVP 10PM series motion controller and a Panasonic CN5 series servo drive Four axis wiring 2 16 Pulses generatedbya 24V manual pulse generator Shielded cable A phase B phase Ste 24VDC 24VDC 24VDC 24VDC ane aK arj NHA X3 PG1 M X5 PG2 ay 4 Panasonic servo drive CN5 series i dees e PCRS hoods ree a Palins T HCC CH CY SIGN2 6 Pagea Panasonic servo drive CN5 series o L K H OCG coe S r R ON dice e Ky Panasonic servo drive CN5 series fae CEOS hae ALi POCO Frm te Hiss Panasonic servo drive CN5 series Se ooo Pe eer 0600 mm 2 ra A SIGN2 g DC24V GND 24V a kf 5 24VDC DVP 10PM Application Manual 2 Hardware Specifications and Wiring Wiring a DVP 10PM series motion controller and a Panasonic CN5 series servo drive Six axis wiring 24VDC een ee NE X12 DOG4 PIMI X1 3 DOG5 ddi Pulses generatedbya manual pulse generator Shielded cable srieldodoat TOE eT a cme SPRY QRS OE xd T 24VDC i K 24VDC AK proj 24VDC AK aoa
161. C node ID CR 053 e Transmission method If the value set is in the range of 1 to 240 the sending of a PDO is synchronized with the sending of a CANopen packet and is executed every synchronization cycle lf the value set is in the range of 241 to 255 no PDO Is sent Default value 241 7 16 DVP 10PM Application Manual r4 CANopen Communication Card CR H 1600 CR H 163F Parameter settings for RPDO data mapping Description The control registers are used to set parameters for RPDO data mapping in a normal mode A RPDO parameter is composed of a double word The first word is used to set an OD Index The high byte of the second word is used to set a subindex and the low byte is used to set a data type A bit is a unit for setting a data type Please refer to the figure below for more information PDO data buffer RPDO mapping format Index Subindex 1 OD index Index Subindex T g T E oen 1600 163F Sy Subindex 3 Subindex 4 CR H 1800 CR H 183F Parameter settings for a TPDO Description The control registers are used to set the parameters for TPDO in a normal mode The capacity of the control registers is 3 words Please refer to the table below for more information Transmission method PDO ID Word 1 High Word 0 Low e PDO ID A CANopen POD ID occupies two words Default values CR H 1800 H200 DVP FPMC node ID CR 053 CR H 1801 H300 DVP FPMC node
162. Communication protocol of COM2 RS 485 port D1121 Communication address of the DVP 10PM series motion controller 2 Z O JJ JJ NS NS O O O T L oO T oO Hh On NS 00 O O as 2 Yes Z O OJO O D1122 Number characters which remain to be sent D1123 Number of characters which remain to be received Z O D1124 Start of text character STX No No No H 3A H 0D H 0A D1125 First terminator END High i D1126 Second terminator END Low l D1129 Communication timeout Unit ms I O J R W Z O Error code that a slave station sends by means of Modbus D1130 when the RS 485 port on the DVP 10PM series motion controller functions as a master station D1140 Number of right side modules co co co co ee oO 8 Q N Ww Z 8 right side modules at most D1142 Number of X devices in a digital module D1143 Number of Y devices in a digital module D1149 ID of a function card 0 No card inserted 3 COM3 8 2AD 9 rn Go N O Z O Ji 22 2 42 D gt P Go NJ 2DA 3 20 DVP 10PM Application Manual 3 Devices D1200 Starting latching auxiliary relay address eal D1201 Terminal latching auxiliary relay address S E RW RW Yes 99 337 D1202 Staring latching meraddress W s 4 e37 D1203 Terminal latching timer address W Ys 4 es D1204 Starting latching 16 bit counter
163. D ofthe ith ightside module o R mw o pa D1325 D ofthe sith rohtsidemoe o o R w i o a 01326 ID ofthe seventh right side module o R mw o aa D1327 ID of the eighth right side module 0 R No 0 3 38 D140 Enabling theinterupt o y s MW D1401 Cycle ot he time terut Urim o w wo oe Data block used by FROM TO D1501 Data block used by FROM TO RW No D1699 They correspond to CR 1 CR 199 D1700 Ox motion subroutine which is executed R MN 0j D1702 Step address which is executed in the Ox motion subroutine O R No 0 _D1703 M code which is executed in the Ox motion subroutine O R No 0 338 D1704 Dwell duration of the Ox motion subroutine whichis set oO R No 0 Present dwell duration of the Ox motion subroutine oO R No O Number of times the instruction RPT in the Ox motion po Rf mo oJ subroutine is executed D1707 Gubroutnehasbeen executed o f RN subroutine has been executed D1736 Dwel duration of 100whichissat o e R NO D1737 Present dwellduraion of 100 o e a w D1738 Number of times the instruction RPT n O100is executed 0 R wo o e a E executed D1700 Polartes ofthe inputieminals o i wi e o a Dieoo States ofthe inputterminas o O R mw 8 Derome S o O wi a o a D1B03 Step address in O100 at which an erorocos o SSW mo o 34 D1806 Fiter coeficient for the iputterminals 0 Rw wo o a D1B16 Setting the para
164. DVP 10PM series motion controller The DVP 10PM series motion controller receives 01 03 OC 0100 1766 0000 0000 0136 0000 3B DVP 10PM Application Manual 9 85 5 Applied Instructions and Basic Usage 5 86 Data transmission registers in the DVP 10PM series motion controller message sent by the DVP 10PM series motion controller Register Data Description D1089 low 30H ADR1 ADR 1 0 Address of the Catal E a E VFD B AS AG moto D1090 low ae CMD 1 0 Command D1090 high code Diowiow 0 30H Drovetigh StH D1093 low 30 H Diosa high 30H cael y of data count by the word D1094low O 30H a E D1095 low 44 0o 44H LRC CHK 1 LRC CHK 0 1 D1095 high ar RC CHK Checksum Data reception reigsters in the DVP 10PM series motion controller message with which the VFD B series AC motor drive responds Register Daa Description D1070 low 30H ADR1 D1070 high ADRO D1071 low 0 30H CMD1 D1071 high CMD 0 A i Quantity of data count by the byte D1072 high D1073 low 0 30H The DVP 10PM series motion controller D1073 high automatically converts D1073 high a E the ASCII characters D1074 low 0 30H APESS into values and store l the values in D1050 D1075 low The DVP 10PM series motion controller D1075 high automatically converts D1075 high eee the ASCII characters D1076 low oS 36H aes into values and store the values in D1051 D1076 high 6 36H D1051 17
165. DVP 10PM series motion controller The frequency of input signals can be up to 200 kHz These high speed input terminals are connected to a differential two wire line driver Wiring of differential input terminals used for high speed and noise Encoder DVP 10PM series motion controller Output High speed input oa en X10 a A gt boodsoccsoog E La A X10 lt f Differential output If the frequency of input signals is less than 50 kHz and there is not much noise these high speed input terminals can be connected to the direct current power input whose voltage is in the range of 5 V to 24 V as shown below Sinking DVP10PM p X10 QO 5V SINK ip 1 i X10 3 I 5 724V NPN gt l SENSOR i ot Sourcing PNP DVP10PM SENSOR id 7 4 w X10 T 7 T m Be DAV QD 5V SOURCE 7 L n o DVP 10PM Application Manual 2 9 2 Hardware Specifications and Wiring 3 Relay output circuit Direct current power input Emergency stop An external switch is used Fuse To protect the output circuit a fuse having a breaking capacity in the range of 5Ato 10A is connected to a common terminal A diode is used to absorb the surge voltage which occurs when the load
166. DVP 10PM series motion controller gt VFD B series AC motor drive The DVP 10PM series motion controller sends 01 03 2102 0002 6F F7 VFD B series AC motor drive gt DVP 10PM series motion controller The DVP 10PM series motion controller receives 01 03 04 1770 0000 FE 5C Data transmission registers in the DVP 10PM series motion controller message sent by the DVP 10PM series motion controller Register Data Description D1089 low D1090 low D1091 low D1092 low Starting data address D1093 low D1094 low Quantity of Data count by the word D1095 low CRC CHK Low D1096 low CRC CHK High D1084 low 0 30 H Example 2 Communication protocol 9600 8 E 1 The communication protocol setis retained The data received is storedinD1070 D1085in the form of hexadecimal values M1127 is reset DVP 10PM Application Manual 5 87 5 Applied Instructions and Basic Usage Example 3 Additional remark 5 88 Data reception registers in the DVP 10PM series motion controller message with which the VFD B series AC motor drive responds D1070 low D1071 low D1072 low Quantity of Data count by the byte PAALA Contents of the address 2102 H D1074 low D1075 low 2103 H D1076 low Contents of the address 2103 D1077 low CRC CHK Low D1078 low CRC CHK High lf a communication timeout occurs the data received is incorrect or the values of parameters of the instruction M
167. E input pin s signal from low to high Enabling Enable electronic gear BOOL True False motion Resetting the The value of the Reset input pin is valid Reset InputPulses BOOL True False when there is a transition in the Enable output pin input pin s signal from low to high Numerator of an When the motion control function block RatioNum electronic gear DWORD K 32 767 K32 767 is executed the value of the RatioNum ratio input pin is updated repeatedly Denominator of When the motion control function block RatioDen an electronic DWORD K1 K32 767 is executed the value of the RatioDen gear ratio input pin is updated repeatedly State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high e There isa There is a transition in the Valid transition in the output pin s signal from high to low Valid output pin s when motion stops signal from low to There is a transition in the Valid high when there is output pin s signal from high to low An output value a transition in the when there is a transition in the Error is valid Enable input pin s output pin s signal from low to high signal from low to There is a transition in the Valid high output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high DVP 10PM Application Manual 5 179 5 Applied Instructio
168. G GUEUERCRGR CNCT 3 CVG EOCCACE MANUAU NNOO OONN Example 1 Before the instruction is executed Example 2 is executed WAND D21 D20 0 ojoj1 oloj1jolololi 1 Jo 1 jolo Lolo oj 1 olof1 ofo of1 1 fo ilolo Afterthe instruction CD JL is executed D41 D40 0 o o 1 o o lojojofojofo ojoj o ojo ojo 1 o o o ojojo 1 o 0 5 42 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage X Y M S K H KnX KnY KnM KnS T C D V Z wor alate WORP inane e enmena ae aemm S1 A 32 bit instruction 9 steps H i se e A wor Comtinuty pwopp Puse po tT CS i anoe n e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges S Source device 1 S2 Source device 2 D Operation result Exp lanation A logical OR operator takes the binary representations in S and S2 and L performs the logical inclusive OR operation on each pair of corresponding bits l The operation result is stored in D The result in each position is 1 if the first bit is 1 the second bit is 1 or both bits are 1 Otherwise the result is 0 When XO is ON a logical OR operator takes the values in the 16 bit device DO Example 1 a
169. Hz 40 mA Y 17 Y17 A B B phase E DVP10PMOOM Six axis mode Terminal Description Response Maximum p p current output They are high speed output terminals whose collectors are open collectors CO Y2 and U D Counting up 200 kHz 40 mA P D Pulse A B A phase They are high speed output terminals whose collectors are open collectors C1 Y3 and U D Counting down 200 kHz 40 mA P D Direction A B B phase i Po ie i omowe O ama Y12 Y14 Y14 P D Pulse 1000 kHz 40 mA Y16 and Y16 A B A phase Y11 Y11 Y13 U D Counting down Y13 Y15 Y15 P D Direction 40 mA Y17 and Y17 A B B phase 2 2 DVP 10PM Application Manual 2 Hardware Specifications and Wiring Digital input terminals E DVP 10PM series motion controller Differential input 24 V DC common Specificati terminal terminal Deer oe High speed of 200 kHz A current flows into the ee hes terminal S S sinking ora Wiring type Independent wiring eae apes tak terminal S S LED indicator If the LED indicator corresponding to an input terminal is ON the input terminal is ON If the LED indicator corresponding to an input terminal is OFF the input terminal is OFF Input voltage 5 24 V DC 24 V DC high frequency pulses by Maximum input setting the terminals for a when the frequency of pulses Action Off gt On 20 us received is in the range of 10 level On Off 30 us kHz to 2600 kHz Response time Noise 10 ms 0 5 us reduction D
170. I O devices 2 Me M2 is a control register number the 16 bit memories in a special modules are called control registers Control register numbers are decimal numbers The operation of a special module and setting values are stored in the control registers in the special module 3 If the instruction FROM TO is used one control register is taken as a unit for the reading writing of data If the instruction DFROM DTO is used two control registers are taken as a unit for the reading writing of data High 16 bits Low16bits CR 10 CR 9 lt 4 Conitrolregisternumber specified 4 nwhich is 2 in a 16 bit instruction has the same meaning as n which is 1 in a 32 bit instruction DVP 10PM Application Manual 5 81 5 Applied Instructions and Basic Usage Control register specified Control register DEVIGE specified specified Device specified J ieee 16 bit instruciton n 6 32 bit instruction n 3 The application of the instruciton FROM TO is described below The characteristic curve of DVPO4AD H2 is adjusted The offset for channel 1 is 0 V KOLssg and the gain for channel 1 is 2 5 V K2 000 sz M1002 Example 1 aie 1 HO is written into CR 1 in the analog input module whose number is 0 and channel 1 is set to mode 0 voltage input 10 V 10 V 2 HO is written into CR 33 Channel 1 channel 4 can be tuned 3 When XO is turned from OFF to ON the offset KO sg is wri
171. ID CR 053 CR H 1803 H400 DVP FPMC node ID CR 053 CR H 1804 H500 DVP FPMC node ID CR 053 e Transmission method If the value set is in the range of 1 to 240 the sending of a PDO is synchronized with the sending of a CANopen packet and is executed every synchronization cycle If the value set is in the range of 241 to 255 no PDO Is sent Default value 241 Transmission method PDO ID Word 1 High Word 0 Low CR H 1A00 CR H 1A3F Parameter settings for TPDO data mapping Description The control registers are used to set parameters for TPDO data mapping in a normal mode A TPDO parameter is composed of a double word The first word is used to set an OD Index The high byte of the second word is used to a subindex and the low byte is used to set a data type unit bit Please refer to the figure below for more information PDO data buffer TPDO mapping format Index Subindex 1 OD index Index Subindex D a T 2000 207F 1A00 1A3F v1 Subindex 2 Subindex 3 Subindex 4 DVP 10PM Application Manual 7 17 CANopen Communication Card CR H 2000 CR H 207F PDO data registers Description Data registers storing the data for PDO access DVP FPMC takes CR H 2000 CR H 207F in an OD as data registers Every index has 4 subindices in which data can be stored The size of a subindex is one word If the size of the data to be accessed is bigger than one wo
172. If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges S4 Source device 1 S2 Source device 2 D Operation result Exp lanation A logical XOR operator takes the binary representations in S and S2 and performs the logical exclusive OR operation on each pair of corresponding bits The operation result is stored in D The result in each position is 1 if the two bits are different and O if they are the same When XO is ON a logical XOR operator takes the values in the 16 bit device Example 1 DO and the 16 bit device D2 and performs the exclusive OR operation on each pair of corresponding bits and the operation result is stored in D4 XO Hit wxor oo o2 o b15 bO Before the instruction n 0 1 0 1 0 1j0 1 0 1 0 1 0 1 0 1 is executed E WXOR 2 D2 0 0 0 0 1 1 1 1 1 0 1 0 0 1 0 1 Afterthe instruction Dp D4 0 1 0 1 1 0 1 0 1 1 1 1 0 0 0 0 is executed When X1 is ON a logical XOR operator takes the values in the 32 bit device Example 2 D11 D10 and the 32 bit device D21 D20 and performs the logical exclusive OR operation on each pair of corresponding bits and the operation result is stored in D41 D40 X1 A mor S1 b31 b15 bO Before the instruction D11 D10 1111111100001111 1111 is executed CS2 DWXOR D21 D20 0
173. If the present value of the counter rE Taco eaunatere in specified by the instruction CNT 32 bit up down ot al DCNT matches the value set the counter up down counters contact of the counter will be ON Input contact of C200 X0 X1 C Counter Input contact of C204 X2 X3 Accumulation 32 bit C200 C204 C208 C212 5 counters pent contact ot Core Kanes high speed C216 and C220 6 32 bit da a counter high speed counters in total Ee LA mien Input contact of C220 X124 X12 X13 X13 Characteristics of counters o item 16 bit counter 32 bit counter High speed counter Counting up Counting up down Setting value 0 732 767 C s s s sS 32 6 2 147 2 147 483 648 2 147 483 647 648 2 147 483 647 Specification of a Te f eoodedby K or value sioredin a preceded by K or value stored in a Set InN preceded by K or value stored in two setting value data register consecutive data registers present value value the counter will stop counting value the counter will keep counting Counting up If the present value matches the setting value the output contact will be ON Counting down If the present value matches the setting value the output contact will be reset to OFF If the present value matches the setting Output contact Value the output contact will be ON DVP 10PM Application Manual 3 9 3 Devices Item 16 bit counter 32 bit counter Resetting of a If the instruction RST is execute
174. Interpolation cccccccccceeceeeeeseeeseeeeneeeneeeeees 5 196 9 11 2 Multiaxial Relative Linear Interpolation ccccccceseeeeeeeeeeeeeeseeeeseeeenees 5 197 5 11 3 Stopping Multiaxial Linear Interpolation ccccccccseecessseeesseeeeeseeeeeeeeees 5 200 5 12 Other Motion Control Function BIOCKS cccccceecceseeeeeeeeeeeseeeeesaeeeesaeeesaaeees 5 203 Stal IGM SOCCO SC OUMICN eaea a TE 5 203 9 122 Hion speed TIME errer ce dtiescaeeioreuesexcess 5 206 5 12 3 Setting High speed CompariSONsacennecn 5 209 5 12 4 Resetting High speed COMPALISON cccccseeeeeeeeeeeseeeeeeeeeecaeeeeseeeeesaees 5 211 5 12 5 Setting High speed Capture ccccccccsseccceseeeceseeeceesecseeesseeeecsaeeesseess 5 215 5 12 6 High speed MASKING w1224sscs2tAeeetntiaeede seed ea 5 218 5127 Setn AN TINTS FU bssecdgectsectdanitectauetseetiesideetacidocidueddncideridacidaeideetdessdeetcens 5 220 Chapter 6 Multiaxial Interpolation 6 1 6 2 Introduction of Multiaxial Interpolation ccccceeccceeeeceeeeceeeeseeeeseeeeseeeeseeeesaees 6 1 SSC HOU OM ON T Ocaso e E 6 1 Chapter 7 CANopen Communication Card 7 1 7 2 7 3 7 4 7 9 7 6 1 1 Introduction of DVP FPMC CANopen Communication Card ccccsseeeeeeees 7 1 SD CCIICAONS a catactdesidavadartdoucdasidartdesidavadastdoutdea dius biasebus deuce iuebheedaan sinabhersianaiesanebaes 7 1 Product Prole ana INStANGTON sogvecderri vhost iece ae e
175. MO is moved to a 16 bit register and bit 4 bit 15 in the register are set to 0 The value in K2MO0 is moved to a 16 bit register and bit 8 bit 15 in the register are set to 0 The value in K3MO is moved to a 16 bit register and bit 12 bit 15 in the register are set to 0 The value in K1MO is moved to a 32 bit register and bit 4 bit 31 in the register are set to 0 The value in K2M0 is moved to a 32 bit register and bit 8 bit 31 in the register are set to 0 The value in K3MO is moved to a 32 bit register and bit 12 bit 31 in the register are set to 0 The value in K4MO is moved to a 32 bit register and bit 16 bit 31 in the register are set to 0 The value in K5MO is moved to a 32 bit regiser and bit 20 bit 31 in the register are set to 0 The viaue in K6MO is moved to a 32 bit register and bit 24 bit 31 in the register are set to 0 The value in K MO is moved to a 32 bit register and bit 28 bit 31 in the register are set to 0 If Knis in the range of K1 K3 or K4 K7 the bits which are not assigned values in the 16 bit register the 32 bit register to which a value is moved will be set to 0 As a result operations will be performed on positive values if Kn is in the range of K1 K3 or K4 K7 7 The binary coded decimal value in X4 X11 is MO 4 K2X4 DO converted into a binary value and the binary value is stored in DO Users can specify bit device numbers freely It is suggested X device numbers Y devuce numbers should end with 0
176. MP_DRAMP Ramp Oo y7 w DRAND 33 RCL DRCL V Rotating bits leftwards with a carry flag 5 9 550 32 RCR DRCR V Rotating bits rightward with a cary flag 5 9 549 REF Refreshing the states of I O devices 5 5 72 260 RMOV Converting a 32 bit value into a 16 bitvaue 6 5 143 31 ROL DROL V Rotating bits lefwars 5 9 548 30 ROR DROR vV Rotating bits rightwards 5 9 sar o RPE Endofanestedlop tT 08 RPT Statofanestedloop ony oneloop 3 520 202 scal 7 Sele BG 203 ScLP_ DSCLP V Parameterscale 7 13 s 61 SER DSER V Searchngdaa 9 7n 39 SFRD X Moving a value and reading it from a word device 7 557 35 SFTL V Movingthe states of bit devices leftwards 9 552 34 SFTR V Moving the states of bit devices righiwards 9 551 38 SFWR V Movinga value and writing itinto a word device 7 556 SMOV V Transferringdigits OO OOOO n o a S 69 SORT DSORT Sonngdia TTB 130 DSN Sire ofa binary floating point value 5 6 5 109 136 DSINH Hyperbolic sine of a binary floating point value 6 5 118 a8 SQR DSQR V Square rootof a binary value 5 9 569 o2 SRET indicatingthata subroutine ends 1 517 SUB DSUB vV Binarysubtracion 9 537 43 SUM_ DSUM_ V Numberofbits which areON 5 9 563 low byte in the device 132 DTAN_ __ Tangent of a binary floating
177. Manual 5 113 5 Applied Instructions and Basic Usage A radian degree flag is set to ON The value in D1 DO is a degree in the range of 0 to 360 When XO is ON the tangent of the value in D1 DO is Examp le 2 stored in D11 D10 The value in D11 D10 is a binary floating point value x 7 M1002 SET Radian Degree flag X0 7 DTAN DO D10 Tangent CD Binary floating point value a o Please refer to section 5 3 for more information about performing operations Additional on floating point values remark 5 114 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage ieee Word device Px TY MIS n knX KnY KnM KnS T C D VIZ ps tet tT nesen ranges Only the 32 bit instructions DASIN and DASINP are valid M1808 M1968 Zero flag F represents a floating point value There is a decimal point in a M1793 M1953 Operation error flag floating point value e Please refer to the additional remark below S Source value aly floating point value D Arcsine value Explanation Arcsine value sin The relation between sine values and arcsine values is shown below R A S Sine value R Arcsine value E oe E F E E 2 1 0 0 1 0 PS I H The decimal floating point value into which the sine value in S is converted can only be in the range of 1 0 to 1 0 If it is not in the range the instruction will n
178. MotionObserve_Ul T_Motion h T CapMask_ U1 En T CapMask Eno Enable D1o4MMask Valse En T_InputFola Enable XO Dogfl 1_ Pet Ha Dogl x3 Pel H4 Doge After the program is executed the present position of the first axis and the present speed of the first axis will be read After the value in D20 is set to 0 and M20 is turned ON the first axis will output O pulses Set the value in D12 to 100 After M1 is turned ON high speed capturer 0 will be started Setting high speed capturer 0 If XO is turned ON the present position of the first axis will be captured Set the value in D10 to 500 After M10 is turned ON the high speed masking specified will be Started After M101 is set to ON there will be a transition in XO s signal from low to high and the value of DVP 10PM Application Manual 5 219 5 Applied Instructions and Basic Usage the CapValue output pin will still be 100 After the value in D20 is set to 500 and M20 is turned ON The first axis will output 500 pulses After M101 is set to ON there will be a transition in XO s signal from low to high and the value of the CapValue output pin will still be 100 After the value in D20 is set to 600 and M20 is turned ON The first axis will output 600 pulses After M101 is set to ON there will be a transition in XO s signal from low to high and the value of the CapValue output pin will become 600 5 Module which is supported The mot
179. N The cosine of the source value in S is stored in D The relation between radians and cosine values is shown below R S Radian R Cosine value Radian Degree flag If a radian degree flag is OFF the source value in Sis a radian If a radian degree flag is ON the source value in S is a degree in the range of 0 to 360 A radian degree flag is reset to OFF The binary floating point value in D1 DO is a radian When XO is ON the cosine of the binary floating point value in D1 DO is stored in D11 D10 M1002 RST Radian Degree flag XO DCOS DO D10 5 pi po Jedan Degree Xn 180 T Binary floating point value Cosine value Binary floating point value Example 1 DVP 10PM Application Manual 5 111 5 Applied Instructions and Basic Usage A radian degree flag is set to ON The value in D1 DO is a degree in the range of 0 to 360 When X0 0 is ON the cosine of the value in D1 DO is Examp le 2 stored in D11 D10 The value in D11 D10 is a binary floating point value N F M1002 SET Radian Degree flag XO g DCOS DO D10 Cosine CD Binary floating point value g T Please refer to section 5 3 for more information about performing operations on Additional floating point values remark 5 112 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage x 32 bit
180. N M1796 is reset to OFF at the time when the Ox motion subroutine is executed Zero flag in the Ox motion subroutine Borrow flag in the Ox motion subroutine Carry flag in the Ox motion subroutine An error occurs in a floating point operation in the Ox motion subroutine Disabling the Y axis from returning home The Y axis is ready Y axis motion error M1873 is reset at the time when the Y axis operates Using a radian or a degree in 0100 M1952 O100 is ready M1953 An error occurs in 0100 M1957 Status of the STOP RUN switch Automatic Manual switch M1968 Zero flag in 0100 M1969 Borrow flag in 0100 M1970 Carry flag in 0100 M1971 An error occurs in a floating point operation in O100 M1985 Disabling the Z axis from returning home M2032 The Z axis is ready Z axis motion error M2033 is reset at the time when the M2033 Z axis operates M2065 Disabling the A axis from returning home M2112 The A axis is ready A axis motion error M2113 is reset at the time when the A axis operates Disabling the B axis from returning home The B axis is ready B axis motion error M2193 is reset at the time when the B axis operates Disabling the C axis from returning home The C axis is ready C axis motion error M2273 is reset at the time when the X axis operates Off Off Z O On Q M1808 M1809 M1810 No No Z O M1811 M1825 M1872 M1873 O 5 5 5
181. NC D4001 0100 M1000 T_InputPolarity_U1 T_InputPole After MO is set to ON the motion control function block T_InputPolarity will be started DVP 10PM Application Manual 5 221 5 Applied Instructions and Basic Usage After M30 is set to ON the time interrupt I0 and the external interrupt 11 will be started After the time interrupt l0 is started it will be executed every three seconds and the value in D9000 will increase by one every three seconds After the external interrupt I1 is started the users can simulate the state of X0 by setting M1 If M1 is turned from OFF to ON the value in D9001 will increase by one 5 Module which is supported The motion control function block T_ Interrupt supports DVP10PMOOM 5 222 DVP 10PM Application Manual 6 Multiaxial Interpolation 6 1 Introduction of Multiaxial Interpolation DVP 10PM series motion controllers support multiaxial interpolation Users can execute linear interpolation by means of the instruction TO 6 2 Description of TO A DVP 10PM series motion controller can start and stop linear interpolation by means of the instruction TO The use of TO to set linear interpolation is described below E CR 2 Starting interpolation XO Module CR Initial Quantity number number device of data Data Device Seting S 4 Sa S a 8 Te goni a aoe S 1 is described below 0 9 8 6 54 810 EA So C axis B axis A axis Z axis Y axis X axis number
182. NE ne ee Ss SS 6 0808 SSS e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges N S Initial device which is moved D Initial device which is moved n i Number of Explanation bits which are moved n2 Number of bits forming a group The states of the n bit devices starting from D are divided into groups nz bits as a group and these groups are moved rightwards The states of the ng bit devices starting from S are moved to the vacant devices in the devices starting from D Generally the pulse instruction SFTRP is used 1 lt nosn s1024 When XO is turned from OFF to ON the states of the sixteen bit devices Exam pl e starting from MO are divided into groups four bits as a group and these groups are moved rightwards The states of the bit devices are moved rightwards in the order during a scan cycle M3 MO The states of M3 M0 are carried M7 M4 M8 MO Mi1 M8 M 7 M4 M15 M12 gt M11 M8 X3 X0 gt M15 M12 XO i i Four bits asa group are moved rightwards o o DVP 10PM Application Manual 5 51 5 Applied Instructions and Basic Usage HS GM Moving the states of bit devices Pa ee 35 E SFTL T QD Qd leftwards 10PM N Bitdevice device Worddevice
183. O R No OR M1253 C253 Selecting a mode of counting On Counting dow Of R no Of M1254 0254 Selecting a mode of counting On Counting down O R No Of C255 Selecting a mode of counting on Counting down Off R No Off M1303 interchanging high bits with low bis when XCHis executed OF RW No Of xee es N ees ee NO OS xwe Ne es ee wee ee ee ee es Oa The input terminals can be set to ON or OFF Off RW No Off 337 M1744 Resetting the M code in the Ox motion subroutine Of OH RW No Of s38 3 18 DVP 10PM Application Manual 3 Devices Special STOP RUN M 4 UG Latching Page device RUN STOP m1745 Disabling the X axis from returning home in the Ox motion Of RW No Of subroutine M1760 Using a radian or a degree in the Ox motion subroutine Of RW No Of M1792 The X axis is ready On On R No On 308 X axis motion error M1793 is reset at the time when the RW no of 339 X axis operates No If an M code in an Ox motion subroutine is executed M1794 will be ON M1794 is reset to OFF at the time when the Ox motion subroutine is executed If MO in an Ox motion subroutine is executed M1795 will be M1795 ON M1795 is reset to OFF at the time when the Ox motion subroutine is executed If M2 in an Ox motion subroutine is executed M1796 will be M1796 O
184. ODRD are incorrect when a DVP 10PM series motion controller is connected to a VFD B series AC motor drive ASCII mode M1143 OFF the sending of data will be retried When XO is ON the DVP 10PM series motion controller used reads the data in the data address H2100 in the VFD B series AC motor drive whose device address is 01 and store the data in D1070 D1085 in the form of ASCII characters The DVP 10PM series motion controller will automatically convert the ASCII characters in D1070 D1085 into values and store the values in D1050 D1055 lf a communication timeout occurs M1129 will be ON If M1129 is ON M1122 will be set to ON If the data received is incorrect M1140 will be ON If M1140 is ON M1122 will be set to ON If the values of parameters of the instruction MODWR is incorrect M1141 will be ON If M1141 is ON M1122 will be set to ON M1002 MOV H87 D1120 Communication protocol 9600 8 E 1 SET M1120 The communication protocol setis retained MOV K100 D1129 Communication timeout 100 ms X0 eal SET M1122 Request forsending data M1129 4 __ When acommunication timeout occurs the sending of datais retried M1140 a When the data received is incorrect the sending of datais retried M1141 A When the values of parameters of MODRD are incorrect the sending of datais retried Communication command XO Device address 01 MOD
185. OG s signal goes from low to high or from high to low the axis will move to the target position indicated by the P Il set at the V II set Relative coordinates The sign bit of the P I set by users determines the direction of motion Absolute coordinates If the target position P l of an axis is greater than its present command position the motor used will rotate clockwise If the target position P I of an axis is less than its present command position the motor used will rotate counterclockwise After motion is started the speed of the motion will increase from the Vpias set to the V I set After DOG s signal goes from low to high or from high to low the speed of the motion will increase decrease from the V I set to the V II set Ves D1824 D1904 D1984 D2054 D2134 D2214 V I D1840 D1920 D2000 D2080 D2160 D2240 V Il D1844 D1924 D2004 D2084 D2164 D2244 Vmax D1822 D1902 D1982 D2062 D2142 D2222 P 1 D1838 D1918 D1998 D2078 D2158 D2238 P Il D1842 D1922 D2002 D2082 D2162 D2242 Tacc D1836 D1916 D1996 D2076 D2156 D2236 Tpec D1837 D1917 D1997 D2077 D2157 D2237 Speed Time Start A DOG i 13 Bit 12 inD1846 D1926 D2006 D2086 D2166 D2246 The execution of the Ox motion subroutine set starts Bit 12 1 The execution of the Ox motion subroutine set starts Bit 12 0 The execution of the Ox motion subroutine set stops Mode of oper
186. ONTOT uaa E E E E E A A 3 16 3 10 Specail Auxiliary Relays and Special Data Registers ccccceeeeeeeeeeeeeeeeees 3 16 3 11 Functions of Special Auxiliary Relays and Special Data Registers 3 30 3 12 Special Data Registers for Motion AXES ccccceeccceeceseeeeceeeeseeeeseueeseeeeseeeeeees 3 44 3 12 1 Descriptions of the Special Data Registers Related to Motion 3 47 3 12 2 Introduction of Modes Of Motion ccccccceccceeeceseeeeeeseeeeeeeeseeseeeeseeesaess 3 68 3 12 3 Special Data Registers for Motion AXES cccceeeeeeceeeeeeeeeeeeeeneeeeeaeeeeeeaes 3 69 Chapter 4 Basic Instructions AT Tableof Basie INS MUCHOMS ernn a a 4 1 4 2 Descriptions of the Basic INStrUCTIONS ccccccceccceeeeeeceeeceeeceeeceeseeseeeseeseess 4 3 Chapter 5 Applied Instructions and Basic Usage SA Tabe OT APPNEG INSIUCIONS neninn AN 5 1 5 2 Structure ofan Applied INSWUCTION issicsccondssecrsnssc cowssecnctsncecpaiausvasdiancasaiansewsatencics 5 4 Do IPHOCESSING VAISS perne E 5 5 4 Using Index Registers to Modify Operands cccecceecseeeeeeeeeeeesaeeeeeeaeeeeeeaeees 5 9 Or I SUMUIG MON NN Oe sete neces aa ea ree Aone ected ae apes E E 5 10 5 6 Descriptions of the Applied INStructionS ccccceccececeeeeeeeeseeeseeeseueeseesaeeeaes 5 13 e API 00 09 Loop Controle ttt einen 5 13 API 10 19 Transfer and CompariSOn st tenets 5 22 a APIZ0O29TAMNMEUC cerina
187. OOM 5 10 5 Inserting Single speed Motion 1 Motion control function block The motion control function block T_TrSeg1 is used to insert single soeed motion The speed of motion increases from the Vgias set to the velocity set After DOG s signal goes from low to high or from high to low the DVP 10PM series motion controller used will continue sending pulses The speed of the motion will not decrease from the velocity set to the Vpjas set until the number of pulses output is near the value of the Distance input pin Users can set the Vbias input pin the Vmax input pin the Tacc input pin and the Tdec input pin in the motion control function block T_AxisSetting1 The number of pulses is a unit for the Distance input pin and the number of pulses per second is a unit for the 5 166 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Velocity input pin The users can change the unit used by means of the motion control function block T_AxisSetting2 If the value of the DogEdge input pin is mcRising motion will be triggered by a transition in DOG s signal from low to high If the value of the DogEdge input pin is mcFalling motion will be triggered by a transition in DOG s signal from high to low Speed Tace Toec e a e a Position Execute DOGA Target Distance 2 Input pins Output pins Name Funetion ni Setting value Time when a value is valid Niotion axie The value of the Axis input pin is val
188. Positive True returns home Transition in DOG s signal from mcFalling False DogEdge low to high peor mcRising True or from high to low Direction oe Home K 2 147 483 648 position eve K2 147 483 647 Speed at which the axis VRT DWORD K1 K1000000 specified returns home Signal N Numberof Wworp KO K32 767 zero pulses Number of Distance_P supplementa WORD K 32768 K32 767 ry pulses 9 182 VCR Speed to which the speed of the axis specified decreases DWORD K1 VRT State output pin Time when there is a transition in an output pin s signal from low to high e There is a transition in the Done output pin s signal from low to high when motion of returning home is complete The execution of the motion control function block Is complete The value of the Direction input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the DogEdge input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the HomePosition input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the VRT input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the VCR input pin is valid when there is a transition in the Execute input pin s signal form low to high The value of
189. R 504 Enabling a heartbeat protocol Description If a heartbeat protocol is enabled in a common mode the heartbeat mechanisms of node ID 1 nod ID 16 slaves will be enabled by a master If the value in the control register is 0 a heartbeat protocol is disabled If the value in the control register is 1 a heartbeat protocol is enabled CR 505 Execution statuses of a heartbeat protocol Description The control register is used to display the execution statuses of the heartbeat protocol executed by node ID 1 node ID 16 If the value in the control register is 0 the execution of a heartbeat protocol is completed If the value in the control register is 1 a heartbeat protocol is being executed CR 506 Heartbeat statuses Description The control register is used to display the heartbeat statuses of node ID1 node ID 16 Node ID 1 node ID 16 correspond to bit O bit 15 If the heartbeat mechanism of a slave is enabled successfully the bit corresponding to the salve is 1 If the heartbeat mechanism of a slave is not enabled the bit corresponding to the salve is 0 In addition if a slave is disconnected from a master the bit corresponding to the slave is 0 Heartbeat statuses of slaves Node IDs 16 15 14 13 12 11 10 9 8 7 6 5 413 2 1 Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 DVP 10PM Application Manual 7 15 CANopen Communication Card Object dictionary parameter
190. RD K H2100 K 6 Data address H2101 Data length 6 words M1127 The data received is stored inD1070 D1085 inthe form Processing the data received of ASCII characters The DVP 10PM series motion controller automatically convert the ASCII characters into values and stored the values inD1050 D1055 M1127 is reset RST M1127 The reception of datais complete RST M1129 M1129is reset LDP ANDP ORP and LDF ANDF ORF can not precede the instruction MODRD function code H03 otherwise the data stored in data reception registers will be incorrect The instruction can be used several times in a program but one instruction is executed at a time DVP 10PM Application Manual 5 Applied Instructions and Basic Usage a Applicable model MODWR a GDCD Writing Modbus data 10PM DO a T Tebi insrucion Z steps ALY MS K H KX Kny KoM KS T e BA Mopwp Continuity d Sood dll 1 1 l WE instruction O O O00 i s ee nti Se 3 naf f dll 1T l l EE rs e Note S is in the range of KO to K254 M1120 M1129 and M1140 M1143 Please refer to specifications for more information about device Please refer to the additional remark below ranges S Device address S2 Data address n Data which is written The instruction MODWR is used to drive peripheral equipment in a Modbus ACII RUT mode The RS 485 ports on Delta VFD series AC motor drives exce
191. SUIINOJNS uono If XO is ON the motion subroutine Ox10 will be enabled After the ending instruction M2 in Ox10 is executed the execution of Ox10 will stop Ox10 is executed once If Ox10 needs to be executed again XO has to be set to ON 3 There are four methods of disabling an Ox motion subroutine e Ifthe STOP RUN switch of a DVP PM series motion controller is turned form the RUN position to the STOP position when the DVP PM series motion controller is powered M1072 will be OFF 0100 will stop and Ox motion subroutines will not be executed e Users can stop the execution of Ox motion subroutines by means of the external terminal Stop0O e Ifa DVP PM series motion controller is powered users can use communication to set the value in D1846 to 0 or to set M1074 to OFF and to stop the execution of Ox motion subroutines e Ifan error occurs when an Ox motion subroutine is compiled or when an Ox motion subroutine is DVP 10PM Application Manual 1 3 7 Program Framework of a DVP PM Series Motion Controller executed the execution of the Ox motion subroutine will stop automatically Please refer to appendix A in chapter 9 for more information about error codes 4 An Ox motion subroutine supports basic instructions applied instructions motion instructions and G codes Users can write a motion program according to their needs They can control the motion of the axes of a DVP PM series motion controller by setting the parameter
192. TIONS 10K POW ST nno Gece eee atpette eee atetatae eae 2 1 2 1 2 Electrical Specifications for Input Terminals Output Terminals 00 2 1 ee DIMEN ONS eea E O E A 2 4 22 WINO coar AE E E E E 2 5 2 2 1 Installation of a DVP 10PM Series Motion Controller in a Control Box 2 6 22 2 WAND POWER INPUT asr a ated aetna uniendeneninnieuiels 2 6 2228 SAIS UY VV WING cease staat cee spacer seem eee seein ee E 2 7 2 2 4 Wiring Input Output Terminals cccccccccssscecseseeceeeeeceeseesseeessuseessueesseaes 2 7 2 2 5 Wiring a DVP 10PM Series Motion Controller and an Inferior Servo Drive 2 14 225 OMMMUNICAUONYP ONS sssaaa etareesetus ong opasahehasegesnseaasesabased 2 24 2 3 1 GOT AS22382 POR clare ees e rede EEO 2 24 23 2 GOM2Z AS 465POM aaa a stotdinectatadesstesndesolens nsstesses 2 25 2 333 COMS RS 232 RS 485 POM eridenen erre 2 25 Chapter 3 Devices Sel D VICE LSS raa a E EEE 3 1 3 2 Values Constants and Floating point Numbers cccceeceeeeeeeeeeeeeteeeeeeaneees 3 4 3 3 External Inout Devices and External Output Devices cceeceeccseeeeeeeeeeeeeneees 3 6 34 AUMAR CIAY S airen it omeed Borat E E E AEE 3 8 39 SlEPPING REW enn RE 3 8 I MME e mee radncicasecavecamatecndeentetataua noua 3 8 3 COUNEIS ai a aaa 3 9 30 REJIO Saran A eee 3 14 3 8 1 Dala REGIS S eucronnr an a caves aretoxatereiieteaccaietemeeeees 3 15 302 MaX REJIO S eE E EEE eee eee ere eee 3 15 3 9 P
193. The axis specified when there is a transition in the Error Ne MONON BOOL is in motion before Execute input pin s signal from high control function l bI the motion control to low ock function block is executed The number of pulses is a unit for the Distance input pin and the number of pulses per second is a unit for the Velocity input pin Users can change the unit used by means of the motion control function block T_AxisSeiting2 If the value of the DogEdge input pin is mcRising motion will be triggered by a transition in DOG s signal from low to high If the value of the DogEdge input pin is mcFalling motion will be triggered by a transition in DOG s signal from high to low 3 Troubleshooting or Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed Make sure that other uniaxial motion control function The motion control function block conflicts with other blocks are not started or the execution of other motion control function blocks uniaxial motion control function blocks is complete before the motion control function block is started 5 168 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 4 Examples Example 1 The motion control function block T_TrSeg1 is used to insert single soeed motion which is triggered by a transition in DOG s signal from high to low The motion c
194. The time it takes for a relay to be turned form ON to OFF or turned from OFF to ON is about 10 3 The time it takes for a transistor to be turned form ON to OFF or turned from OFF to ON is about 10 20 milliseconds 3 3 Devices 3 4 Auxiliary Relays Auxiliary relay M Auxiliary relay numbers are decimal numbers M0O M499 500 general auxiliary relays General auxiliary relay Users can change MO M499 to latching devices by setting parameters M500 M999 and M3000 M4095 1 596 latching auxiliary relays Users can change MO M499 to non latching devices by setting parameters Ee rn err M1000 M2999 2 000 special auxiliary relays p y Y Some of them are latching devices Functions of auxiliary relays An M device has an output coil and a Form A contact Form B contact There is no limitation on the number of times an M device can be used in a program Users can combine control loops by means of M devices but can not drive external loads by means of M devices There are three types of auxiliary relays 1 General auxiliary relay If a power cut occurs when a DVP 10PM series motion controller runs the general auxiliary relays in the DVP 10PM series motion controller will be reset to OFF When the supply of electricity is restored the general auxiliary relays are still OFF 2 Latching auxiliary relay lf a power cut occurs when a DVP 10PM series motion controller runs the latching auxiliary relays will remain in their las
195. Unconditional jump e EEEEE E E EEEEeEEE E Bit device Word device 16 bit instruction 3 steps X MI Ss KI H knx Kn KnM KnS T c DI VIZ iyyp Continuity instruction e Note The operand S can be a pointer SS SIO SSIS CSR ISLES SESE S is in the rage of PO P255 eal instruction The instruction does not need to be driven by a contact Ea ne ve en re eee ae eee 5 A pointer can not be modified by a V device or a Z device Flag None The function of JMP is similar to the function of CJ CJ must be driven by a contact whereas JMP does not have to be driven by a contact The pulse instruction JMPP is not supported After address 0 is scanned address N will be executed whether there is a conditional contact before the instruction JMP and whether the conditional contact is ON or OFF and the addresses between address 0 and address N P1 will be skipped Explanation Example Unconditional jump 5 140 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model 10PM gt E ae 16 bit instruction 1 step xX Y M S K H KnX KnY KnM KnS T C D V Z Continmuy e Note There is no operand usual The instruction does not need to be driven by a contact e Flag None The ins
196. VR is the same as the function of API 123 DEDIV The floating point value in S4 is divided by the floating point value in S2 and the product is stored in D S and S can be the same register If the instruction DSUBR is used under the circumstances the value in the register is divided by itself whenever the conditional contact is ON in a scan cycle Generally the pulse instruction DDIVRP is used Ifthe absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON If an operation result is 0 a zero flag will be ON When XO is ON the floating point value F1 200E is divided by the floating point value F2 200E 0 and the quotient F0 545E 0 is stored in D11 D10 The floating point value F1 2 is represented by the scientific notation F1 200E 0 in a ladder diagram The number of decimal places which are displayed can be set by means of the View menu in WPLSoft X0 H DDIVR F1 200E 0 F2 200E 0 D10 When X1 is ON the floating point value in D1 DO is divided by the floating p value in ala D10 and the ai is stored in D21 D20 X1 H DDIVR Do Explanation OOF Example 1 Example 2 5 124 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage TY IMIS TR THIGMVIMS TEC TD TY Tay Continuity
197. Whether the source value in S is a radian or a degree depends on the state of l a radian degree flag If a radian degree flag is OFF the source value in S is a radian Radian DegreexTt 180 Ifa radian degree flag is ON the source value in S is a degree 0 lt Degree lt 360 If an operation result is 0 a zero flag will be ON The sine of the source value in S is stored in D The relation between radians and sine values is shown below R S Radian A R Sine value A radian degree flag is reset to OFF The binary floating point value in D1 DO is a radian When XO is ON the sine of the binary floating point value in D1 EXAMP DO is stored in D11 D10 f M1002 RST Radian Degree flag XO DSIN DO D10 Radian Degree X z 180 CS bi Do Binary floating point value Sine value gt Binary floating point value DVP 10PM Application Manual 5 109 5 Applied Instructions and Basic Usage Example 2 Example 3 Additional remark 5 110 A radian degree flag is OFF A degree is set by means of XO or X1 After the degree is converted into a radian the sine of the radian will be calculated XO DMOVP K30 D10 K30 D11 D10 X1 DMOVP K60 D10 K60 gt D11 D10 mt 180 gt D21 D20 Binary floating point value D15 D14 Degree x T 180 gt D41 D40 Radian Binary floating point value
198. X X4 PGO 3 ORP O o a xpo O ee 6 x6 D0G3 DVP 10PM Application Manual 3 39 3 Devices Users can set a filter coefficient for the input terminals X0 X7 by setting the low Setting a filter byte in SR806 coefficient for 2 Users can set a filter coefficient for the input terminals X10 X10 X11 and X11 oe Her by setting the low byte in SR806 erminals Filter coefficeint a kHz N 1 19 D1806 a ON KAZ 1 2686 25 1 2 593994 1328 125 1 296997 A e 68300781 a m e O oooO EE 10 37508 10 5 187988 4 If the value in D1806 is 0 no signals will be filtered N O3 eoB 3 OO oG O 5 Ifthe value in D1806 is HOOOA the filter coefficient for XO X7 and sell 5 187988 MPGO 1 2 KHz and the signals whose frequencies are higher than 5 187988 kHz will be removed F 1 Ifan error occurs in 0100 M1953 will be ON the error code corresponding to the error will be stored in D1802 and the step address at which the error occurs will be O100 error stored in D1803 i 2 Please refer to appendix A in chapter 9 for more information about error codes M1953 D1802 and D1803 D1816 is for the X axis D1896 is for the Y axis D1976 is for the Z axis D2056 is for the A axis D2136 is for the B axis and D2216 is for the C axis Setting the Output type Mode of triggering the calculation of the target position i a a S Only
199. X3 5 x7 Xx10 x11 X12 X3 Nj Va i POWER m Ji a l MELTA RUN ERROR BAT LOW IN mone oie ee oe DVP 10PM OOOO N DAZA A eye ons TA 2 O ANTA A a 7 L IL hn a ty T e 2
200. Y3 Example 1 ac CML K1Y0 b15 b3 b2 bi Do No data The reversal result is transferred The circuits below can be represented by means of the instruction CML X000 oem Example 2 Mo N Z X001 p g C M1 X003 a ee lt M3 P M1000 CML K1X0 K1MO X000 C MO i Normally open contact X001 a a OM 4 N X002 An X003 gro M J 5 28 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model Transferring values 10PM x Y M S K H KnX KnY KnM KnS T C D V Z Continuity s Pr ede eee po hd PEEP pot tT delei ttt lede lt Fasnoe e Note Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system S Source D Destination n Length Exp lanation The instruction is used to transfer the values in registers to new registers The values in the n registers starting from S are transferred to the n registers starting from D If n is not in the range available only the values in re
201. Z devices 5 5 Instruction Index Arranging applied instructions in alphabetical order Type 16 bit 32 bit_instruction eit 32bit No 87 ABS DABS Absoltevaue 8 5 584 20 ADD DADDY Bmayad on 7 o 5a 66 ALT Alternating between ON and OFF 3 575 zigANDR Danba siase OOOO e 8 AND DANDY srs oo s y7 ae z9 AND bano sise s 7 ae mano omo siege st ANDF Connecting falling edge detection in series MOP Comeangrongeagedoectoninsowes 310 47 ANR Resetting an annunciator 5 67 A qe ANS owoanaminoator 7 see O SS 26 ANDS DANDS ss o s 7a 232 AND DAND sissa 87 se BAND DAND S19 KESA 288 AND gt DAND siese KISA a A008 7 aa 6 ee en ey ene ee 135 _ DATAN V _ Arctangent of a binary floating point value e BCD DBCD r Converting a binary value into a binary coded 5 33 decimal value 19 BN DBIN ma Converting a binary coded decimal value into a Ea binary value 45 BMOV lt Transferingvalues BO 44 BON DBON V _ Checkingthestateofabt 7 13 564 258 BRET Retumingtoabusbar 1 5a ojca 7 Calingasubrouine 3 516 131 DoS Cosine of a binary floating point value 5 6 5411 137 DCOSH v Hyperbolic cosine of a binary floating point value 6 5 119 o os Conditionaljump A 256 CIN _Negatedconditionaljump 3 5439 A4 CML DOME X mer ingbis O o 5 5a A0 CMP__DCMP V Comparngv
202. _TrSeg2 is used to insert two speed motion The speed of motion increases from the Vgias set to the V I set After DOG s signal goes from low to high or from high to low the speed of the motion will increase decrease from the V I set to the V II set The motion will not stop until the number of pulses output is near the value of the Distance input pin Users can set the Vbias input pin the Vmax input pin the Tacc input pin and the Tdec input pin in the motion control function block T_AxisSetting1 The number of pulses is a unit for the Distance input pin and the number of pulses per second is a unit for the Velocity1 input pin the Velocity2 input pin The users can change the unit used by means of the motion control function block T_AxisSeiting2 If the value of the DogEdge input pin is mcRising motion will be triggered by a transition in DOG s signal from low to high If the value of the DogEdge input pin is mcFalling motion will be triggered by a transition in DOG s signal from high to low 5 170 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Tace Speed nn Executea DOG A 2 Input pins Output pins Tpbec Position Target Distance she Setting value Time when a value is valid The value of the Axis input pin is valid when there Is a transition in the Execute number BOOL True False Motion is started when there isa transition in the Execute input pin s signal
203. a a transition in an type output pin s signal from low to high e There isa transition in the The execution Done output pin s of the motion signal when Done control function BOOL motion is block is complete complete Time when there is a transition in an output pin s signal from high to low There is a transition in the Done output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when motion is complete the Done output pin will be set to False in the next cycle There is a transition in the Busy output pin s signal from high to low Busy output pin s signal from low to high when there is when there Is a transition in the Done output pin s signal from low to high a transition in the Execute input pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error Output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high There is a transition in the Aborted output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when the execution of the motion control function block is int
204. a transition in DOG s signal from low to high or from high to low The value of the VCR input pin indicates the speed to which the speed of the axis specified decreases The value of the Signal_N input pin is the number of zero pulses The value of the Distance_P is the number of supplementary pulses needed After motion of returning home is complete the value of the HomePosition input pin will be taken as the present position of the axis specified Motion of returning home is shown below Direction in which the axis specified returns home DOG lt Aa Limit switch Limit switch LSN LSP f2 O 1 Home x Position 1 Position 1 is at the right side of the home and DOG and DOG is OFF Position 2 Position 2 is at the right side of the home and DOG is ON Position 2 does not support the fifth axis and the sixth axis Input pins Output pins Name Function nie Setting value Time when a value is valid 2 axis The value of the Axis input pin is valid woro OOK ma there is a transition in the Execute 2 OOK ue pin s signal from low to high Motion is started when there is a Execute Wansitionin Boot True False the Execute input pin s signal from low to high DVP 10PM Application Manual 5 181 5 Applied Instructions and Basic Usage Name Function nia Setting value Time when a value is valid Direction in which the axis mcNegative False specified Poe mc
205. a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Error Output pin s signal from high to low me a eee when there is a transition in the Execute input pin s signal from DIOC high to low Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed 4 Module which is supported The motion control function block T_SetPosition supports DVP10PMOOM 3 Troubleshooting 5 10 17 Setting the Polarities of I nput Terminals 1 Motion control function block The motion control function block T_InputPolarity is used to set the polarities of the input terminals on the DVP 10PM series motion controller used Users can set the polarities of the input terminals on the DVP 10PM series motion controller used by means of input pins 2 Input pins Output pins Function pi Setting value Time when a value is valid Manual pulse Enable generator BOOL True False mode 5 194 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Name Function me Setting value Time when a value is valid When the motion control function block is executed the values of the input pins are updated repeatedly mcNO False mcNC True BOOL BOOL X13 Dog5 Polarity BOOL State outp
206. acco it takes for the X axis to accelerate RAW Yes 500 D1837 Time Tpsc it takes for the X axis to decelerate Fo RW Yes 500 nr Target position of the X axis P 1 Low word o0 RW NG OS Pulse width for the X axis Low word oO RW No O p1a39__larget position of the X axis P I High word O RW No 0 Pulse width for the X axis High word oO RW No O D1840 Speed at which the X axis rotates V I Low word 1000 RW No _ 1000 D1841 Speed at which the X axis rotates V I High word 1000 RW No 1000 n1842 Target position of the X axis P II Low word Oo RW No O Output period for the X axis Low word SSS eee Sigd Target position of the X axis P 11 High word o RW No Output period for the X axis High word Pett re ot D1844 Speed at Wach the ans rotates V II Low word 2000 R W 2000 D1845 Speed at which the X axis rotates V II High word D1846 Operation command for the X axis o No 0 342 D1847 X axis mode of operation KOENEN AN MEN Present command position of the X axis Pulse Low word Position of the slave axis Low word Present command position of the X axis Pulse High word R W Position of the slave axis High word DLIIL BE ER D1848 D1849 D1851 Present command speed of the X axis PPS High word
207. act C255 will be turned form OFF to ON If the present value of the counter C255 decreases from K 5 to K 6 the contact C255 will be turned from ON to OFF 5 If users move a value greater than the setting value of C255 to C255 by means of the instruction MOV the contact C255 will be ON and the present value of the counter will become the setting value next time X11 is turned from OFF to ON X10 Increasing Decreasing Increasing C208 counts Presentvalue The output contact is ON YO C208 Contact DVP 10PM Application Manual 3 11 3 Devices 32 bit high speed counter mE DVP 10PM series motion controller C200 C204 C208 C212 C216 and C220 1 The setting value of a 32 bit high speed counter must be in the range of K 2 147 483 648 to K2 147 483 647 2 Mode of counting ng External Counter ene reset External input terminal terminal C200 KiM1200 0 U D M1203 XO X1 and S S 1 P D the frequency of A B phase 3 4A B Four inputs measuring time C220 K1M1220 5 General mode M1223 ete tomiane 6 Cyclic mode X13 Note U D Counting up Counting down P D Pulse Direction A B A phase B phase C200 Users can select a mode of counting by setting M1200 and M1201 Input signals are controlled by XO and X1 If M1203 is ON the function of resetting C200 will be enabled Resetting signals are controlled by X10 times the C212 K1M1212 frequency of M1215 X13 X6 X7 and S S A B phase
208. ags Example M1968 is a zero flag M1969 is a borrow flag and M1970 is a carry flag Every flag in a DVP 10PM series motion controller corresponds to an operation result The state of a flag varies with an operation result For example if the instruction ADD SUB MUL DIV is used in the main program 0100 M102 the operation result gotten will affect the states of M1968 M1970 However if the instruciton is not executed the states of the flags will remain unchanged The states of flags are related to instructions Please refer to the explanations of instructions for more information 5 3 Processing Values X devices Y devices M devices and S devices can only be turned ON or OFF They are bit devices Values can be stored in T device C devices D devices V devices and Z devices They are word devices If Kn is added to the front of an X Y M S device a word device will be formed If Kn is added to the front of an X Y M S device a word device will be formed For example K2MO represents a device composed of the eight bit devices MO M7 Valid data M15 M14 M13 M12 M11 M10 M9 M8 M7 M6 M5 M4 M3 M2 Mi MO olilolilo jilojijoj ilol l iloj i foj i Low byte The values in MO M7 are moved Bit 8 bit 15 are setto 0 D1 0 0 0 0 0 0 0 0 o0 f o0 1f o i o if o 1_ b15 b14 b13 b12 bli b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bo Equal to Low byte Dif ojojo jo jojo jo jo jo 1 jo 1jo j1i jo i The value in K1
209. ajbuls UOI OLU p ds OML uonow p ds om Hui su j UOI OW JIQqeLeA uonow poeds ajbuls Bulyasu epow 10 e19uUab asjnd jenuelyy Number of pulses it If th r di th takes for the motor of the Sunn ONS AMOLF UNINING D1819 D1818 D1899 D1898 D1979 D1978 D2059 D2058 _ Pe special data registers do not need to be axis specified to rotate ae once A l l l Distance generated after If the unit used is a mechanical unit or a D1821 D1820 D1901 D1900 D1981 D1980 zs ps0edlihemotoroftheaxis COmpoune unt Ine specialdata redlsters neces to be set specified rotate once pise o D1896 D1976 D2056 Setting the yy D2056 S the axis specified Maximum speed Vmax D1823 D1822 D1903 D1902 D1983 D1982 D2063 D2062 at which the axis specified rotates Start up speed Vs as at D1825 D1824 D1905 D1904 D1985 D1984 D2065 D2064 which the axis specified rotates JOG speed VJoa at D1827 D1826 D1907 D1906 D1987 D1986 D2067 D2066 which the axis specified rotates Speed Vat at which the D1829 D1828 D1909 D1908 D1989 D1988 D2069 paos axis specified returns ze a Speed Vcr to which the speed of the axis D1831 D1830 D1911 D1910 D1991 D1990 D2071 D2070 specified decreases when the axis returns home piee piaia Di9 02072 oie axe sbeced for the axis specified D1833 D1913 D1993 D2073 Supplementary pulses for the axis specified D1835 D1834 D1915 D1914 D1995 D1994 D2075 D2074 eae position of the D207
210. al data registers Special D device ot a Default a Special data register Setting range pisie o Diss D1976 7 D2056 ae Diep aelelae Bto bt15 bit 15 the axis specified Number of pulses it takes D1819 D1818 D1899 D1898 D1979 D1978 D2059 D2058 for the motor of the axis Pe eee ee KSO pulses revolution specified to rotate once Distance generated nae D1821 D1820 D1901 D1900 D1981 D1980 D2061 D2060 the motor of the axis 1 4 2 147 483 647 K1 000 specified rotate once Maximum speed a F D1823 D1822 D1903 D1902 D1983 D1982 D2063 D2062 which the axis specified 0 2 147 483 647 K500 000 rotates Start up speed Veias at D1825 D1824 D1905 D1904 D1985 D1984 D2065 D2064 which the axis specified 0 2 147 483 647 rotates 987 D1986 D2067 D2066 YOG speed Vioc at which 9 15 447 483 647 K5 000 the axis specified rotates Speed Vat at which the 3 D1829 D1828 D1909 D1908 D1989 Dives D2069 D2068 axis specified returns home 0 2 147 483 647 K50 000 Speed Vcr to which the speed of the axis specified 3 D1831 D1830 D1911 D1910 D1991 D1990 D2071 D2070 decreases whai ihe axie 0 2 147 483 647 returns home D2072 Number of PGO signals for 0 32 767 PLS the axis specified D2073 Number of supplementary 32 768 432 767 PLS pulses for the axis specified os om Om oe 394 D2075 D2074 Home position of the axis 4 999 ggg specified me peel ee venoms oman D2076
211. anation Pae A Ladder diagram Instruction code Description LD XO Loading the Form A Example contact X0 i a X1 ORF X1 Connecting the falling edge triggered contact t X1 OUT Y1 Driving the coil Y1 DVP 10PM Application Manual 4 13 4 Basic Instructions Instruction Applicable ISINg Eage outpu 00 0255 vem FY a a a a PLS is a rising edge output instruction When XO is turned from OFF to ON the instruction PLS is executed MO sends a pulse for a scan cycle Explanation Ladder diagram Instruction code Description LD XO Loading the Form A i A MO PLS Mo MO is rising edge triggered LD Mo Loading the Form A contact MO SET YO YO remains ON Timing diagram XO MO l One scan cycle M YO code model panei wpm fs YY S a a o PLF is a falling edge output instruction When XO is turned from ON to OFF the instruction PLF is executed MO sends a pulse for a scan cycle Explanation Ladder diagram Instruction code Description LD XO Loading the Form A a MO PLF MO MO is falling edge triggered LD Mo Loading the Form A contact MO Timing diagram SET YO YO remains ON X0 MO I Onescancycle nl YO 4 14 DVP 10PM Application Manual 4 Basic Instructions Instruction Funcion Applicable code model 10PM R e PO P255 A pointer can be used by API 00 CJ API 01 CALL API 256 CJN and API 257 JMP The pointers used do not have to start from PO A pointer nu
212. and motion control function block is interrupted the Aborted output pin will be set to False in the next cycle Input values are There is a transition in the Error incorrect output pin s signal from high to low An sae oie The axis specified when there is a transition in the Error ae MONON BOOL is in motion before Execute input pin s signal from high control function l bI the motion control to low ock function block is executed The number of pulses is a unit for the Distance input pin and the number of pulses per second is a unit for the Velocity1 input pin the Velocity2 input pin Users can change the unit used by means of the motion control function block T_AxisSetting2 If the value of the DogEdge input pin is mcRising motion will be triggered by a transition in DOG s signal from low to high If the value of the DogEdge input pin is mcFalling motion will be triggered by a transition in DOG s signal from high to low 3 Troubleshooting or Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed Make sure that other uniaxial motion control function The motion control function block conflicts with other blocks are not started or the execution of other uniaxial motion control function blocks is complete before the motion control function block is started motion control function blocks 5 172 DVP 10PM A
213. anselecta mode of counting by setting M1212andM1213 M1215 1 X13 Resetting C212 C216 Users can select a mode of counting by setting M1216 and M1217 Input signals are controlled by X10 and X11 If M1219 is ON the function of resetting C216 will be enabled Resetting signals are controlled by XO Pulse Counting pulses U 0 A Present value Y Direction gt C216 Counting pulses D B Users can selecta mode of counting by setting M1216 andM1217 Resetting C216 M1219 1 XO DVP 10PM Application Manual 3 13 3 Devices C220 Users can select a mode of counting by setting M1221 and M1220 Input signals are controlled by X12 and X13 If M1223 is ON the function of resetting C220 will be enabled Resetting signals are controlled by X1 Pulse j A Counting pulses 2 Direction Presentvalue C220 Counting pulses X13 Users can selecta mode of counting by setting M1220 andM1221 Resetting C220 M1223 1 X1 The setting value of a 32 bit high speed counter can be a constant preceded by K or the value stored in two consecutive data registers The special data registers D1000 D2999 can not be used A setting value can be a positive value or a negative value If a power cut occurs when a general counter in a DVP 10PM series motion controller counts the present value of the counter will be cleared If a power cut occurs when a
214. ansition in the Execute Execute input BOOL True False pin s signal from low to high Present position The value of the Position input pin is Position Torhe axs DWORD K 2 147 483 648 valid when there is a transition in the Execute input pin s signal from low to high K2 147 483 647 specified State output pin Time when there is a transition in an output pin s signal from low to high e The writing of a position is complete The execution of the motion control function block Is complete DVP 10PM Application Manual Time when there is a transition in an output pin s signal from high to low e There is a transition in the Done Output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low 5 193 5 Applied Instructions and Basic Usage State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high e There isa e There is a transition in the Busy The motion control function block is being executed An error occurs in transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high Input values are incorrect output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is
215. apture source item Bit Setting value _DVP 10PM series motion controller O Present position ofthe X axis Capture 15 9 5 Value in C204 8 Value in C208 7 Value in C212 5a 0 Capturemode o j External trigger 8 2 DVP 10PM Application Manual 8 High speed Comparison and High speed Capture item Bit Setting value DVP 10PM series motion controller External 15 12 trigger 8 2 High speed Comparison A high speed comparison is shown below Users use FROM TO to read write values so that they can compare data B FROM K253 K1 DO D50 A TO K253 K1 DO D50 4 aE i i I I i E ro re 1 l l v v D Data register n n 0 7 C Control register n n 0 7 ere v E Comparison source F Comparison condition G Output terminal Counter X The dotted lines are data procedures and the solid lines are control procedures Block A The instruction TO is used to write data into control registers block C and data registers block D Block B The instruction FROM is used to read data from control registers block C and data registers block D Block C User set a comparison source block E a comparison condition block F and an output terminal block G in a control register in accordance with the value it receives by means of TO Block D The value that users write into data registers
216. are generated at the JOG speed set Bit 4 in D1846 D1926 D2006 D2086 D2166 D2246 A mode of variable motion is activated After bit 4 in D1846 D1926 D2006 D2086 D2166 D2246 is set to 1 the DVP 10PM series motion controller will execute variable motion and it will send pulses by a pulse generator After a mode of variable motion is activated the Vpias of the axis specified will increase to its V I When the axis operates users can change its V I at will The DVP 10PM series motion controller accelerates or decelerates according to the V I set Users can stop variable motion by setting bit O in D1846 D1926 D2006 D2086 D2166 D2246 to 1 or by setting bit 4 in D1846 D1926 D2006 D2086 D2166 D2246 to 0 Diagram Tacc i Topec Time Start__A Stop D N Bit 5 in D1846 D1926 D2006 D2086 D2166 D2246 A manual pulse generator is operated fbit5 in D1846 D1926 D2006 D2086 D2166 D2246 is set to ON a manual pulse generator mode will be activated Please refer to the descriptions of D1858 D1864 D1938 D1944 D2018 D2024 D2098 D2104 D2178 D2184 D2258 D2264 for more information Bit 6 in D1846 D1926 D2006 D2086 D2166 D2246 A mode of triggering the return to home is activated When bit 6 in D1846 D1926 D2006 D2086 D2166 D2246 is turned from OFF to ON a mode of triggering the return to home is activated The mode of triggering the return to home varies with the 3 60 DVP
217. are shown below 4 4 Single Axis AP Molti xis Others Definitions of the folders E SingleAxis Uniaxial motion Uniaxial point to point motion and electronic gear synchronization MultiAxis Multi axis motion multi axis linear interpolation E Others Other functions measuring time high speed comparison high speed capture and setting interrupts After the users drag motion control function blocks in folder they can use them System Internation Local Symbols EP Global Symbols A Class Identifiers Address Programs VAR H ee YAR T_Abs5eg1_U1 P A s f 1 gl Function Blocks TDVELOEM T AbsSe l Ul EP Global Symbols T_AbsSegl APS Single d xis io T_Absteg T_Relseg T_Absseg T_Relseg T_Tigegl T_Trteg T Jog T_MPG T_Gearln T HomeRetum T_Asasdtop lt i a j SYSE Information Libraries oA x 00004 Delta Libraries T_DVPLOPRM DVP 10PM Application Manual Type Initial Comment T_Abssegt 5 149 5 Applied Instructions and Basic Usage 5 9 Delta defined Parameter Table Delta defined parameters are for input pins in Delta motion control function blocks Users can directly use Delta defined parameters to operate motion control function blocks without having to know the descriptions of the input pins in the motion control function blocks Delta defined parameters are described below Name Type Value Motion control function bloc
218. arget position of the axis specified is DVP 10PM Application Manual 3 61 3 Devices less than its present command position the motor used will rotate counterclockwise The speed of motion will increase from the Vgias set to the V I set After DOG s signal goes from low to high or from high to low the DVP 10PM series motion controller used will continue sending pulses The speed of the motion will not decrease from the V I set to the Vpjas set until the number of pulses output is near the P I set Vras D1824 D1904 D1984 D2054 D2134 D2214 V 1 D1840 D1920 D2000 D2080 D2160 D2240 Vmax D1822 D1902 D1982 D2062 D2142 D2222 P 1 D1838 D1918 D1998 D2078 D2158 D2238 Tacc D1836 D1916 D1996 D2076 D2156 D2236 Toec D1837 D1917 D1997 D2077 D2157 D2237 Speed Time Stat amp S e DOG yooo 10 Bit 10 in D1846 D1926 D2006 D2086 D2166 D2246 A mode of two speed motion is activated After bit 10 in D1846 D1926 D2006 D2086 D2166 D2246 is set to 1 a mode of two speed motion will be activated The axis specified moves at the V I set After it moves to the P I set it will move to the P II set at the V II set Relative coordinates The sign bit of the P I set by users determines the direction of motion If the P I specified is a positive value the motor used will rotate clockwise If the P I specified is a negative value the motor used will rotate counterclockwi
219. asic Usage Converting a 32 bit value into a 16 bit value Bit devin Tee A a LT eT MOV Continuity Pulse _instruction _ instruction _ Note Please refer to specifications for more information about device e Flag None ranges S Source device 32 bit device D Destination device 16 bit device Explanation Data in the 32 bit device S is transferred to the 16 bit device D The sign bit in S is retained C When X24 is ON data in D6 and D7 is transferred to D4 X24 Example m Rmov l i b31 b16b15 aH fs fafa ihhh h hhh h joanaooaoananoan D7 D6 D O Ga b15 bO When X24 is ON bit 31 in D7 is transferred to bit 15 in D4 bit O bit 14 in D6 are transferred and bit 15 bit 30 in D6 and D7 are not transferred DVP 10PM Application Manual 5 143 5 Applied Instructions and Basic Usage 5 7 Motion Control Function Block Table Tye Name Description Page No oe ss Sige Speed Starting absolute single speed motion 9 152 oe neo Starting relative single speed motion 5 156 Absolute two speed motion Starting absolute two speed motion 5 160 Relative two speed motion Starting relative two speed motion 5 163 Inserting single speed motion Inserting two speed motion Inserting two speed motion 5 170 JOG motion Starting JOG motion 5 173 Uniaxial Manual pulse generator Enabling a manual pulse generator mode 5 176 motion mode conto function Returning home Starting motion of returning home
220. ata registers are latching data registers registers are index VO V7 16 bit registers ZO Z7 32 bit registers 16 registers index registers 1 There are 10 000 Latching J D Q T p o baaa Y Q Q lt O D Used with CJ CJN Itis used with CJ CALL or JMP CJN CALL or JMP K 32 768 K32 767 16 bit operation io Decimal system PO P255 256 pointers K 2 147 483 648 K2 147 483 647 32 bit operation HOOOO HFFFF 16 bit operation 4 Hexadecimal system 149990000 HFFFFFFFF 32 bit operation CT uesuog Floating point 32 bit operation 1 1755X10 3 4028X10 number The IEEE 754 standard is used 1 They are non latching devices and can not be changed 2 They are non latching devices Users can change them to latching devices by setting parameters 3 They are latching devices Users can change them to non latching devices by setting parameters 4 They are latching devices and can not be changed Latching and non latching memory devices General auxiliary relays Special auxiliary relays ss MO M499 M500 M999 M3000 M4095 M1000 M2999 ae relay Non latching Latching Non latching They are in the general auxiliary relay range Start D1200 K500 1 Some special auxiliary relays are latching End D1201 K999 1 auxiliary relays They can not be changed 10 ms Timer T0 T255 T Non latching Start D1202 K 1 2 End D1203 K 1 2 16 bit up counter
221. ating point value available a carry flag will be ON If the absolute value of a conversion result is less than the minimum floating point value available a borrow flag will be ON If a conversion result is 0 a zero flag will be ON Please refer to section 5 3 for more information about performing operations on floating point values DVP 10PM Application Manual 5 119 5 Applied Instructions and Basic Usage Hyperbolic tangent of a binary floating point value Bit device Word device 32 bit instruction 6 steps Continuity DTANHP Pulse instruction instruction e Note Please refer to specifications for more information about device ranges Only the 32 bit instructions DTANH and DTANHP are valid M1968 Zero flag F represents a floating point value There is a decimal point in a M1809 M1969 Borrow flag floating point value M1810 M1970 Carry flag e Please refer to the additional remark below SS Source value binary floating point value D Hyperbolic tangent value Explanation Hyperbolic tangent value e e e e When X0 is ON the hyperbolic tangent of the binary floating point number in D1 DO is stored in D11 D10 XO 7 DTANH Do Binary floating point value Example lt Hyperbolic tangent value ey D 11 D10 Binary floating point value If the absolute value of a conversion result is greater than the maximum floating point value available a carry flag will b
222. ation Description 1 Bit 2 in D1847 D1927 D2007 D2087 D2167 D2247 Mode of sending a CLR signal Bit 2 0 After the axis specified returns home the CLR output will send a 130 millisecond signal to the servo drive used and the present position of the servo drive which is stored in a register in the servo drive will be cleared Bit 2 1 The CLR output functions as a general output Its state is determined by bit 3 in D1847 D1927 D2007 D2087 D2167 D2247 2 Bit 3 in D1847 D1927 D2007 D2087 D2167 D2247 Setting the CLR output to ON OFF Bit 3 0 The CLR output is OFF Bit 3 1 The CLR output is ON 3 Bit 4 in D1847 D1927 D2007 D2087 D2167 D2247 Setting the polarity of the CLR output Bit 4 0 The CLR output is a Form A contact Bit 4 1 The CLR output is a Form B contact DVP 10PM Application Manual 3 63 3 Devices 4 Bit6 in D1847 D1927 D2007 D2087 D2167 D2247 Limitation on the present position of the slave axis controlled by the manual pulse generator used Bit 6 0 There is no limitation on the present position of the slave axis controlled by the manual pulse generator used Bit 6 1 The present position of the slave axis controlled by the manual pulse generator used has to be in the range of the P I set to the P Il set If the present position of the slave axis controlled by the manual pulse generator used is not in the range of the P I set to the P Il set the slave axis will
223. ator VEE OO f f Electronic gear of the axis R D1859 D1939 D2019 D2099 specified Denominator 1 32 767 K1 Frequency of pulses generated by the manual D1861 D1860 D1941 D1940 D2021 D2020 D2101 D2100 pulse generator for the axis KO specified Number of pulses generated by the manual D1863 D1862 D1943 D1942 D2023 D2022 D2103 D2102 pulse generator for the axis KO specified Response speed of the D1864 D1944 D2024 D2104 manual pulse generator for K5 the axis specified Users have to seta D1867 D1866 D1947 D1946 D2027 D2026 Electrical zero of the axis Value according to KO specified their needs Setting an Ox motion Users have to Sera D1868 subroutine number value according to KO their needs KO KO KO KO Frequency of pulses generated by the manual pulse generator for the axis specified Number of pulses generated by the manual pulse generator for the axis specified Response speed of the manual pulse generator for the axis specified Step address in the Ox Users have to set a D1869 motion subroutine executed value according to at which an error occurs their needs Enabling a Y device when Users have to set a KO an Ox motion subroutine is value according to ready High byte their needs Users have to seta Using an X device to reset value according to the M code l their needs Starting the X axis Users have to set a manually ZRN MPG value according to
224. ave aed Sees 7 2 Parameters for Control Registers cccsscccseeecceeecceeeceeeecceecceeeseeeeeseeesseeessasss 7 2 DESEiDlONS OF CONG REGQISICNS sesecesxscopcesecciseseorcceuctaxccensesxs castors cexctaxaierseareceac 7 4 Sewn fers lB ae onl Bea MOI ee ene 7 19 Ethemet Mode or DVPR ERMO mrs sotarn set anbeseieicdeinsnndaiadssbolareuSaldenbesasei 7 21 7 7 1 Communication between DVP FPMC and an HMI cece eeeeeee eee 7 22 7 7 2 Communication between DVP FPMC and PMSolft ccc cece eeeeeee eee 7 24 7 8 LED Indicators and Troubleshooting cccceeccceeeceeeeeeeeeeeeeeeeeeeeseeeesaeeesaeeeeas 7 27 Chapter 8 High speed Capture and High speed Comparison 8 1 High speed Comparison and High speed Capture ccccceeeeeeeeeeeeeeeeeeeeeaeees 8 1 C2 High Speed Combas Oese bined 8 3 8 3 High speed Capt Soseo eiei EE EEE EEEE EOE EEEE EEIE EEEE 8 6 Chapter 9 Appendix Of Appendix A Error Gode Table cisccccsisinesetiiertaatinaraiatedanidasiienidicdanieanedaniaataiandaadids 9 1 1 Program Framework of a DVP PM Series Motion Controller Delta DVP PM series motion controllers can put axes in particular positions at high speeds create linear interpolations and circular interpolations They can execute basic instructions applied instructions motion instructions and G codes Different DVP PM series motion controllers support different program frameworks and functions The functions that DVP
225. awes 7 52 ST ONT DONT 6bitoowter 5 6a 25 DEC_ DDEC V Subtracting one from a binary value 3 3 541 DECOY edr y7 O 117 DDEG Convertingaradantoadegree 6 598 23 DIV DDV V Bmaydvsion O 79 a a2 ENCO 7 Emod OOOO y 7Sa 172 DADDR Floating point addition 8 5a 175 DDR V Floatingpointdivison 13 514 120 DEADD v Binary floating point addition 7 9 1599 A Sp SST SCINS 5 10 DVP 10PM Application Manual c TI m D N S E FMOV FROM C 78 Z h h ome NIN N ES N re lt U N 57 LD amp LD LDI LD lt LD lt LD lt gt LD LD gt 30 LD gt N h N LDP LDF MEAN lt MODRD MODWR MOV MUL NEG OR amp OR OR lt OR lt OR lt gt eee WitiidakisauakCECHNOD lt O nstruction code DECMP DEDIV DEMU DESQR DESU DEXP DEZC DMOV DMUL DSUB DFLT DFMOV DFROM DINC DINT r UJ JJ DLD amp DLD DLD DLD lt DLD lt DLD lt gt DLD DLD gt DLD gt DLN U PEE Q DMEAN DMOV DMUL DNEG DOR amp DOR DOR lt DOR lt DOR lt gt DOR gt gt O Q T r a c O y O 5 T D Q OU D oO O Cc T O Q D metrueton Funeria Ner instruction 16 bit 32 bit No Comparing binary floating point values 7994 Binary floating point division 79 102 X Binary floating point multiplica
226. axis rotates Lowword RW Yes 500K D2223 ee speed Vmax at which the C axis rotates High oo fe g Rw Yes 500K Ea D2224 Start up speed Vs as at which the C axis rotates Low word RW Ys Start up speed Vesias at which the C axis rotates High word RW Yes 0o JOG speed Viog at which the C axis rotates Low word c RW Yes 5000 D2227 JOG speed Vjog at which the C axis rotates High word R W Yes 5000 D2228 Speed Vat at which the C axis returns home Low word o RW Yes 50K D2229 Speed Vat at which the C axis returns home High word RW Yes 50K Speed Vcr to which the speed of the C axis decreases when the axis returns home Low word Speed Vcr to which the speed of the C axis decreases when the axis returns home High word D2232 Number of PGO pulses for the C axis D2233 Supplementary pulses for the C axis D2234 Home position of the C axis Low word D2235 Home position of the C axis High word D2236 Time Taco it takes for the C axis to accelerate D2237 Time Topec it takes for the C axis to decelerate D2238 Target position of the C axis P 1 Low word D2239 Target position of the C axis P 1 High word D2240 Speed at which the C axis rotates V I Low word D2230 See Sconce RW Yes 0 D2231 D2241 Speed at which the C axis rotates V I High word
227. be occupied at a time For example the mapping target set is the second subindex in CR H 200A and the data length set is 48 bits Subindex 2 subindex 4 in the PDO data buffer used are occupied DVP FPMC OD CR TPDO mapping index PDO data buffer H 1 A00 H 200A H 2 H 30 H 200A Subindex 1 H 200A Subindex 2 H 200A Subindex 3 H 200A Subindex 4 3 Setting PDO data Write the data to be transmitted by a PDO into the OD indices set For example subindex 2 subindex 4 in CR H 200A in DVP FPMC is TPDO data and subindex 1 subindex 3 in CR H 203F in the slave connected is RPDO data After communication is enabled data will be transmitted received every synchronization cycle DVP FPMC Slave PDO data buffer PDO data buffer 200A Datatobetransmittedto aslave 203F Data receivedfrom DVP FPMCG 200A Data to be transmitted to a slave gt 203F Data received from DVP FPMC 200A Data to betransmittedto a slave 203F Data received from DVP FPMC 7 7 Ethernet Mode of DVP FPMC DVP FPMC supports Ethernet connection It can be connected to an Ethernet device or a PC If DVP FPMC is connected to a PC PMSoft can be used to upload download a program and monitor devices Users only need to connect the communication port on DVP FPMC to a communication port on equipment Please refer to section 9 3 for more information about in
228. be used Additional If a slope and an offset are unknown it is suggested that users should use the remark instruction SCLP The value in S2 must be in the range of 32 768 to 32 767 The actual value in S must be in the range of 32 768 to 32 767 If the value in S3 is not in the range please use the instruction SCLP instead If users use the slop equation above the maximum source value must be greater than the minimum source value and the maximum destination value do not have to be greater than the minimum destination value Ifthe value in D is greater than 32 767 the value stored in D will be 32 767 If the value in D is less than 32 768 the value stored in D will be 32 768 5 134 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model Parameter scale 10PM Tebitinstrucion Z ste x MS K H knx knY km kns T c D V Z iscqp Continuity gc pp Pulse ___ instruction _ instruction S ce A 32 bit instruction 13 steps S d dti i f S S e fF oscap Continuity pscrpp Pulse Pst tT tT ceteT TT tT HRE Ia _ e Flag M1162 pot Tt Tt tT eT tT tT tT ey e Note Please refer to specifications for more information about device ranges a gt S4 Source device S2 Parameter Unit 0 001 D Destination device Exp lanation 16 bit instruction The setting of S2 is described below number S gt Maximum source value 32768 32767 If the 16 bit instruction is
229. be used Ox 0100 deena l l M1810 M1970 Carry flag Please refer to specifications for more information about device i ranges e Please refer to the additional remark below If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system D Device which is rotated n Number of bits forming a group The bits in D are divided into groups n bits as a group and these groups are rotated leftwards The n bit from the left is transmitted to a carry flag Generally the pulse instructions ROLP and DROLP are used If the operand D is KY KnM KnS Kn in KY KnM KnS must be K4 16 bits or K8 32 bits 16 bit instruction 1sns lt 16 32 bit instruction 1 lt n lt 32 When XO is turned from OFF to ON the bits in D10 are divided into groups four Exam pl e bits as a group and these groups are rotated leftwards The bit marked with X is transmitted to a carry flag Explanation 0 609 OF XO Rotating the bits in D10 leftwards cm High byte Low byte Carry flag _ aces A D10 7 Rotating the JL 16 bits inD10 x High byte Low byte Carry tlag ALLL Tolofofofofofo oT FHT pro l a 5 48 DVP 10PM Application Manual 5 App
230. block The motion control function block T_HCnt is used to start a high speed counter The value of the Channel input pin indicates a counter number and the value of the InputType input pin indicates an input pulse type The ExtRstEN input pin is used to set an external reset switch The value of the InitialValue input pin is the initial value in the counter specified and the value of the CountValue output pin is the value in the counter specified The input terminals for the high speed counters in a DVP 10PM series motion controller are shown below 2G rav xo TX x4 x6 ao EX PX Xs w 6 SS Xt px Lx i x7 I xio 1 x11 Ix x3 DVP 10PM AC Power IN DC Signal IN Tyo Pvt ve vs vi vt vie vis vie vie viel y XO and X1 are for high speed counter 0 X2 and X3 are for high speed counter 1 X4 and X5 are for high speed counter 2 X6 and X7 are for high speed counter 3 X10 X10 X11 and X11 are for high speed counter 4 X12 X12 X13 and X13 are for high speed counter 5 2 Input pins Output pins Name Function eji Setting value Time when a value is valid The value of the Channel input pin is valid when there is a transition in the Channel Counter number WORD O 5 1 Enable input pin s signal from low to high DVP 10PM Application Manual 5 203 5 Applied Instructions and Basic Usage Name Funetion ch Setting value Time when a value is valid BOOL WORD BOOL DWORD Enable InputType
231. bsolute value of an operation reuslt is less than the minimum floating point value available a borrow flag will be ON Ifan operation result is 0 a zero flag will be ON When MO is ON the values in D1 DO and D3 D2 are converted into binary floating point values and the conversion results are stored in D11 D10 and Example D13 D12 respectively When M1 is ON the binary floating point value in D11 D10 is raised to the power of the binary floating point value in D13 D12 and the operation result is stored in D21 D20 When M2 is ON the binary floating point value in D21 D20 is converted into a decimal floating point value and the conversion result is stored in D31 D30 The value in D31 is the value in D30 to the power of 10 Mo M1 M2 T Ea Please refer to section 5 3 for more information about performing operations Additional on floating point values remark DVP 10PM Application Manual 5 107 5 Applied Instructions and Basic Usage Converting a binary floating point value into a binary integer Bitdevice _ device Word device OSL ete er eee 3 es tt tt Tt 7 J ansion sensi oot tT tT tt rE rT ET Mii ae instruction e Note Please refer to specifications for more information about device ranges Only the 32 bit instructions DINT and DINTP are valid M1808 M1968 Zero flag M1809 M1969 Borrow flag M1810 M1970 Carry flag e Please refer to the explanation below S
232. by means of the instruction TO is compared with a comparison source block E Block E The present positions of four axes the values in C200 C204 C208 and C212 are comparison sources Block F There are three comparison conditions they are equal to greater than or equal to and less than or equal to If block D and block E meet the comparison condition set the output terminal selected will be set to ON the counter selected will be reset the output terminal selected will be reset to OFF or the counter selected will not be reset Block G If a comparison condition is met YO Y1 Y2 Y3 C200 C204 C208 or C212 will be set or reset Procedure for a high speed comparison The instruction TO is used to write data into control registers and data registers block A gt The comparison source set block E is compared with the value in data registers block D The comparison result meets the condition set block F gt Y0 Y1 Y2 Y3 C200 C204 C208 or C212 will be set or reset block G m Example Description The high speed counter C204 is used If the value in C204 is greater than 100 Y1 will be set to ON If the value in C204 is greater than 300 Y1 will be reset to OFF Two comparators are used ina program One comparator is used to set Y1 to ON and the other is used to reset Y1 to OFF When Y1 is set to ON no LED indicator on DVP10PMOOM will indicate that Y1 is ON but users can know whether Y1 is ON by means of its
233. c reed a a a Py a T a f The instruction LDI applies to the Form B contact which starts from a busbar or the Form B contact which is the start of a circuit It reserves the present Explanation contents and stores the state which is gotten in an accumulation register Ladder diagram Instruction code Description X LDI XO Loading the Form B Example fn a v1 contact X0 7 AND X1 Connecting the Form A contact X1 in series OUT Y1 Driving the coil Y1 DVP 10PM Application Manual 4 3 4 Basic Instructions Instruction Function Applicable code model 10PM OaD Connecting a Form A contact in series Onean et Tv Tv Tw yrr oS The instruction AND is used to connect a Form A contact in series It reads the state of a contact which is connected in series and performs the AND Explanation operation on the previous logical operation result The final result is stored in an i accumulation register Pa Ladder diagram Instruction code Description LDI X1 Loading the Form B X1 XO Example L 4 4 C_v1 contact X1 e d AND XO Connecting the Form A contact X0 OUT YI Driving the coil Y1 Instruction Function Applicable code model Connecting a Form B contact in series Oona 7 a a l a a T a l The instruction ANI is used to connect a Form B contact in series It reads the state of a contact which is connected in series and performs the AND Exp lanation operation on the previous logical ope
234. can be started If any motion is started an error will occur DVP 10PM Application Manual 5 185 5 Applied Instructions and Basic Usage 5 Module which is supported The motion control function block T_AxisStop supports DVP10PMOOM 5 10 12 Parameter Setting 1 Motion control function block The motion control function block T_AxisSetting1 is used to set motion parameters The value of the Axis input pin indicates an axis number Users can set the maximum speed of the axis specified the start up speed of the axis specified the time it takes for the start up speed of the axis specified to increase to its maximum speed and the time it takes for the maximum speed of the axis specified to decrease to its start up speed The setting of the Unit input pin in the motion control function block T_AxisSetting2 determines the unit for the Vmax input pin and the unit for the Vbias input pin 2 Input pins Output pins O Name Function Time when a value is valid Motion axis The value of the Axis input pin is valid Axis Aumber when there is a transition in the Execute input pin s signal from low to high Motion is started when there is a Execute aan in the BOOL True False xecute Input pin s signal from low to high raga The value of the Vmax input pin is valid Vmax ee DWORD K1 K2 147 483 647 when there is a transition in the Execute p input pin s signal from low tot high The value of the Vbias input pin is valid Vbias S
235. cation format of COM1 will be restored to its factory setting Example 3 Modifying the communication format of COM3 The communication format of COM is 7 E 1 7 data bits even parity bit 1 stop bit If users want to change the communication speed of COM3 on a DVP 10PM series motion controller to 38 400 bps they have to add the program shown below to the top of the program in the DVP 10PM series motion controller After the STOP RUN switch on the DVP 10PM series motion controller is turned from the STOP position to the RUN position the state of M1136 will be detected during the DVP 10PM Application Manual 3 33 3 Devices first scan cycle If M1136 is ON the setting of COM3 will be changed in accordance with the value in D1109 The communication speed of COM3 is changed to 38 400 bps M1002 SET Example 4 Using COM1 COM2 in an RTU mode COM1 9 600 8 E 1 RTU M1002 COM2 9 600 8 E 1 RTU M1002 _ If an RS 485 port on a DVP 10PM series motion controller functions as a slave station Co mmunication users can set a communication timeout The value in D1038 is in the range of 0 to timeout 3 000 0 to 30 seconds The unit used is 10 milliseconds If the value in D1038 is not C in the range of 0 to 3 000 the value in D1038 will become 0 The value in D1038 must D1038 be less than the value in D1000 1 If M1039 is ON the time it takes for the program to be scanned will depend on the Fix
236. ce in which original data is stored m Number of rows of data m Explanation 1 32 m2 Number of columns of data mz 1 6 D Initial device in which a sorting result is stored n Reference value n 1 m2 Data is sorted in algebraic order The data which is sorted is stored in the mxm registers starting from the register specified by D If S and D specify the same register the sorting result gotten will be the same as the original data in the register specified by S lt is better that the rightmost number of the device number of the register specified by S is 0 After the instruction is scanned m times the sorting of data will be complete After the sorting of data is complete M1029 will be ON The instruction can be used several times in a program but one instruction is executed at a time When XO is turned ON the data specified is sorted in ascending order When the sorting of the data specified is complete M1029 is ON When the instruction is executed the data specified can not be changed If users want to sort the data specified again they can turn XO from OFF to ON again it sor oo e 00 ovo 1 The data which will be sorted is shown below tm mecolumns of data Column cos Example D20 7 D21 D22 9 D23 5 24 6 eyep JO SMOJ tw 5 78 DVP 10PM Application Manual EACE m 5 Applied Instructions and Basic Usage 2 If the value in D100 i
237. ce input pin is mcCmpAxis4 valid when there is a transition in the Source Source WORD anaes Enable input pin s signal from low to mcCmpC204 high mcCmpC208 6 mcCmpC212 7 The value of the CmpMode input pin is CmpMode Comparison WORD valid when there is a transition in the condition Enable input pin s signal from low to high mcCmpyY0 0 mcCmpyY1 1 mcCmpyY2 2 The value of the OutputDevice input mcCmpyY3 3 pin is valid when there is a transition in OutputDevice Output device own mcCmpRstC200 4 the Enable input pin s signal from low mcCmpRstC204 5 to high mcCmpRstC208 6 mcCmpRstC212 7 The value of the OutputMode input pin OutputMode Output mode BOOL mcCmpSet True is valid when there is a transition in the mcCmpRst False Enable input pin s signal from low to high DVP 10PM Application Manual 5 209 Channel 5 Applied Instructions and Basic Usage Name Function Datatype Setting value Time when a value is valid CmpValue Val e with The value of the CmpValue input pin is K 2 147 483 647 valid when there is a transition in the which a source DWORD K2 147 483 647 Enable input pin s signal from low to is compared G ees paek g high State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high An output value is valid The motion control function bl
238. connected is OFF It can lengthen the lifespan of a terminal 1 Adiode is connected to a load through which a direct current passes It is used when the power of the load connected is small OIIO PLC relay output y Low power load GE lt DC power biel cece l D 4 Co D 1N4001 diode 2 A diode and a zener diode are connected to a load through which a direct current passes They are used when the power of the load is large and the load is turned ON OFF frequently PLC relay output The powerof the load is large and the loadis turned ON OFF frequently lt gt DC power D ZD D 1N4001 diode ZD 9 Vzenerdiode 5W Incandescent lamp Resistive load Alternating current power input Mutually exclusive output Y4 controls the clockwise rotation of a motor and Y5 controls the counterclockwise rotation of a motor The interlock circuit which is formed and the program in the DVP 10PM series motion controller ensure that there will be protective measures if an abnormal condition occurs Indicator Neon lamp Q OQ 2 10 DVP 10PM Application Manual 2 Hardware Specifications and Wiring Surge absorber It can be used to reduce the noise of a load through which an alternating current passes PLC relay output Load through which an alternating current passes
239. cted from the minuend Example 2 D31 D30 and the difference is stored in D51 D50 X1 As DVP 10PM Application Manual 5 37 5 Applied Instructions and Basic Usage Binary multiplication ee we ww Behr Ts oqarsa eoo T Continuity Mupp Pulse instruction instruction e a eee a a aa a ES a a a e a e a a e a oe ee a e a a e e a Eg 32 bit instruction 9 steps er rot ICC pcr en e Flag None e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges S Multiplicand S2 Multiplier D Product The signed binary value in S4 is multiplied by the singed binary value in Se and the product is stored in D Users have to notice the sign bits in S4 S2 and D when 16 bit binary multiplication or 32 bit binary multiplication is done 16 bit binary multiplication Explanation G2 1 CD Di secsntiarue BO Diau bO b31 b 16 b15 00 Bit 15 is a sign bit Bit 15 is a sign bit Bit 31 is a sign bit Bit15in D 1 is a sign bit Sign bit 0 Positive sign Sign bit 1 Negative sign 32 bit binary multiplication Spit Gd Sot SO DeD Dt D b31 016 b15 b0 b31 016 b15 b0 b63 b48b47 b32 b31 b16 b15 b0 xL_ Bit 31 is asign bit Bit 31 is a sign bit Bit 63 is a
240. ction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system fe S Source D Destination n Length Explanation The value in S is transferred to the n registers starting from D If n is not in the i range available a value will only be transferred to registers available nisinthe range of 1 to 512 When X20 is ON K10 is transferred to the 5 registers starting from D10 Example D10 D14 X20 a K10 Ki0 D10 Kio gt D11 Kio gt D12 n 5 Ki0 D13 K1i0 gt D14 DVP 10PM Application Manual 5 31 5 Applied Instructions and Basic Usage Applicable model Interchanging values SS a ee Tebii instruction 6 steps x yy mM s kK IH knx kny km kns T C DI V Z yoy Continuity XCHP ome gt TT TT T ieee en ee 32 bit instruction _ o siel S AI PD oc Continuity DFXCH Puse instruction instruction _ e Note The instruction supports V devices and Z devices If the 16 bit gt Flag None instruction is used Z devices can not be used If the 32 bit instructio
241. ction is executed Generally the pulse instructions INCP and DINCP are used If a 16 bit operation is performed 32 767 plus 1 equals 32 768 If a 32 bit operation is performed 2 147 483 647 plus 1 equals 2 147 483 648 When XO is turned from OFF to ON the value in DO increases by one Explanation 0 9 5 40 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage ee Continuity Pulse instruction instruction 32 bit instruction 3 steps Note The instruction supports V devices and Z devices If the 16 bit Continuity BIDECE Pulse instruction is used Z devices can not be used If the 32 bit instruction instruction instruction is used V devices can not be used e Flag None Please refer to specifications for more information about device ranges D Destination device If the instruction used is not a pulse instruction the value in D used by the instruction decreases by one whenever the instruction is executed Generally the pulse instructions DECP and DDECP are used lf a 16 bit operation is performed 32 768 minus 1 leaves 32 767 If a 32 bit operation is performed 2 147 483 648 minus 1 leaves 2 147 483 647 When XO is turned from OFF to ON the value in DO decreases by one Explanation OF DVP 10PM Application Manual 5 41 5 Applied Instructions and Basic Usage at device Zs Seren Se Tr eSt PTT VTE WAND Continuity Wanpp Pulse instruction
242. d P I the target position of the axis specified P Il and the present command position of the axis specified must be multiplied by a ratio bs be Rl 0 0 Cito a a Positionx10 0 Positiont02 3 48 DVP 10PM Application Manual 3 Devices 3 Bit 4 and bit 5 in D1816 D1896 D1976 D2056 D2136 D2216 Output type Counting up down FP Pulses t t j Pulses Directions Clockwise Counterclockwise E RP Directions FP A phase pulses T j A RP B phase pulses jj i i T T T Clockwise Counterclockwise A B phase pulses 4 Bit 6 in D1816 D1896 D1976 D2056 D2136 D2216 Setting a PWM mode Bit 6 1 If positive JOG motion is started YO Y3 will execute PWM 5 Bit 8 in D1816 D1896 D1976 D2056 D2136 D2216 Direction in which the axis specified returns home Bit 8 0 The value indicating the present command position of an axis specified decreases and the axis returns home in the negative direction Bit 8 1 The value indicating the present command position of an axis specified increases and the axis returns home in the positive direction 6 Bit 9 in D1816 D1896 D1976 D2056 D2136 D2216 Mode of returning home Bit 9 0 Normal mode After DOG s signal is generated the motor used will rotate for a specific number of PGO pulses then rotate for a specific number of s
243. d the present value will becomes zero and the contact will be contact reset to OFF If the present value cell een i matches the setting ste air value the contact will the contacts will act be ON After the scan of a program is complete the contacts will act Actions of contacts Functions of counters lf the input signal of a counter is turned from OFF to ON and the present value of the counter matches the value set the output coil of the counter will be ON A setting value can be a constant preceded by K or the value stored in a data register 16 bit counter 1 The setting value of a 16 bit counter must be in the range of KO to K32 767 KO is equal to K1 If the setting value of a counter is KO or K1 the output contact of the counter will be ON after the counter counts for the first time 2 Ifa power cut occurs when a general counter in a DVP 20PM series motion controller counts the present value of the counter will be cleared If a power cut occurs when a latching counter counts the present value of the counter and the state of the contact of the counter will be retained and the latching counter will not continue counting until power is restored 3 If users move a value greater than the setting value of CO to CO by means of the instruction MOV the contact CO will be ON and the present value of the counter will become the setting value next time X1 is turned from OFF to ON 4 The setting value of a counter can b
244. d users can use communication to set the value in D1846 to 0 or to set M1074 to OFF to stop the execution of Ox motion subroutines and to stop the execution of P subroutines e fan error occurs when a P subroutine is executed the execution of the P subroutine will stop automatically Please refer to appendix A in chapter 9 for more information about error codes 4 If P subroutines are called by 0100 the P subroutines will support basic instructions and applied instructions If P subroutines are called by Ox0 Ox99 the P subroutines will support basic instructions applied instructions motion instructions and G codes 5 The description of P subroutines is shown below There are 256 P subroutines PO P255 Seong al If a P subroutine is a ladder diagram in PMSoft the starting flag in the P subroutine will be subroutine set automatically and users do not have to write the starting flag Ending instruction SRET lf a P subroutine is a ladder diagram in PMSoft the ending instruction SRET will be set automatically and users do not have to write the ending instruction SRET Disabling a P subroutine DVP 10PM Application Manual 1 5 7 Program Framework of a DVP PM Series Motion Controller Executing aP 1 0100 can call P subroutines subroutine 2 Ox motion subroutines can call P subroutines characteristic executed again it has to be enabled again 1 If P subroutines are called by 0100 the P subroutines will suppor
245. d of the B axis Unit Low word 0 0 0 RW No 0 Present command speed of the B axis Unit High word O O O RW No O Daire SuteoftheBais SSS RN D2i77 Beavis erorcode SSCS R88 D2178 Electronic gear ratio ofthe B axis Numerator o o RW Ys D2179 Electronic gear ratio ofthe B axis Denominato RW Ys 1 Frequency of pulses generated by the manual pulse generator Belag for the B axis Low word iii me NI DVP 10PMApplicationManual gi 3 Devices Special STOP RUN D SV Latching Page device RUN STOP Frequency of pulses generated by the manual pulse generator vanes for the B axis High word nun ne D2182 Number of pulses generated by the manual pulse generator R W No for the B axis Low word Number of pulses generated by the manual pulse generator PANO for the B axis High word nn ne D2184 Response speed of the manual pulse generator for the Baxs RW Yes 5 D2216 Setting the parameters ofthe Caxis W Ys o jw D2218 Number of pulses it takes for the motor of the C axis to rotate R W Yes 2000 once Low word D2219 Number of pulses it takes for the motor of the C axis to rotate R W Yes 2000 once High word 52009 Distance generated after the motor of the C axis rotate once ee Yes 1000 Low word D2221 Distance generated after the motor of the C axis rotate once R W Ves 1000 High word d Maximum speed Vuax at which the C
246. decimal point in a M1968 Zero flag floating point value M1969 Borrow flag M1970 Carry flag Only the 32 bit instructions DRAD and DRADP are valid e Please refer to the additional remark below S Source degree D Conversion result radian Exp lanation The equation below is used to convert a degree into a radian Radian Degreex m 180 If the absolute value of a conversion result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of a conversion reuslt is less than the minimum floating point value available a borrow flag will be ON lf a converseion result is 0 a zero flag will be ON When XO is ON the degree in D1 DO is converted into a radian and the conversion result is stored in D11 D10 The radian in D11 D10 is a binary floating point value XO J Binary floating point number OD Radian Degree X z 180 Binary floating point number J Ea Please refer to section 5 3 for more information about performing operations Additional on floating point values remark oe o Example DVP 10PM Application Manual 5 97 5 Applied Instructions and Basic Usage x 32 bit instruction 6 steps Continuity instruction e Note Please refer to specifications for more information about device ranges F represents a floating point value There is a decimal point in a M1968 Zero flag floating point value M1809 M1969 Borrow flag
247. describe the program the program is divided into 5 sections section 1 section 5 M1000 CALL Calling P1 SuI NOJGNS uono 0XO H8000 D1868 Setting the motion subroutine number Ox0 SET m1074 Enabling Ox0 weipod uey 00 LO M1000 CALL Calling P2 sullnoiqns ld SuUIINOIGNS uono EXO Ffowov _ko prea H80031D1868 Setting the motion subroutine number Ox3 5 SET M1074 Enabling Ox3 sullnoiqns cd The program is described below 1 Section 1 section 5 are created in numerical order but they can be arranged in any order 2 There is only one O100 0100 can not be called by another program but it can freely call Ox motion subroutines and P subroutines 3 Ox motion subroutines can be called by 0100 and P subroutines and it can call P subroutines 4 P subroutines can be called by 0100 and Ox motion subroutines and it can call Ox motion subroutines Note 1 One Ox motion subroutine is executed at a time If Ox0 is executed Ox3 can not be executed If Ox3 is executed Ox0 can not be executed 2 After 0100 or a P subroutine enables an Ox motion subroutine the next line will be executed and the execution of the Ox motion subroutine will be ignored DVP 10PM Application Manual 1 7 7 Program Framework of a DVP PM Series Motion Controller 3 Whenever an Ox motion subroutine is enabled it is executed once If an Ox motion subroutine needs to be executed again it has to be enabled again Th
248. dge whether the axes complete the execution of linear interpolation DVP 10PM Application Manual 6 3 6 Multiaxial Interpolation 6 4 MEMO DVP 10PM Application Manual CANopen Communication Card 7 1 Introduction of DVP FPMC CANopen Communication Card DVP FPMC is a CANopen communication card for a DVP 10PM series motion controller to conduct data exchange The functions of DVP FPMC are as follows It conforms to the CANopen standard protocol DS301 v4 02 It supports an NMT protocol It supports an SDO protocol It supports the CANopen standard protocol DS402 v2 0 Four motion axes at most are supported Motion axes support a profile position mode 7 2 Specifications CANopen connector Specifications Transmission method CAN Electrical isolation 500 V DC Type Removable connector 5 08 mm Transmission cable 2 communication cables 1 shielded cable and 1 ground Ethernet connector Transmission method Communication Specifications PDO SDO SYNC synchronous object EMCY emergency object NMT Heartbeat Serial transmission speed 500 kbps 1 Mbps bits per second Product code Equipment type Company ID Electrical specifications 24 V DC 15 20 A DVP 10PM series motion controller supplies power through its internal bus Electric energy 1 7 W consumption Insulation voltage 500 V Weight Approximately 66 g Environmental specifications Protoco
249. dicator and BATTERY LED indicator Connector Set screw Mounting hole DVP 10PM Application Manual 2 Hardware Specifications and Wiring Open the COM1 cover Please change the battery in a minute Removable terminal block COM2 RS 485 STOP RUN switch O COM1 RS 232 Battery uT COM2 RS 485 port Master Slave mode STOP RUN switch Running Stopping the DVP 10PM series motion controller Slave mode It can be used with COM2 at the same time Arrangement of terminals Please refer to section 2 1 2 for more information E DVP 10PM series motion controller jes jf 24G av xo x2 xa xe xios xne xiz xis E fs x x x x xo xn x2 x3 DVP 10PM COM1 RS 232 port AC Power IN DC Signal IN wo vi e vie e vie vie e ise e vm 2 2 Wiring A DVP 10PM series motion controller is an OPEN TYPE device It should be installed in a control cabinet free of airborne dust humidity electric shock and vibration To prevent non maintenance staff from operating a DVP 10PM series motion controller or to prevent an accident from damaging a DVP 10PM series motion controller the control cabinet in which a DVP 10PM series motion controller
250. e D1980 Low word R W Yes 1000 Distance generated after the motor of the Z axis rotate once D1981 High word D1982 Maximum speed Vmax at which the Z axis rotates Low word RW Th 500K D1983 Maximum speed Vmax at which the Z axis rotates High word D1984 Start up speed Vs as at which the Z axis rotates Low word R W wae D1985 Start up speed Veias at which the Z axis rotates High word D1986 JOG speed Vjog at which the Z axis rotates Low word R W Ves 5000 D1987 JOG speed Vjog at which the Z axis rotates High word O 2 z E O J a2 g amp O amp BA o DVPAOPM Application Manual 3 Devices Special STOP RUN D 4 4 Latching Page device RUN STOP D1988 Speed Vr at wen the A AXIS returns home OW word R W Ves 50K D1989 Speed Vat at which the Z axis returns home High word Speed Vcr to which the speed of the Z axis decreases when D1990 the axis returns home Low word RW Ves 1000 D1991 Speed Vcr to which the speed of the Z axis decreases when the axis returns home High word oo RW Yes ojo D1992 Number of PGO pulses for the Z axis Daas Supplementary pulses forthe zaxis o RW Yes Home position of the Z axis Low word P pw ves of Home position of the Z axis High word Time Tacc it takes for the Z axis to accelerate RW Yes 500 Time Tpec it takes for the Z axis to decelerate Fo RW Yes
251. e There is no operand Instruction The instruction does not need to be driven by a contact Flag None RPT in a program specifies that the RPT RPE loop in the program must be Expla natio n executed N times L Nisinthe range of K1 to K32 767 If N lt K1 N will be regarded as K1 7 Users can skip the execution of the RPT RPE loop in a program by means of the instruction Cu An error will occur if 1 the instruction RPE is before the instruction RPT 2 there is RPT but there is no RPE 3 the number of times RPT is used is not the same as the number of times RPE is used There is only one RPT RPE loop in a program If there is more than one RPT RPE loop in a program an error will occur Part A can be executed three times by means of a RPT RPE loop executed and the program between RPT and RPE is skipped X7 Pe Example 1 U A When X0 7 is OFF the program between RPT and RPE is executed When Example 2 X0 7 is ON the instruction CJ is executed the subroutine to which P6 points is Mo Mo RPE Pe X10 DVP 10PM Application Manual 5 21 5 Applied Instructions and Basic Usage Applicable model Comparing values 10PM 16 bit instruction 7 steps xT Y TM S K H knx Kny KnM kns TC DTV TZ iomp Continuity Pulse s l l ERREREE n instruction 1 32 bit instruction 9 steps SS tT Lt ee LF cmp continuity Pot tet ete ET ET EL TT lao e Fla
252. e 500K PPS If the value in D1845 D1844 D1925 D1924 D2005 D2004 D2085 D2084 D2165 D2164 D2245 D2244 is less than 10 the frequency of pulses generated will be 10 PPS 3 Vax gt V II gt Veias DVP 10PM Application Manual 3 59 3 Devices maxis axis Zaxis D1846 __ D1926 D2006 Operation command C axis Aeris Bais Cais D2086 D2166 D2246 Description 1 Bit O in D1846 D1926 D2006 D2086 D2166 D2246 The motion of the axis specified is stopped by software The motion of the axis specified is stopped by software when bit 0 in D1846 D1926 D2006 D2086 D2166 D2246 is turned from OFF to ON Bit 1 in D1846 D1926 D2006 D2086 D2166 D2246 The motion of the axis specified is started by software The motion of the axis specified is started by software when bit 1 in D1846 D1926 D2006 D2086 D2166 D2246 is turned from OFF to ON Bit 2 in D1846 D1926 D2006 D2086 D2166 D2246 The axis specified operates in a JOG mode When bit 2 in D1846 D1926 D2006 D2086 D2166 D2246 clockwise pulses are generated at the JOG speed set fbit6 in D1816 D1896 D1976 D2056 D2136 D2216 is ON and bit 2 in D1846 D1926 D2006 D2086 D2166 D2246 is ON PWM will be executed Bit 3 in D1846 D1926 D2006 D2086 D2166 D2246 The axis specified operates in a JOG mode When bit 3 in D1846 D1926 D2006 D2086 D2166 D2246 is ON counterclockwise pulses
253. e Distance2 input pin is l a Distance2 input pin valid when there is a transition in the a nee DWORD must be a positive Execute input pin s signal from low to second motion value If the value of high moves the Distance1 input pin is a negative value the value of the Distance2 input pin must be a negative value Target speed of The value of the Velocity2 input pin is Velocity2 the second DWORD K1 K2 147 483 647 alld when there is a transition in tne action nie Input pin s signal trom low to igh 5 164 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage The execution of the motion Done control function block is complete Time when there is Data a transition in an type output pin s signal from low to high e There isa transition in the Done output pin s signal when BOOL motion is complete Time when there is a transition in an output pin s signal from high to low There is a transition in the Done Output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when motion is complete the Done output pin will be set to False in the next cycle There is a There is a transition in the Busy transition in the output pin s signal from high to low Busy output pin s when there is a transition in the signal from low to Done output pin s signal from low to high
254. e ON If the absolute value of a conversion result is less than the minimum floating point value available a borrow flag will be ON lf a conversion result is 0 a zero flag will be ON e E 5 Please refer to section 5 3 for more information about performing operations Additional on floating point values remark oe 5 120 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage EEE ee device Word device 3 32 bit instruction 13 steps e Note Please refer to specifications for more information about device ranges Only the 32 bit instructions DADDR and DADDRP are valid M1810 M1970 Carry flag M1808 M1968 Zero flag M1809 M1969 Borrow flag e Please refer to the additional remark below S Augend S2 Addend D Sum S and S can be floating point values S and S can be floating point values e g F1 2 or data registers in which floating point values are stored If S and S are data registers in which floating point values are stored the function of API 172 DAADR is the same as the function of API 120 DEADD The floating point value in S2 is added to the floating point value in S4 and the sum is stored in D S and S can be the same register If the instruction DAADR is used under the circumstances the value in the register is added to itself whenever the conditional contact is ON in a scan cycle Generally the pulse instruction DADDRP is used Ifthe absolute value
255. e a constant preceded by K or the value stored in a data register The special data registers D1000 D2999 can not be used 5 If the setting value of a counter is a value preceded by K the setting value can only be a positive value If the setting value of a counter is the value stored in a data register the setting value can be a positive value or a negative value If a counter counts up from the present value 32 767 the next value following 32 767 will be 32 768 Example LD X0 XO RST Co 5ST LD X1 X1 Co OUT YO 1 If XO is ON the instruction RST will be executed the present value of CO will become zero and the output contact will be reset to OFF 2 If X01 is turned from OFF to ON the present value of the counter will increase by one 3 Ifthe present value of CO matches the setting value K5 the contact CO will be ON Present value of C0 Setting value K5 K5 will be retained even if X1 is turned from OFF to ON again X0 a X1 5 Setting value Presentvalue of CO 3 0 0 YO CO contact 3 10 DVP 10PM Application Manual 3 Devices 32 bit up down counter 1 The setting value of a 32 bit general up down counter must be in the range of K 2 147 483 648 to K2 147 483 647 The states of the special auxiliary relays M1208 M1255 determine whether the 32 bit general up down counters C220 C255 count up or count down For example C208 will count
256. e affects the activity of other devices If any device breaks down the whole automatic control system will go out of control and dangers will occur As a result it is suggested that users should create the protection circuit shown below when they wire power input Alternating current power input 100 240 VAC 50 60 Hz DI DO Module Circuit breaker Emergency stop The emergency stop button can be used to cut off power when an emergency occurs Power indicator Load through which a alternating current passes 3 A fuse DVP 10PM series motion controller Direct current power output 24 V DC 500 mA 9100 I O 2 2 4 Wiring Input Output Terminals 1 The power input of a DVP 10PM series motion controller is DC power input Sinking and sourcing are current driving capabilities of a circuit They are defined as follows DC power input Sinking The current flows into the common terminal S S DVP 10PM Application Manual 2 7 2 Hardware Specifications and Wiring Equivalent circuit of an input circuit Sourcing DC power input Sourcing Souring The current flows from the common terminal S S 2 8 DVP 10PM Application Manual 2 Hardware Specifications and Wiring S S XO X1 X2 Source Type 2 Wiring differential input terminals The direct current signals ranging in voltage from 5 V to 24 V can pass through the high speed input terminals X10 X13 on a
257. e direction in which it returns home If the value in D1832 D1912 D1992 D2072 D2152 D2232 is a negative value the axis specified will move in the direction which is opposite to the direction in which it returns home 3 56 DVP 10PM Application Manual 3 Devices 2 Please refer to the descriptions of bit 9 and bit10 in D1816 D1896 D1976 D2056 D2136 D2216 for more information about decelerating and stopping the motor used w D1883 D1913 D1993 axis Bais Cadis D273 D2153 D2233 Description 1 The value in D1833 D1913 DD1993 D2073 D2153 D2233 is in the range of 32 768 to 32 767 If the value in D1833 D1913 DD1993 D2073 D2153 D2233 is a positive value the axis specified will move in the direction in which it returns home If the value in D1833 D1913 DD1993 D2073 D2153 D2233 is a negative value the axis specified will move in the direction which is opposite to the direction in which it returns home 2 Please refer to the descriptions of bit 9 and bit10 in D1816 D1896 D1976 D2056 D2136 D2216 for more information about decelerating and stopping the motor used LW LW ee C axis Description 1 The value in D1835 D1834 D1915 D1914 D1995 D1994 D2075 D2074 D2155 D2154 D2235 D2234 is in the range of 0 to 999 999 The unit used is determined by bit 0 and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 2 After the axis specified returns home the val
258. e floating point values S and S can be floating point values e g F1 2 or data registers in which floating point values are stored If S and S are data registers in which floating point values are stored the function of API 172 DSUBR is the same as the function of API 121 DESUB The floating point value in S2 is subtracted from the floating point value in S4 and the difference is stored in D S and S can be the same register If the instruction DSUBR is used under the circumstances the value in the register is subtracted from itself whenever the conditional contact is ON in a scan cycle Generally the pulse instruction DSUBRP is used Ifthe absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON If an operation result is 0 a zero flag will be ON When X0 is ON the floating point value F2 200E 0 is subtracted from the floating point value F1 200E 0 and the difference F 1 000E 0 is stored in D11 D10 The floating point value F1 2 is represented by the scientific notation F1 200E 0 in a ladder diagram The number of decimal places which are displayed can be set by means of the View menu in WPLSotft X0 When X0 is ON the floating point value in D3 D2 is subtracted from the floating point value in D1 DO and the dif
259. e in S can only be a positive value If the value in S is a negative value an error will occur and the instruction will not be executed The value stored in D is an integer The fractional part of a square root calculated is dropped If the fractional part of a square root calculated is dropped a borrow flag will be ON Ifthe value in D is 0 a zero flag will be ON When X20 is ON the square root of the value in DO is calculated and the Exam ple Ae is stored in D12 7 DO gt D12 DVP 10PM Application Manual 5 69 5 Applied Instructions and Basic Usage Converting a binary integer into a binary floating point value x Y M S K H KnX KnY KnM KnS T C D V Z S tt ttl J A ainsin siens ooj J li mMm eee instruction Note Please refer to specifications for more information about device ranges Only the 32 bit instructions DFLT and DFLTP are valid M1808 M1968 Zero flag M1809 M1969 Borrow flag M1810 M1970 Carry flag e Please refer to the explanation below S Source device D Conversion result The instruction is used to convert a binary integer into a binary floating point value 1 Ifthe absolute value of the converesion result is greater than the maximum floating point value avaliable a carry flag will be ON 2 If absolute value of the conversion result is less than the mimum floating point viaue available a borrow flag will be ON 3 Ifthe conversion result is 0 a
260. e input pin s signal from low to high The value of the Velocity2 input pin is valid when there is a transition in the Execute input pin s signal from low to high Time when there is a transition in an output pin s signal from high to low There is a transition in the Done output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when motion is complete the Done output pin will be set to False in the next cycle There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error Output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high 5 161 5 Applied Instructions and Basic Usage Time when there is Data a transition in an Time when there is a transition in an type output pin s signal output pin s signal from high to low from low to high e The execution of e There is a transition in the Aborted the motion control output pin s signal from high to low The execution function block is when there is a transition in the of the motion interrupted by a Execute input pin s signal from hig
261. e instructions supported by 0100 Ox0 Ox3 P1 and P3 are described below O Supported X Not Supported a a R Basic instruction _ Applied a Motion instruction a e P1 is called by Ox0 P2 is called by O100 and therefore it and therefore it does Description supports motion not support motion instructions and instructions and G codes G codes Main program Subroutine Motion subroutine ir In any order In any order In any order P subroutines can be called Ox motion subroutines can It runs normally by 0100 or Ox motion be called by 0100 or P subroutines subroutines a remark l Whenever a subroutine is Whenever a moton es Operation lt is scanned cyclically Sallad t c execuied once subroutine is called it is l executed once 256 subroutines 100 motion subroutines 1 main program They can be used according They can be used according to users needs to users needs 1 8 DVP 10PM Application Manual 2 Hardware Specifications and Wiring 2 1 Hardware Specifications Electrical specifications and wiring are described in this chapter Please refer to chapter 5 chapter 6 for more information about the writing of a program and the use of instructions For more information about the peripherals purchased please refer to the manuals attached to them 2 1 1 Specifications for Power Supply voltage 100 240 V AC 15 10 50 60 Hz 5 Fuse 2 A250 VAC Consumption 24 V DC power 500 mA Power pr
262. e maximum speed available is 115 200 bps It supports the modification of the number of data bits COM2 COM2 can be used as a master station or a slave station It supports ASCII RTU and the adjustment of a communication speed The maximum speed available is 115 200 bps It supports the modification of the number of data bits COM3 COM3 can only be used as a slave station It supports the ASCII communication format 7 E 1 7 data bits even parity bit 1 stop bit and the adjustment of a communication speed The maximum speed available is 38 400 bps COM2 and COMS can not be used as slave stations simultaneously DVP 10PM Application Manual 3 31 3 Devices Setting a communication format COM1 1 D1036 is used to set a communication format Bit 8 bit 15 in D1036 do not support the setting of a communicaiton format 2 M1138 The setting of the communication through COM1 is retained 3 M1139 Selecting an ASCII mode or an RTU mode COM2 1 D11120 is used to set a communication format 2 M1120 The setting of the communication through COM2 is retained 3 M1143 Selecting an ASCII mode or an RTU mode COM3 1 D1109 is used to set a communication format Bit O bit 3 and Bit 8 bit 15 in D1036 do not support the setting of a communicaiton format 2 M1136 The setting of the communication through COM is retained Communication format Contents o a Data length b0 0 7 b0 1 8 ao bo b2 b1 00 None OE rematch be b
263. ead a value immediately by setting an input terminal to ON Capture is described below G FROM K253 K1 DO D50 A TO K253 K1 DO D50 A i po v C Data register n n 0 7 B Control register n n 0 7 4 y D Capture source F Trigger E Capture mode Block A The instruction TO is used to write data into control registers block B Block B Users set a capture source block D set bit 5 bit 4 to O block E and set a trigger block F in a control register Block C The capture of a value block D is triggered by an input terminal and the value captured is stored in data registers Block D The present positions of four axes the values in C200 C204 C208 and C212 are capture Sources Block E Capture mode Block F External trigger Block G The instruction FROM is used to read data from control registers block C and data registers block B The values stored in the data registers are values captured Procedure for a high speed capture The instruction TO is used to write data into control registers block A gt An input terminal is set to ON block F gt The present position of the X axis Y axis Z axis A axis or the value in C200 C204 C208 C212 is captured block D The value captured is stored in data registers block C gt Users read the value captured by means of the instruction FROM m Exa
264. ected After the setting described above is completed the HMI can connect to the two slaves by means of Ethernet EthermetiP 1952 165 0 100 i IP 192 168 0 101 7 7 2 Communication between DVP FPMC and PMSoft Before users create communication between DVP FPMC and PMSoft they have to use COMMG to create an Ethernet driver An Ethernet driver can be used to upload the program in a DVP 10PM series motion controller download a program into a DVP 10PM series motion controller and monitor a DVP 10PM series motion controller E Wiring hardware Users can connect the network port on DVP FPMC to a network port on a PC by means of a network cable If DVP FPMC is connected to a PC the Ethernet LED indicator on DVP FPMC will be ON Please check the setting of hardware and or the setting of the PC is the Ethernet LED indicator is not ON CANopen port Ethernet port CANopen LED indicator Ethernet LED indicator 7 24 DVP 10PM Application Manual r4 CANopen Communication Card E Setting a PC 1 Click Internet Protocol TCP IP in the Local Area Connection Properties window and then click Properties Connect using E9 VMware Accelerated AMD PCNet Ad This connection uses the following items w PROFINET IO AT Protocal 3 SIMATIC Industrial Ethernet 150 Description Transmission Control Protocol nternet Protocol The default wide area network protocol that provides communica
265. ected is Y1 The value of bit11 bit 8 is 1 4 Second group The value in D9 D8 is K300 If the value in C204 is greater or equal to K300 Y1 will be reset to OFF The two high speed comparisons are started when M2 is ON The setting of the two high speed comparisons is read when M3 is ON MonitorTable fe x Device No Radix Value Comment ca d32n 0 Dida 32m 100 Dds d32u 300 a D40 dlu a Did dl 0 D42 h32 ODl 35 E Ddd d32u 100 Dd6 h32 OOo 65 Dada A525 300 When M4 is ON K1 is moved to M1204 M1207 C204 is started when M5 is set to ON Mode of counting Pulse Direction Use the manual pulse generator and check whether C204 counts Bale 5 Use the manual pulse generator Check whether X7 on the DVP 10PM series motion controller used is ON when the value in C204 is greater than 100 If X7 is ON Y1 is set to ON Use the manual pulse generator Check whether X7 on the DVP 10PM series motion controller used is OFF when the value in C204 is greater than 300 If X7 is OFF Y1 is reset to OFF DVP 10PM Application Manual 8 High speed Comparison and High speed Capture Program in PMSott M1002 DE DENT C204 k10 DVP 10PM Application Manual 8 5 8 High speed Comparison and High speed Capture 8 3 High speed Capture A deviation often occurs when the present position of an axis or the value in C200 C204 C208 C212 is read To prevent a deviation from occurring users r
266. ed scan value in D1039 If the execution of a program is complete the program will not be time scanned again until the fixed scan time set elapses If the value in D1039 is less X r than the time it takes for a program to be scanned the time it takes for a program to M1039 and D1039 e scanned will be given priority M1000 PA i M1039 Fixed scan time Normally open contact MOV P K20 D1039 The fixedscan time is 20 milliseconds 2 The values stored in D1010 D1012 include the value stored in D1039 Users can specify an Ox motion subroutine by setting D1868 The steps of setting Setting an OX D1868 are as follows motion subroutine namh r 1 The users have to set bit 14 in D1868 to 1 set bit 15 in D1868 to 1 or set bit 14 and i 4 bit 15 in D1868 to 1 Besides the users have to write K99 H63 into bit O bit 13 in M1074 and D1868 D1868 that is the Ox motion subroutine number specified is Ox99 To sum up the users have to write H8063 into D1868 2 After M1074 is set to ON the Ox motion subroutine specified by D1868 will be executed 3 34 DVP 10PM Application Manual 3 Devices The program is shown below XO In the main program O100 XO starts the motion subroutine Ox99 There are six high speed counters H igh speed Counter Mode of counting External External input j i resettin i counting J number Device Setting value Pennie E terminal M1200 and C200 M1204 and C204 M1
267. eely written into a V device and data can be freely read from a V device If a V device is used as a general register it can only be used in a 16 bit instruction Z devices are 32 bit registers If a Z device is used as a general register it can only be used in a 32 bit instruction 32 bits If XO is ON the value in VO will be 8 and the value in Z1 will be 14 the value in D8 will be moved to D16 and the value in D17 will be moved to D12 If a V device or a Z device is an index register used to modify an operand the V device or the Z device can be used in a 16 bit instruction and a 32 bit instruction mov poevo vez Index registers are like general operands in that they can be used in movement instructions and comparison instructions They can be used to modify word devices KnX KnY KnM KnS T C D devices and bit devices X Y M S devices There are 8 V devices VO V7 and 8 Z devices Z0 Z7 ina DVP 10PM series motion controller Constants and some instructions do not support the use of index registers Please refer to section 5 4 for more information about using index registers to modify operands XO XTo prevent error from occurring if a V device or a Z device is used to modify an operand the effective address which is formed can not be in the range of D1000 to D2999 and can not be in the range of M1000 to M2999 DVP 10PM Application Manual 3 15 3 Devices 3 9 Pointers Used with a master contr
268. een the number of pulses it takes for a servo drive to rotate once and an electronic gear ratio is described below Number of pulses it takes for a motor to rotate once A x Electronic gear ratio CMX CDV Number of pulses which will be generated after a decoder rotates once 2 The unit used is determined by bit O and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 If the unit selected is a mechanical unit or a compound unit users need to set D1818 D1898 D1978 D2058 D2138 D2218 and D1819 D1899 D1979 D2059 D2139 D2219 If the unit selected is a motor unit users do not need to set D1818 D1898 D1978 D2058 D2138 D2218 and D1819 D1899 D1979 D2059 D2139 D2219 Y axis Zaxis HW IW HW W W Ww W D1821 D1820 D1901 D1900 D1981 D1980 Distance generated after the motor of the axis __Aaxis Baxs Graxis specified rotate once B D2061 D2060 D2141 D2140 D2221 D2220 Description 1 Three units are available They are um revolution mdeg revolution and 10 inches revolution The unit used is determined by bit 0 and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 The value in D1821 D1820 D1901 D1900 D1981 D1980 D2061 D2060 D2141 D2140 D2221 D2220 is in the range of 1 to 2 147 483 647 2 The unit used is determined by bit 0 and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 If the unit selected is a mechanical unit or a compound unit users need to set D1820 D
269. egister and the value in S must be a floating point value The value in D is e e is 2 71828 and S represents a source value If the absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON lf an operation result is 0 a zero flag will be ON When MO is ON the value in D1 DO is converted into a binary floating point value and the conversion result is stored in D11 D10 When M1 is ON the exponentiation with the value in D11 D10 as an exponent is performed The result is a binary floating point number and is stored in D21 D20 When M2 is ON the binary floating point value in D21 D20 is converted into a decimal floating point value and the conversion result is stored in D31 D30 The value in D31 is the value in D30 to the power of 10 MO L Sor po oo M1 DEXP D10 D20 DECO D20 D30 J Ba Please refer to section 5 3 for more information about performing operations Additional on floating point values remark Explanation 0 0 O amp O Example M2 DVP 10PM Application Manual 5 103 5 Applied Instructions and Basic Usage Natural logarithm of a binary floating point value Da Bit device Word device X Y M S F H KnX knY KknmM Kns T C D V Z NN ey 32 bit ins
270. en the execution of the motion control function block is complete There isa transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high The execution of the motion control function block is complete The motion control function block is being executed Input values are An error occurs incorrect in the motion control function block The value of the AxesGroup input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the Distance input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the Velocity input pin is valid when there is a transition in the Execute input pin s signal from low to high Time when there is a transition in an output pin s signal from high to low There is a transition in the Done output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Error output pin s signal from high to lo
271. en there is a transition in the Execute input pin s signal from low to high The value of the Unit input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the PulseRev input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the DistanceRev input pin is valid when there is a transition in the Execute input pin s signal from low to high DVP 10PM Application Manual 5 Applied Instructions and Basic Usage State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high e Thereisa There is a transition in the Done The execution of the motion control function block Is complete The motion control function block is being transition in the Done output pin s signal from low to high when motion of returning home is complete There isa transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when the execution of the motion control function block is complete the Done output pin will be set to False in the next cycle There is a transition
272. en there is a transition in an output pin s signal from high to low There is a transition in the Valid output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Error output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low Time when a value is valid When the Valid output pin is set to True the values of these output pins are updated repeatedly True False 5 212 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 3 Troubleshooting Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed 4 Example Purpose Iwo high speed comparators are set When the conditions set are met users can check whether the output devices specified are set reset The external wiring required is shown below rt QUGSREC OSs ERE BLE eels onan Y10 are connected to X10 BIT Aad 5A Ze aa Y11 are connected to X11 pene eis C2 is connec
273. enever a P subroutine is called it is executed once After 0100 or an Ox motion subroutine calls a P subroutine the P subroutine will be executed After the ending instruction SRET in the P subroutine is executed the execution of the P subroutine will stop and the lines under the instruction which calls the P subroutine will be executed 1 4 DVP 10PM Application Manual 7 Program Framework of a DVP PM Series Motion Controller 0100 and Oxt0 M1000 o X0 O i O o Setting the motion subroutine number Ox10 ac o OO n If XO is ON Ox10 will be enabled D S The path a is valid 3 5 M1000 CALL Calling P2 MOVP K100 D1836 SuILNOIGNS uono OLXO O x lt h Dy x lt O C i a O 153 O D 99Uu0 p n x SI 0 LXO unoqns cd BOUO POINDOXO S Zd reer unnoqns Od 39U0 peinoexe S Zd aa een r EN a ee S e The subroutine PO supports basic instructions and applied instructions The subroutine P2 supports basic instructions applied instructions motion instructions and G codes 3 There are three methods of disabling a P subroutine e Ifthe STOP RUN switch of a DVP PM series motion controller is turned form the RUN position to the STOP position when the DVP PM series motion controller is powered M1072 will be OFF 0100 will stop and Ox motion subroutines and P subroutines will not be executed e Ifa DVP PM series motion controller is powere
274. er of pulses output is the same as the number of pulses input The external wiring required is shown below TEETE EE EEEE Dia IT Aad OSA eT Y1 O Is connected to X1 0 oo e Y11 is connected to X11 fm CVP 10F MOM D apa DERG Y11 is connected to X11 O OODOODC oco D Oniwa nOOOOE O Y oe DVP 10PM Application Manual 5 205 5 Applied Instructions and Basic Usage T_AbsSez U1 M1000 T Hen Ul T_MotonObserve_Ul T MotionOb The pulses output by the first axis are A B phase pulses After M21 is set to ON high speed counter 4 will be started The value of POS is 30 000 and the value of VEL is 10 000 After M20 is set to ON the absolute single speed motion set will be started Compare the value in DO the value in high speed counter 4 with the value in D2 when M3 is ON 5 Module which is supported The motion control function block T_HCnt supports DVP10PMOOM 5 12 2 High speed Timer 1 Motion control function block The motion control function block T_HTmr is used to start a high speed timer The value of the Channel input pin indicates a timer number the value of the TriggerMode indicates a mode of triggering the measurement of time and the value of the TimerValue output pin the value in the timer specified 0 01 us is a unit The high speed timer numbers available are the same as the high speed counter numbers available 2 Input pins Output pins Name Funetion sa Setting value Time when a
275. er runs The width of the pulse is equal to the scan cycle The DVP 10PM series motion controller runs I M1000 I M1001 M1002 f f M1003 gt k Scan cycle YO isON The watchdog timer is used to monitor a scan cycle If the scan cycle is greater than the watchdog timer value the ERROR LED indicator on the DVP 10PM series motion controller will be turned ON and all the output devices will be turned OFF The watchdog timer is initailly set to 200 If the program is long or the operation is complex users can change the watchdog timer value by means of the instruction MOV In the example below the watchdog timer value is changed to 300 M1002 0 MOV K300 D1000 Initial pulse The maximum value which can be stored in the watchdog timer is 32 767 However the larger the watchdog timer value is the more time it takes to detect any operation error As a result if there is no complex operation resulting in a scan cycle longer than 200 milliseconds it is suggested that the watchdog timer value should be less than 200 If an opration is complex the scan cycle may be long Users can check whether the scan cycle is greater than the value stored in D1000 by monitoring D1010 D1012 If the scan cycle is greater than the value stored in D1000 the users can change the value in D1000 DVP 10PM Application Manual 1 Inpoutfilter 2 D1020 4 3 Devices Users can set
276. ere is Data a transition in an Time when there Is a transition in an type output pin s signal output pin s signal from high to low from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from low to high when there is The motion a transition in the control function Execute input Bugy block is being BOOL pin s signal from executed low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high The execution of There is a transition in the Aborted the motion control output pin s signal from high to low The execution function block is when there is a transition in the of the motion interrupted by a Execute input pin s signal from high control function command to low Aborted block is Ree If the Execute input pin is set to interrupted by a False when the execution of the command motion control function block is interrupted the Aborted output pin will be set to False in the next cycle Input values are There is a transition in the Error incorrect output pin s signal from high to low An a cas
277. ere is a transition in the is in motion before Execute input pin s signal from high the motion control to low or Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed Input values are incorrect Make sure that other uniaxial motion control function The motion control function block conflicts with other blocks are not started or the execution of other uniaxial motion control function blocks is complete before the motion control function block is started motion control function blocks DVP 10PM Application Manual 5 165 5 Applied Instructions and Basic Usage 4 Example Purpose The motion control function block T_AbsSeg2 is used to start relative two speed motion of an axis The first motion is set so that the first axis moves at a speed of 2 000 pulses per second and moves for 10 000 pulses The second motion is set so that the first axis moves at a speed of 3 000 pulses per second and moves for 15 000 pulses M1000 T_KRelSezi Ul Execute Busy Done Motion o Velocity 2000 0 25000 Position 10000 0 After the motion control function block is started the first axis moves for 10 000 pulses at a speed of 2 000 pulses per second and moves for 15 000 pulses at a speed of 3 000 pulses per second 5 Module which is supported The motion control function block T_RelSeg2 supports DVP10PM
278. errupted the Aborted output pin will be set to False in the next cycle There is a transition in the Error output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low There isa The motion control function Busy block is being POOL executed transition in the The execution of the motion Aborted control function BOOL block is interrupted by a command An error occurs Error in the motion BOOL control function block l i function block is executed The number of pulses is a unit for the Distance input pin and the number of pulses per second is a unit for the Velocity input pin Users can change the unit used by means of the motion control function block T_AxisSetting2 3 Troubleshooting r Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed Make sure that other uniaxial motion control function blocks are not started or the execution of other uniaxial motion control function blocks is complete before the motion control function block is started The execution of the motion control function block is interrupted by a command Input values are incorrect The axis specified is in motion before the motion control The motion control function block conflicts with other motion control function blocks DVP 10PM Application Manual 5 157
279. es High word D1908 Speed Vat at which the Y axis returns home Low word D1909 Speed Vat at which the Y axis returns home High word D1910 Speed Vcr to which the speed of the Y axis decreases when the axis returns home Low word D1911 Speed Vcr to which the speed of the Y axis decreases when the axis returns home High word D1912 Number of PGO pulses for the Y axis D1913 Supplementary pulses for the Y axis D1914 Home position of the Y axis Low word D1915 Home position of the Y axis High word D1916 Time Tacco it takes for the Y axis to accelerate D1917 Time Tpec it takes for the Y axis to decelerate D1899 D1900 D1901 Yes DVP 1 OPM Application Manual 3 23 3 Devices Special mie bes D Latching Page device on uN stor D1918 Target position of the Y axis Low word ORW Pulse width for the Y axis Lor ora E ious Target position of the Y axis P I High word et ete Pulse width for the Y axis o T M e D1920 Speed at Which the Y axis rotates V 1 Low word 1000 RW 1000 D1921 Speed at which the Y axis rotates V 1 High word D1922 Target position of the Y axis P II Low word ORW Output period for the Y axis Low word era are 51923 Target position of the Y axis P I High word po pw No of Output period for the Y axis High word D1924 Speed at which the Y axis rotates V II Low word D1925 Speed at which the Y axis rotates V II
280. es can be combined into one DIP switch by means of the instruction SMOV 10 10 2 X13 X10 X27 X20 10PM X20 X27 Binary code decimal value 2 digits D2 Binary value X10 X13 Binary code decimal value 1 digit gt D1 Binary value DVP 10PM Application Manual 5 27 5 Applied Instructions and Basic Usage Applicable model Inverting bits 10PM ee Tebii instruction 5 steps X Y M S K H KnX KnY KnM Kns T C D V Z tle cae s ME SS 32 bit instruction 6 steps pot AT LY oem Continuity Instruction e Note The instruction supports V devices and Z devices If the 16 bit e Flag None instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4 16 decimal numeral system S Source D Destination Explanation The instruction is used to invert the bits in S 01 and 1 0 and transfer the inversion result to D When X10 is ON bit O bit 3 in D1 are inverted and the inversion result is transferred to YO
281. es if an abnormal condition occurs 5 Wiring differential output terminals Wiring differential output terminals on a DVP 10PM series motion controller and an ASDA A series AC servo drive ASDA A series AC servo drive ASDA A2 series AC servo drive Differential output terminals ona DVP 10PM series motion controller Drive rr ray OO ee PLS 43 1mp FP gt 00000000000 WK Optocoupler circuit Twisted pair po u ma A d a ae U SIGN 36 WW gt __f RP a Yyoooooooooocodl ad Optocoupler circuit a Le 2 12 DVP 10PM Application Manual 2 Hardware Specifications and Wiring Wiring differential output terminals on a DVP 10PM series motion controller and an ASDA B series AC servo drive Differential output terminals ona DVP 10PM series motion controller Drive C TTJJ NOH O O PLS 21 mM I Y 10 A U PLS 22 m Twisted pair FGO NV 114 oo Bi m SIGN 19 T RP gt 000000000000 EAN Optocoupler circuit POIANA SIGN 20 ae L Wiring differential output terminals on a DVP 10PM series motion controller and an ASDA AB series AC servo drive Differential output terminals on a
282. es per second If EnableP is set to 1 the first axis will move in the positive direction If EnableN is set to 1 the first axis will move in the negative direction DVP 10PM Application Manual 9 175 5 Applied Instructions and Basic Usage M1000 T_Joz Ul EnableP 0 EnableN Busy O Oo Motion Velocity 10000 When EnableP is set to 1 the first axis moves at a speed of 10 000 pulses per second in the positive direction When EnableN is set to 1 the first axis moves at a speed of 10 000 pulses per second in the negative direction When EnableP and EnableN are not set to 1 the first axis stops moving 5 Module which is supported The motion control function block T_Jog supports DVP10PMOOM 5 10 8 Manual Pulse Generator Mode 1 Motion control function block The motion control function block T_MPG is used to enable a manual pulse generator mode The value of the Axis input pin indicates an axis number The motion of the axis specified follows the operation of a manual pulse generator The relation between the position of the axis specified and the input pulses generated by the manual pulse generator used is determined by the RatioNum input pin and the RatioDen input pin The speed at which the manual pulse generator used responds depends on the value of the Tacc input pin and the value of the Tdec input pin Users can set the Tacc input pin and the Tdec input pin in the motion control function block T_AxisSetting1 Ser
283. es the value o set the contact of the 2 timer will be ON EJ 16 bit pnd C0 C99 100 16 bit up counters 2 There are 250 pnd C100 C199 100 16 bit up counters 3 _ counters in total If 32 bit C210 C219 12 32 bit up down counters the present value a the counter specified down C Counter pads C220 C255 36 32 bit up down counters by the instruction CNT DCNT 32 bit C200 C204 C208 C212 C216 and C220 6 32 bit matches the value high speed i speed counters set the contact of the counter counter will be ON General S0 S499 500 stepping relays 2 There are 1 024 stepping relays in total They can be set Latching S500 S1023 524 stepping relays 3 to ON OFF in a program 3 2 DVP 10PM Application Manual 3 Devices Specifications Remark If the present value of a timer matches the TO 1255 16 bit timers 256 timers value set the contact of the timer will be ON CO C199 16 bit counters 200 counters If the present value of a counter matches the value set the contact of the counter will be ON Present value of a Present value of a counter C200 C255 32 bit counters 56 counters _ General DO D199 200 general data registers 2 D200 D999 800 latching data registers 3 Faaistareinicial D3000 D9999 7000 latching data registers 3 9 Data l a Users can store data register D1 000 D2999 2000 special data registers Some special in data registers V Z d
284. ese modes adopt differential output Pulse output 1 Pulse Direction 2 Counting up Counting down 3 A B phase output Single axis 1000K pps _ Switch STOP RUN switch Manual Automatic switch pie X10 X10 X12 X12 X114 X11 X13 and X13 X0 X7 They can be connected to I O modules The maximum Detector number of expansion input terminals is 256 including the number of input terminals on a DVP 10PM series motion controller Differential Y10 Y10 Y12 Y12 Y14 Y14 Y16 Y16 Y11 output signal Y11 Y13 Y13 Y154 Y15 Y17 and Y17 YO Y3 They can be connected to I O modules The maximum General output number of expansion output terminals is 256 including the number of output terminals on a DVP 10PM series motion controller The communication ports which can be used for the reading writing of a program are as follows Serial COM1 RS 232 port It can function as a slave station communication COM2 RS 485 port It can function as a master station or port a slave station COM3 Communication card RS 232 RS 485 port It can function as a slave station and it is optionally required The EH2 series special right side modules which are Output signal Special I O Optional supported are AD DA PT TC XA and PU Eight special module purchase right side modules can be connected at most and they do not occupy I O devices Special Optional The function cards which are supported are
285. esent command position of the axis specified increases Bit 11 1 When the motor rotates clockwise the value indicating the present command position of the axis specified decreases 9 Bit 12 in D1816 D1896 D1976 D2056 D2136 D2216 Relative Absolute coordinates Bit 12 0 Absolute coordinates Bit 12 1 Relative coordinates 10 Bit 13 in D1816 D1896 D1976 D2056 D2136 D2216 Mode of triggering the calculation of the target position Bit 13 0 The calculation of the target position of the axis specified is triggered by a transition in DOG s signal from low to high Bit 18 1 The calculation of the target position of the axis specified is triggered by a transition in DOG s signal from high to low The setting of bit 13 is applicable to the insertion of single speed motion and the insertion of two speed motion 11 Bit 14 in D1816 D1896 D1976 D2056 D2136 D2216 Curve Bit 14 0 Trapezoid curve Bit 14 1 S curve DVP 10PM Application Manual 3 53 3 Devices O Xais Yas Zaxis D1819 1899 Number of pulses it takes for the motor of the axis Aaxis Bakis C axis specified to rotate once A D2058 D2139 D2138 D2219 Description 1 Owing to the fact that users can set an electronic gear ratio for a servo drive the number of pulses it takes for a servo motor to rotate once is not necessarily equal to the number of pulses which will be generated after a decoder rotates once The relation betw
286. et position P Il Absolute coordinates Bit 12 in D1816 D1896 D1976 D2056 D2136 D2216 is O The target position of the axis specified indicates a distance from 0 If the target position of an axis is greater than its present command position the motor used will rotate clockwise If the target position of an axis is less than its present command position the motor used will rotate counterclockwise Relative coordinates Bit 12 in D1816 D1896 D1976 D2056 D2136 D2216 is 1 The target position of an axis indicates a distance from its present command position If the target position specified is a positive value the motor used will rotate clockwise If the target position specified is a negative value the motor used will rotate counterclockwise 3 The ratio used is determined by bit 2 and bit 3 in D1816 D1896 D1976 D2056 D2136 D2216 oe ee Ae LW eet ee Speed at which the axis specified rotates V Il LW LW Description 1 The value in D1845 D1844 D1925 D1924 D2005 D2004 D2085 D2084 D2165 D2164 D2245 D2244 is in the range of 0 to 2 147 483 647 The unit used is determined by bit 0 and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 2 The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS If the value in D1845 D1844 D1925 D1924 D2005 D2004 D2085 D2084 D2165 D2164 D2245 D2244 is greater than 500K the frequency of pulses generated will b
287. etween the HMI and DVP FPMC are as follows 1 Click Configuration on the Options menu Options Window Help Cornriurication settmg 2 Click the Main tab and then select DOP B10E615 65536 Colors in the HMI Type drop down list box i Standard Main _ HMI Type Fal DOP B10E615 65536 Colors w 3 Click Communication Setting on the Options menu Options Window Help Configuration 4 Click the Ethernet tab Device LocalHost SWITEF COM hi E Link Marne Detail COM COMMS Ethernet 5 After users click they have to type a link name in the Link Name box and select Delta DVP TCP IP in the Controller drop down list box Devre LocalHost SWITTE 6 Link Marne Detail EtherLink _ Coni C Delta DVP TCPIP F DVP 10PM Application Manual 7 23 CANopen Communication Card 6 The users have to set the IP address of DVP FPMC in the Communication Parameter section Cominincation Pararmeter Controller IP Port 192 l g 0 100 502 P 7 After the users select the link name created in step 5 in the Input window for an element they can operate the memory defined by the element by means of Ethernet Link EtherLink Ww The HMI needs to control YO Y7 on two DVP 10PM series motion controllers which function as slaves The interface required is shown below The buttons YO Y7 correspond to YO Y7 on EtherLink1 and EtherLink2 that is to say they correspond to YO Y7 on the two slaves conn
288. ever T10 will be reset to OFF and the value of T10 will be 0 X3 o o Explanation Example 5 66 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model Resetting an annunciator 10PM X MS K H _ Knx KnY knm kns T C D V Z ONUNU e instruction instruction e Note There is no operand The instruction does not need to be driven by a contact e Flag None The instruction ANR is used to reset an annunciator lf more than one annunciator is ON simultaneously the annunciator whose number is smallest will be reset Generally the pulse instruction ANRP is used If X20 and X21 are ON for more than 2 seconds the annunciator S912 will be Exam ple ON If X20 and D21 are turned OFF S912 will still be ON T10 will be reset to OFF and the value of T10 will be O If X20 and X21 are not ON for 2 seconds the value of T10 will become 0 When X0 3 is turned from OFF to ON the annunciator whose number is smallest in the annunciators which are driven is reset When X0 3 is turned from OFF to ON again the next annunciator whose number is smallest in the annunciators which are driven is reset X20 X21 m ANS T10 K20 S912 X3 ANRP Explanation 0 09 DVP 10PM Application Manual 5 67 5 Applied Instructions and Basic Usage a B Application of annunciators Additional X0 Forward switch X1 Backward switch remark j X2 Front position
289. external wiring As a result the terminal C1 is connected to the terminal 24G Y1 is connected to X7 S S2 is connected to 24V A manual pulse generator is used and is connected to X2 and X3 DVP 10PM Application Manual 8 3 8 High speed Comparison and High speed Capture 8 4 Steps 1 After 0100 is started the initial setting of two high speed comparisons will be carried out 1 DO 0 7 Initial group number n 0 2 D1 0 3 D20 10 Writing 10 values by means of the instruction TO two groups of high speed comparison values 4 D60 10 gt Reading 10 values by means of the instruction FROM two high speed comparison values Two groups of high speed comparison values are set when M1 is ON 1 First group The value in D3 D2 is H125 gt The comparison source set is C204 The value of bit 3 bit O is 5 The comparison condition set is greater than or equal to The value of bit 5 bit 4 is 2 The output action selected is set The value of bit7 bit 6 is 0 The terminal selected is Y1 The value of bit11 bit 8 is 1 2 First group The value in D5 D4 is K100 If the value in C204 is greater or equal to K100 Y1 will be set to ON 3 Second group The value in D7 D6 is H165 gt The comparison source set is C204 The value of bit 3 bit 0 is 5 The comparison condition set is greater than or equal to The value of bit 5 bit 4 is 2 The output action selected is reset The value of bit7 bit 6 is 1 The terminal sel
290. f PGO pulses for the axis specified D2233 Supplementary pulses for the axis specified D2234 Home position of the axis specified Time Tacc it takes for D2236 the axis specified to accelerate Time Tpec it takes for D2237 the axis specified to decelerate Target position of the D2238 axis specified P I Speed at which the axis D2240 specified rotates V I Target position of the D2242 axis specified P IN Speed at which the axis D2244 specified rotates V II D2246 Operation command D2247 Mode of operation Present command D2248 position of the axis specified Pulse Present command D2250 speed of the axis specified PPS Present command D2252 position of the axis specified Unit Present command D2254 speed of the axis specified Unit Electronic gear ratio of D2258 the axis specified Numerator Electronic gear ratio of D2259 the axis specified Denominator 72 DVP 10PM Application Manual D2152 D2153 D2235 D2155 D2154 D2156 D2157 E A A vonow Dor D2159 D2158 D2239 D2161 D2160 D2242 D2163 D2162 D2243 D2165 D2164 D2245 D2166 D2167 D2169 D2168 D2249 D2171 D2170 D2251 D2173 D2172 D2253 Za Le e e JJ D r 5 5 O 3 D Ea e BE efe mae i D2175 D2174 D2255 D2178 D2179 Go 3 Devices Mode of operation Special data reg
291. f a capture signal is Start1 he source of a capture signal is XO he source of a capture signal is X1 he source of a capture signal is X2 he source of a capture signal is X3 he source of a capture signal is X4 Sy Sy Sy Sl Sy SY SY SY SY Se SY Sy SY SY SY SY SY Sy Ss SS Sy Ss Sa Sy Ss oO gt D 3 Q X lt oe 5 151 5 Applied Instructions and Basic Usage Name Type Value Motion control function block Description WORD he source of a capture signal is X5 mcx6 WORD 6 he source of a capture signal is X6 WORD he source of a capture signal is X7 he source of a capture signal is X10 WORD 9 he source of a capture signal is X11 WORD he source of a capture signal is X12 WORD he source of a capture signal is X13 5 10 Uniaxial Motion Control Function Blocks 5 10 1 Absolute Single speed Motion 1 Motion control function block The motion control function block T_AbsSeg1 is used to start absolute single speed motion After absolute single speed motion is started the speed of the absolute single speed motion will increase from the Vss set to the velocity set The speed of the absolute single speed motion will not decrease from the velocity set to the Vgias set until the present command position of the axis specified is near the target position set Users can set the Vbias input pin the Vmax input pin the Tacc input pin and the Tdec input pin in the motion control function block T_AxisSetting1 The number of
292. f the month in the real time clock in a DVP 10PM series motion controller is incorrect it will become 1 If the value of the week in the real time clock in a DVP 10PM series motion controller is incorrect it will become 1 If the value of the year in the real time clock in a DVP 10PM series motion controller is incorrect it will become 0 3 The real time clock in a DVP 10PM series motion controller is a latching device If it is disconnected and then powered up it will continue measuring time It is suggested that users should calibrate the real time clock in a DVP 10PM series motion controller after it is powered up 0 0 0 1 1 DVP 10PM Application Manual 3 37 3 Devices peas special 7 I O module ID D1320 D1327 Interrupt register D1400 and D1401 2 3 Clearing the M code which _ s executed M1744 M1794 and D1703 Ready flag M1792 M1872 2 M2032 M2112 M2192 and M2272 3 38 1 lf a DVP 10PM series motion controller is connected to special I O modules the IDs of the special I O modules will be stored in D1320 D1327 ID s of the special I O modules which can be connected to a DVP 10PM series motion controller ID ID VO module Hexadecimal value po meculc Hexadecimal value DVPO4AD H2 H 6400 DVP01PU H2 H 6110 DVP04DA H2 H 6401 DVPO04PT H2 H 6402 DVP04TC H2 H 6403 DVPO6XA H2 H 6604 DVP PM H 6260 DVP01HC H2 H 6120 D1400 is an interrupt register
293. f the value of the high byte is greater than 0 the synchronization between the DVP 10PM series motion controller used and DVP FPMC will be enabled Bit Bit 15 8 Bit 7 0 Synchronous cycle Enabling the sending of a synchronous packet CR 053 CANopen node ID setting Description The control register is used to set a CANopen node ID ACANopen node ID is in the range of 5 to 127 Default value 127 7 4 DVP 10PM Application Manual r4 CANopen Communication Card CR 054 CANopen transmission speed setting Description The control register is used to set a CANopen transmission speed The setting status is indicated by bit 15 If bit 15 is 1 the setting is in progress If bit 15 is 0 the setting is completed For example if the CANopen transmission speed required is 1000 kb s users can write K1000 into CR 054 Bit Bt BT Setting status 1000 CANopen speed 1000 kb s 500 CANopen speed 500 kb s Setting 0 Completed value 1 In progress CR 055 CANopen SDO NMT timeout Description The control register is used to set a CANopen SDO NMT timeout Unit Millisecond Default value 1000 CR 056 DVP FPMC error status Description The control register is used to display the error status of DVP FPMC Please refer to the table below for more information O Errorstatus Vale Resolton CANopen connection error Check the CANopen nodes of the present slaves Ethernet connection error Check the connec
294. ference is stored in D11 D10 XO Li Losven o0 oe or Explanation OOF Example 1 Example 2 5 122 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage EEE ee device Word device 3 32 bit instruction 13 steps e Note Please refer to specifications for more information about device ranges Only the 32 bit instructions DSUBR and DSUBRP are valid M1810 M1970 Carry flag M1808 M1968 Zero flag M1809 M1969 Borrow flag e Please refer to the additional remark below S Multiplicand S2 Multiplier D Product Explanation S and S can be floating point values Z S and S can be floating point values e g F1 2 or data registers in which floating point values are stored If S and S are data registers in which floating point values are stored the function of API 172 DMULR is the same as the function of API 122 DEMUL The floating point value in S is multiplied by the floating point value in S2 and the product is stored in D S and S can be the same register If the instruction DSUBR is used under the circumstances the value in the register is multiplied by itself whenever the conditional contact is ON in a scan cycle Generally the pulse instruction DMULRP is used Ifthe absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an oepration reuslt is les
295. fiag M1793 M1793 M1873 M2033 M2113 M2193 M2273 Stepnumber D1869 Dise 0 O OOO S S o O Program error codes and motion error codes hexadecimal codes pointers motion are inhibited program left right limit switch set program MODRD MODWR is executed An error occurs when a device is modified 0007 A subroutine pointer is used repeatedly 0044 by a 16 bit index register 32 bit index register 0008 The pointer used in JMP is used 0045 The conversion into a floating point number repeatedly in different subroutines is incorrect 0009 The pointer used in JMP is the same as 0E18 The conversion into a binary coded the pointer used in CALL decimal number is incorrect 000A at wth is the same as a subroutine 0E19 T division operation The divisor is 0011 Target position l is incorrect C401 General program error 0012 Target position Il is incorrect C402 nae has been used more than nine l eau There is more than one nested program 0021 Velocity I is incorrect C404 structure supported by RPT RPE 0022 Velocity Il is incorrect C405 SRET is used between RPT and RPE 0023 The velocity Vaz of returning home is C4EE There is no M102 in the main program or Eo there is no M2 in a motion subroutine The velocity Vcr to which the velocity of l er l a A wrong instruction is used or a device eee E e a a OE an used exceeds the range available The JOG speed set is incorrect DVP 10PM Application Manual 9 1
296. for the C axis Low word Frequency of pulses generated by the manual pulse generator for the C axis High word Number of pulses generated by the manual pulse generator for the C axis Low word Number of pulses generated by the manual pulse generator for the C axis High word D2264 Response speed of the manual pulse generator for the Caxis RW Ys 5 D2261 D2262 D2263 DVP 10PM Application Manual 3 29 3 Devices 3 11 Functions of Special Auxiliary Relays and Special Data Registers Operation flags M1000 M1003 2 3 4 Watchdog timer D1000 3 4 3 30 1 M1000 If the DVP 10PM series motion controller runs M1000 will be a normally open contact Form A contact When the DVP 10PM series motion controller runs M1000 is ON M1000 Cv The DVP 10PM series motion S E is running Ifthe DVP 10PM series motion controller runs M1000 will be anormally open contact M1001 If the DVP 10PM series motion controller runs M1001 will be a normally closed contact Form B contact When the DVP 10PM series motion controller runs M1001 is OFF M1002 A positive going pulse is generated at the time when the DVP 10PM series motion controller runs The width of the pulse is equal to the scan cycle If users want to initialize the DVP 10PM series motion controller they can use the contact M1003 A negative going pulse is generated at the time when the DVP 10PM series motion controll
297. fter the counter value matches the setting value the state of the contact specified and the counter value will remain unchanged Users can reset a counter by means of the instruction RST a Ladder diagram Instruction code Description X0 LD XO Loading the Form 4 CNT C20 K100 The setting value in the counter C20 is K100 Explanation DVP 10PM Application Manual 4 9 4 Basic Instructions Instruction Function Applicable code model 10PM DENT 32 bit counter C200 C204 C208 C255 K 2 147 483 648 K2 147 483 647 Operand C200 C204 C208 C255 DO0 D9 999 l DCNT is an instruction which is used to enable the 32 bit counters C200 C255 Explanation C221 C2255 are general up down counters When the counter coil specified by the instruction DONT is turned from OFF to ON the counter value increases i or decreases by one according to the setting of M1200 M1234 Instruction code Description LD MO Loading the Form Example MO DCNT C254 K1000 A contact MO i DCNT C254 K1000 The setting value In the counter C254 is K1000 Instruction Function Applicable code model Ladder diagram Derana Tv Tv Tw yrr fT The usage of LDP is similar to that of LD but the action of LDP is different from that of LD LDP reserves the present contents and stores the state of the rising Explanation edge triggered contact specified to an accumulation register Va Ladder diagram Instructi
298. g None e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges S Comparison value 1 S2 Comparison value 2 D Comparison result The instruction is used to compare the value in S with that in S2 The comparison result is stored in D The operand D occupies three consecutive devices If the operand D is YO YO Y1 and Y2 will be occupied automatically When X10 is ON the instruction CMP is executed and YO Y1 or Y2 is ON When X10 is OFF the execution of the instruction CMP stops and the states of YO Y1 and Y2 remain unchanged Explanation 0 OF Example If users want to get the result that K102 the value in D10 they have to connect YO and Y1 in series If users want to get the result that K10s the value in D10 they have to connect Y1 and Y2 in series If users want to get the result that K10 the value in D10 they have to connect YO Y1 and Y2 in series X10 YO H _ If K1 0 the value in D10 YO will be ON Y1 H IfK10s the value in D10 Y1 willbe ON Y2 H IfK10 lt the value in D10 Y2 willbe ON 5 22 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model orn o e 16 bit instruction 9 steps X Y M S K A Knx knY km kns T C
299. g a check Example SDO data transmission 1 Specify the OD index of an SDO server in CR n51 2 Set the data to be transmitted in CR n52 CR n55 3 Refer to the table above Specify a subindex in bit 15 bit 8 in CR n50 and an SDO access command 1 _ OD index _ Subindex Data lt e D 3 Subindex Data E Subindex Data Subindex Data Subindex Data Subindex Data CR n51 SDO OD object dictionary index Description The control register is used to specify the OD index of a node Range H 0000 H FFFF CR n52 CR n55 SDO transmission reception register 1 SDO transmission reception register 4 Description The data to be accessed through an SDO protocol is stored in the four control registers The maximum Capacity is 1024 bytes If an error occurs during SDO data transmission an error code will be stored in CR n52 and CR n53 If CR n52 CR n55 are used at a time CR n52 functions as the LSB and CR n55 functions as the MSB 7 12 DVP 10PM Application Manual r4 CANopen Communication Card CR n60 Servo drive control Description The control register is used to send a control command to an ASDA A2 series servo drive Please refer to the table below for more information Control word X gt KX KX KX KX X KX X FR OM OM OM EO X X X Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 e EO The serv
300. ged l Transferrring digits 10 D20 4 digit binary coded decimal value Coversion D20 16 bit binary value Suppose the value in D10 is K1234 and the value in D20 is K5678 After the instruction is executed the value in D10 will be unchanged and the value in D20 is K5128 When M1168 is ON the value used by SMOV is a is binary value When the instruction SMOV is executed the binary values in D10 and D20 are not converted into the binary coded decimal values and evey digit which is transferred is composed of four bits M1000 ne X0 4 digit 3 digit 2 digit 1 digit LITTLE TTT LTTE LT 210 16 bitbinary vate N an J Transferrring digits 4 digit 3 digit 2 digit 1 digit Unchanged Unchanged Suppose the value in D10 is H1234 and the value in D20 is H5678 After the instruction is executed the value in D10 will be unchanged and the value in D20 is H5128 Example 2 5 26 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage The two digits of the value of the DIP switch on the right are transferred to the Example 3 the two digits of the value in D2 which start from the second digit of the value in D2 and the one digit of the value of the DIP switch on the left is transferred to the the first digit of the value in D1 The instruction SMOV can be used to transfer the first digit of the value in D1 to the third digit of the value in D2 In other words the two DIP switch
301. ger into a binary floating point value ee Refreshing the states of I O devices SER DSER Y Searchingda gt v S6 ALT 7 Mtomatngbeween ONand OFE 3 BTS 67 RAMP DRAMP Ramp S re es a 78 FROM DFROM Reading data from a control register in a 12 5 80 special module 79 TO Writing data into a control register in a special 5 84 module e o 7 va tse BO PLs Rising edge output 90 LDP Starting rising edge detection 3 AMO 9DF Staringfaling edge detection 3 4n 92 ANDP __Connecting rising edge detection in series 3 41 93 ANDF __Connecting faling edge detection in series 3 412 4 oRP Comectingrising edge detection in parallel 3 412 95 ORF Comnecting faling edge detection in paralel 3 413 mmm eime o B no a 97 CNT DONT __ 16 bit counter sje a 9 PE Falngedeoupt 3 aa CORS a Instruction Type api nstuction code Pulse Buiss vsod buisse00 d a BIH O Oo lt D D O D SuOI ON sul oIseg UOI EOIUNWILWOD S am DEZCP v Binary floating point zonal comparison 9 12 5295 12 DMOVR Transferring afioating point value 9 5296 16 DRAD vV Converingadegreetoaradan 6 597 117 DDEG V Converingaradiantoadegree 6 598 120 DEADD v Binary floating point addition 7 9 599 121 DESUB V Binary floating point subtract
302. ges M1808 M1968 Zero flag M1809 M1969 Borrow flag F represents a floating point value There is a decimal point in a M1810 M1970 Carry flag floating point value e Please refer to the additional remark below Only the 32 bit instructions DEADD and DEADDP are valid Explanation Example 1 Example 2 Additional remark S Augend S2 Addend D Sum The binary floating point value in S2 is added to the binary floating point value in S4 and the sum is stored in D If S4 is a floating point value the instruction will be used to add the binary floating point value in S2 to S4 If S2 is a floating point value the instruction will be used to add Sz to the binary floating point value in S4 S and S can be the same register If the instruction DEADD is used under the circumstances the value in the register is added to itself whenever the conditional contact is ON in a scan cycle Generally the pulse instruction DEADDP is used If the absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON lf an operation result is 0 a zero flag will be ON When XO is ON the binary floating point value in D3 D2 is added to the binary floating point value in Ei DO and the sum is stored in D11 D10 XO
303. gisters available will be transferred n is in the range of 1 to 512 When X2 0 is ON the values in DO D3 are transferred to D20 D23 Example1 9 fev o oa If users specify KnM and KnY n in KnM must be the same as n in KnY Exampe2 P n 3 DVP 10PM Application Manual 5 29 5 Applied Instructions and Basic Usage In order to prevent the error which results from the overlap between source devices and destination devices the values in the source devices are transferred in the following way 1 The device number of S is greater than the device number of D The values in D20 D22 are transferred in the order O gt gt X20 A E D21 2 The device number of S is less than the device number of D The values in D10 D12 are transferred in the order amp gt The values in D11 D13 are the same as the value in D10 X21 Example 3 5 30 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage a Applicable model FMOV P CS GD Transferring a value to several devices TOPM S e ee 16 bit instruction 7 steps x Y Ms K H knx Kny KnM kKnS T C D V1 Z ipmoy Continuity EMoyp Pulse instruction Instruction __ eee PFOP I I t f tT TE J ieee S ormo Continuity prumove Puse A A U O e aama Flag None e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instru
304. gram specified by a pointer is prior to the instruction CJN a watchdog timer error will occur and the main program 0100 will not be executed Please use the instruction carefully The instruction CJN can specify the same pointer repeatedly The pointer specified by CJN can not be the same as the pointer specified by CALL otherwise an error will occur When the instruction CJN CJNP in a program is executed the actions of the devices in the program are as follows 1 The states of the Y devices the states of the M devices and the states of the S devices in the program remain the same as those before the execution of the jump 2 The 10 millisecond timers in the program stop counting 3 The general counters in the program stop counting and the general applied instructions in the program are not executed 4 Ifthe instructions which are used to reset the timers in the program are driven before the jump is executed the timers will still be reset during the execution of the jump When X0 is OFF the execution of the program jumps from address 0 to address N P1 and the addresses between address 0 and address N are skipped When XOis ON the execution of the program starts from address 0 and the instruction CJN is not executed Negated conditionaljump Example XO 0 HH CJN P1 Y1 gt N P1 Cy 2 DVP 10PM Application Manual 5 139 5 Applied Instructions and Basic Usage
305. gt DVP 10PM Application Manual The instruction ANDP is used to connect a rising edge triggered contact in Instruction code Description LD XO Loading the Form A contact XO ANDP X1 Connecting the rising edge triggered contact X1 in series OUT Y1 Driving the coil Y1 4 Basic Instructions Instruction Funcion Applicable code model A Connecting falling edge detection in series ea Y ry ee t e e a e The instruction ANDF is used to connect a falling edge triggered contact in series Explanation a Ladder diagram Instruction code Description Example xo M LD XO Loading the Form A n a 1 gt contact X0 i a ANDF X1 Connecting the falling edge triggered contact X1 in series OUT Y1 Driving the coil Y1 Instruction Funcion Applicable code model 10PM_ Connecting rising edge detection in parallel S Oera A A a A l a l aa l The instruction ORP is used to connect a rising edge triggered contact in llel Explanation paaa i ace Instruction code Description LD XO Loading the Form A Exam pl contact XO 7 ORP X1 Connecting the rising edge triggered contact X1 in parallel OUT Y1 Driving the coil Y1 4 12 DVP 10PM Application Manual 4 Basic Instructions Instruction Funcion Applicable code model 10PM ORF Connecting falling edge detection in parallel Open secs A The instruction ORF is used to connect a falling edge triggered contact in llel Expl
306. h control function command to low poles block is eek lf the Execute input pin is set to interrupted by a False when the execution of the command motion control function block is interrupted the Aborted output pin will be set to False in the next cycle Input values are There is a transition in the Error A incorrect output pin s signal from high to low i uh oe The axis specified when there is a transition in the Error eal Aaa is in motion before Execute input pin s signal from high control function block the motion control to low function block is executed The number of pulses is a unit for the Position input pin the Position2 input pin and the number of pulses per second is a unit for the Velocity1 input pin the Velocity2 input pin Users can change the unit used by means of the motion control function block T_AxisSetting2 3 Troubleshooting tor Troubleshooting The values of input pins in the motion control Check whether the values of the input pins are in the function block are incorrect ranges allowed Make sure that other uniaxial motion control function The motion control function block conflicts with other blocks are not started or the execution of other motion control function blocks uniaxial motion control function blocks is complete before the motion control function block is started 4 Example Purposes The motion control function block T_AbsSeg2 is used to start absolute two speed motion
307. he Tacc input pin and the Tdec input pin in the motion control function block T_AxisSetting1 The number of pulses is a unit for the Distance1 input pin the Distance2 input pin and the number of pulses per second is a unit for the Velocity1 input pin the Velocity2 input pin Users can change the unit used by means of the motion control function block T_AxisSeiting2 DVP 10PM Application Manual 5 163 5 Applied Instructions and Basic Usage Speed Tace Tec oe 3 a gl al Y Position Execute Distance 1 Distance 2 2 Input pins Output pins Name Function cba Setting value Time when a value is valid a ee The value of the Axis input pin is valid Axis WORD K1 K6 when there is a transition in the Execute number ont input pin s signal from low to high Motion is started when there is a transition in the Execute Execute input BOOL True False pin s signal from low to high Relative The value of the Distance1 input pin is Demecal distance for DWORD K 2 147 483 648 valid when there is a transition in the which the first K2 147 483 647 Execute input pin s signal from low to motion moves high The value of the Velocity1 input pin is Target speed of valid when there is a transition in the vee the first motion ACNE ISTE A sees Execute input pin s signal from low to high K 2 147 483 648 K2 147 483 647 If the value of the Distance input pin is a positive value the Pe a _ value of the The value of th
308. he Vs as set until the distance for which the relative single soeed motion moves is the distance set Users can set the Vbias input pin the Vmax input pin the Tacc input pin and the Tdec input pin in the motion control function block T_AxisSetting1 The number of pulses is a unit for the Distance input pin and the number of pulses per second is a unit for the Velocity input pin Users can change the unit used by means of the motion control function block T_AxisSetting2 A Speed Tacc Topec L A Vmax d Velocity Veias y y Position Execute Start position Target distance 2 a pins Output pins Se oe E Setting value axis Axis wor K1 K6 Motion is started when there isa Execute sleet inthe BOOL True False xecute input pin s signal from low to high Relative K 2 147 483 648 distance own K2 147 483 647 Velocity Target speed DWORD K1 K2 147 483 647 5 156 Time when a value is valid The value of the Axis input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the Distance input pin is valid when there is a transition in the Execute input pin s signal from low to high When the motion control function block is executed the value of the Velocity input pin is updated repeatedly DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Time when there is Dat
309. he value of the RatioNum input pin is updated repeatedly Motion axis Manual pulse generator mode Resetting the manual pulse generator used State output pin Time when there is a transition in an output pin s signal from low to high e There is a Time when there is a transition in an output pin s signal from high to low There is a transition in the Valid The execution of the motion control function block Is complete The motion control function block is being executed DVP 10PM Application Manual transition in the Valid output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high The execution of the motion control function block is interrupted by a command output pin s signal from high to low when motion stops There is a transition in the Valid output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Valid output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low If the Enable input pin is set to False when the execution of the motion control function block is interrupted the Aborted output pin will be set to False in
310. hen there is a transition in the Execute input pin s signal from high to low but the execution of the function block does not stop when there Is a transition in the Execute input pin s signal from high to low Even if the Execute input pin in a motion control function block is reset before the execution of the motion control function block is complete output states will still be generated and retained for one cycle If a motion control function block is started again before the execution of the motion control function block is complete the motion control function block will not give feedback to the Done output pin and the Aborted output pin and an error will occur f the input pin that a motion control function block has is the Enable input pin the Valid output pin the Busy output pin and the Error output pin are reset when there is a transition in the Enable input pin s signal from high to low Characteristic of the Done output pin The Done output pin in a motion control function block will be set to True after the motion control function block is executed successfully Characteristic of the Busy output pin If the input pin that a motion control function block has is the Execute input pin the motion control function block uses the Busy output pin to indicate that the execution of the motion control function block is not complete and new output states values are expected to be generated The Busy output pin is set to True
311. here isa transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high The execution of the motion control function block is interrupted by a command The value of the Position input pin is valid when there is a transition in the Execute input pin s signal from low to high When the motion control function block is executed the value of the Velocity input pin is updated repeatedly Time when there is a transition in an output pin s signal from high to low There is a transition in the Done Output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when motion is complete the Done output pin will be set to False in the next cycle There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Error Output pin s signal from low to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high There is a transition in the Aborted output pin s signal from high to low when there is a transition in the Execute input pin s signal from high t
312. hi MJR2 series coe j Y13 poe pe PNA H 24VDC RE D 24VDC a AA Mitsubishi servo drive Mitsubishi MJR2 series ee HA qu A zpod me fe Pulses generated by a r PII Het manual pulse generator a y Shielded cable Ee PSP OOK RABE Mitsubishi servo drive p Mitsubishi X11 W MJR2 series Pie RE BA poo A phase B phase Mitsubishi servo drive Mitsubishi MJR2 series 24VDC a eet ifa e ie al ees cee ac ee Ane COE EIL 2a4vDe 29 fd Beenen a AK es mono ES REO re three eT 4 2000 EH Mitsubishi servo drive Mitsubishi MJR2 series 24VDC DVP 10PM Application Manual 2 21 2 Hardware Specifications and Wiring Wiring a DVP 10PM series motion controller and a Fuji servo drive Four axis wiring EEA a an Pulses generatedbya manual pulse generator A phase B phase 2 22 Shielded cable Re 24VDC EMEA 3 24VDC S S X3 PG1 NEHA 24VDC E 24VDC OR X7 PG3 Fuji servo drive Fuji series Fuji servo drive Fuji series YK Fuji servo drive Fuji series LL B Pood HH a e RE DOO ofa XX KA Fuji servo drive Fuji series sumunan nunn umnu anann a eens J ce R E ONN de EE E E n Parca DVP 10PM Application Manual 2 Hardware Specifications and Wiring Wiring a DVP 10PM series motion controller and a Fuji servo drive Six axis wiring Fuji servo drive eee CFO
313. high Done control function BOOL motion is to low block is complete If the Execute input pin is set to complete False when motion is complete the Done output pin will be set to False in the next cycle Time when there is Data a transition in an Time when there Is a transition in an type output pin s signal output pin s signal from high to low from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from low to high when there is The motion a transition in the control function Execute input Bugy block is being BOOL pin s signal from executed low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high The execution of There is a transition in the Aborted the motion control output pin s signal from high to low The execution function block is when there is a transition in the of the motion interrupted by a Execute input pin s signal from high control function command to low Aborted block is Ree If the Execute input pin is set to interrupted by a False when the execution of the comm
314. high to low There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Error An error occurs ae nhera on incorrect output pin s signal from high to low control function when there is a transition in the block Enable input pin s signal from high to low Value output pin Data neme roelen DaS oumae pte Present When the motion control function block is position executed the value of the Position output Pulse unit i ee lad pin is updated repeatedly Present When the motion control function block is Velocity speed Pulse DWORD KO K2 147 483 647 executed the value of the Velocity output unit pin is updated repeatedly 3 Troubleshooting Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed 4 Module which is supported The motion control function block T_MotionObserve supports DVP10PMOOM 5 190 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 5 10 15 State of an Axis T Axistatus Eno 1 Motion control function block The motion control function block is T_AxisStatus is used to read and clear the present erroneous state of an axis The value of the Axis input pin indicates an axis number Users can clear the present erroneous state of the axis
315. ht bits in S 1 Generally the pulse instructions SWAPP and DSWAPP are used When XO is ON the high byte in DO is interchanged with the low byte in DO Example 1 XO AARRE SWAPP Do DO When XO is ON the high eight bits in D11 are interchanged with the low eight bits in D11 and the high eight bits in D10 are interchanged with the low eight bits in D10 ti foswar or D11 D10 High eight bits Low eight bits High eight bits Low eight bits Explanation 09 Example 2 DVP 10PM Application Manual 5 131 5 Applied Instructions and Basic Usage Applicable model 1 GD Gd Random value 106 N R Bitdevice device Word device 16 bit instruction 5 steps o XM S K H knnen E ED Continuity panpp Pulse instruction _instruction _ ee eee oe eee ener e a ae areas a ae ee a ee ee ee a ee ee ee 32 bit instruction 7 steps s RAND Coninuiy ppanpp Puse rot TT HOG i e Flag None e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal
316. i need to be set specified rotate once D2136 D2216 Setting the parameters D2216 g the axis specified Maximum speed Vmax D2143 D2142 D2223 D2222 at which the axis specified rotates Start up speed Vs as at D2145 D2144 D2225 D2224 which the axis specified rotates JOG speed Vjoc at D2147 D2146 D2227 D2226 which the axis specified rotates uonow 5or UOI OW sjIqeLeA JJ D r c 5 gt 3 D uolow pseds ajbuls uoi ow p ds OML uonow p ds om Hur su j uonow p ds jHuis Hur suj pow 10 21 U f asjnd jenuely Mode of operation uoow HOr woy Huluinjey uonow p ds juIis uonow p ds OML uonow jqee eA uonow pseds ajbuls Hbuljesu uonow p ds om Huljesu apow 10 21 U f sjnd jenue If the unit used is a motor unit the special data registers do not need to be set DVP 10PM Application Manual 3 71 3 Devices Mode of operation Special data registers for motion axes C axis Parameter uoiow p ds OML UOI OWW J qele A LW z o 5 e D I O D D 2 3 O 5 uonow p ds om Hui su j uonow pseds ajbuls Hur su pow 10 21 U f sjnd jenuely Speed Vat at which the D2228 axis specified returns home D2149 D2148 D2229 Speed Vcr to which the speed of the axis specified decreases D2151 D2150 D2231 D2230 when the axis returns home D2232 Number o
317. id Axis WORD K1 K6 when there is a transition in the Execute number E l input pin s signal from low to high Motion is started when there is a Execute e in the True False xecute Input pin s signal from low to high Transition in DOG s signal DogEdge_ from low to high or from high to low Distance for which motion moves after a The value of the Distance input pin is transition in K 2 147 483 648 valid when there is a transition in the DOG s signal K2 147 483 647 Execute input pin s signal from low to from low to high high or from high to low The value of the DogEdge input pin is mcRising True valid when there Is a transition in the mcFalling False Execute input pin s signal from low to high Distance The value of the Velocity input pin is valid when there is a transition in the Execute input pin s signal from low to high Velocity Target speed K1 K2 147 483 647 DVP 10PM Application Manual 5 167 5 Applied Instructions and Basic Usage e There isa There is a transition in the Done transition in the output pin s signal from high to low The execution Done output pin s when there is a transition in the of the motion signal when Execute input pin s signal from high Done control function BOOL motion is to low block is complete If the Execute input pin is set to complete False when motion is complete the Done output pin will be set to False in the next cycle Time when th
318. ies motion controller is turned from the RUN position to the STOP position after the communication format of COM2 is modified the new communication format of COM2 will not be changed 3 If users disconnect a DVP 10PM series motion controller and then power it up after they modify the communication format of COM2 the new communication format of COM2 will be restored to its factory setting Example 2 Modifying the communication format of COM1 If users want to modify the communication format of COM1 on a DVP 10PM series motion controller they have to add the program shown below to the top of the program in the DVP 10PM series motion controller After the STOP RUN switch on the DVP 10PM series motion controller is turned from the STOP position to the RUN position the state of M1138 will be detected during the first scan cycle If M1138 is ON the setting of COM1 will be changed in accordance with the value in D1036 The communication format of COM1 is changed to the ASCII format 9600 7 E 1 9 600bps 7 data bits even parity bit 1 stop bit M1002 Notes 1 If the STOP RUN switch on a DVP 10PM series motion controller is turned from the RUN position to the STOP position after the communication format of COM1 is modified the new communication format of COM1 will not be changed 2 If users disconnect a DVP 10PM series motion controller and then power it up after they modify the communication format of COM1 the new communi
319. iet i Even a Ht mo bs b7 b4 0010 H2 150 bps b7 b4 0100 Ha 600 bps b7 b4 0101 H5 1 200 bps prepa _D7 b4 0110 H6 2 400 bps br b4 0111 H7 4800 bps b7 b4 1000 H8 19 600 Ibps br b4 1001 H9 19200 bs 38 400 bps b7 b4 1011 HB 57600 bps _b7 b4 1100 HO 115 200 bps b Start character b8 0 None b8 1 D124 b9 Firstterminator b9 0 None b9 1 D1125 b10 Second terminator b10 0 None BID Undefined O 3 32 DVP 10PM Application Manual 3 Devices Example 1 Modifying the communication format of COM2 lf users want to modify the communication format of COM2 on a DVP 10PM series motion controller they have to add the program shown below to the top of the program in the DVP 10PM series motion controller After the STOP RUN switch on the DVP 10PM series motion controller is turned from the STOP position to the RUN position the state of M1120 will be detected during the first scan cycle If M1120 is ON the setting of COM2 will be changed in accordance with the value in D1120 The communication format of COM2 is changed to the ASCII format 9600 7 E 1 9 600bps 7 data bits even parity bit 1 stop bit M1002 MOV H86 D1120 SET M1120 Notes 1 If COM2 on a DVP 10PM series motion controller is used as a slave station no communication instruction can exist in the program in the DVP 10PM series motion controller 2 If the STOP RUN switch on a DVP 10PM ser
320. igital output terminals E DVP 10PM series motion controller ere se Differential output terminal Transistor output terminal Specifications Maximum frequency of 1 MHz 200 kHz output signals 1 Users can filter pulses by setting a digital input terminal to ON after the pulses in 10 ms 60 ms are received Besides they can filter Input indicator LED indicator If the LED indicator corresponding to an output terminal is ON the Output indicator output terminal is ON If the LED indicator corresponding to an output terminal is OFF the output terminal is OFF Output terminal Y10 Y17 YO Y3 Working voltage 5V DC 5 30 V DC Maximum output current Isolation Powerisolaion Optocoupler 0 5A output terminal 4 AICOM Current fications Mductance o 12 W 24 V DC specifications Bulb e 2 W 24 V DC Response Off gt On time On Off ie US Overcurrent protection DVP 10PM Application Manual 2 3 2 Hardware Specifications and Wiring 2 1 3 Dimensions
321. ignal from low to first motion high 5 160 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Name Function ie Setting value Time when a value is valid Target speed of the first motion Absolute Position2 position of the second motion Target speed of Velocity2 the second motion Velocity1 The execution of the motion control function block Is complete The motion control function block is being executed DVP 10PM Application Manual K1 K2 147 483 647 K 2 147 483 648 K2 147 483 647 If the value of the Position input pin is greater than 0 the value of the Position2 input pin must be greater than or equal to the value of the Position input pin If the value of the Position input pin is less than or equal to 0 the value of the Position2 input pin must be less than or equal to the value of the Position1 input pin K1 K2 147 483 647 Time when there is a transition in an output pin s signal from low to high e There isa transition in the Done output pin s signal when motion is complete There isa transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high The value of the Velocity1 input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the Position2 input pin is valid when there is a transition in the Execut
322. ill be counted as 32 767 3 If users want to have a complete S curve the maximum speed which is set must be the same as the speed at which the axis specified operates HW LW Target position of the axis specified P I Description 1 The value in D1839 D1838 D1919 D1918 D1999 D1998 D2079 D2078 D2159 D2158 D2239 D2238 is in the range of 2 147 483 648 to 2 147 483 647 The unit used is determined by bit O and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 2 Target position P I Absolute coordinates Bit 12 in D1816 D1896 D1976 D2056 D2136 D2216 is 0 The target position of the axis specified indicates a distance from 0 If the target position of an axis is greater than its present command position the motor used will rotate clockwise If the target position of an axis is less than its present command position the motor used will rotate counterclockwise Relative coordinates Bit 12 in D1816 D1896 D1976 D2056 D2136 D2216 is 1 The target position of an axis indicates a distance from its present command position If the target position specified is a positive value the motor used will rotate clockwise If the target position specified is a negative value the motor used will rotate counterclockwise 3 The ratio used is determined by bit 2 and bit 3 in D1816 D1896 D1976 D2056 D2136 D2216 Speed at which the axis specified rotates V I Description The value in D18
323. imum source value After input values and parameters are set an output curve will be gotten DVP 10PM Application Manual 5 135 5 Applied Instructions and Basic Usage Destination value Maximum destination value gt Source value S1 Maximum source value Minimum source value Minimum destination value gt o Suppose the value in S4 is 500 the maximum source value in DO is 3 000 the Exam p le 1 minimum source value in D1 is 200 the maximum destination value in D2 is 500 and the minimum destination value in D3 is 30 When X0 is ON the instruction SCLP is executed and a scale is stored in D10 Equation D10 500 200 x 500 30 3 000 200 30 80 35 80 35 is rounded to the nearest integer and becomes 80 80 is stored in D10 XO XO Destination value Maximum destination value 500 D Minimum destination value 30 Source value 0 Minimum Maximum source value 200 source value 3000 DER 4 Suppose the value in S4 is 500 the maximum source value in DO is 3 000 the Exam p le 2 minimum source value in D1 is 200 the maximum destination value in D2 Is 30 and the minimum destination value in D3 is 500 When XO is ON the d instruction SCLP is executed and a scale is stored in D10 Eequation D10 500 200 x 80 500 3 000 200 500 449 64 449 64 is rounded to the nearest integer and becomes 450 450 is stored in D10 5 136 DVP 10PM Ap
324. increase If the pulses generated by the manual pulse generator for the axis specified are counterclockwise pulses the value in D1863 D1862 D1943 D1942 D2023 D2022 D2103 D2102 D2183 D2182 D2263 D2262 will decrease 3 66 DVP 10PM Application Manual 3 Devices 2 The value in D1863 D1862 D1943 D1942 D2023 D2022 D2103 D2102 D2183 D2182 D2263 D2262 does not vary with the values in D1858 D1938 D2018 D2098 D2178 D2258 and D1859 D1939 D2019 2099 D2179 D2259 Y axis tw W w w w D1864 D1944 D2024 Response speed of the manual pulse generator Aaxis Beaxis C axis for the axis specified HW IW HWW IW D204 D2184 D2264 Description 1 Ifthe response speed set is high the pulses output happen almost at the same time as the pulses input by the manual pulse generator used 2 If the response speed set is low the pulses output follows the pulses input by the manual pulse generator used 2 256 ms 3 Bit 8 and bit 9 in D1864 D1944 D2024 D2104 D2184 D2264 Setting the input pulses generated by the manual pulse generator specified b9 bs Input type positive logic FP Clockwise pulses 7 Counting up down RP Counterclockwise pulses FP Pulses t t t 1 E Pulses Directions RP Directions _ Clockwise Counterclockwise EEES FP A phasepuises AA EFA A
325. ines The characteristics of Ox motion subroutines are described below 1 There are two methods of enabling an Ox motion subroutine e When 0100 runs users can set motion subroutine numbers in 0100 The motion subroutine numbers must be in the range of Ox0 to Ox99 The users can set a motion subroutine number in O100 by setting D1868 The value in D1868 must be in the range of H8000 to H8063 If the users want to enable an Ox motion subroutine they have to set M1074 to ON or set bit 12 in D1846 to ON e Before an Ox motion subroutine is enabled users have to make sure that no Ox motion subroutine runs Oxn M1074 is set to ON 0100 runs Motion Subroutine number or bit 12 in D1846 is setto ON 2 Whenever an Ox motion subroutine is enabled it is executed once After 0100 enables an Ox motion subroutine the execution of the Ox motion subroutine will start from the starting flag in the Ox motion subroutine After the ending instruction M2 in the Ox motion subroutine is executed the execution of the Ox motion subroutine will stop gt MOV H800A D1868 Setting the Ox number Ox10 and setting bit 15 to ON MOV H1000 D1846 or OUT M1074 we sboud uen 00 O ues DIJDAD If XOis ON the motion subroutine Ox10 will be enabled XO is ON MOVP K100 D1836 0 LXO 9u0 p n x SI v MOVP K100 D1837
326. ing the coil Y1 DVP 10PM Application Manual 4 5 4 Basic Instructions Instruction Applicable 10PM OAB Connecting circuit blocks in series The instruction ANB is used to perform the AND operation on the logical operation result reserved previously and the contents of the present Explanation accumulation register Ladder diagram Instruction code Description X0 X1 LD XO Loading the Form A Example 4 aa X2 X3 ORI X2 Connecting the Form B contact X2 in Block A Block B parallel LDI X1 Loading the Form B contact X1 OR X3 Connecting the Form A contact X3 in parallel ANB Connecting the circuit blocks in series OUT Y1 Driving the coil Y1 4 6 DVP 10PM Application Manual 4 Basic Instructions Instruction Function Applicable code model 10PM O ORB Connecting circuit blocks in parallel E R None The instruction ORB is used to perform the OR operation on the logical operation result reserved previously and the contents of the present Explanation accumulation register Ladder diagram Instruction code Description xo x4 BlockA LD XO Loading the Form A SAAME contact X0 x2 X3 ANI X1 Connecting the Form ORB B contact X1 in series Block B LDI X2 Loading the Form B contact X2 AND X3 Connecting the Form A contact X3 in series ORB Connecting the circuit blocks in parallel OUT Y1 Driving the coil Y1 Instruction Funcion Applicable code model e Driving a coil 4 O 4 X0 X377 YO Y377
327. instruction 6 steps ran Continuity rang Pulse Instruction Instruction Note 0 s Degrees 360 Please refer to specifications for more information about device Ox 0100 ranges M1808 M1968 Zero flag l M1760 M1920 Radian Degree flag e Please refer to the additional remark below F represents a floating point value There is a decimal point in a floating point value Only the 32 bit instructions DTAN and DTANP are valid S Source value D Tangent value Explanation Whether the source value in S is a radian or a degree depends on the state of l j a radian degree flag lf a radian degree flag is OFF the source value in S is a radian Radian DegreextTt 180 Ifa radian degree flag is ON the source value in S is a degree 0 lt Degree lt 360 If an operation result is 0 a zero flag will be ON The tangent of the source value in S is stored in D The relation between radians and tangent values is shown below R o S Radian R Tangent value N 1 a is PLA O q IX No loo 2 AL 2L NS qd DlH A radian degree flag is reset to OFF The binary floating point value in D1 DO Example 1 is a radian When XO is ON the tangent of the binary floating point value in D1 DO is stored in D11 D10 M1002 RST Radian Degree flag DTAN D10 gale L ee Degree X m 180 Binary floating point value Tangent value gt Binary floating point value DVP 10PM Application
328. into values and store the values in D1050 D1055 If an RTU lf a DVP 10PM series motion controller sends correct data to a peripheral after M1140 or M1141 is turned ON and the data with which the peripheral A DVP 10PM series motion controller is connected to a VFD B series AC Communication protocol 9600 8 E 1 The communication protocol setis retained Communication timeout 100 ms Communication command Device address 01 Data address H2101 Data length 6 words The data received is storedinD1070 D1085 inthe form of ASCII characters The DVP 10PM series motion controller automatically convert the ASCII charactersinto values and stored the values inD1050 D1055 S Device address Sz Data address n Data length Explanation instruction MODRD M1140 will be ON mode is used D1050 D1055 will be invalid responds is correct M1140 or M1141 will be reset motor drive ASCII mode M1143 OFF Example 1 sate MOV H87 D1120 SET M1120 MOV K100 D1129 iM SET dos Request forsending data XO MODRD K1 H2101 K6 M1127 Processing the data received The sending ia ed M1127 is reset reception of datais complete DVP 10PM series motion controller gt VFD B series AC motor drive The DVP 10PM series motion controller sends 01 03 2101 0006 D4 VFD B series AC motor drive gt
329. ion n is in the range of 1 to 500 mz 16 bit instruction n is in the range of 1 500 m2 2 32 bit instruction The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used m Special module number m is in the range of 0 to 255 m2 Control Explanation register number mz is in the range of 0 to 499 D Data which will be written into a control register n Quantity of data which will be written 16 bit instruction 1 500 mg 32 bit instruction 1 500 ms 2 A DVP 10PM series motion controller can write data into a control register in a special module by means of the instruction The 32 bit instruction DTO is used The value in D11 D10 is written into Example CR 13 CR 12 in special module 0 One value is written at a time When X0 is ON the instruction is executed When XO is turned OFF the instruction is not executed and the value which is written remains unchanged i oo e ve oe o l Regulation of operands Additional 1 m4 m is a special module number It is the number of a special module remark connected to the DVP 10PM series motion controller used g The number of the first special module which is connected to the DVP 10PM series motion cotroller used is 0 Eight special modules at most can be connected to the DVP 10PM series motion controller used and they do not occupy
330. ion 7 9 5100 122 DEMUL V Binary floating point multiplication 7 9 5101 123 DEDV V Binary floating point divison 7 9 5102 X 124 _ DEXP_ V _ Exponent of a binary floating point value 6 5103 DLN Pog logarithm of a binary floating point EES 5 104 126 DLoG V Logarithm of a binary fioating pointvale 9 5105 127 DESGR V Square root of a binary floating point vale 5 6 5 106 128 DPOW V Power of a floating pointvaue 9 5107 DINT Converting a binary floating point value into a 5 108 binary integer 130 DSIN _ Sine of a binary floating point value 5 6 5 109 S al O pa m a O O pre lt D Cc D ANP S S 5 2 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 32 bit instruction DFLT Converting a binary integer into a binary floating point value ee Refreshing the states of I O devices Instruction Type api nstuction code Pulse Buiss vsod buisse00 d a BIH 61 SER DSER v Searchingdata 9 17 5 66 ALT Y Mtematngbeween ONandOFF 8 8 67 RAMP DRAMP Ramp gt y 97 56 69 SORT DSORT Sortingdata lt 1 21 578 7 jron pron faery tear ofa a control register in a 9 12 580 O 79 TO Writing data into a control register in a special 13 5 84 module a x08 a Apsoutevaue 3 5 5a PLs Risngedgeodpt 3 4a 0 LP
331. ion Control Function Blocks System Information Add Motion Control Function Blocks Libraries Hew Folder a Delta Libraries T_DVPLOPM New Folder Click Add Motion Control Function Blocks on the context menu 2 The Add Function Block window appears Add Fonction Block Selecte Function Blocks Function Block Info Function Blocks 2 02 Function Blocks C1 T_AbksSegl TDVPIOPM OT Feler OT Releg O T_Tisezl OT Tite OT Jog OT MES CJ T_Gearln OT HomeRetun OT Ai Bue OT ato Users can select motion control function blocks in the Add Function Block window If the users click Select All all the motion control function blocks in the Add Function Block window will be selected After users select motion control function blocks they have to click OK 5 148 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 3 4 After the users click OK the motion control function blocks selected in the Add Function Block window will be automatically added to Function Blocks in the system information area eyste Information Project wee copmbals Allocation i Symbols Information Global Ssnmnbole f Programs 4 0100 Function Blocks re T_D FIOFM on Tnstraction E Monitor Tables f Chart KA Device Comments D OVP_FFMC CAM Chart F PEP Setting i SYSE Information Libraries of x Delta Libraries T_DVPLOPM The folders added to Function Blocks
332. ion block is used to start the motion control function block A motion control function block generally has the Busy output pin and the Done output pin The Busy output pin and the Done output pin in a function block indicate the state of the motion control function block If the execution of motion control function block is to be interrupted by another motion control function block the Aborted output pin will be added to the motion control function block Besides the Error output pin in a motion control function block is used to indicate that an error occurs in the motion control function block when the motion control function block is executed A motion control function block has not only the Execute input pin the Enable input pin but also value state input pins The characteristics of the value state input pins are described below Use of input values E f the input pin that a motion control function block has is the Execute input pin values are used when there is a transition in the Execute input pin s signal from low to high If a new value is created it becomes valid when the Execute input pin is triggered again m lf the input pin that a motion control function block has is the Enable input pin values are used when there is a transition in the Enable input pin s signal from low to high Compared with the Execute input pin the Enable input pin is used more often when a value used is updated repeatedly An input value exceeds a range
333. ion control function block T_CapMask supports DVP10PMOOM 5 12 7 Setting an Interrupt T Interrupt Eno 1 Motion control function block The motion control function block T_Interrupt is used to set the trigger for an interrupt subroutine The value of the IntSCR input pin indicates the trigger for an interrupt subroutine If the interrupt set is a time interrupt the value of the TimePeriod input pin indicates the cycle of the interrupt 2 Input pins Output pins Name Funetion mh Setting value Time when a value is valid IntTimer 0 IntX00 IntX01 me IntX02 oe the oe Hen pin etting an valid when there is a transition in the Intsre eae wane ee Enable input pin s signal from low to IntX05 IntX06 IntX07 ONDARON The motion control function block is enabled when there is a Enable iransition inthe BOOL True False Enable input pin s signal from low to high Cycle of a time interrupt When the motion control function Unit ms 7 block is executed the value of the HIME EeNO Not applicable to ve PEDO o gt TimePeriod input pin is updated terminal repeatedly interrupts 5 220 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high An Interrupt is enabled The motion control function block is being executed
334. ion of the A axis P II Low word oO RW No O Output period for the A axis Low word O RW No O Target position of the A axis P 11 High word See os w No 0 Speed at which the A axis rotates V II Low word iste wil peed at which the A axis rotates V II High word ose Aad Cpeaionconmand ote aw ef pe H wpe o Presen command position of the A axis Pulse Low word feiei lt e ete ley Present command position of the A axis Pulse High word Present command speed of the A axis PPS Low word o o o RW No Oe Present command speed of the A axis PPS High word Present command position of the A axis Unit Low word o RW No oe Present command position of the A axis Unit High word Present command speed of the A axis Unit Low word o o 0 RW Noo Present command speed of the A axis Unit High word TEE aes 2056 Bocronis gear aloo a Rais mario ee EE TENUERE SN FANER Frequency of pulses generated by the manual pulse generator Pero for the A axis Low word RAN D2101 Frequency of pulses generated by the manual pulse generator R W No for the A axis High word D2102 Number of pulses generated by the manual pulse generator R W No for the A axis Low word 3260 2 Oe DVPAOPM Application Manual 3 Devices Special tal ee D Latching Page device ae ee Number of pulses generated by the manual pulse generator ene for the A axis High word ORW eee a EO
335. ions and Basic Usage X Y M S K H KnX KnY KnM KnS T C D Vv Z Continuity instruction e Note All devices can not be modified by V devices and Z devices Please refer to specifications for more information about device ranges e Flag None D Destination device When the instruction ALT is executed the state of D alternates between ON and OFF Generally the pulse instruction ALTP is used When XO is turned from OFF to ON for the first time YO is ON When XO is turned from OFF to ON for the second time YO is OFF Explanation O94 X20 TO Example 1 a 7 YO A Inthe beginning MO is OFF and therefore YO is ON and Y1 is OFF When Example 2 X10 is turned from OFF to ON for the first time MO is ON Therefore Y1 is ON p and YO is OFF When X10 is switched from OFF to ON for the second time MO ii lt is OFF Therefore YO is ON and Y1 is OFF X10 When X20 is ON TO generates a pulse every two seconds The output YO Example 3 alternates between ON and OFF according to the pulses generated by TO DVP 10PM Application Manual 5 75 5 Applied Instructions and Basic Usage Applicable model __ M C ae Bitdevice device Worddevice device 16 bit instruction 9 steps P eT e e e vie PST DT VT RAMP ony instruction eee ae aera enerereneranerareren ae aanes on a on oe oe eee eee eee sa 32 bit ins
336. ions and Basic Usage Applicable model 10PM 16 bit instruction 1 step X Y M S K H KnX KnY KnM KnS T C D Vi Z Continuity Pulse e Note There is no operand instruction instruction The instruction does not need to be driven by a contact Flag None The instruction WDT is used to reset the watchdog timer in a DVP 10PM series Explanation motion controller If the scan time in a DVP 10PM series motion controller exceeds 200 milliseconds the ERROR LED indicator of the motion controller will be ON and users will have to disconnect the motion control module After the users connect the motion controller again the motion controller will judge its state according to the setting of the STOP RUN switch switch If there is no STOP RUN switch switch the motion controller will stop running automatically The points when a watchdog timer acts are as follows The system is abnormal The execution of a program takes much time and therefore the scan time is greater than the setting value in D1000 There are two ways users can use to improve the situation 1 Using the instruction WDT 0100 WDT M102 T1 T2 2 Changing the value in D1000 The default setting is 200 milliseconds Suppose the scan time is 300 milliseconds After the program is divided into two parts and the instruction WDT is inserted between these two parts the time it takes to scan either the first
337. is completed the contents of the register will be cleared automatically Please refer to the table below for more information Bit BDs BRO 1 All servos are ON Value Reserved 128 All servos are OFF 129 All errors are cleared 7 8 DVP 10PM Application Manual r4 CANopen Communication Card Description A QBuffer is designed for accessing several inconsecutive control registers by means of executing TO FROM once PLC scan time can be reduced by decreasing the number of times TO FROM is executed QBuffer access operation is described below For example after the inconsecutive control register numbers CR 170 CR 171 CR 280 CR 289 and CR 376 are written into the QBuffer address CR 91 DVP FPMC will connect the data in CR 170 CR 171 CR 280 CR 289 and CR 376 with CR 90 automatically Users only need to access CR 90 and the data in CR 170 CR 171 CR 280 CR 289 and CR 376 can be modified Registers in a DVP 10PM series motion controller CR 90 QBuffer data CR 91 QBuffer address 1 Data A 1 170 CR I70 DataA 2 Data B 2 171 Coy CR H71 DataB 3 Data C 3 280 N 4 DataD 4 289 gt CR 280 DataC Data E 7 S gt CR 289 Data D 6 6 32 32 gt CR 376 Data E CR n00 Node ID Description The control register is used to display the node ID of a servo drive in a C
338. is turned ON X10 will become a normally closed contact there will be a transition in X10 s signal from low to high and the value in D10 will change 5 Module which is supported The motion control function block T_ Capture supports DVP10PMOOM 5 12 6 High speed Masking 1 Motion control function block Valle captured presently Counting down Counting up e a kange masked kange masked a G The value inthis range can not be captured The motion control function block T_CapMask is used to start high speed masking The MaskValue input pin determines the range which will be masked After high speed masking is started if the relative difference between the value captured this time and the value captured last time is in the range which can be masked the signal which triggers the capture of the value this time will be disregarded 2 Input pins Output pins Name Function nhs Setting value Time when a value is valid The motion control function block is enabled when there is a Enable tansion in ie BOOL True False Enable input pin s signal from low to high When the motion control function Range which is block is executed the value of the MaskValue masked DWORD KO 2 147 483 647 MaskValue input pin is updated repeatedly 5 218 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage State output pin Time when there is a transition in an Time when there is a transition in an output pin
339. ist box and select the IP address 192 168 1 100 After OK is clicked users can upload download a program and monitor devices by means of Ethernet ara Options Window E IPG Download Program Ctrl F8 Pd Upload Program Ctrl F9 Communicaton Setting G Password Setting CtrtW TY Em 0100 Ctrl F11 E stop 0100 Ctrl F12 System Log PM Information a Edit Register Memory T Edit Bit Memory Monitoring Li Communication Setting 3 Downloading a program If users want to download a program they can click B on the toolbar or click Download Program on the Communication menu The procedure for downloading a program through Ethernet is the same as the procedure for downloading a program through a general communication port 4 Uploading a program If users want to upload a program they can click T on the toolbar or click Upload Program on the Communication menu The procedure for uploading a program through Ethernet is the same as the procedure for uploading a program through a general communication port 5 Monitoring a DVP 10PM series motion controller If users want to monitor a DVP 10PM series motion controller they can click on the toolbar or click Monitoring on the Communication menu The procedure for monitoring a DVP 10PM series motion controller through Ethernet is the same as the procedure for monitoring a DVP 10PM series motion controller through a general communication port 7 8 LED Indicators and Troubleshooti
340. ister is subtracted from itself whenever the conditional contact is ON in a scan cycle Generally the pulse instruction DESUBP is used If the absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON If an operation result is 0 a zero flag will be ON When XO is ON the binary floating point value in D3 D2 is subtracted from the binary floating point value in D1 DO and the difference is stored in D11 o Explanation Example 1 D10 ve LP focsus _o oe or When X2 is ON the binary floating point value in D1 DO is subtracted from Example 2 RA 0 and the difference is stored in D11 D10 o Please qee to section 5 3 me more Lee about performing operations on Additional floating point values remark 5 100 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model 10PM PS Bit device Word device x Y M S F H KnX KnY KnM KnS T Cc D V Z ps tet tT ley ps tet tt L nn o Tt tt tt tt 1 A J emu Sonu DemuLp Puce instruction instruction e Note Please refer to specifications for more information about device ranges F represents a floating point value There is a decimal point in a M1810 M1970 Carry flag floa
341. isters for motion axes data Special data registers for motion axes for motion axes Baan E uolow 5or uolow peeds ajbuls uoiow p ds OML uonow p ds om Hur su j uoow JIQqeLe A uolow poeds ajbuls Hur suj epow 10 e19uUab asjnd jenuely Frequency of pulses D2181 D2180 D2261 p220 JOSNeratea oy tne manual pulse generator for the axis specified Number of pulses D2183 D2182 D2263 D2262 generated by the manual pulse generator for the axis specified Response speed of the D2184 D2264 manual pulse generator for the axis specified indicates that the special data registers are applicable to the motion DVP 10PM Application Manual 3 73 3 Devices MEMO 3 74 DVP 10PM Application Manual 4 Basic Instructions 4 1 Table of Basic Instructions General instructions Instruction Execution Page Loading a Form A contact X Y M 7 C Loading a Form B contact x M 7 C series eee Connecting a Form A contact in XYM S T C 0 14 3 4 5 parallel Connecting a Form B contact in X Y M S T C 4 5 parallel ANB Connecting circuit blocks in series _ circuit blocks in series None O E E A E Output instructions Instruction Execution Page OUT Drivingacol MS SET Keeping a device ON Se N S RST Resetting a contact or a register Y M S T C D Y Z 3 48 Timer and counters Instruction Execution Page TM _ 16 16 bit timer timer T KoT D or T D eat comer Ker 0b 28 s 4 DONT
342. ivided by the constant K10 and the quotient which is a binary floating point value is stored in D301 D300 The binary floating point value in D101 D100 is divided by the binary floating point value in D203 D202 and the quotient which is a binary floating point value is stored in D401 D400 The binary floating point value in D401 D400 is multiplied by the binary floating point value in D301 D300 and the product which is a binary floating point value is stored in D21 D20 The binary floating point value in D21 D20 is converted into a decimal floating point value and the conversion result is stored in D31 D30 The binary floating point value in D21 D20 is converted into a binary integer and the conversion result is stored in D41 D40 5 71 5 Applied Instructions and Basic Usage X Y MS K A KnxX KnY KnM KnS T C D V Z oy instruction 32 bit instruction e Note All devices can not be modified by V devices and Z devices a aa 3 Please refer to specifications for more information about device ranges D Initial O device whose state is refreshed n Number of I O devices whose Explanation states are refreshed The states of I O devices are not refreshed until the instruction END is executed When the scan of a program starts the states of external inputs are read and stored in the input memory After the instruction END is executed the contents of the output mem
343. k liks 200 All motion control function blocks Mpui pin FALSE BOOL Input pin BOOL T_TrSeg2 T_TrSeg1 Transition in DOG s signal from low to high mcFalling BOOL False T_HomeReturn Transition in DOG s signal from high to low BOOL True T omenetun Returning home in the positive direction BOOL Returning home in the negative direction BOOL T AxisSetting2 Speed curve S curve BOOL Speed curve Trapezoid curve BOOL T_InputPolatiry Normally closed contact BOOL Normally open contact mcUp_Up BOOL True A high speed timer becomes active when its T HTmr signal goes from low to high A high speed timer becomes active when its mcUp_Down BOOL False i signal goes from high to low meGmpSel BOOL An output is set when the condition of a comparison is met T Compare mcCmpRst BOOL False An output is reset when the condition of a comparison is met meMator WORD 0 Motor uni T_AxisSetting2 Mechanical unit ompound unit moD WORD 0 ounting up down 1 ulses Directions T_AxisSetting2 T_HCnt B phase pulses Four times the frequency of A B phase n D IntTimer WORD An interrupt signal is triggered by a time he source of an interrupt signal is XO he source of an interrupt signal is X1 he source of an interrupt signal is X2 he source of an interrupt signal is X3 _Intxo4 WORD 5 7 he source of an interrupt signal is X4 IntXO5 WORD 6 enue he source of an interrupt signal is X5 he source of an interrupt
344. k is being there is a There is a transition in the Busy executed transition in the output pin s signal from high to Enable input low when there is a transition in pin s signal from the Enable input pin s signal from low to high high to low Input values are There is a transition in the Error incorrect Output pin s signal from high to The source low when there is a transition in specified has the Enable input pin s signal from been occupied high to low An error occurs in the motion control function block Value output pin Name Function se Output range Time when a value is valid When the motion control function block is executed the value of the Value in the M TimerValue output pin is updated KENAU timer specified Dn ORD E A ORR repeatedly If there is no trigger the value in the timer specified will remain unchanged DVP 10PM Application Manual 5 207 5 Applied Instructions and Basic Usage 1 Value of the Channel input pin o o o Xo 3 Troubleshooting or Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed The timer specified has been used n timer or stop the timer which has been 4 Example Purpose Users can use the motion control function block T_InputPolarity to simulate the state of the terminal for a high speed timer M1000 T_InpwiPolarity_Ul1
345. l type Supply voltage Specifications ESD IEC 61131 2 IEC 61000 4 2 8 kV air discharge 4 kV contact discharge EFT IEC 61131 2 IEC 61000 4 4 Power line 2 kV Digital I O 1 kV Analog amp Noise immunity Communication I O 1 kV Damped Oscillatory Wave Power line 1 kV Digital I O 1 kV RS IEC 61131 2 IEC 61000 4 3 80 MHz 1000 MHz 1 4 GHz 2 0GHz 10V m Operation 0 C 55 C Temperature 50 95 Humidity pollution degree 2 iene eee Storage 25 C 70 C Temperature 5 95 Humidity Vibration Shock International standards IEC 61131 2 IEC 68 2 6 TEST Fc IEC 61131 2 amp IEC resistance 68 2 27 TEST Ea Standard IEC 61131 2 DVP 10PM Application Manual 7 1 CANopen Communication Card 7 3 Product Profile and Installation Product profile Tel Jo CANopen connector D Ethernet connector _ CANopen indicator Oo i O 7 Ethernet indicator Communication connector Installing DVP FPMC on a DVP 10PM series motion controller and connecting it to a communication cable ae my i ji m LA K aan s7 J Ki i WER J Ethernet S K Wie f Neem D Lo x TA a S O f J Y J 7 4 Parameters for Control Registers Normal mode Common parameters number Function number Dala Length s z552 09 9 22 E alala O Q i O x Q O Q
346. latching counter counts the present value of the counter and the state of the contact of the counter will be retained and the latching counter will not continue counting until power is restored If a counter counts up from the present value 2 147 483 647 the next value following 2 147 483 647 will be 2 147 483 648 If a counter counts down from the present value 2 147 483 648 the next value following 2 147 483 648 will be 2 147 483 647 3 8 Registers Registers are classified according to their characters There are four types of registers 1 2 3 Special data register 4 General register Latching register Index register V Z 3 14 If the STOP RUN switch on a DVP 10PM series motion controller is turned from the STOP position to the RUN position ora DVP 10PM series motion controller is disconnected the values in the general registers will become O If M1033 ina DVP 10PM series motion controller is turned ON the values in the general registers will be retained after the STOP RUN switch on the DVP 10PM series motion controller is turned from the RUN position to the STOP position and will become 0 after the module is disconnected lf a module is disconnected the values in the latching registers will be retained lf users want to clear the value in a latching register they can use the instruction RST or ZRST Every special data register has its definition and purposes System states error messages and s
347. le motion is activated A manual pulse generator is The axis specified operates in a A mode of inserting two speed JOG mode motion is activated A mode of triggering the return to home is activated Va D1847 is for the X axis D1927 is for the Y axis D2007 is for the Z axis D2087 is for Mode of the A axis D2167 is for the B axis and D2247 is for the C axis operation Mode of operation Mode of operation D1847 D1927 D2007 D2087 D2167 and Mode of sending a CLR signal D2247 C O aa Setting the CLR output to ON OFF 11 Setting the polarity of the CLR output Limitation on the present position of the slave axis controlled by the manual pulse generator used Mode of stopping the motor used when the motor used comes into Restoring the DVP 10PM series motion controller to the factory settings contact with a positive limit switch negative limit switch 3 42 DVP 10PM Application Manual 3 Devices Description 0 After the axis specified returns home the CLR output will send a 130 millisecond signal to the servo drive used and the present position of the servo drive which is stored in a register in the servo drive will be cleared 1 The CLR output functions as a general output Its state is controlled by bit 3 0 The CLR output is OFF 1 The CLR output is ON 0 The CLR output is a Form A contact 1 The CLR output is a Form B contact 0 There is no limitation on the pre
348. lied Instructions and Basic Usage a a ae 16 bit instruction 5 steps x Y M S k H Knx KnY KnM KnS T C D V Z tag Continuity instruction 32 bit instruction 9 steps DRCR Continuity DRCRP Pulse Note The instruction supports V devices and Z devices If the 16 bit a LASS ements a L E E instruction is used Z devices can not be used If the 32 bit Flags instruction is used V devices can not be used Ox 0100 M1810 M1970 Carry flag Please refer to specifications for more information about device H p e Please refer to the additional remark below ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system D Device which is rotated n Number of bits forming a group The bits in D are divided into groups n bits as a group and these groups are rotated rightwards with a carry flag The n bit from the right is transmitted to a carry flag Generally the pulse instructions RCRP and DRCRP are used If the operand D is KnY KnM KnS Kn in KnY KnM KnS must be K4 16 bits or K8 32 bits 16 bit instruction 1 lt n lt 16 32 bit instruction 1 lt n lt 32 When XO is turned from OFF to ON the bits in D10 are di
349. lses output by the first axis is 100 000 the comparison condition set for high speed comparator 0 is met and Y2 is set to ON When Y2 is set to ON the users can check whether X0 is ON If XO is ON the comparison condition set for high speed comparator 0 is met The users can turn X0 OFF by means of M22 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 5 Module which is supported The motion control function block T_CmpRstOut supports DVP10PMOOM 5 12 5 Setting High speed Capture 1 Motion control function block The motion control function block T_Capture is used to start high speed capture The value of the Channel input pin indicates a capturer number The value of the Source input pin indicates a source the value of the TriggerDevice input pin indicates the device which triggers the capture of a value the value of the InitialValue input pin is an initial value and the value of the CapValue output pin is the value captured 2 Input pins Output pins Input pin Name Funetion nies Setting value Time when a value is valid The value of the Channel input pin is Channel Capturer WORD 0 7 valid when there is a transition in the number Enable input pin s signal from low to high The motion control function block is enabled n a transition In the Enable input pin s signal from low to high mcCapAxis1 mcCapAxis2 mcCapAxis3 mcCapAxis4 Source Source WORD meCapC200 mcCapC204 mcCapC208
350. lue in S with that in S and compare the binary floating point value in S with that in S2 The comparison result is stored in D If S is a floating point value the instruction will be used to compare S4 with the binary floating point value in S2 If Se is a floating point value the instruction will be used to compare the binary floating point value in S4 with So Ifthe binary floating point value in S4 is greater than that in Ss the binary floating point value in S will be taken as the maximum minimum value during the execution of the instruction EZCP If the operand D is MO MO M1 and M2 will be occupied automatically When XO is ON the instruction DEZCP is executed and MO M1 or M2 is ON When X0 is OFF the execution of the instruction DEZCP stops and the states of MO M1 and M2 remain unchanged If users want to reset MO M1 or M2 they can use the instruction RST or ZRST Example H If the value in D1 DO gt the value in D21 D20 MO will be ON M1 Ifthe value in D1 DO lt the value in D21 D20 lt the value in D11 D10 M2 M1 will be ON H If the value in D21 D20 gt the value in D11 D10 M2 willbe ON o E Please refer to section 5 3 for more information about performing operations on Additional floating point values remark DVP 10PM Application Manual 5 95 5 Applied Instructions and Basic Usage Applicable model 1 Phy DME s TK TH kxk TCO TV Z 1
351. m e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system D Device which is rotated n Number of bits forming a group The bits in D are divided into groups n bits as a group and these groups are rotated leftwards with a carry flag The n bit from the left is transmitted to a carry flag Generally the pulse instructions RCLP and DRCLP are used If the operand D is KnY KnM KnS Kn in KnY KnM KnS must be K4 16 bits or K8 32 bits 16 bit instruction 1 lt n lt 16 32 bit instruction 1 lt ns lt 32 When XO is turned from OFF to ON the bits in D10 are divided into groups four Exam pl e bits as a group and these groups are rotated leftwards with a carry flag The bit marked with X is transmitted to the carry flag XO RCLP D10 K4 Explanation 0 609 OF Rotating the bits in D10 leftwards High byte Low byte Carry flag 0 1111111100000000 D10 X A t Rotating the lt 16 bitsin D10 _ High byte Low byte Carry flag 1 lt 1111000000000111 D10 5 50 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model 10PM Moving the states of bit devices rightwards Ten E o H a pE T e VT ne Continuity instruction instruction Pulse ean LN
352. mber can not be used Explanation repeatedly otherwise an unexpected error will occur Ladder diagram Instruction code Description Example X0 LD XO Loading the Form A P10 contact XO gt lt CJ P10 The jump instruction CJ specifies P10 P10 Pointer P10 LD X1 Loading the Form A contact X1 OUT YI Driving the coil Y1 DVP 10PM Application Manual 4 15 4 Basic Instructions 4 16 MEMO DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 5 1 Table of Applied Instructions Pulse Step Page ype 32 bit instruction 16 bit 32 bit ee Conaionst np 5 OF CAL ealing a subrouing 8 S 02 SRET Indicating that a subroutine ends 1 517 3 08 RPT _Startofanested loop only one loop 3 520 09 RPE Endofanestedoop 1 5a 10 CMP_ DCMP V Gomparingvalues 7 9 52 1 izcp DzcP vV Zonalcomparison 3J 12 MoV DMOV V Transferring a value 5 6 524 Z 13 SMOV lt Transferngdigs T 5a 3 acM DOM V menings BB 2 15 BMOV lt Transferringvalues 88 3 16 FMOV DFMOV V Transferring a value to several devices 7 13 531 g 17 XOH DXCH V Imerchangng values BD g 18 BoD pBoD v mavae S e Moabhayeoded 5 S 538 BIN DBIN Converting a binary coded decimal value into 5 5 5 34 a binary value ADD DADD V Brayan BOB 21 SUB DSUB V Binary subracion BOT 22 MUL DMU V _Binarymulipication 7 o 538 DDN 7 Braydon 7 o sa 24 INC DINGY Adding oneto a binay vae BAO
353. meters othe xais O awi es o DVP 10PM Application Manual 3 21 3 Devices D SV Latching Page device RUN STOP Number of pulses it takes for the motor of the X axis to rotate D1818 once Low word 2000 Number of pulses it takes for the motor of the X axis to rotate D1819 once High word Distance generated after the motor of the X axis rotate once D1820 Low word 1000 Distance generated after the motor of the X axis rotate once D1821 High word D1822 Maximum speed Vmax at which the X axis rotates Low word Maximum speed Wun m at which the X axis rotates High R W 500K D1823 word D1824 Start up speed Vsg as at which the X axis rotates Low word RW D1825 Start up speed Vsg as at which the X axis rotates High word D1826 JOG speed Vjoc at which the X axis rotates Low word RW 5000 D1827 JOG speed Vjog at which the X axis rotates High word D1828 Speed Vat at which the X axis returns home Low word RW 50K D1829 Speed Vat at which the X axis returns home High word D1830 Speed Vcr to which the speed of the X axis decreases when the axis returns home Low word 1000 D1831 Speed Vcr to which the speed of the X axis decreases when the axis returns home High word Diaa Numberot PGO pusestorheXxas o w wo Daaa Supplementary pulses forthe Xais Yes o D1834 Home postion ofthe Xaxis Lowword o o Rw Yes o Di835 Home postion ofthe Xaxis High word RW Ys o D1836 Time T
354. mple Description Start the high speed counter C204 The value in C204 is captured when X5 is set to ON A manual pulse generator is used and is connected to X2 and X3 Steps 1 When M1002 in 0100 is ON the initial setting of high speed capture is carried out 1 DO 0 gt Initial group number n 0 2 D1 0 3 D20 6 gt Writing 6 values by means of the instruction TO Only one value is captured 4 D60 10 gt Reading 6 values by means of the instruction FROM Only one value is captured 2 When M1 is ON the high speed capture is set 1 The value in D3 D2 is H5005 gt The capture source set is C204 The value of bit 3 bit 0 is 5 The mode selected is a capture mode The value of bit 5 bit 4 is 0 The trigger selected is X5 The value of bit 15 bit 12 is 5 2 The value in D5 D4 is K100 Users can set D5 D4 by themselves 3 The high speed capture is started when M2 is ON 8 6 DVP 10PM Application Manual 8 High speed Comparison and High speed Capture 4 The setting of the high speed capture is read when M3 is ON m Monitorlable SEE DeviceNo Redix Value Comment Oooo E Cond d32u 0 Lidd d32n 100 E Dae d3dy 300 H Dao dl 0 Dd dl u 0 n D42 h32 OOONsOS Ddd d32u 100 5 When M4 is ON K1 is moved to M1204 M1207 C204 is started when M5 is set to ON Mode of counting Pulse Direction 6 Use a manual pulse generator and check whether C204 counts me 7 Use the ma
355. mple gotten i E Explanation O94 5 84 DVP 10PM Application Manual Bitdevice device He RT ee EOE 5 Applied Instructions and Basic Usage Word device Applicable model 10PM 16 bit instruction 7 steps Continuity instruction Si posamena S See a port e tt S l e Note S is in the range of KO to K254 n is in the range of K1 to K6 Please refer to specifications for more information about device ranges M1120 M1129 and M1140 M1143 Please refer to the additional remark below The instruction MODRD is used to drive peripheral equipment in a Modbus ACII RUT mode The RS 485 ports on Delta VFD series AC motor drives except VFD A series AC motor drives conform to a Modbus communication format Users can read data from a Delta AC motor drive by means of the S is a data address If the data address specified is illegal the device which is connected will respond with an error message an error code will be stored in D1130 in the DVP 10PM series motion controller used and M1141 will be ON The data which is sent by a peripheral is stored in D1070 D1085 After a DVP 10PM series motion controller receives the data sent by a peripheral it will automatically check whether the data received is correct If an error occurs lf an ASCII mode is used the data sent by a peripheral will be ASCII characters and the DVP 10PM series motion controller used will convert the data received
356. ms X0 A SET M1122 Requestforsending data XO Communication command Device address 01 MODWR K1 H0100 H1770 Data address H0100 l The data receivedis stored inD1070 D1085 P h t a i eee nO Ne Cae ieceve in the form of ASCII characters RST M1127 M1127 is reset The reception of data is complete DVP 10PM Application Manual 5 89 5 Applied Instructions and Basic Usage DVP 10PM series motion controller gt VFD B series AC motor drive The DVP 10PM series motion controller sends 01 06 0100 1770 71 VFD B series AC motor drive gt DVP 10PM series motion controller The DVP 10PM series motion controller receives 01 06 0100 1770 71 Data transmission registers in the DVP 10PM series motion controller message sent ARAL ae the DVP 10PM series motion controller Register meson pron D1089 low ta ADR 1 ADR 1 0 Address of the D1089 high 1 31H ADRO VFD ca a AC motor drive CMD 1 0 Command code D1090 high eS D1092low 0 30H 2A address Droge igh 0 30H D1093 low 31 H D1093 high ED 37 H D1094 low 37 H D1094 high O 30H D1095 low LRC CHK 1 LRC CHK 0 1 Checksum Data reception reigsters in the DVP 10PM series motion controller message with which the VFD B series AC motor drive responds Register Data Description D1070low 30H ADR 1 ADR 0 Dio7tlow O 30H CMD D1071 high 36H CMDO D1072 ow 0 Diora rih STH aos D1073low 0 30H D1073 high
357. n S a as 5 gi 2 S x mU L L 32 bit instruction 7 steps Continuity DLDX instruction Co MEES i e Note X represents gt lt lt gt lt Or 2 Flag None Please refer to specifications for more information about device ranges f S4 Source device 1 S2 Source device 2 Explanation The instruction is used to compare the value in S with that in S2 Take the instruction LD for instance If the comparison result is that the value in S4 is equal to that in Se the condition of the instruction is met If the comparison result is that the value in S4 is not equal to that in S2 the condition of the instruction is not met The instruction LDX can be connected to a busbar directly APINO nstuction instruction ON OFF instruction 24 ID DIDE SeS Seh 28 lD lt gt DID lt gt S Sh Ifa 32 bit counter is used the 32 bit insturciton DLDX must be used If a 32 bit counter and the 16 bit instruction LDX are used a program error will occur and the ERROR LED indicator on the DVP 10PM series motion controller used will blink C200 C255 are 32 bit counters When the value in C10 is equal to K200 Y10 is ON When the value in D200 is greater than K 30 and X1 is ON Y11 is set to ON When the value in C200 is less than K678 493 or when M3 is ON M50 is ON X1 K678493 C200 m50 M3 Example o o 5 128 DVP 10PM Application Manual 5 Applied Instr
358. n Instructions Basic instructions applied instructions motion instructions and G codes are supported Note Users have to avoid using pulse instructions There are 100 Ox motion subroutines in a program If users want to enable a motion Number subroutine number they have o set D1888 and set Dt T2 n DIBAOT MIOTA OON Ox0 Ox99 are motion subroutines They can only be enabled by 0100 An Ox motion subroutine can be enabled disabled by an external terminal a program or Characteristic communication and function Ox motion subroutines can call P subroutines If Ox motion subroutines are used with 0100 and P subroutines the Ox motion subroutines 0100 and the P subroutines can be arranged in any order 1 3 Structure of P Subroutines P subroutines are general subroutines They can be called by 0100 and Ox motion subroutines If P subroutines are called by 0100 the P subroutines will support basic instructions and applied instructions If P subroutines are called by Ox0 Ox99 the P subroutines will support basic instructions applied instructions motion instructions and G codes After 0100 or an Ox motion subroutine calls a P subroutine the P subroutine will be executed After SRET in the P subroutine is executed the lines under the instruction which calls the P subroutine will be executed 1 There are two methods of enabling a P subroutine e 0100 can call P subroutines e Ox motion subroutines can call P subroutines 2 Wh
359. n s signal from high to low or when there is a transition in the NegativeEnable input pin s signal from high to low If the PositiveEnable input pin and the NegativeEnable are set to False when the execution of the motion control function block is interrupted the Aborted output pin will be set to False in the next cycle There is a transition in the Error output pin s signal from high to low when there is a transition in the PositiveEnable input pin s signal from high to low or when there is a transition in the NegativeEnable input pin s signal from high to low The number of pulses per second is a unit for the Velocity input pin Users can change the unit used by means of the motion control function block T_AxisSetting2 Troubleshooting or Troubleshooting The values of input pins in the motion control function block are incorrect The motion control function block conflicts with other motion control function blocks Example Check whether the values of the input pins are in the ranges allowed Make sure that other uniaxial motion control function blocks are not started or the execution of other uniaxial motion control function blocks is complete before the motion control function block is started The motion control function block T_Jog is used to start JOG motion Positive JOG motion is enabled by EnableP and negative JOG motion is enabled by EnableN The first axis moves at a speed of 10 000 puls
360. n is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system Dy Value which is interchanged D2 Value which is interchanged Exp lanation The instruction is used to interchange the value in D with the value in D3 lt Itis suggested that users should use the pulse instruction XCHP When X0 is turned from OFF to ON the value in D20 is interchanged with the Examol value in D40 AA ad m Before the instruction aa e all is executed IS execute a 9 Gal D40 40 120 D40 T o 16 bit instruction If D4 is the same as Do and M1303 is ON the high 8 bits are Additional interchanged with the low 8 bits remark 32 bit instruction If D4 is the same as Dz and M1303 is ON the high 16 bits lt are interchanged with the low 16 bits When XO is ON and M1303 is ON the high 8 bits in D100 are interchanged with the high 8 bits in D101 and the low 8 bits in D100 are interchanged with the low 8 bits in D101 Before the instruction After the instruction is executed is executed D100Low 9 8 D100 Low
361. n CR 010 correspond to node 1 node 4 If a bit is 1 its corresponding node will be scanned and the contents of the control register will be cleared automatically Please refer to the table below for more information Node DVP 10PM Application Manual 7 7 r4 CANopen Communication Card CR 020 CANopen bus communication status Description Two consecutive bits in the control register are used to display a node communication status 00 Disconnected 01 Connected 11 Ready Please refer to the table below for more information Bit Bit 15 8 Bit 7 6 Bit Sa IRS number CR 040 Error status of a server Description The control register is used to display the error status of a servo drive Bit O bit 3 in CR 010 correspond to node 1 node 4 If an error occurs its corresponding bit will be 1 If an error reset command is executed the contents of the register will be cleared automatically Please refer to the table below for more information Node CR 050 CANopen bus control command Description The control register is used to send bus control commands to the nodes connected successfully in a CANopen network If the value in the control register is 1 the servos which have been connected are ON lf the value in the control registers is 128 the servos which have been connected are OFF If the value in the control register is 129 the errors which appear are cleared After the setting of the control register
362. n about device ranges Only the 32 bit instructions DECMP and DECMPP are valid The operand D occupies three consecutive devices F represents a floating point value There is a decimal point in a floating point value S4 Binary floating point value 1 S2 Binary floating point value 2 D Exp lanation Comparison result D occupies three consecutive devices j The instruction is used to compare the binary floating point value in S4 with that in So The comparison result gt or lt is stored in D lf S is a floating point value the instruction will be used to compare the S with the binary floating point value in S2 If Ss is a floating point value the instruction will be used to compare the binary floating point value in S with So If the operand D is M10 M10 M11 and M12 will be occupied automatically When XO is ON the instruction DECMP is executed and M10 M11 or M12 is ON When XO is OFF the execution of the instruction DECMP stops and the states of M10 M11 and M12 remain unchanged If users want to get the result that the value in D1 DO 2 the value in D101 D100 they have to connect M10 and M11 in series If users want to get the result that the value in D1 DO lt the value in D101 D100 they have to connect M11 and M12 in series If users want to get the result that the value in D1 DO the value in D101 D100 they have to connect M10 M11 and M12 in series If users wan
363. n about device M1810 M1970 Carry flag ranges e Please refer to the additional remark below J 1 Minuend S2 Subtrahend D Difference Exp lanation The binary value in S2 is subtracted from the binary value in S4 and the l difference is stored in D The highest bit in S and the highest bit in Ss are sign bits If the sign bit ina register is 0 the value in the register is a positive value If the sign bit ina register is 1 the value in the register is a negative value The flags related to 16 bit binary subtraction and 32 bit binary subtraction are listed below 16 bit binary subtraction 1 Ifthe operation result gotten is 0 a zero flag will be ON 2 Ifthe operation result gotten is less than 32 768 a borrow flag will be ON 3 Ifthe operation result gotten is greater than 32 767 a carry flag will be ON 32 bit binary subtraction 1 Ifthe operation result gotten is 0 a zero flag will be ON 2 Ifthe operation result gotten is less than 2 147 483 648 a borrow flag will be ON 3 Ifthe operation result gotten is greater than 2 147 483 647 a carry flag will be ON Please refer to the additional remark on the instruction ADD for more information about the relations between flags and values 16 bit binary subtraction When XO is ON the subtrahend in D10 is subtracted from the minuend in DO and the difference is stored in D20 Example 1 ve a o de X1 is ON the subtrahend in D41 D40 is subtra
364. n the hexadecimal system Word A word is composed of two consecutive bytes i e 16 bits b15 b0 Words can be used to represent OOOO FFFF in the hexadecimal system Double word A double word is composed of two consecutive words i e 32 bits b31 b0 Double words can be used to represent OOOOOO00 FFFFFFFF in the hexadecimal system 3 4 DVP 10PM Application Manual 3 Devices The relation among bits nibbles bytes words and double words in the binary system is shown below Double word SETS Wi WO lt lt Word NB7 N B6 NB5 NB4 NB3 NB2 NB1 NBO pobobababaapaspabbazbe ab opr rp pr e eof osfoo Bit 2 Octal number OCT The external input terminal numbers and the external output terminal numbers on a DVP 10PM series motion controller are octal numbers E External input terminals XO X7 X10 X17 Device numbers E External output terminals YO Y7 Y10 Y17 Device numbers 3 Decimal number DEC E Adecimal number can be used as the setting value of a timer or the setting value of a counter e g TMR TO K50 K indicates that the value following it is a constant E A decimal number can be used as an S M T C D V Z P device number e g M10 and T30 m A decimal number can be used as an operand in an applied instruction e g MOV K123 DO K indicates that the value following it is a constant 4 Binary coded decimal number BCD A decimal value is represented by a nibble or four bits and therefore sixteen con
365. nd bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 2 The frequency of pulses generated by motion is in the range of 0 PPS to 500K PPS If the value in D1825 D1824 D1905 D1904 D1985 D1984 D2065 D2064 D2145 D2144 D2225 D2224 is greater than 500K the frequency of pulses generated will be 500K PPS If the value in D1825 D1824 D1905 D1904 D1985 D1984 D2065 D2064 D2145 D2144 D2225 D2224 is less than O the frequency of pulses generated will be 0 PPS 3 Ifa stepper motor system is used the start up speed that users set must be greater than the motor resonance frequency generated X axis Y axis D1827 D1826 D1907 D1906 D1987 D1986 JOG speed Vjog at which the axis specified C axis rotates Description 1 Users can set the JOG speed Vjocg at which the axis specified rotates The value in D1827 D1826 D1907 D1906 D1987 D1986 D2067 D2066 D2147 D2146 D2227 D2226 is in the range of 0 to 2 147 483 647 The unit used is determined by bit 0 and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 2 The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS If the value in D1827 D1826 D1907 D1906 D1987 D1986 D2067 D2066 D2147 D2146 D2227 D2226 is greater than 500K the frequency of pulses generated will be 500K PPS If the value in D1827 D1826 D1907 D1906 D1987 D1986 D2067 D2066 D2147 D2146 D2227 D2
366. nd the 16 bit device D2 and performs the logical inclusive OR operation on each pair of corresponding bits and the operation result is stored in D4 XO ii won oo o2 o b15 bO Before the instruction DO oli foftfoftfo sfo sfof1fofs fo is executed WOR ppb Eeee aps Afterthe instruction CD D4 a ililia lioli loli is executed When X1 is ON a logical OR operator takes the values in the 32 bit device Example 2 D11 D10 and the 32 bit device D21 D20 and performs the logical inclusive OR operation on each pair of corresponding bits and the operation result is E stored in D41 D40 X1 Hit wor GS b31 b15 bO D11 D10 Hilh hh dil fofofofo fats itt a ptf ap tf tps 1p 4 1 fof ofof oft sf aft Before the instruction is executed SD DWOR D21 D20 ofojojilojo ijololol1 1loj lojojLolofolifololilolololililolilolo Afterthe instruction CD pi A D41 D40 filihhhhhholohhhhhiihh h ojola fajl DVP 10PM Application Manual 5 43 5 Applied Instructions and Basic Usage Applicable model 10PM a a X Y M S K H KnX KnY KnM KnS T C D V Z wxor etal WXORP ice en aaa aaaea g S1 y S l a 32 bit instruction 9 steps sz fT lt eee tt wor Continuity pwxorp Puse e Flag None e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used
367. ng E CANopen LED indicator LED indicator The green light is OFF A CANopen cable is not connected Check whether cables are connected correctly The green light is ON A OA ope Caples connect No action is required normally E Ethernet LED indicator LED _LEDindicator Description Resolution DVP is not connected to a E whether a network cable is The green light is OFF network connected correctly DVP FPMC is connected to a The green light is ON TE l network normally No action is required The green light blinks There is data exchange DVP 10PM Application Manual 7 27 CANopen Communication Card MEMO 7 28 DVP 10PM Application Manual 8 High speed Comparison and High speed Capture 8 1 High speed Comparison and High speed Capture A DVP 10PM series motion controller sets and reads values by means of the instructions FROM and TO The use of FROM TO to set high speed comparison and high speed capture and to read values is described below Control X0 E ci Module Control Initial Data number register device length number number Resetting output Setting a range S Initial number n n 0 7 E N E Sut 13 S42 omrol register whose SIE RSE register whose group number is n Data registers whose group numbers are n S 7 Control register whose group number is n 1 Data paa registers whose grup Numbers ere vt _ whose group numbers are n 1 onvol rociste wh
368. nge T0 1255 to latching devices by setting parameters Functions of timers 10 milliseconds are a unit of measurement for time A timer counts upwards for measuring time which elapses If the present value of a timer is equal to the value set the output coil of the timer will be ON The 3 8 DVP 10PM Application Manual 3 Devices value set can be a decimal value preceded by K or the value in a data register Actual time measured by a timer Unit of measurement for time x Setting value 1 If the instruction TMR is executed a timer will count for measuring time which elapses once If the value of a timer matches the value set the output coil of the timer will be ON X0 If XO is ON the timer TO will count upwards ee from the present time value every 10 milliseconds If the present timer value matches the setting value K100 the output coil TO will be ON If X0 is OFF or there is a power cut the present value in TO will become 0 and the output coil TO xo o will be OFF The setting value is K100 nF second Present value YO Setting value Actual time measured by a timer Unit of measurement for time x Setting value 1 Constant preceded by K A setting value can be a constant preceded by K 2 Value in a data register A setting value can be the value in a data register 3 7 Counters Counter C Counter numbers are decimal numbers C199 200 16 bi 16 bit up Counter a oe ter up 236
369. ngle speed motion is started YO Y3 will send single phase pulses 3 Pulse width D1838 D1918 D1998 and D2078 4 Output period D1842 D1922 D2002 and D2082 Bit 8 0 The value indicating the present command position of the axis decreases progressively Bit 8 1 The value indicating the present command position of the axis increases progressively Bit 9 0 Normal mode bit 9 1 Overwrite mode Bit 10 0 The return to home is triggered by a transition in DOG s signal from high to low Bit 10 1 The return to home is triggered by a transition in DOG s signal from low to high Bit 11 0 When the motor rotates clockwise the value indicating the present command position of the axis increases Bit 11 1 When the motor rotates clockwise the value indicating the present command position of the axis decreases Bit 12 0 Absolute coordinates Bit 12 1 Relative coordinates 6 2 DVP 10PM Application Manual 6 Multiaxial Interpolation Description Bit 13 0 The calculation of the target position of the axis is triggered by a transition in DOG s signal from low to high Bit 13 1 The calculation of the target position of the axis is triggered by a transition in DOG s signal from high to low The setting of bit 13 is applicable to the insertion of single soeed motion and the insertion of two speed motion Bit 14 0 Trapezoid curve Bit 14 1 S curve Users can use M1792 M1872 M2032 M2112 M2192 and M2272 to ju
370. nputPolarity is used to set the polarity of the external terminal which triggers the capture of the present position of the first axis and the polarity of the external terminal which triggers the capture of the present value in C200 The external wiring required is shown below a EERIE HEEE DA IT Ane SA eet D TARER A E Bet LE LE i mun Y10 are connected to X10 D Aniwa Cae Y11 are connected to X11 OOOOOL OECO Yon LE LE anh B DVP10PMOOM DL inl ccs DOODMC OCBO cane The pulses output by the first axis are A B phase pulses After the motion control function block T_MotionObserve is enabled the present position of the first axis and the present speed of the first axis will be read After M53 is set to ON a high speed counter will be started After M1 is set to ON high speed capturer 0 will be started Setting high speed capturer 0 If XO is turned ON the present position of the first axis will be captured DVP 10PM Application Manual 5 217 5 Applied Instructions and Basic Usage After M10 is set to ON high speed capturer 1 will be started Setting high speed capturer 1 If X10 is turned ON the present value in C200 will be captured After M40 is set to ON the positive JOG motion of the first axis will be started If M101 is turned ON XO will become a normally closed contact there will be a transition in X0O s signal from low to high and the value in DO will change If M109
371. ns and Basic Usage State output pin Time when there is Data a transition in an type output pin s signal from low to high Time when there is a transition in an output pin s signal from high to low e The execution of There is a transition in the Busy the motion control output pin s signal from high to low function block is when there is a transition in the The motion interrupted by a Enable input pin s signal from high to control function BOOL command low block is being If the Enable input pin is set to False executed when the execution of the motion control function block is interrupted the Aborted output pin will be set to False in the next cycle Me ia Lape sean nee There is a transition in the Aborted control function function biockiis output pin s signal from high to low Aborted block is BOOL meruoediva when there is a transition in the interrupted bv a o y Enable input pin s signal from high to l low command Input values are There is a transition in the Error A incorrect output pin s signal from high to low A ioe ee The axis specified when there is a transition in the Error dae BOOL is in motion before Enable input pin s signal from high to control function the motion control low block l i function block is executed Value output pin Data Pmeion Sb Oupa O wpe When the motion control function block Petree Number of DWORD K 2 147 483 648 is executed the value of the p input pul
372. ntimeters minute The number of pulses sent by the DVP 10PM series motion controller and the frequency of pulses are calculated below Distance Revolution Distance _ x _ x Number of pulses Revolution Number of pulses S SS 5 fa Number of pulses it takes for the axis specified to move to the target position specified _ oun P0 x 100 000 pulses Speed at which the axis specified rotates V l 6 centimeters minute 60 000 60 micrometers second Distance Distance Revolution 7 Number of pulses Speed Time Revolution Number of pulses Time 2 a B PPS pulse sec Yn The frequency of pulses calculated by the DVP 10PM series motion controller 10 A 60 000 1 000 Sa ee s0 Tog 10 000 PPS Example 3 Bit 1 0 10 or 11 gt Compound unit Position Micrometer Speed Pulse second PPS N 0 D1818 D1898 D1978 D2058 D2138 D2218 2 000 pulses revolution D1820 D1900 D1980 D2060 D2140 D2220 100 micrometers revolution P 1 10 000 micrometers V 1 10K PPS The number of pulses sent by the DVP 10PM series motion controller is calculated below Number of pulses it takes for the axis specified to move to the target position specified Eg Dx 200 000 pulses a 2 Bit 2 and bit 3 in D1816 D1896 D1976 D2056 D2136 D2216 Ratio Position The home position of the axis specified the target position of the axis specifie
373. nto a binary coded decimal value and the digit in the ones place of the conversion result is stored eT in K1Y0 YO Y3 Hi BCD KYO lf D10 001E hexadecimal value 0030 decimal value YO Y3 0000 binary value DVP 10PM Application Manual 5 33 5 Applied Instructions and Basic Usage Converting a binary coded decimal value into a binary value 16 bit instruction 5 steps Px Ty Pw Ts Pk TH knx kny knw kns TT CTD TV TZ sm Continuity instruction 32 bit instruction 6 steps Continuity DBINP instruction e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges M1793 M1953 Operation error flag S Source D Conversion result Explanation The binary coded decimal value in S is converted into a binary value and the conversion result is transferred to D The 16 bit binary coded decimal value in S should be in the range of 0 to 9 999 and the 32 bit binary coded decimal value in S should be in the range of 0 to 99 999 999 Decimal constants and hexadecimal constants are converted into binary values automatically Users do not need to use the instruction When XO is ON the binary coded decimal value in K1M0 is converted into a binary value and the conversion result is stored in D10 XO a
374. nual pulse generator and set X5 to ON 8 The value captured is read when M3 is ON When X5 is ON the value in C204 is captured The value captured is 677 MonitorTable L Dad GTT i When X5 is ON a L the value in C204 E Dado dl n 0 is captured Da dl 0 Da hi EEOSE DVP 10PM Application Manual 8 7 8 High speed Comparison and High speed Capture Program in PMSotft M1002 MS DENT C204 K10 8 8 DVP 10PM Application Manual 9 Appendix 9 1 Appendix A Error Code Table After a program is written into a DVP 10PM series motion controller the ERROR LED indicator will blink and an error flag will be ON if an error occurs in 0100 or an Ox motion subroutine The reason for the error occurring in 0100 or an Ox motion subroutine may be that the use of operands devices is incorrect syntax is incorrect or the setting of motion parameters is incorrect Users can know the reasons for the errors occurring in a DVP 10PM series motion controller by means of the error codes hexadecimal codes stored in error registers Error message table Program block Motion error error Error type Y axis ean Yala aris Aerie Baris Canta Errorflag M1953 M1793 M1873 M2033 M2113 M2193 M2273 Error register D1802 D1857 D1937 D2017 D2097 D2177 D2257 Step number D1803 D189 Program block 2x Program Motion error motion error Srortype Peter e Wate Zante eae O Cae Eror
375. number of PGO pulses is 0 and the number of supplementary pulses is 0 the motor used will stop after DOG s signal is generated and there is a transition in DOG s signal from high to low Velocity PPS Away from DOG s signal a Close to DOG s signal lt Direction in which the axis specified returns home Number of supplementary pulses Number of PGO pulses k Aa e E E S DOG l A transition in DOG s signal from high to low DVP 10PM Application Manual 3 Devices Bit 9 10 in D1816 D1896 D1976 D2056 D2136 D2216 is 01 gt The mode of returning home is a normal mode and the return to home is not triggered by a transition in DOG s signal from high to low Steps The motor used rotates at the speed Var When DOG s signal is generated the speed of the motor begins to decrease to the speed Vcr After the motor rotates for a specific number of PGO pulses and rotate for a specific number of supplementary pulses it will stop lf the number of PGO pulses or the number of supplementary pulses is not large the speed of the motor used will decrease to the speed Vcr after DOG s signal is generated After the motor rotates for a specific number of PGO pulses and rotates for a specific number of supplementary pulses it will stop whether its speed is Vcr If the number of PGO pulses is 0 and the number of supplementary pulses is 0 the motor used will stop after DOG s signal is generated Velocity PPS
376. o Slave station Quantity of data read written ASCII 100 registers mode Quantity of data read written RTU 100 registers mode Default communication protocol supported by a communication port Modbus ASCII mode 7 data bits 1 stop bit Even parity bit Serial transmission rate 9600 bps Register where a communication D1036 D1120 D1109 format is stored 32 registers 32 registers NJ 3 1 COM1 RS 232 Port COM1 is an RS 232 port Users can upload the program in a DVP 10PM series motion controller through COM1 and download a program to DVP 10PM series motion controller through COM1 The communication protocols that COM1 supports are Modbus ASCII and Modbus RTU and the transmission rate supported is in the range of 9 600 bps to 57 600 bps The communication cable DVPACAB2A30 is described below TO DVP PM MINI DIN TERMINAL 2 24 DVP 10PM Application Manual 2 Hardware Specifications and Wiring Communication port on a PC TP COM1 on a DVP 10PM series motion controller 9 pin D SUB female connector 8 pin Mini DIN connector 2 CQOM1 functions as a slave station It can be connected to a human machine interface 2 3 2 COM2 RS 485 Port 1 COM2 is an RS 485 port It can function as a master station or a slave station The communication protocols that COM2 supports are Modbus ASCII and Modbus RTU and the transmission rate supported is in the range of 9 600 bps to 115 200 bps COM2 can function a
377. o drive is enabled The servo drive will be ON if the bit is 1 e FR The error occurs in the servo is cleared The servo drive will clear the error which appears if the bit is 1 e OM It is used to control the function of motion modes Please refer to the table below for more information Profile position mode Interpolation mode Setting a new target position Enabling a homing mode A target position is allowed to X X be changed during motion OM 6 Absolute Relative positioning Note X indicates Reserved CR n61 Motion mode selection Description The control register is used to set the motion mode of a servo drive Please refer to the table below for more information Setting value Profile position mode Interpolation mode CR n70 CR n71 Target position of a profile position mode Description The control registers are used to set the target position of a profile position mode Data type Double word CR n72 CR n73 Target speed of a profile position mode Description The control registers are used to set the target speed of a profile position mode Data type Double word CR n74 CR n75 Acceleration time of a profile position mode Description The control registers are used to set the acceleration time of a profile position mode Data type Double word CR n76 CR n77 Deceleration time of a profile position mode Description The control registers are used to set the deceleration time of a profile p
378. o low If the Execute input pin is set to False when the execution of the motion control function block is interrupted the Aborted output pin will be set to False in the next cycle 5 153 5 Applied Instructions and Basic Usage Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high e Input values are e There is a transition in the Error incorrect output pin s signal from high to low l The axis specified when there is a transition in the A is in motion before Execute input pin s signal from high the motion control to low block function block is executed The number of pulses is a unit for the Position input pin and the number of pulses per second is a unit for the Velocity input pin Users can change the unit used by means of the motion control function block T_AxisSetting2 3 SA a An error occurs Troubleshooting Se values of input pins in the motion control Check whether the values of the input pins are in the function block are incorrect ranges allowed Make sure that other uniaxial motion control function The motion control function block conflicts with other blocks are not started or the execution of other motion control function blocks uniaxial motion control function blocks is complete before the motion control function block is started 4 Example Purposes After the first single speed mo
379. ock is being executed An error occurs in the motion control function block Thereisa transition in the Valid output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high Thereisa transition in the Busy output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high Input values are incorrect The source specified has been occupied There is a transition in the Valid output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy Output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Error output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low Please note that the number of high speed comparators plus the number of high speed capturers is 8 at most Source mcCmpAxis1 Present position of the first axis mcCmpAxis2 Present position of the second axis mcCmpAxis3 Present position of the third axis mcCmpAxis4 Present position of the fourth axis mcCmpC200 Present value in C200
380. of CJ M1 M2 and M3 are tured fom OFF 1o Y1 M20 and S1 are Y devices OFF OFF os asmen abel S devices M1 M2 and M3 are umed from ON to OFF M4 is turned from The timer TO does not The timer TO stops counting immediately alia from ON When MO is turned from 10 ON to OFF the timer TO is reset to 0 ines OFF to ON not count The timer T240 stops counting immediately When MO is turned from ON to OFF the timer T240 is reset to 0 The counter CO does M7 and M10 are M7 and M10 are OFF M10 is ON OFF Co Meana Y1 M20 and S1 are ON M4 is ON M6 is turned from ON M6 is ON to OFF CO stops Sound After MEE En M10 IS M10 is ON OFF MO is turned OFF CO En l will resume counting M11 is turned from The applied instructions The applied instructions Applied which are skipped are instructions M11 is turned from not executed but API ON to OFF 53 API 59 and API 157 API 159 are still executed 1 Y1 is a dual output When MO is OFF Y1 is controlled by M1 When MO is ON Y1 is controlled by M12 5 14 DVP 10PM Application Manual Yi Y1 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage is a dual output When MO is OFF Y1 is controlled by M1 When MO is ON is controlled by M12 MO Po has M2 Ta M3 M4 TMR K10 M5 RST T240 M6 TMR T240 K1000 M7 M10 CNT K20 M11 MO M12 M13 RST 5 15 5 Applied Instructi
381. of an axis The first motion is set so that the first axis moves at a speed of 2 000 pulses per second and moves for 10 000 pulses The second motion is set so that the first axis moves at a speed of 3 000 pulses per second and moves for 15 000 pulses BLOOD T AbsSeg Ul 5 162 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage i Execute 0 1 Busy Done Motion o Velocity 2000 0 25000 Position 10000 0 After the motion control function block is started the first axis moves for 10 000 pulses at a speed of 2 000 pulses per second and moves for 15 000 pulses at a speed of 3 000 pulses per second 5 Module which is supported The motion control function block T_AbsSeg2 supports DVP10PMOOM 5 10 4 Relative Two speed Motion 1 Motion control function block The motion control function block T_RelSeg2 is used to start relative two speed motion After relative two speed motion is started the speed of the relative two speed motion will increase from the Vesias set to the V I set The speed of the relative two speed motion will not increase decrease from the V I set to the V II set until the number of pulses output is near the value of the Distance input pin The speed of the relative two speed motion will not decrease from the V II set to the Vgias set until the number of pulses output is near the value of the Distance2 input pin Users can set the Vbias input pin the Vmax input pin t
382. oint values remark 5 106 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage x Y M S F H KnX KnY KnM KnS T C D V Z 32 bit instruction 9 steps Continuity Pulse DPOW instruction DPOWP instruction Ox 0100 M1808 M1968 Zero flag M1809 M1969 Borrow flag e Note Please refer to specifications for more information about device ranges Only the 32 bit instructions DPOW and DPOWP are valid M1810 M1970 Carry flag F represents a floating point value There is a decimal point in a M1793 M1953 Operation error flag floating point value Please refer to the additional remark below S Device in which a base is stored S2 Device in which a power is stored D Explanation Device in which the operation result is stored The binary floating point value in S4 is raised to the power of the value in So and the operation result is stored in D D POW S 1 S 8 52 The value in S can only be a positive value whereas the value in S can be a positive value or a negative value D must be a 32 bit register and the values in S and Sz must be floating point values Ifthe values in S and Sz are invalid an operation error will occur the instruciton will not be executed an operation error flag will be ON and the error code HOE19 will appear Ifthe absolute value of an operation result is greater than the maximum floating point value available a carry flag will be ON Ifthe a
383. ol function block is complete the Done output pin will be set to False in the next cycle There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error Output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high There is a transition in the Error output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low 3 Troubleshooting Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed 4 Module which is supported The motion control function block T_AxisSetting1 supports DVP10PMOOM 5 10 13 Parameter Setting ll 1 Motion control function block The motion control function block T_AxisSetting2 is used to set motion parameters The value of the Axis input pin indicates an axis number Users can set the velocity curve of the axis specified an output type and a unit The setting of a unit requires the number of pulses it takes for a motor to rotate once and the distance for which the axis specified moves when the motor rotate
384. ol loop NO N7 8 poniters Used with a master control loop P Used with CJ CJN or JMP PO P255 256 pointers Used with CJ CJN or JMP Pointer P A pointer is used with API 00 CJ API 256 CJN or API 257 JMP Please refer to chapter 5 for more information about the use of CJ CUN JMP Conditional jump CJ pr if X0 is ON the execution of the program will X0 jump from address 0 to address N and the 0 part of the program between address 0 and age address N will not be executed X1 if XO is OFF the execution of the program K C v1 starts from address 0 and the instruction CJ will not be executed i yo D 3 10 Special Auxiliary Relays and Special Data Registers Special auxiliary relays special M devices and special data registers special D devices are shown in the tables below Some device numbers in the tables are marked with Users can refer to section 3 11 for more information If the attribute of a device is R the users can only read data from the device If the attribute of a device is R W the users can read data from the device and write data into the device In addition indicates that the state of a special auxiliary relay is unchanged or the value in a special data register is unchanged indicates that a special auxiliary relay or a special data register in a DVP 10PM series motion controller is set according to the state of the DVP 10PM series motion controlle
385. ominator Frequency of pulses Biches cao generated by tne generated by the manual Bee Beco pulse generator for the axis manual ee i i specified generator or the axis specified Number of pulses pumnioer i o generated by the generated by the manual BEES eos pulse generator for the axis manual n 3 specified generator or the axis specified D2176 D2177 D2178 D2179 D2181 D2180 D2183 D2182 A O O O Response speed of Response speed of the ne manualoie D2184 D2264 manual pulse generator for f p h K5 the axis specified generan ORAIS specified 1 HW High word LW Low word 2 Unit um rev mdeg rev and 10 inches rev 3 The unit used varies with the setting of bit O and bit 1 in D1816 D1896 D1976 3 46 DVP 10PM Application Manual 3 Devices 3 12 1 Descriptions of the Special Data Registers Related to Motion O Amais O Bais O Cais Description Bit O bit 15 in D1816 D1896 D1976 D2056 D2136 D2216 are described below 1 BitO and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 Unit bi bO Umit o Desoripion O O O O O O O y y OO 0 0 Motorunit Apulse is a unit Oo 1 Mechanical unit A micrometer 10 4 inches or a degree is a unit ba Or Compound unit Position A micrometer 10 4 inches or a degree is a unit Mechanical unit i Speed A pulse is a unit Motor unit Motorunit Compoundunit Mechanicalunit um mdeg Pomon piee 10 inches pulse second Speed pulse second
386. on code Description LDP X0 Starting the detection XO X1 Example Hii lt v of the state of the rising E oh edge triggered contact XO AND X1 Connecting the Form A contact X1 in series OUT Y1 Driving the coil Y1 a Please refer to the specifications for the model used for more information about Additional the operand ranges which can be used remark _ Ifthe state of a rising edge triggered contact ina DVP 10PM series motion A controller is ON before the DVP 10PM series motion controller is powered it is TRUE after the DVP 10PM series motion controller is powered 4 10 DVP 10PM Application Manual 4 Basic Instructions Instruction Funcion Applicable code model 10PM_ OPM LDF Starting falling edge detection A tw Tw Tw we Tv Explanation Ladder diagram Example XO XI q S HS Or gt The usage of LDF is similar to that of LD but the action of LDP is different from that of LD LDF reserves the present contents and stores the state of the falling edge triggered contact specified to an accumulation register Instruction code Description LDF XO Starting the detection of the state of the falling edge triggered contact X0 AND X1 Connecting the Form A contact X1 in series OUT Y1 Driving the coil Y1 Instruction Funcion Applicable code model 10PM ANDP Connecting rising edge detection in series wom a A A pe ee f S series Explanation Ladder diagram Example XO XI q LESH
387. on is the value of C212 he device used for a comparison is CLRO he device used for a comparison is CLR1 he device used for a comparison is YO he device used for a comparison is Y1 he device used for a comparison is Y2 he device used for a comparison is Y3 he device used for a comparison is C200 he device used for a comparison is C204 he device used for a comparison is C208 he device used for a comparison is C212 The source of capture is the present position The source of capture is the present position of the second axis The source of capture is the present position of the third axis The source of capture is the present position of the fourth axis he source of capture is the value of C200 he source of capture is the value of C204 he source of capture is the value of C208 he source of capture is the value of C212 he source of a capture signal is PGO he source of a capture signal is MPGBO he source of a capture signal is MPGAO he source of a capture signal is LSNO he source of a capture signal is LSPO he source of a capture signal is DOGO he source of a capture signal is Stop0 he source of a capture signal is Starto he source of a capture signal is PG1 he source of a capture signal is MPGB1 he source of a capture signal is MPGA1 he source of a capture signal is LSN1 he source of a capture signal is LSP1 he source of a capture signal is DOG1 he source of a capture signal is Stop he source o
388. on timeout 100 ms MOV K3 DO X0 SET M1122 Request forsending data M1129 A LD gt DO D100 When acommunication timeout occurs the sending of datais retried M1140 4 When the data received is incorrect the sending of datais retried M1141 4 When the values of parameters of MODRD are incorrect the sending of datais retried AN Communication command E MODWR K1 H0100 H1770 Device address 01 Data address H0100 M1122 Data H1770 A INC D100 M1127 Processing the data received The data received is storedin D1070 D1085 inthe form of ASCII characters RST M1127 M1127 is reset RST D100 The reception of datais complete M1129 RST M1129 M1129 is reset M1140 RST M1140 M1141 RST M1141 lf LDP ANDP ORP or LDF ANDF ORF precedes the instruction MODRD function code HO6 or H10 M1122 must be set to ON before MODRD is executed The instruction can be used several times in a program but one instruction is executed at a time DVP 10PM Application Manual 5 93 5 Applied Instructions and Basic Usage Word device S1 i 32 bit instruction 9 steps ree eoe eoi eoun tn Haammmam a AS rUCHION nonoa Instruction __ po Pi tT tT ET Fag None e Note Please refer to specifications for more informatio
389. ons and Basic Usage Applicable model Calling a subroutine 10PM Bitdevice 16 bit instruction 3 steps POLY Pw SK TH kxk TC gt v2 Continuity Pulse e Note S can be a pointer instruction instruction S can be a pointer in the range of PO to P255 32 bit instruction A pointer can not be modified by a V device or a Z device oS a a ao a a a a a a a e e e Flag None S Pointer which points to a subroutine The subroutine to which a pointer points should be written after M102 M2 and the instruction SRET The pointer used by the instruction CALL can not be the same as the pointers used by the instructions CJ CJN and JMP If only the instruction CALL is used the same subroutine can be called repeatedly Explanation o 5 16 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model 10PM i Bit device Word device 16 bit instruction 1 step ee ee sher Sonunuiy e Note There is no operand l mS rucuon The instruction does not need to be driven by a contact Flag None a The instruction SRET indicates that a soubroutine ends After the execution of Explanation a subroutine in a program is complete the instruction following CALL which calls the subroutine in the main program 0100 will be executed When XO is ON the instruction CALL is executed and the execution of the program jumps to the subroutine to which P2 points When the
390. ontinuity DMOVP Pulse Note The instruction supports V devices and Z devices If the 16 bit tee e instruction instruction is used Z devices can not be used If the 32 bit Flag None instruction is used V devices can not be used Please refer to specifications for more information about device ranges S Source D Destination When the instruction is executed the value in S is transferred to D When the instruction is not executed the value in D is unchanged lf an operation result gotten is a 32 bit value users can only move the operation result by means of the instruction DMOV If users want to move a 16 bit value they have to use the instruction MOV Example 1 When X0 is OFF the value in DO is unchanged When XO is ON the value K10 is transferred to the data register DO 2 When X1 is OFF the value in D10 is unchanged When X1 is ON the value in K2M4 is transferred to the data register D10 lf users want to move a 32 bit value they have to use the instruction DMOV When X2 is OFF the values in D31 D30 and D41 D40 are unchanged When X2 is ON the value in D21 D20 is transferred to D31 D30 and the value in D51 D50 is transferred to D41 D40 wov Kio Do MOV K2M4 D10 Explanation 0 5 24 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 16 bit instruction 11 steps PX TY TM S KTH knx kny KnM kns TTC TD V1 Z moy Continuity Pulse S
391. ontrol function block named T_TrSeg1_U1 is set so that the first axis moves at a speed of 3 000 pulses per second and will move for 5 000 pulses after a transition in DOG s signal from high to low After the first axis moves for 5 000 pulses Done will be set to True M1000 T Tr egl Ul Tt Execute t U puy h oo a t Done I E Motion o t 3000 a ae SSSO0 OS ES SS REOSS EE RE ER BeReR ee eea eee Velocity o pm t H 5000 Position Falling Edge Trigger t Dog Example2 The motion control function block T_TrSeg1 is used to insert single spoeed motion which is triggered by a transition in DOG s signal from low to high The motion control function block named T_TrSeg1i_U1 is set so that the first axis moves at a speed of 3 000 pulses per second and will move for 5 000 pulses after a transition in DOG s signal from low to high After the first axis moves for 5 000 pulses Done will be set to True M1000 T_TrSezl l Ul DVP 10PM Application Manual 5 169 5 Applied Instructions and Basic Usage Execute t of Pp o d Busy P 7 t 0 BEE Done t 0 Motion oii E AEE TETEE EEE 3000 Velocity l m a t na Se eee Fee eee T 2000 Position Falling Edge Trigger i t t 5 Module which is supported The motion control function block T_TrSeg1 supports DVP10PMOOM 5 10 6 Inserting Two speed Motion 1 Motion control function block The motion control function block T
392. ory will be sent to output terminals Therefore users can use this instruction when they need the latest I O data in an operation process D must be an I O device whose number ends with 0 e g XO X10 YO or Y10 The instruction can not be used to refresh the I O devices in a digital extension module D must be an I O device in a PLC 1 If Dis XO and n is less than or equal to 8 the states of XO X0 will be refreshed If n is greater than 8 the states of the input devices and the states of the output devices in the motion controller used will be refreshed 2 IfDis YO and n is equal to 8 the states of YO Y7 will be refreshed If n is greater than 8 the states of the input devices and the states of the output devices in the motion controller used will be refreshed 3 If D is X10 or Y10 and n is any number the states of all the input devices except X0 X7 and the states of all the output devices except YO Y3 in the motion controller used will be refreshed n is in the range of 4 to the number of I O devices in the motion control module used and is a multiple of 4 When X0 is ON the DVP 10PM series motion controller reads the states of X0 X7 immediately The input signals are refreshed without any delay XO When X0 is ON the states of YO Y3 are sent to output terminals The output signals are refreshed immediately without the need to wait for the execution of the instruction END H er oe When X0 is ON the sta
393. ose orou numbre n7 register whose group number is n 7 Data registers whose group numbers are n 7 Data length 2 m 4 m number of groups 8 groups at most can be used m Reading XO Module Control Initial Data number register device length number number Reading the states of output Reading the values in counters devices Enabling capture nial group number n n 0 7 1 Control register whose group number is n States of TT devices Data registers whose group numbers are n Enabling capture 8 bits Control register whose group number is n 1 49 S48 Data registers whose group numbers are n 1 S31 S430 Control register whose group number is n 7 S 33 S432 Data registers whose group numbers are n 7 N Data length 2 m 4 m number of groups 8 groups at most can be used E Control Reading 1 The format of a control register in a high speed comparison mode is described below Output Sr Comparison result an Condition Comparison source o1 DOD DVP 10PM Application Manual 8 1 8 High speed Comparison and High speed Capture item Bit Setting value DVP 10PM series motion controller Present position of the X axis Comparison Value in C208 Value in C212 Equal to le i Greater than or equal to 2 D z Comparison resul 2 The format of a control register in a high speed capture mode is described below swe ie 8 7 6 8 4 8 eo Item Trigger Setting C
394. osition mode Data type Double word DVP 10PM Application Manual 7 1 ee CANopen Communication Card CR n78 Profile position settings Description The control register is used to set a profile position mode A profile position mode can be absolute positioning or relative positioning e 0 Positioning is completed e 1 A profile position mode is absolute positioning The value in the control register will be cleared to 0 after positioning is completed e 2 A profile position mode is relative positioning The value in the control register will be cleared to 0 after positioning is completed e 3 A profile position mode is absolute positioning The value in the control register will be retained after positioning is completed CR n80 Homing method Description The control register is used to set a homing method Range 1 35 For more information please refer to chapter 13 in CIA DSP402 V2 0 CR n81 CR n82 Home offset Description The control registers are used to set a home offset Range 2 147 483 648 2 147 483 647 Data type Double word CR n83 CR n84 Homing speed Description The control registers are used to set a homing speed Range 0 2 147 483 647 Data type Double word CR n85 CR n86 Speed at which motion homes after a transition in a DOG signal Description The control registers are used to set the speed at which motion homes after a transition in a DOG signal Range 0 2 147 483 647
395. ot be executed an operation error flag will be ON and the error code HOE19 will appear If a conversion result is 0 a zero flag will be ON When XO is ON the arcsine of the binary floating point value in D1 DO is stored in D11 D10 X0 im DASIN Do DO Binary floating point value Example Arcsine value Binary floating point value J Ba Please refer to section 5 3 for more information about performing operations on Additional floating point values remark D gt D1 D10 DVP 10PM Application Manual 5 115 5 Applied Instructions and Basic Usage Arccosine of a binary floating point value ae sana Word e x 32 bit instruction 6 steps ntinui Pulse DACOS ingrueton _PACOSP instruction _ e Note Please refer to specifications for more information about device e Flags ranges Ox 0100 Only the 32 bit instructions DACOS and DACOSP are valid M1808 M1968 Zero flag F represents a floating point value There is a decimal point in a M1793 M1953 Operation error flag floating point value e Please refer to the additional remark below S Source value binary floating point value D Arccosine value Explanation Arccosine value cos The relation between cosine values and arccosine values is shown below R S Cosine value R Arcconsine value The decimal floating point value into which the cosine value in S is converted can only be in the range of 1 0 to
396. otection 24 V DC output is equipped with a short circuit protection and an overcurrent protection Surge voltage withstand level Insulation Above 5 MQ impedance The voltage between all input terminals output terminals and the ground is 500 V DC ESD 8 kV air discharge EFT Power line 2 kV digital I O 1 kV analog amp communication I O 250 V The diameter of the ground should not be less than the diameters of the cables connected to the terminals L and N If several DVP 10PM series motion controllers are used please use single point ground Operation 0 C 55 C Temperature 5 95 Humidity pollution degree 2 Storage 25 C 70 C Temperature 5 95 Humidity Vibration Shock International standards IEC 61131 2 IEC 68 2 6 TEST Fc IEC 61131 2 amp IEC 68 2 27 resistance TEST Ea Weight Approximately 478 688 g 2 1 2 Electrical Specifications for Input Terminals Output Terminals 1500 V AC Primary secondary 1500 V AC Primary PE 500 V AC Secondary PE Noise immunity Operation Storage Electrical specifications for input terminals mE DVP10PMOOM Four axis mode Terminal Description Response __ Maximum input Temi Desopton Response aurem Voltage They are single A B phase input terminals DOG signals for the X axis the Y axis the X0 X7 Z axis and the A axis X0 X2 X4 and X6 200 kHz 15 mA 24 V PG signals for the X axis the Y axis the Z axis and the A axis X1 X3 X5 and X7 X
397. ourth axis the fifth axis and the sixth axis are used to execute linear interpolation When the program is executed the array indicated by Position is set to 15000 30000 15000 0 O 0 15000 30000 15000 0 0 0 indicates the target positions of the absolute linear interpolation executed by the first axis the second axis and the third axis When the program is executed the array indicated by Distance is set to 1000 10000 10000 O O 0 1000 10000 10000 O O OJ indicates the distances for which the fourth axis the fifith axis and the sixth axis move when the fourth axis the fifith axis and the sixth axis execute relative linear interpolation After M1 is set to ON the multiaxial absolute linear interpolation set will be started After M10 is set to ON the multiaxial absolute linear interpolation set will be started Users can use the motion control function block T_MotionObserve to check whether the positions of the axes which execute the linear interpolation set are correct 5 Module which is supported The motion control function block T_RelMoveLinear supports DVP10PMOOM 5 11 3 Stopping Multiaxial Linear Interpolation 1 Motion control function block The motion control function block T_GroupStop is used to stop multiaxial linear interpolation Users can set the axes which execute interpolation by means of the AxesGroup input pin 5 200 DVP 10PM Application Manual 5 Applied Instructions and Basic U
398. output 2 The axis specified is operating Ee OOOO 4 The axis specified pauses The manual pulse generator used generates positive going pulses The manual pulse generator used generates negative going pulses Undefined Axis error code Description Please refer to chapter 11 for more information DVP 10PM Application Manual 3 65 3 Devices maxis axis Zaxis pene Seer iene D1858 D1938 D2018 Electronic gear ratio Numerator D1859 D1989 _ D2019 Electronic gear ratio Denominator Maxis B axis axis pee earn D2098 D2178 D2258 Electronic gear ratio Numerator D Da D2 9 Electronic gear ratio Denominator Description 1 If bit 5 in D1846 D1926 D2006 D2086 D2166 D2246 is set to ON a manual pulse generator mode will be activated 2 A manual pulse generator generates A B phase pulses that are sent to the input terminals X10 and X11 The relation between the position of the axis specified and the input pulses generated by the manual pulses used is shown below S Servo drive AAI D1858 D1938 EP Servo motor Aphase Frequency of input pulses X D1859 D1939 ad B phase Frequency of output pulses RP gt If a positive limit switch or a negative limit switch is enabled when a manual pulse gene
399. output pin will be set to False The Valid output pin in a motion control function block will not be reset until the error occurring in the motion control function block is eliminated and output data states become valid 5 146 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 5 8 2 Timing Diagram for I nput Output Pins Situation 1 Situation 2 Situation 3 Execute Busy Situation 1 The execution of the motion control function block is interrupted Situation 2 An error occurs in the motion control function block Situation 3 The execution of the motion control function block is complete normally Situation 1 Situation 2 Enable Busy 1 It may take some time Situation 1 The motion control function block is executed normally Situation 2 An error occurs in the motion control function block DVP 10PM Application Manual 5 147 5 Applied Instructions and Basic Usage 5 8 3 Introducing the Use of PMSoft The use of the motion control function blocks in PMSoft is introduced below 1 Right click Function Blocks in the system information area in PMSoft System Infomoaton Project fee corenbols Allocation i Symbols Information Global Symbols k Programs J oi Ox E F I 5 BA Instruction Hew POU Hew POU E Monitor Tab Chart KA Device Com I OFr FEME CAM Chart gt Import Function Blocks i H a PEP Setting 2 a D Import Function Blocks i Add Mot
400. ow When input pins are set to True and the input terminals are ON there are transitions in these output pins signals from high to low When input pins are set to False and the input terminals are OFF there are transitions in these output pins signals from high to low There are transitions in these output pins signals from high to low when there is a transition in the Enable input pin s signal from high to low 5 195 5 Applied Instructions and Basic Usage 3 Troubleshooting Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed 4 Module which is supported The motion control function block T_InputPolarity supports DVP10PMOOM 5 11 Multiaxial Motion Control Function Blocks 5 11 1 Multiaxial Absolute Linear I nterpolation 1 Motion control function block The motion control function block T_AbsMoveLinear is used to start multiaxial absolute linear interpolation Users can set the axes which execute interpolation by means of the AxesGroup input pin set the target positions of the axes specified by means of the Position input pin and set the speed of the axes specified by means of the Velocity input pin 2 Input pins Output pins Name Function Data type Setting value Time when a value is valid Peewee 0 Not setting axes i j l n The value of the AxesGroup input pin A AXES WACH A
401. part of the program or the second part of the program will be less than 200 milliseconds 300ms program Example The program is divided into two parts The time it takes to scan either the first part of the program or the second part of the program is less than 200 milliseconds 150ms program X0 150ms program The watchdog timer is reset a E The instruction WDT is executed when a condition is met Users can make the Additional instruction WDT executed only in one scan cycle by writing a program They remark can use the pulse instruction WDTP The default setting of a watchdog timer is 200 milliseconds Users can set a watchdog timer by means of D1000 DVP 10PM Application Manual 5 19 5 Applied Instructions and Basic Usage Applicable model 10PM a ny s it i ___ e Note The instruction does not need to be driven by a contact The instruction supports V devices Please refer to specifications for more information about device ranges e Flag None S Number of times a loop is executed Exp lanation There is only one RPT RPE loop in a program If there is more than one RPT RPE loop in a program an error will occur 5 20 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model End of a nested loop 16 bit instruction 1 step X Y M S K H KnX KnY KnM KnS T C D Vi Z oninu e Not
402. plication Manual 5 Applied Instructions and Basic Usage mov K200 XO Destination value Minimum destination value 500 D Maximum destination value 30 Source value 0 Minimum Maximum source value 200 source value 3000 Suppose S is D100 the value in D100 is F500 the maximum source value in DO is F3000 the minimum source value in D2 is F200 the maximum destination value in D4 is F500 and the minimum destination value in D6 Is F30 When XO is ON M1162 is set to ON the instruction DSCLP is executed and a scale is stored in D10 Equation D10 F500 F200 x F500 F30 F3000 F200 F30 F80 35 F80 35 is rounded to the nearest integer and becomes F80 F80 is stored in D10 XO set ne pwova F000 bo pwovel Foo oe XO a _ N 16 bit instruction The value in S4 is in the range of the minimum source value Additional and the maximum source value i e the value in S4 is in the range of 32 768 to remark 32 767 If the value in S exceeds the minimum source value the maximum aA source value the minimum source value the maximum source value will be used 32 bit instruction The integer in S4 is in the range of the minimum source value and the maximum source value i e the integer in S4 is in the range of 2 147 483 648 to 2 147 483 647 If the integer in S exceeds the minimum source value the maximum source value the minimum source value the maximum source value will be used
403. point value 5 6 5 113 en ee a value m tebittimer O o o a Writing data into a control register in a special ae oro Ya e e 26 WAND DWAND V Logical AND operation lt 7 9 542 07 WDT Y Watchdogtimer AD w 27 WOR DWOR v Logical OR operation AB 37 WSFL Y Moving the values in word devices leftwards 9 555 36 WSFR Y __ Moving the values in word devices rightwards 9 553 28 WXOR DWXOR Y Logical exclusive OR operation 7 9 544 X 17 XCH_ DXCH_ V __ Interchanging values 8 9 532 z r et eee i 40 ZRST Y Resettingazone 8 z 558 mT 5 12 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 5 6 Descriptions of the Applied Instructions Applicable model Conditional jump 10PM 16 bit instruction 3 steps X Y M S K H KnX KnY KnM kKnS T C D V Z Continuity Note S can be a pointer instruction instruction S can be a pointer in the range of PO to P255 32 bit instruction A pointer can not be modified by a V device or a Z device oon ee ee l l m a e m a l e Flag None S Pointer which points to a jump destination Explanation If some part of the main program 0100 does not need to be executed users i can use CJ or CJP to shorten the scan time Besides if a dual output is used users can use CJ or CJP Ifthe program specified by a pointer is prior to the instr
404. pplication Manual 5 Applied Instructions and Basic Usage 4 Example The motion control function block T_TrSeg2 is used to insert two speed motion which is triggered by a transition in DOG s signal from low to high The motion control function block named T_TrSeg2_U1 is set so that the first axis moves at a speed of 3 000 pulses per second and will move for 2 000 pulses at a speed of 1 000 pulses per second after a transition in DOG s signal from low to high 1000 T TrSezt Ul Execute 0 t Busy 0 t Done t Motion Velocity 1000 i t Position ee EE P eee 7 A A 1 rasasosnnresnrrrnseornrnesoerrrresenns Rising Edge Trigger Dog After the first axis moves for 2 000 pulses Done will be set to True 5 Module which is supported The motion control function block T_TrSeg2 supports DVP10PMOOM 5 10 7 J OG Motion 1 Motion control function block The motion control function block T_Jog is used to start JOG motion The value of the Axis input pin indicates an axis number and the value of the Velocity input pin indicates the speed of JOG motion If the PositiveEnable input pin is set to True positive JOG motion will be started If the NegativeEnable input pin is set to True negative JOG motion will be started The number of pulses per second is a unit for the Velocity input pin Users can change the unit used by means of the motion control function block T_AxisSetting2 DVP 10PM Application Manual 5 173 5 Applied
405. pt VFD A series AC motor drives conform to a Modbus communication format Users can write data into a Delta AC motor drive by means of the instruction MODWR Sis adata address If the data address specified is illegal the device which is connected will respond with an error message an error code will be stored in D1130 in the DVP 10PM series motion controller used and M1141 will be ON For example the data address 8000H in a VFD B series AC motor drive is illegal and therefore M1141 is ON and the value in D1130 is 2 Please refer to VFD B User Manual for more information about error codes The data which is sent by a peripheral is stored in D1070 D1076 After a DVP 10PM series motion controller receives the data sent by a peripheral it will automatically check whether the data received is correct If an error occurs M1140 will be ON ifa DVP 10PM series motion controller sends correct data to a peripheral after M1140 or M1141 is turned ON and the data with which the peripheral responds is correct M1140 or M1141 will be reset A DVP 10PM series motion controller is connected to a VFD B series AC motor drive ASCII mode M1143 OFF o Explanation Example 1 ene 8 r MOV H87 D1120 Communication protocol 9600 8 E 1 SET M1120 The communication protocol setis retained __ MOV K100 D1129 Communication timeout 100
406. r The users can read a setting value and refer to the manual for more information Special STOP RUN M N 4 Latching Page device RUN STOP If the motion controller runs M1000 will be a normally open M1000 contact Form A contact When the motion controller runs Off On Off No Off 3 30 M1000 is ON If the motion controller runs M1001 will be a normally closed M1001 contact Form B contact When the motion controller runs On Off On No On 3 30 M1001 is OFF A positive going pulse is generated at the time when the M1002 motion controller runs The width of the pulse is equal to the Off On Off No Off 3 30 scan cycle A negative going pulse is generated at the time when the motion controller runs The width of the pulse is equal to the Off On No On 3 30 scan cycle M1008 The watchdog timer is ON M1009 The low voltage signal has ever occurred M1011 10 millisecond clock pulse The pulse is ON for 5 Q milliseconds and is OFF for 5 milliseconds M1012 100 millisecond clock pulse The pulse is ON for 50 milliseconds and OFF for 50 milliseconds M1013 1 second clock pulse The pulse is ON for 0 5 seconds and OFF for 0 5 seconds M1014 1 minute clock pulse The pulse is ON for 30 seconds and OFF for 30 seconds M1020 Zero flag for the instructions SFRD and SFWR M1022 Carry flag for the instructions SFWR RCR and RCL Q 2e eeek 3 16 DVP 10PM Application Manual 3 Devices Special
407. r DO is cleared to 0 first When XO is turned from OFF to Exam pl e ON the value in D20 is written into D1 and the value of DO becomes 1 When XO is turned from OFF to ON again the value in D20 is written to D2 and the value in DO becomes 2 The value in D20 is moved and written into D1 in the way described below The value in D20 is written into D1 The value of DO becomes 1 X10 RST Do The value of DOis cleared to Ofirst xo SFWRP DO K10 Source n 10 ian i D9 ps 07 pe ps pa Ds D2 D1 bo B Pointer D0 3 2 1 e o The instruction SFWR can be used with the instruction SFRD to write a value Additional and read values remark 5 56 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Moving a value and reading it from a word device a 16 bit instruction 9 steps Pulse x Y MS k H Knx KnY KnM KnS T c D V Z igeRp Continuity instruction instruction S eh ee hb hl tnd 32 bit instruction D 7 iaae CUCU onan iddei i d1 011 s e Note The instruction supports V devices and Z devices If the 16 bit Ox 0100 instruction is used Z devices can not be used If the 32 bit M1808 NAGS Zero flag instruction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers
408. r the values in the n devices starting from S are added up the mean of the sum is stored in D Ifa remainder appears in a calculation it will be left out lf Sis not ina valid range only the devices in the valid range will be processed Ifnis notin the range of 1 to 64 an operation error will occur n 1 64 When X10 is ON the values in the three registers starting from DO are added Exam pl e up After the values are added up the sum will be divided by 3 The quotient is stored in D10 and the remainder is left out X10 A wean oo ef D0 D1 D2 3 DO K100 After the instruction D1 K113 gt is executed D10 K112 The quotient 2 is left out D2 K125 DVP 10PM Application Manual 5 65 5 Applied Instructions and Basic Usage Driving an annunciator x Y MIS K H KnX KnY KnM KnS T C D V Z ans Sela y 5 Instruction S 32 bit instruction pom tT fet te tT tt tr eo tet tt ft tt ff Fag none e Note All devices can not be modified by V devices and Z devices Please refer to specifications for more information about device ranges S Timer m Time D Annunciator The instruction ANS is used to drive an annunciator S T0 T183 m K1 K32 767 Unit 100 ms D S912 S1023 See the explanation of ANR for more information If X3 is ON for more than 5 seconds the annunciator S999 will be ON Even if X3 is turned OFF S999 will still be ON How
409. ration result The final result is stored in an i accumulation register Ladder diagram Instruction code Description LD X1 Loading the Form A Example 14 pvt gt contact X1 se d ANI X0 Connecting the Form B contact XO in series OUT YI Driving the coil Y1 4 4 DVP 10PM Application Manual 4 Basic Instructions Instruction Applicable a Connecting a Form A contact in parallel Open _ ry tte tytyte The instruction OR is used to connect a Form A contact in parallel It reads the state of a contact which is connected in parallel and performs the OR E Xp lanation operation on the previous logical operation result The final result is stored in an d i accumulation register a Ladder diagram Instruction code Description LD XO Loading the Form A Example contact XO i X1 OR X1 Connecting the Form A contact X1 in parallel OUT YI Driving the coil Y1 Instruction Applicable 10PM Connecting a Form B contact in parallel Fo Osean i Ti pe Te ye ys The instruction ORI is used to connect a Form B contact in parallel It reads the state of a contact which is connected in parallel and performs the OR Explanation operation on the previous logical operation result The final result is stored in an l accumulation register _ Ladder diagram Instruction code Description LD XO Loading the Form A Exam pl contact X0 X1 ORI X1 Connecting the Form B contact X1 in parallel OUT YI Driv
410. rator is operated the generation of pulses will stop If a positive limit switch is enabled positive going pulses will be inhibited and negative going will be allowed If a negative limit switch is enabled negative going pulses will be inhibited and positive going switch will be allowed 3 The speed output is determined by the frequency of input pulses generated by a manual pulse generator and an electronic gear ratio HW LW D1861 D1860 D1941 D1940 D2021 D2020 Frequency of pulses generated by the manual pulse generator for the axis specified LW D2181 Description 1 The value in D1861 D1860 D1941 D1940 D2021 D2020 D2101 D2100 D2181 D2180 D2261 D2260 indicates the frequency of pulses generated by the manual pulse generator for the axis specified It does not vary with the values in D1858 D1938 D2018 D2098 D2178 D2258 and D1859 D1939 D2019 2099 D2179 D2259 X axis Y axis Number of pulses generated by the manual pulse C axis generator for the axis specified Description 1 The value in D1863 D1862 D1943 D1942 D2023 D2022 D2103 D2102 D2183 D2182 D2263 D2262 indicates the number of pulses generated by the manual pulse generator for the axis specified If the pulses generated by the manual pulse generator for the axis specified are clockwise pulses the value in D1863 D1862 D1943 D1942 D2023 D2022 D2103 D2102 D2183 D2182 D2263 D2262 will
411. rd users have to use several subindex areas for data transmission Object dictionary for DVP FPMC Index Object Number of Mapping ser name subindices SADE ote target a a cycle 1018 ARRAY Product information UNSIGNED32 E EEE SDO parameter of 1200 ARRAY 3 a master UNSIGNED32 N a slave 1400 ARRAY ae o RPDO parameter UNSIGNED32 oe 143F ARRAY nr i oo ee RPDO parameter UNSIGNED32 9 dak ee APN O O punter E P Gansa KR parameter Ga lai enw RCO saa A mew A parameter 1800 ARRAY 6 TPDO ba UNSIGNED32 RW N 183F ARRAY _ Ee parameter UNSIGNED32 ae TPDO mapping o mapping 2000 ARRAY 5 PDO dataregister UNSIGNED32 207F ARRAY 5 PDO dataregister UNSIGNED32 2 2 6000 ARRAY Lee Mode switch switch _ UNSIGNED8 ARRAY A I ea Servo drive control UNSIGNED16 TEn Parameter of a 6120 ARRAY profile position UNSIGNED32 mode Present motion drive Servo drive 7 18 DVP 10PM Application Manual r4 CANopen Communication Card 7 6 Setting a DVP FPMC Mode E A2 mode In an A2 mode DVP FPMC communicates with four Delta ASDA A2 series servo drives through a CANopen network During the communication DVP FPMC functions as a master and the servo drives functions as slaves The communication structure required is show below The default node ID of DVP FPMC is 127 The objects which are connected are node ID 1 node ID 4 After users assign node ID 1 node ID4 to the
412. rst axis finishes operating M1792 is ON DVP 10PM Application Manual Clearing the motion error M1793 and D1857 M1873 and D1937 M2033 and D2017 M2113 and D2097 M2193 and D2177 M2273 and D2257 Setting the polarities of the input terminals D1799 Reading the states of the input terminals D1800 3 Devices 1 If errors occur in the X axis the Y axis the Z axis the A axis the B axis and the C axis M1793 M1873 M2033 M2113 M2193 and M2273 will be ON and the error messages which appear will be stored in D1857 D1937 D2017 D2097 D2177 and D2257 2 If users want to eliminate the error occuring in an axis they have to clear the error code in the special data register corresponding to the axis and reset the special auxiliary relay corresponding to the axis lf users want to turn an input terminal into a Form A contact they have to set the bit corresponding to the input terminal to OFF If the users want to turn an input terminal into a Form B contact they have to set the bit corresponding to the input terminal to ON Bie Polarity B Polarity o Xp 8 XIOMPGA 4 XPW tt PB 2 xe 0x12 004 A xsPG tt Xt 005 4 xa oogay te c PG 6 xoa a o o o o E A O N If a bit in D1800 is ON the input terminal corresponding to the bit receives a signal If a bit in D1800 is OFF the input terminal corresponding to the bit does not receive a signal B State o X0 00G0 2 xD
413. ruction is assigned a mnemonic For example the mnemonic of API 12 is MOV If users want to type an instruction by means of PMSoft they can type the mnemonic assigned to the instruction If users want to type an instruction by means of the handheld programming panel DVPHPP0O3 they can type the API number assigned to the instruction Every applied instruction specifies operands Take the instruction MOV for instance Cs CD Instruction Operands code The instruction is used to move the value in the operand S to the operand D Source operand If there is more one source operand the source operands will be represented by S So and etc Destination operand If there is more than one destination operand the destination operands will be represented by D4 Do and etc If operands are constants they will be represented by m m Mo n Ny N2 and etc Length of an operand 16 bit instruction or 32 bit instruction The values in operands can be grouped into 16 bit values and 32 bit values In order to process values of difference lengths some applied instructions are grouped into 16 bit instructions and 32 bit instructions After D is added to the front of a 16 bit instruction the instruction becomes a 32 bit instruction The instruction MOV is a 16 bit instruction When XO is ON K10 is moved to D10 XO tov ko 070 The instruction DMOV is a 32 bit instruction When X1 is ON the value in D11 D10 is moved to X1 D2
414. s CR H 1006 Synchronization cycle setting Description The control register is used to set a time interval unit for the sending of CANopen synchronization packets in a normal mode Unit us Data type Double word Default value 5000 A synchronization cycle is measured by the millisecond now The time less than one millisecond is ignored It is suggested that the minimum synchronization cycle for 1 PDO 3 PDOs in a CANopen network should be 3 milliseconds and the minimum synchronization cycle for 4 PDOs 8PDOs should be 4 milliseconds That is to say one millisecond will be added to a minimum synchronization cycle if four PDOs are added CR H 1017 DVP FPMC heartbeat cycle setting Description The control register is used to set a heartbeat cycle Unit Millisecond Default value 0 If the value in the control register is 0 the heartbeat mechanism of DVP FPMC is not enabled CR H 1400 CR H 143F Parameter settings for a RPDO Description The control registers are used to set the parameters for RPDO in a normal mode The capacity of the control registers is 3 words Please refer to the table below for more information Transmission method PDO ID Word 1 High Word 0 Low e PDO ID A CANopen POD ID occupies two words Default values CR H 1400 H180 FPMC DVP FPMC node ID CR 053 CR H 1401 H280 FPMC DVP FPMC node ID CR 053 CR H 1403 H380 FPMC DVP FPMC node ID CR 053 CR H 1404 H480 FPMC DVP FPM
415. s 32 bit up down counters C200 C204 and Counter C0 C99 C100 C199 C208 C219 C220 C255 C Non latching Latching Non latching Latching Start D1204 K100 Start D1206 K220 End D1205 K199 End D1207 K255 DVP 10PM Application Manual 3 3 3 Devices Initial stepping relays General stepping relay Latching stepping relay S0 S9 10 S499 500 S1023 Non latching Latching Start D1208 K500 End D1209 K1023 General data registers Latching data registers Special data registers D1000 D2999 DO D999 D3000 D9999 They are between the general data Data register register range and the latching data D register range Non latching Latching Some special data registers are latching data Start D1210 K200 3 registers They can not be changed End D1211 K9999 3 1 If the value in D1200 is 0 and the value in D1201 is 4095 the DVP 10PM series motion controller used will automatically skip M1000 M2999 and MO M999 and M3000 M4095 will be changed to latching devices 2 K 1 indicates that the timers are non latching devices 3 If the value in D1210 is 0 and the value in D1211 is 9999 the DVP 10PM series motion controller used will automatically skip D1000 D2999 and DO M999 and D3000 D9999 will be changed to latching devices m When power is switched ON OFF or when the DVP 10PM series motion controller used switches between a manual mode and an automatic mode the action of general devices are as shown below
416. s K3 users can get the sorting result shown below tm _ mecolumns of data Column Student fo SE eee oth Pe A DE D50 4 D55 70 D60 60 D65 99 D70 50 EE D51 2 D56 55 D61 65 D66 54 D71 63 BO O EO Goo Goo coo 3 Ifthe value in D100 is K5 users can get the sorting result shown below 4 mecolumns ofdata Column Student pon Scent Ps D50 4 D55 70 D60 60 D65 99 D70 50 a D51 2 D56 55 D61 65 D66 54 D71 63 eyep Jo SMOJ tw qe Gogo i o e ema em e 2 ese eme ee oo E DVP 10PM Application Manual 5 79 5 Applied Instructions and Basic Usage Reading data from a control register in a special module C eT KYM SS KIH Kax fkn kov KS T e 1D Lv Z Continuity FRomg Pulse instruction instruction ee eee a a oe ee oe eee eee eee LE pe ee e a Continuity Pulse oT 11 pense ne sion et ma TPE ere oe e Note m is in the range of 0 to 255 16 bit instruction 32 bit instruction M2 is in the range of 0 to 499 16 bit instruction 32 bit instruction n is in the range of 1 to 500 mz2 16 bit instruction n is in the range of 1 500 me2 2 32 bit instruction The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used m Special module number m is in the range of 0 to 255 mz Con
417. s a master station or a slave station If it functions as a master station it can be connected to a Delta PLC or an inferior drive such as a Delta servo drive a Delta AC motor drive or a temperature controller and read write data If it functions as a slave station it can be connected to a human machine interface such as a Delta TP series HMI or DOP series HMI 2 3 3 COM3 RS 232 RS 485 Port 1 If COM1 RS 232 port and COM2 RS 485 port can not fulfill a communication requirement users can use the function card DVP F232S or DVP F485S to add a communication interface called COM3 RS 232 RS485 interface The functions of DVP F232S DVP F485S is the same as those of COM1 but the transmission rate that DVP F232S DVP F485 supports is 9600 19200 38400 bps in an ASCII mode COMsS functions as a slave station It can be connected to a human machine interface DVP 10PM Application Manual 2 25 2 Hardware Specifications and Wiring MEMO 2 26 DVP 10PM Application Manual 3 Devices 3 1 Device Lists E Functional specifications tem S pecifications O Unit Motor unit Compound unit Users can read the data in control registers in an I O module by means of the instruction FROM and write data Master mode into control registers in an I O module by means of the instruction TO If the data read or written is 32 bit data two control registers will be used Slave mode Not supported There are three types of pulse output modes Th
418. s complete before the motion control function block is started The motion control function block T_AbsMoveLinear supports DVP10PMOOM Motion control function block 5 11 2 Multiaxial Relative Linear Interpolation The motion control function block T_ RelMoveLinear is used to start multiaxial relative linear interpolation Users can set the axes which execute interpolation by means of the AxesGroup input pin set the distances for which the axes specified move by means of the Distance input pin and set the DVP 10PM Application Manual 9 197 5 Applied Instructions and Basic Usage speed of the axes specified by means of the Velocity input pin 2 Input pins Output pins Name Function Data type Setting value Time when a value is valid AxesGroup Velocity Error 5 198 ae ae 0 Not setting axes n Adding the n axis n is in the range of 1 to 6 The first cell must be set Axes which execute interpolation WORDJ6 BOOL DWORD 6 DWORD Data type BOOL BOOL Motion is started when there is a transition in the Execute input pin s signal from low to high True False Paaa ad K 2 147 483 648 K2 147 483 647 Distances for which the axes specified move Speed of i K1 K2 147 483 647 interpolation State output pin Time when there is a transition in an output pin s signal from low to high There isa transition in the Done output pin s signal from low to high wh
419. s of disabling 0100 e Ifthe STOP RUN switch of a DVP PM series motion controller is turned form the RUN position to the STOP position when the DVP PM series motion controller is powered M1072 will be OFF and 0100 will stop If 0100 stops Ox motion subroutines and P subroutines will not be executed e Ifa DVP PM series motion controller is powered users can use communication to set M1072 to OFF and to stop 0100 If 0100 stops Ox motion subroutines and P subroutines will not be executed e If an error occurs when 0100 is compiled or when 0100 runs 0100 will stop automatically Please refer to appendix A in chapter 9 for more information about error codes 4 0100 supports basic instructions and applied instructions Users can write a control program according to their needs They can set the parameters of motion instructions and motion subroutine numbers Ox0 Ox99 in O100 e 0100 does not support motion instructions and G codes Motion instructions and G codes must be used in the motion subroutines Ox0 Ox99 Please refer to section 1 2 for more information e 0100 can call P subroutines Please refer to section 1 3 for more information 5 The description of 0100 is shown below Description Enabling Starting flag 0100 If 0100 is a ladder diagram in PMSoft the starting flag in 0100 will be 0100 set automatically and users do not have to write the starting flag Ending instruction M102 If 0100 is a ladder diagram in PMSof
420. s of the axes e Basic instructions applied instructions motion instructions and G codes must be used in the motion subroutines Ox0 Ox99 e Ox motion subroutines can call P subroutines Please refer to section 1 3 for more information 5 The description of Ox motion subroutines is shown below Ox motion subroutine Enabling an There are 100 Ox motion subroutines Ox0 Ox99 Ox motion If an Ox motion subroutine is a ladder diagram in PMSoft the starting flag in the Ox motion subroutine subroutine will be set automatically and users do not have to write the starting flag Disabling an Ending instruction M2 If an Ox motion subroutine is a ladder diagram in PMSoft the ending Ox motion instruction M2 will be set automatically and users do not have to write the ending instruction subroutine M2 1 If users set bit 12 in D1846 or M1074 to ON when 0100 runs an Ox motion subroutine will be enabled If users use communication to set bit 12 in D1846 or M1074 to ON when 0100 runs an Ox motion subroutine will be enabled Description Executing an Ox motion subroutine Users can stop the execution of Ox motion subroutines by means of the external terminal Stopo0 Note Before an Ox motion subroutine is enabled users have to make sure that no Ox motion subroutine runs Whenever an Ox motion subroutine is enabled it is executed once If an Ox motion characteristic subroutine needs to be executed again it has to be enabled agai
421. s once DVP 10PM Application Manual 5 187 5 Applied Instructions and Basic Usage There are three types of units They are motor units compound units and mechanical units The setting of a unit requires the number of pulses it takes for a motor to rotate once the value of the PulseRev input pin and the distance for which the axis specified moves when the motor rotates once the value of the DistanceRev input pin The units for positions and speeds are as shown below Motor unit Compound unit Mechanical unit a Speed 2 Input pins Output pins Name Function aap Setting value Time when a value is valid Motion axis Axis number mcTrapezoid False mcSCurve True Velocity curve BOOL OutputType Output type WORD mcMotor 0 mcMachine 1 mcComp 2 Number of pulses it takes PulseRev ora moia to WORD rotate once Distance for which the axis DistanceRey SPecitied WORD moves when the motor used rotates once K1 K2 147 483 647 K1 K2 147 483 647 5 188 WORD K1 K6 Motion is started when there isa Execute ansiuonin BOOL True False the Execute input pin s signal from low to high The value of the Axis input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the Vcurve input pin is valid when there is a transition in the Execute input pin s signal from low to high The value of the OutputType input pin is valid wh
422. s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Error output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low block Data type 3 Troubleshooting Bor Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed Value output pin K 2 147 483 648 K2 147 483 647 Time when a value is valid When the motion control function block is executed the value of the CapValue output pin is updated repeatedly If there is no trigger the value captured will remain unchanged Value which CapValue is captured The capturer specified has been used Use another capturer 4 Example Purpose Two high speed capturers are used If external terminals are turned ON the present position of the first axis and the present value in C200 will be captured The motion control function block 5 216 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage T_I
423. s than the minimum floating point value available a borrow flag will be ON If an operation result is 0 a zero flag will be ON When XO is ON the floating point value F1 200E 0 is multiplied by the floating point value F2 200E 0 and the product F2 640E 0 is stored in D11 Example 1 D10 The floating point value F1 2 is represented by the scientific notation k i F1 200E 0 in a ladder diagram The number of decimal places which are displayed can be set by means of the View menu in WPLSoft X0 menee When X1 is ON the floating point value in D1 DO is multiplied by the Example 2 floating point value in D11 oo and the ae is stored in D21 D20 X1 H DMULR Do DVP 10PM Application Manual 5 123 5 Applied Instructions and Basic Usage PWR DDD S Bitdevice device Word device X YJM S F H KnX KnY Knm KnS T C D Vv Zz 32 bit instruction 13 steps e Note Please refer to specifications for more information about device ranges Only the 32 bit instructions DSUBR and DSUBRP are valid M1810 M1970 Carry flag M1968 Zero flag M1809 M1969 Borrow flag Please refer to the additional remark below S Dividend S2 Divisor D Quotient S and S can be floating point values S and S can be floating point values e g F1 2 or data registers in which floating point values are stored If S and S are data registers in which floating point values are stored the function of API 172 DDI
424. s triggered by a transition in DOG s signal from high to low The return to home is triggered by a transition in DOG s signal from low to high When the motor rotates clockwise the value indicating the present command position of the axis increases When the motor rotates clockwise the value indicating the present command position of the axis decreases Absolute coordinates Relative coordinates The calculation of the target position of the axis is triggered by a transition in DOG s signal from low to high The calculation of the target position of the axis is triggered by a transition in DOG s signal from high to low The setting of bit 13 is applicable to the insertion of single speed motion and the insertion of two speed motion 14 Bit 14 0 Trapezoid curve Bit 14 1 S curve 3 41 3 Devices a D1846 is for the X axis D1926 is for the Y axis D2006 is for the Z axis D2086 is for Operation the A axis D2166 is for the B axis and D2246 is for the C axis JOG mode command Operation command S A The motion of the axis specified is D1846 D1926 stopped by software activated D2006 D2086 The motion of the axis specified is D2166 and started by software motion is activated D2246 The axis specified operates in a ion i A mode of two speed motion is activated 0 The execution of the Ox motion subroutine set stops 1 The execution of the Ox motion subroutine set starts A mode of variab
425. s updated repeatedly When the motion control function block is executed the value of the AxisErrorlD Error code WORD H0002 HC4FF AxisErrorlD output pin is updated repeatedly 1 Value of the Mode output pin SHO ile 5 192 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Please refer to appendix A in chapter 9 for more information about error codes Troubleshooting 3 Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed 4 Module which is supported The motion control function block is T_AxisStatus supports DVP10PMOOM 5 10 16 Setting the Present Position of an Axis 1 Motion control function block The motion control function block T_SetPosition is used to set the present position of an axis The value of the Axis input pin indicates an axis number Users can set the present position of the axis specified by means of the Position input pin Note To prevent errors from occurring please avoid using the motion control function block to set the present position of the master axis involved in cam motion or gear motion 2 Input pins Output pins Data z Time when a value is valid The value of the Axis input pin is valid Aie Motion axis WORD K1 K6 when there is a transition in the number Execute input pin s signal from low to high Motion is started when there is a tr
426. s which are 1 in S is stored in D lf the bits in S are 0 a zero flag will be ON lf the 32 bit instruction is used D will occupy two registers When X20 is ON the number of bits which are 1 in DO is stored in D2 X20 sou oo ojojoj jojoj jojojojojojo i jo o DO D2 Explanation aR A d a 4 Example DVP 10PM Application Manual 5 63 5 Applied Instructions and Basic Usage Applicable model Checking the state of a bit BATTS Pe e peenes PTET E Tebitinstruciion 7 steps AY MS KIH KX KY kM KS TL oD v Z BON Continuity BON P instruction instruction ee aama ee aanes oe a oe oe ee oe eee eee ees LE Ce ee Continuity Pulse A rT a e Flag None e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system S Source device D Device in which a check result is stored n Bit whose State is judged The state of the n bit in S is checked and the result
427. sage 2 Input pins Output pins Name Funetion io Setting value Time when a value is valid Linear interpolation is stopped when Execute there E BOOL True False transition in the Execute input pin s signal from low to high EE E 0 Not setting axes l l ih The value of the AxesGroup input pin AXES WAGI 7 Adding ie n axis is valid when there is a transition in AxesGroup execute WORDJ6 n is in the range of 1 the Execute input pin s signal from interpolation to 6 low to high The first cell must be set State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high The execution of the motion control function block Is complete The motion control function block is being executed An error occurs in the motion control function block There isa transition in the Done output pin s signal from low to high when the execution of the motion control function block Is complete There isa transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high Input values are incorrect There is a transition in the Done output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low There is a transition in the Busy output pin s
428. se Absolute coordinates If the target position P 1 of an axis is greater than its present command position the motor used will rotate clockwise If the target position P I of an axis is less than its present command position the motor used will rotate counterclockwise After motion is started the speed of the motion will increase from the Vgias set to the V I set The speed of the motion will not increase decrease from the V I set to the V II set until the number of pulses output is near the P I set The speed of the motion will not decrease from the V II to the Veias Set until the present command position of the axis specified is near the P Il set 11 Veins D1824 D1904 D1984 D2054 D2134 D2214 V 1 D1840 D1920 D2000 D2080 D2160 D2240 V Il D1844 D1924 D2004 D2084 D2164 D2244 Vmax D1822 D1902 D1982 D2062 D2142 D2222 P 1 D1838 D1918 D1998 D2078 D2158 D2238 P Il D1842 D1922 D2002 D2082 D2162 D2242 Tace D1836 D1916 D1996 D2076 D2156 D2236 Tpec D1837 D1917 D1997 D2077 D2157 D2237 speed Tacc Topec Time Start A 12 Bit 11 in D1846 D1926 D2006 D2086 D2166 D2246 A mode of inserting two speed motion is 3 62 DVP 10PM Application Manual 3 Devices activated After bit 11 in D1846 D1926 D2006 D2086 D2166 D2246 is set to 1 a mode of inserting two speed motion will be activated The axis specified moves at the V I set After D
429. se from the V I set to the V II set until the present command position of the axis specified is near the P I set The speed of the absolute two speed motion will not decrease from the V II set to the Vsias set until the present command position of the axis specified is near the P II set The P I set must be between the present command position of the axis specified and the P Il set Users can set the Vbias input pin the Vmax input pin the Tacc input pin and the Tdec input pin in the motion control function block T_AxisSetting1 The number of pulses is a unit for the Position1 input pin the Position2 input pin and the number of pulses per second is a unit for the Velocity1 input pin the Velocity2 input pin The users can change the unit used by means of the motion control function block T_AxisSetting2 Speed Taco Tec gt 3 a le lS L Position Positon 2 Execute Positon 1 Input pins Output pins Name Function she Setting value Time when a value is valid atenane The value of the Axis input pin is valid Axis WORD K1 K6 when there is a transition in the Execute number ae input pin s signal from low to high Motion is started when there is a transition in the Execute Execute input BOOL True False pin s signal from low to high Absolute The value of the Position input pin is K 2 147 483 648 valid when there is a transition in the Position position of the K2 147 483 647 Execute input pin s s
430. secutive bits can represent a four digit decimal value A binary coded decimal number is mainly used as the input value of a DIP switch or the value displayed on a seven segment display 5 Hexadecimal Number HEX E A hexadecimal number can be used as an operand in an applied instruction e g MOV H1A2B DO H indicates that the value following it is a constant Constant K A decimal number in a DVP 10PM series motion controller is generally preceded by K For example K100 represents the decimal number 100 Exception If K is used with an X Y M S device a nibble device a byte device a word device ora double word device will be formed Example K1Y10 represents a device composed of 4 bits K2Y10 represents a device composed of 8 bits K3Y10 represents a device composed of 12 bit and K4Y10 represents a device composed of 16 bits K1M100 represents a device composed of 4 bits K2M100 represents a device composed of 8 bits K3M100 represents a device composed of 12 bit and K4M100 represents a device composed of 16 bits Constant H A hexadecimal number in a DVP 10PM series motion controller is generally preceded by H For example the hexadecimal number H100 represents the decimal number 256 Floating point number F A floating point number in a DVP 10PM series motion controller is generally preceded by F For example the floating point number F3 123 represents 3 123 DVP 10PM Application Manual 3 5 3 Devices Value table
431. sent position of the slave axis controlled by the manual pulse generator used 1 The present position of the slave axis controlled by the manual pulse generator used has to be in the range of the P I set to the P II set If the present position of the slave axis controlled by the manual pulse generator used is not in the range of the P I set to the P Il set the slave axis will decelerate and stop 0 If the motor used comes into contact with a positive limit switch negative limit switch when it rotates it will decelerate and stop 1 If the motor used comes into contact with a positive limit switch negative limit switch when it rotates it will stop immediately D1856 Is for the X axis D1936 is for the Y axis D2016 Is for the Z axis D2096 is for State of the A axis D2176 is for the B axis and D2156 is for the C axis the axis Bit State of the axis Positive going pulses are being output D1856 D1936 D2016 D2096 D2176 and D2256 The manual pulse generator used generates positive going pulses The manual pulse generator used generates ar nee going pulses DVP 10PM Application Manual 3 43 3 Devices 3 12 Special Data Registers for Motion Axes The special data registers for the X axis the Y axis the Z axis the A axis the B axis and the C axis ina DVP 10PM series motion controller are described below Please refer to this section for more information about the setting of the speci
432. ses K2 147 483 647 InputPulses output pin is updated repeatedly Eeoae When the motion control function block InputFreq in i Pok DWORD KO K2 147 483 647 is executed the value of the InputFreq poe output pin is updated repeatedly 3 Troubleshooting Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed Make sure that other uniaxial motion control function The motion control function block conflicts with other blocks are not started or the execution of other motion control function blocks uniaxial motion control function blocks is complete before the motion control function block is started 4 Module which is supported The motion control function block T_Gearln supports DVP10PMOOM 5 180 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage 5 10 10 Returning Home 1 HomePosition WET sgnal H Distance P Motion control function block The motion control function block T HomeReturn is used to start motion of returning home The value of the Axis input pin indicates an axis number and the value of the Direction input pin indicates whether the axis specified returns home in the positive direction or in the negative direction The value of the VRT input pin indicates the speed at which the axis specified returns home The value of the DogEdge input pin indicates whether motion is triggered by
433. sign bit Bit 15in D 3is asign bit Sign bit 0 Positive sign Sign bit 1 Negative sign The 16 bit value in DO is multiplied by the 16 bit value in D10 and the 32 bit product is stored in D21 D20 The bits in D21 is the high 16 bits in D21 D20 whereas the bits in D20 is the low 16 bits in D21 D20 Whether the product is a positive value or a negative value depends on the leftmost bit in D21 D20 Example 5 38 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Binary division PX Y MIS K H kKnX kKny KnM KnS T C D Vv Z py Continuity instruction instruction S SEEE TE a EEE ENTE AAA ETOP 32 bit instruction 9 steps i S L EPERE e e o Connu Doyp Pulse ol Td TdT EAA n e Note The instruction supports V devices and Z devices lf the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges f N S Dividend S2 Divisor D Quotient and remainder Explanation The singed binary value in S4 is divided by the signed binary value in So The L j quotient and the remainder are stored in D Users have to notice the sign bits in S4 S2 and D when 16 bit binary division or 32 bit binary division is done
434. signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Error output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low 3 Troubleshooting Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed 4 Example Purpose The motion control function block T AbsMoveLinear and the motion control function block T_RelMoveLinear are used to start the absolute linear interpolation executed by the axes specified DVP 10PM Application Manual 5 201 5 Applied Instructions and Basic Usage and the relative linear interpolation executed by the axes specified Local Symbols Class Identifiers Address Type Initial Comment VAR Groupi WORDE 06 VAR Position DVWORD E OE M1002 Moy kl group 1 0 Moy kz group 1 Moy k3 group l 2 Moy k4 group l 3 Moy k5 group l 4 Moy k group l 5 MOY k15000 position 0 DMOv 30000 position DMOv k1000 position 2 DMOv k10000 position 3 MOWY k 10000 position 4 DMOv k 15000 position 5 M1000 T_AhsMoveLinear_U1 T_Group Stop_U1 T_AbsMoveLin M1000 T_MotonObserve_U3
435. signal is X6 IntXO7 WORD 8 he source of an interrupt signal is X7 he source of an interrupt signal is Starto he source of an interrupt signal is Stop0 IntStart1 WORD he source of an interrupt signal is Start1 IntStop1 WORD he source of an interrupt signal is Stop1 mcCmpAxis1 WORD The source of a comparison is the present SJ SJ Ss ST ST SY ST ST Ss ST ST ay D lt D position of the first axis mcCmpAxis2 WORD 1 T Compare The source ofa comparison is the present position of the second axis mcCmpAxis3 WORD The source of a comparison is the present position of the third axis 5 150 DVP 10PM Application Manual J3 Sy SY SY SY SY Sy Ss Sy Ss 3 D el 0 o 3 Q X lt 9 Type Value mcCmpAxis4 3 mcCmpC200 4 mcCmpC204 5 CI mcCmpC212 WORD 7 moGmpCLRO WORD 0 3 WORD _meCmpRstC208 WORD 6 mcCapAxis1 WORD ES mcCapAxis2 WORD mcCapAxis3 WORD mcCapAxis4 WORD 3 WORD 3 mcCapMPGB1 WORD 9 i 13 mxs WORD 3 DVP 10PM Application Manual T_ Compare 0 3 5 9 0 Ls T Capture 5 6 8 rat 13 0 3 QO gt z 2 Q a Motion control function block c O i O 5 T D Q OJ D O O Cc T O Q D Description The source of a comparison is the present The source of a comparison is the value of C200 The source of a comparison is the value of C204 The source of a comparison is the value of C208 The source of a comparis
436. specified decreases when the axis returns home Description The value in D1831 D1830 D1911 D1910 D1991 D1990 D2071 D2070 D2151 D2150 D2231 D2230 is in the range of 1 to 2 147 483 647 The unit used is determined by bit O and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 2 The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS If the value in D1831 D1830 D1911 D1910 D1991 D1990 D2071 D2070 D2151 D2150 D2231 D2230 is greater than 500K the frequency of pulses generated will be 500K PPS If the value in D1831 D1830 D1911 D1910 D1991 D1990 D2071 D2070 D2151 D2150 D2231 D2230 is less than 10 the frequency of pulses generated will be 10 PPS 3 When motion of returning home is executed the speed of the motor used is the Var set When there is a transition in DOG s signal from low to high or from high to low the speed of the motor used decreases to the Vcr set 4 In order for the axis specified to returns home precisely it is suggested that the Vcr set should be a low speed 5 When the motion of returning home is executed the Vcr set can not be changed h k O Xais Yas Zaxis w w Www W w p12 O O Description 1 The value in D1832 D1912 D1992 D2072 D2152 D2232 is in the range of 32 768 to 32 767 If the value in D1832 D1912 D1992 D2072 D2152 D2232 is a positive value the axis specified will move in th
437. stalling hardware If DVP FPMC is connected to a PC the Ethernet LED indicator will be ON Please check the setting of hardware or the setting of the PC connected if the Ethernet LED indicator is not ON DVP 10PM Application Manual 7 21 CANopen Communication Card 7 7 1 Communication between DVP FPMC and an HMI Configuration In this example two DVP 10PM series motion controllers equipped with DVP FPMC exchange data with the HMI DOP B10E615 through Ethernet The hardware configuration required is shown below The program in the HMI controls YO Y7 on the two DVP 10PM series motion controllers DOP B10E615 IP 192 168 0 70 m m 10PM 10PM IP 192 168 0 100 IP 192 168 0 101 E Setting DVP FPMC In this example DVP FPMC functions as a slave The IP address of DVP FPMC needs to be set The IP address of the equipment to be connected and Ethernet connections do not need to be set Users need to write the IP address of DVP FPMC into CR 59 Please refer to 7 5 for more information about setting CR 59 Take the IP address 192 168 0 100 for instance The program in DVP PM is shown below vov cone 00 M1002 7 22 DVP 10PM Application Manual r4 CANopen Communication Card E Setting an HMI An HMI is used as a master It is connected to two slaves The IP address of the HMI and Ethernet connections need to be set The steps of creating the connection b
438. ster is used to display the present motion mode of a servo drive Profile position mode Interpolation mode CR n22 CR n23 Servo drive position Description The control registers are used to display the present position of a servo drive Data type Double word CR n40 Node control command Description The control register is used to send a node control command to the node connected If the value in the control register is 1 the servo which has been connected is ON If the value in the control registers is 128 the servo which has been connected is OFF If the value in the control register is 129 the error which appears is cleared Please refer to the table below for more information Bit BK AEN 1 The servo which has been connected is ON Value Reserved 128 The servo drive which has been connected is OFF 129 The error which appears is cleared DVP 10PM Application Manual 7 11 CANopen Communication Card CR n50 SDO access command and status Description The control register is used to set an SDO access command and obtain a status Please refer to the table below for more information Bit Bite Bit BR BRO Command 0 Completed Writing including a check Data length Unit Byte 1 Setting Subindex of a target OD Range 1 8 2 Reading including a check 3 If users want to write data they Writing not including a have to specify a data length check 4 Reading not includin
439. t register and the values in S4 and S must be floating point values S S D Logs1S gt If the absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON If an operation result is 0 a zero flag will be ON When MO is ON the values in D1 DO and D3 D2 are converted into binary floating point values and the conversion results are stored in D11 D10 and Example D13 D12 respectively i When M1 is ON the logarithm of the binary floating point value in D13 D12 with respect to the binary floating point value in D11 D10 is calculated and the operation result is stored in D21 D20 When M2 is ON the binary floating point value in D21 D20 is converted into a decimal floating point value and the conversion result is stored in D31 D30 The value in D31 is the value in D30 to the power of 10 MO Explanation 0 ee M1 M2 530 a E Please refer to section 5 3 for more information about performing operations on Additional floating point values remark DVP 10PM Application Manual 5 105 5 Applied Instructions and Basic Usage Applicable model 10PM Square root of a binary floating point value ME Bit device Word device 6 bitinstruction l XAY M S E H KXK KM KS T e A
440. t the ending instruction 0100 M102 will be set automatically and users do not have to write the ending instruction M102 1 The STOP RUN switch of a DVP PM series motion controller is turned form the STOP position to the RUN position 2 Users use communication to set M1072 to ON Executing 0100 Operation O100 is scanned cyclically Instructions as ek supported Basic instructions and applied instructions are supported Number There is only one O100 in a program 1 It is a sequence control program Characteristic 2 It can enable the motion subroutines Ox0 Ox99 and call P subroutines and function 3 If 0100 is used with Ox motion subroutines and P subroutines 0100 the Ox motion Subroutines and the P subroutines can be arranged in any order 1 1 1 Manual Function of 0100 Users can set manual motion modes by means of special registers in 0100 Please refer to section 3 12 for more information 1 2 DVP 10PM Application Manual 7 Program Framework of a DVP PM Series Motion Controller 1 2 Structure of Ox Motion Subroutines The motion subroutines Ox0 Ox99 are motion control programs They are subroutines which control the motion of the axes of a DVP PM series motion controller Ox0 Ox99 support basic instructions applied instructions motion instructions and G codes They can call P subroutines Users can control the paths of the axes of a DVP PM series motion controller through Ox motion subrout
441. t P3 01 to H 0403 The value of P3 01 indicates a baud rate If the high byte of the value of P3 01 is 2 the baud rate used is 500 kbps If the high byte of the value of P3 01 is 4 the baud rate used is 1 Mbps The baud rates which are supported by DVP FPMC now are 1 Mbps and 500 kbps Default 1 Mbps Setting DVP FPMC After the setting of the CNopen parameters in the servo drives connected is completed the users can create a CANopen network by means of DVP FPMC 1 5 Write 1 into CR 500 DVP FPMC is set to A2 mode 2 Write a node ID into CR 053 The default node ID of DVP FPMC is 127 3 4 Write H FFFF into CR 010 All servo drives which are connected are scanned Read the value in CR 010 by means of the instruction FROM and check whether the value in CR 010 is cleared to 0 Write 1 into CR 050 All servo drives which has been connected are set to ON E Normal mode In a normal mode users have to set the PDO parameters in DVP FPMC and the slaves which are connected They have to use FROM TO to set control registers in DVP FPMC and use an SDO protocol to set the PDO parameters in the servo drives connected The steps of setting the PDO parameters in DVP FPMC are as follows 1 Setting PDO transmission parameters The setting of PDO parameters includes the setting of a frame ID and the setting of a synchronization cycle A frame ID is in the range of H 181 to H 578 Please note that the frame ID and the synchroni
442. t basic instructions and applied instructions 2 If P subroutines are called by Ox motion subroutines the P subroutines will support basic instructions applied instructions motion instructions and G codes Note If P subroutines are called by Ox motion subroutines users have to avoid using pulse instructions Number There are 256 P subroutines in a program 1 P subroutines are general subroutines Characteristic 2 P subroutines can be called by 0100 and Ox motion subroutines and function 3 If P subroutines are used with 0100 and Ox motion subroutines the P subroutines O100 and the Ox motion subroutines can be arranged in any order Instruction supported 1 4 Using 0100 Ox Motion Subroutines and P Subroutines O100 Ox motion subroutines and P subroutines are introduced in section 1 1 section 1 3 In this section a program composed of 0100 Ox motion subroutines and P subroutines is described 1 4 1 Structure of a Program Suppose a program is composed of 0100 Ox0 Ox3 P1 and P2 The five program blocks are shown below Main program 0100 Calling Ox0 m Voti on subroutine Ox0 Calling P 1 erie Subroutine l P1 M2 gt w SRET Calling P2 m Subroutine re 1 6 M102 oo Motion subroutine Calling Ox3 lt Ox3 SRET M2 DVP 10PM Application Manual 7 Program Framework of a DVP PM Series Motion Controller In order to
443. t states When the supply of electricity is restored the latching auxiliary relays remain unchanged 3 Special auxiliary relay Every auxiliary relay has its own specific function Please do not use the auxiliary relays which are not defined Users can refer to section 3 10 for more information about special auxiliary relays and special data registers and refer to section 3 11 for more information about the functions of special auxiliary relays and functions of special data registers 4 096 auxiliary relays in total Auxiliary relay M Latching auxiliary relay 3 5 Stepping Relays Stepping relay S Stepping relay numbers are decimal numbers S0 S499 490 general stepping relays ae Users can change S0 S499 to latching devices by setting 1 024 stepping relay Stepping relay parameters stepping S S500 S1023 524 latching stepping relays relays in Users can change S500 81023 to non latching devices by setting total parameters Latching stepping relay Functions of stepping relays There are 1024 stepping relays SO S1023 An S device has an output coil and a Form A contact Form B contact There is no limitation on the number of times an S device can be used in a program Users can not drive external loads by means of S devices An S device can be used as a general auxiliary relay 3 6 Timers Timer T Timer numbers are decimal numbers Timer 10 ms TO T255 256 general timers T General timer Users can cha
444. t to ON A logical operator XOR takes the values in C201 and C200 and performs the logical exclusive OR operation on each pair of corresponding bits If the operation result is not 0 or if M3 is ON M50 will be ON D X1 3 DVP 10PM Application Manual 5 125 5 Applied Instructions and Basic Usage Word device 16 bit instruction 5 steps Bitdevice _ device Setters ei ENES T o o V TE AND Continuity e Note represents amp or instruction 32 bit instruction 7 steps Continuity instruction e Flag None Please refer to specifications for more information about device ranges Explanation Example 5 126 S4 Source device 1 S2 Source device 2 The instruction is used to compare the value in S with that in So If the comparison result is not 0 the condition of the instruction is met If the comparison result is 0 the condition of the instruction is not met The instruction AND is connected to a contact in series PING ington insrution instruction 218 AND amp DAND amp amp S 0 S amp S O 219 AND DAND amp Se 40 S S 0_ amp Logical AND operation Logical OR operation Logical exclusive OR operation If a 32 bit counter is used the 32 bit instruction DAND must be used If a 32 bit counter and the 16 bit instruction AND are used a program error will occur and the ERROR LED indicator on the DVP 10PM series motion con
445. t to reset M10 M11 or M12 they can use the instruction RST or ZRST X0 DECMP DO D100 M10 Example Ifthe value in D1 DO gt the value in D101 D100 M10 will be ON Ifthe value in D1 D0O the value in D101 D100 M11 will be ON Ifthe value in D1 D0O lt the value in D101 D100 M12 will be ON a Ba Please refer to section 5 3 for more information about performing operations Additional on floating point values remark 5 94 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Gd gt Binary floating point zonal Applicable model 1 comparison 10PM Bitdevice device Worddevice device Seen e te a aeee Te o EE 32 bit instruction 12 steps Continuity Pulse 7 a DEZCP instuction _PEZCPP instruction _ See ee e Note The operand D occupies three consecutive devices The value in S4 is less than the value in So Please refer to specifications for more information about device ranges F represents a floating point value There is a decimal point in a floating point value Only the 32 bit instructions DEZCP and DEZCPFP are valid S Minimum binary floating point value S2 Maximum binary floating point Explanation value S Binary floating point value D Comparison result D occupies three consecutive devices The instruction is used to compare the binary floating point va
446. ta 01332 000 Sao Paulo SP Brazil TEL 55 11 3568 3855 FAX 55 11 3568 3865 Europe Deltronics The Netherlands B V Eindhoven Office De Witbogt 20 5652 AG Eindhoven The Netherlands TEL 31 40 2592850 FAX 31 40 2592851 DVP 0179720 01 We reserve the right to change the information in this manual without prior notice 2014 02 12 Gurluuweiboig jJenuep uoinesiddy wdO0Il dAG pvp 10PM pro nea ERS yi5 z ca Lo mpe 2 i m sE as BAT LOW 45 67 eeee Em D z On IE L E Eag 6 415 16 V7 eeee L YE L rer et a i Si Gr 85 Bu 3 a a T2 oe asia DVP 1 0PM Application Manual Programming www deltaww com IN NELTA Smarter Greener Together DVP 1OPM Application Manual Contents Chapter 1 Program Framework of a DVP PM Series Motion Controller E 6 UL 800 J 0 0 aa ene een ree ee ee ene eee 1 1 1 1 1 Walia THOM CHOROl On OO nin niet ecmaaoee daneaon amended caida ian eeoeweus 1 2 1 2 Structure of Ox Motion SUDIOUtiNES c cc ccecececeeeeeeeeceeeeneeneeeteeeteneeneeteeeeeneens 1 3 1o Oruct ure ol P SUD FOU TINGS enine le cadanavdanadatareuntanmreateaacaanteancets 1 4 1 4 Using 0100 Ox Motion Subroutines and P Subroutines ceeeeeeeeeeeees 1 6 1 4 1 Structure of a Progra E eedeceiee ice ead 1 6 Chapter 2 Hardware Specifications and Wiring 2 1 Hardware SPCCiIICAO MS aeaa R R E R EE 2 1 2 lel SPECIICA
447. ta register D1039 by means of the instruction MOV If the scan time set is 30 milliseconds and n is K100 the time it takes for the value in D12 to increase from the value in D10 to the value in D11 will be 3 seconds 30 millisecondsx 100 If X20 is turned OFF the execution of the instruction will stop If X20 is turned ON again the value in D12 will become 0 and increase again If M1026 is OFF and M1029 is ON the value in D12 will becomes the value in D10 X20 D11 D10 D12 D11 D10 l gt The number of scancycles isn The number of scan cycles is n D10 lt D11 D10 gt D11 The number of scancycle is storedin D13 5 76 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage If M1026 is turned ON OFF the value in D12 will change in the way described Additional below remark x20_ Startsignal f D11F D10 0 M1029 DVP 10PM Application Manual M1026 OFF X20 Start signal 5 77 5 Applied Instructions and Basic Usage SORT To m m D G Sorting data ie Nee Bitdevice device Worddevice device E K YMS KIH Knk kM Ks T e D YLE SORT Continuity instruction a etn es a oe ey a Continuity a eae e pot E a a a a a a a Pet rrr a A e Note All devices can not be modified by V devices and Z devices Please refer to specifications for more information about device ranges S Initial devi
448. tart up speed DWORD KO K2 147 483 647 when there is a transition in the Execute input pin s signal from low to high eee ain The value of the Tacc input pin is valid Tacc time Unit ms WORD KO K32 767 when there is a transition in the Execute l input pin s signal from low to high Deceleration The value of the Tdec input pin is valid Tdec a WORD K0 K32 767 when there is a transition in the Execute time Unit ms i RE input pin s signal from low to high 5 186 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage State output pin Time when there is a transition in an Time when there is a transition in an output pin s signal output pin s signal from high to low from low to high e Thereisa There is a transition in the Done The execution of the motion control function block Is complete The motion control function block is being executed An error occurs in the motion control function block transition in the Done output pin s signal from low to high when motion of returning home is complete There isa transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high Input values are incorrect Output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when the execution of the motion contr
449. tates monitored are stored in special data registers Please refer to section 3 10 and section 3 11 for more information about special auxiliary relays and special data registers V devices are 16 bit registers and Z devices are 32 bit registers There are 8 V devices VO V7 and 8 Z devices Z0 Z7 in a DVP 10PM series motion controller DVP 10PM Application Manual 3 Devices 3 8 1 Data Registers The value in a data register is a 16 bit value The highest bit in a 16 bit data register represents an algebraic sign The value stored in a data register must be in the range of 32 768 to 32 67 Two 16 bit data registers can be combined into one 32 bit data register D 1 D The highest bit in a 32 bit data register represents an algebraic sign The value stored in a 32 bit data register must be in the range of 2 147 483 648 to 2 147 483 647 DO D199 200 general data registers in total General data register Users can change them to latching devices by setting parameters D200 D999 and D3000 D9999 7 800 latching data register in total Users can change them to non latching devices by D setting parameters Latching data register 10 000 data registers in total Data register D1000 D2999 2 000 special data registers in total x Ease eee Some of them are latching devices 3 8 2 Index Registers VO V7 16 index Index register V42 o7 registers in total iebis V devices are 16 bit registers Data can be fr
450. ted to 24G DVP10PMOOM a Y2 is connected to XO ERAS S S is connected to 24V DVP 10PM Application Manual 5 213 5 Applied Instructions and Basic Usage 5 214 THeni_Ul T RelSeg _Ul M31 RST M24 M1000 T_CmpRsiOurUl al T_CmpFstO Enable CLETO CLEY 1 LETZ CLRYS CLRC200Rst CLRC204 st CLRC208Rst CLRC2 12 Fst M31 SET M34 If the program is executed the pulses output by the first axis will be A B phase pulses the motion control function block T_CmpRstOut will be started and the states of output devices will be read After M53 is set to ON a high speed counter will be started After M1 is set to ON high speed comparator 0 will be started Setting high speed comparator 0 If the number of pulses output by the first axis is greater than or equal to 50 000 Y2 will be set to ON After M10 is set to ON high speed comparator 1 will be started Setting high speed comparator 1 If the value in C200 is equal to 5 000 the value in C200 will be cleared to 0 After M40 is set to ON the first axis will move for 100 000 pulses If the value in C200 is equal to 5 000 and M31 is ON the comparison condition set for high speed comparator 1 is met and the value in C200 is cleared to 0 The value in C200 will be cleared to 0 next time the value in C200 becomes 5 000 If M31 is not reset high speed comparator 1 will not act next time the comparison condition set for high speed comparator 1 is met If the number of pu
451. ten into CR 33 Channel 1 channel 2 can be tuned 3 When XO is turned from OFF to ON the offset K400 sz is writtedn into CR 23 and the gain K K3 600 sz Is written into CR 29 DVP 10PM Application Manual 5 83 5 Applied Instructions and Basic Usage Applicable model Absolute value 10PM C ae X Y M J S K H KnX KnY KnM KnS T C D V Z ings onunuity D slala a s a instruction instruction _ 7 7 32 bit instruction 17 steps t S e Note The instruction supports V devices and Z devices If the 16 bit pags Continuity apg Pulse instruction is used Z devices can not be used If the 32 bit mee instruction gt instruction instruction is used V devices can not be used e Flag None Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4 16 decimal numeral system D Device whose absolute value will be gotten When the instruction ABS is executed the absolute value of the value in D is gotten Generally the pulse instructions ABSP and DABSP are used When XO is turned from OFF to ON the absolute value of the value in DO is Exa
452. ter The valuein D1 is read DVP 10PM Application Manual 5 57 5 Applied Instructions and Basic Usage Resetting a zone x MIs K H KnX KnY KnM kKnS T C D V Z zagp Continuity 7agtp Pulse C ae Word device 16 bit instruction 5 steps instruction instruction _ n T 32 bit instruction Note Device number of D lt Device number of D2 Flag None The device type that D specifies and the device type that D2 specifies must be the same All devices can not be modified by V devices and Z devices Please refer to specifications for more information about device ranges Explanation Example Additional remark 5 58 00 0 0 D Initial device which is reset D2 Final device which is reset The instruction ZRST can be used to reset 16 bit counter and 32 bit counters If the device number of D is greater than the device number of De only D will be reset When XO is ON the auxiliary relays M300 M399 are reset to OFF When X1 is ON the 16 bit counters CO C127 are reset The values of C0 C127 are cleared to 0 and the contacts and the coils are reset to OFF When X10 is ON the timers TO0 T127 are reset The values of TO0 T127 are cleared to 0 and the contacts and the coils are reset to OFF When X2 is ON the stepping relays SO S127 are reset to OFF When X3 is ON the data registers DO D100 are reset to 0 When X4 is ON the 32 bit counters C
453. tes of the input terminals starting from X10 or the states of the output terminals starting from Y10 are refreshed XO REF X10 K8 Example 1 Example 2 Example 3 Or REF Y10 K8 5 72 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model Searching data _ Sal l SS Gs SS I I 16 bit instruction 9 steps x Y MI S K H KnX KnY KnM KnS T c DI V1 Z igeR Continuity instruction instruction S1 a O Ol 32 bit instruction 17 steps aaa ee Puse ol N ll _ Banana a nn nnn M M M nnn ee e Flag None PN TT eet tt tt te e Note The instruction supports V devices and Z devices If the 16 bit instruction is used Z devices can not be used If the 32 bit instruction is used V devices can not be used Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0 octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system S Initial device involved in a comparison S2 Value which is compared D Explanation Initial device in which a comparison result is
454. th other blocks are not started or the execution of other motion control function blocks uniaxial motion control function blocks is complete before the motion control function block is started 4 Example The single speed motion of an axis is started and then the motion control function block T_AxisStop is used to stop the motion The motion control function block named First is used to start single speed motion It is set so that the first axis moves for 50 000 pulses at a speed of 10 000 per second The motion control function block named Second is used to stop the motion of the first axis ej 0 T_AxisStop Exeqite Execute The motion control function block named First is started Before Done 1 is set to True Execute2 is used to start the motion control function block named Second Second Stop can Sequence of one First interrupt First motion complete motion pa 2 Sa i Buy a E a E Donel 7 PE P E Error Aborted Second Execute Busy Done Motion 7 307 7 eerie Velocity ook Fasition E i t After the motion control function block named First is started the first axis will move at a speed of 10 000 pulses per second After the motion control function block named Second is started Aborted1 will be set to True Busy1 will be set to False and the first axis will stop moving When the motion control function block named Second is used to stop the motion of the first axis no motion
455. the next cycle 5 177 5 Applied Instructions and Basic Usage State output pin Time when there is Data a transition in an type output pin s signal from low to high The execution e The execution of of the motion the motion control control function function block is pene block is eee interrupted by a interrupted by a command command Input values are incorrect n eet The axis specified Error in the MOUGN is in motion before control function block the motion control function block is executed Value output pin Time when there is a transition in an output pin s signal from high to low e There is a transition in the Aborted output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Error output pin s signal from high to low when there Is a transition in the Enable input pin s signal from high to low Data Mone rmeton O ppe outer Number of pulses generated by K 2 147 483 648 InputPulses the manual DWORD K2 147 483 647 pulse generator used Frequency of pulses generated by InputFreq the manual DWORD KO K2 147 483 647 pulses generator used 3 Ls eee When the motion control function block is executed the value of the InputPulses output pin is updated repeatedly When the motion control function block is executed the value of the InputFreq output pin is updated repeatedly Troubleshooting
456. the state of YO YO 4 ry Writing the state of MO Output Latch memory Output terminals Output AJOWSW adq Regenerating output signals DVP 10PM Application Manual 1 Before a DVP 10PM series motion controller executes a program it reads the states of the input signals sent to it into its input memory 2 Ifthe states of the input signals change during the execution of the program the states of input signals stored in the input memory will not change until the DVP 10PM series motion controller reads the states of the input signals sent to it next time 3 The time ittakes for an input device in the program to receive the state of an external signal is about 10 milliseconds The time it takes for a contact in the program to receive the state of an external signal may be affected by the time it takes for the program to be scanned Processing a program After the DVP 10PM series motion controller reads the states of the input signals stored in the input memory the execution of the instructions in the program will start from the beginning of the program After the program is executed the states of the Y devices used in the program will be stored in the device memory in the DVP 10PM series motion controller Regenerating an output signal 1 After M102 is executed the states of the Y devices stored in the device memory will be sent to the latch memory in the DVP 10PM series motion controller 2
457. ting On Counting down O RW No M1236 C236 Selecting a mode of counting On Counting down O RW No M1237 C237 Selecting a mode of counting On Counting down Of RW No C238 TE a mode of counting On Counting down Off RW No Off M1239 C239 Selecting a mode of counting On Counting down O RW No Of C240 pean a mode of counting On Counting down Off RW No Off M1241 C241 Selecting a mode of counting On Counting down OF RW No Of C242 pecan a mode of counting On Counting down Off RW No Off M1243 C248 Selecting a mode of counting On Counting down OF BRW no Of M1244 C244 Selecting a mode of counting On Counting down OF BRW no Of M1245 C246 Selecting a mode of counting On Counting down Of RW No Of M1246 C246 Selecting a mode of counting On Counting down Of R No Of M1247 C247 Selecting a mode of counting On Counting down O R No Of M1248 C248 Selecting a mode of counting On Counting dow O R no Of M1249 0248 Selecting a mode of counting On Counting down O R No Of M1250 C250 Selecting a mode of counting On Counting down O R No Of M1251 C251 Selecting a mode of counting On Counting dow O R No Of M1252 C252 Selecting a mode of counting On Counting down
458. ting point value Please refer to the additional remark below Onlyt the 32 bit instructions DEMUL and DEMULP are valid S Multiplicand S2 Multiplier D Product The binary floating point value in S4 is multiplied by the binary floating point value in So and the product is stored in D If S is a floating point value the instruction will be used to multiply S4 by the binary floating point value in S2 If Se is a floating point value the instruction will be used to multiply the binary floating point value in S4 by S2 S and S can be the same register If the instruction DEMUL is used under the circumstances the value in the register is multiplied by itself whenever the conditional contact is ON in a scan cycle Generally the pulse instruction DEMULP is used Explanation Ifthe absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON Ifthe absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON Ifan operation result is 0 a zero flag will be ON When X1 is ON the binary floating point value in D1 DO is multiplied by the Example 1 a floating point value in D11 D10 and the product is stored in D21 Hiona oo om oa o A X2 is ON F1234 0 is multiplied by the binary floating point value in D1 Example 2 and the product is stored in D11 D10 yt DEMUL F
459. tion 7 9 510 7 Square root of a binary floating point value 5 6 54106 V Binary floating point subtraction 7 9 5100 v Exponent of a binary floating point value 6 5103 v Binary floating point zonal comparison 9 12 595 7 Transferring a floating point vale 9 5 7 Floating point multiplication 13 123 v Fioatingpoint subtraction 13 52 4 oatingpomvaue PPP e S floating point value 5 31 Reading data from a control register in a special pa a 5 80 module 7 Binaryinteger 7 PONANA 6 Sog binary integer Uncondiionljump 3 bw e E E CSCS E oo sse pz oo Sss 8 7 pa SSA B88 o Sese S Oe a Oo ese BT eg T S1252 5 7 15 128 v Natural logarithm of a binary floating point value 6 5 104 v Logarithm of a binary floating point value 9 5405 Starting ising edge detection 3 49 Starting falling edge detection 3 AO 5 65 v Converting a 16 bit value into a32 bitvalue 6 5 142 Reading Modbus data BBE WritingModbusdata D O x Transteringavaue iC 7 Binary muttipication BB 5 45 r E ssa E E Ca siesa a E DVP 10PM Application Manual 5 11 5 Applied Instructions and Basic Usage a code Pulse TEER OR we we a ma eaii a a 94 ORP Connecting rising edge detection in paralel 3 att PBR Falling edge output a ae eo PLS CRising edgeoutput 3 m2 128 DPOw V Powerofa floating pointvaue 9 5107 Ha 67 RA
460. tion across diverse interconnected networks Show icon in Aotitication area when connected Notify me when this connecton has limited or no connechyity 2 Select the Use the following IP address option button in the Internet Protocol TCP IP Properties window Type 192 168 0 55 in the IP address box The last number is in the range of 1 to 255 bit it can not be 100 Type 255 255 255 0 in the Subnet mask box and click OK Use the following IP address IF address 192 168 0 58 Subnet mask 255 256 2565 OO DVP 10PM Application Manual 7 25 CANopen Communication Card E Setting PMSoft 1 Click Add in the COMMGR window and then create an Ethernet driver in the Driver Properties window l COMHGR Description i Driver Properties DER Driver Name Driver Connection Setup Type Ethernet Ethernet Card Description Broadcom MetLink TM Gigabit E therr 172 176 7155 IP Address Setting Add Del Search IP Address Port Number Comment Device 192 168 0100 502 Setup Responding Time Time of Aubo retry E Time Interval of Auto retry sec 3 H OK Cancel The IP Address set is 192 168 0 100 and the port number set is 502 7 26 DVP 10PM Application Manual r4 CANopen Communication Card 2 Start PMSoft and click Communication Setting on the Communication menu In the Communication Setting window select the driver created in the first step in the Driver drop down l
461. tion between the communication module and Ethernet CR 059 Network IP address and port setting for DVP FPMC Description The control register is used to set an IP address and a port number for DVP FPMC Data length 3 words Default IP address 192 168 0 100 Port number 1024 Please refer to the example below IP address 192 168 0 100 Port number 1024 Ta i oe o o owo CR 062 Ethernet connection command and status Description The control register is used to set an Ethernet connection command and obtain a connection status e H 0 Disconnected H 30 Connected H 10 Sending a connection command H 20 Sending a disconnection command DVP 10PM Application Manual 7 5 CANopen Communication Card CR 063 IP address and port setting for an Ethernet master Description The control register is used to set an IP address and a port number for an Ethernet master Data length 3 words Please refer to the table below for more information a is ies o o oo transmitted received through Ethernet Description The control register is used to set the data to be accessed through Ethernet The maximum capacity is 1024 bytes e Sending data After users write a data length data into CR 064 and data into CR 65 DVP FPMC will automatically clear values in the two control registers to 0 e Receiving data Users read the contents of CR 066 first and then read the data in CR 067 CR 070 Node ID
462. tion blocks is complete before the motion control function block is started The motion control function block T HomeReturn supports DVP10PMOOM Motion control function block 5 10 11 Stopping Uniaxial Motion The motion control function block T_AxisStop is used to stop the motion of the axis specified The value of the Axis input pin indicates an axis number DVP 10PM Application Manual 5 183 5 Applied Instructions and Basic Usage 2 Input pins Output pins Data Time when a value is valid Motion axis number The value of the Axis input pin is valid WORD K1 K6 when there is a transition in the Execute input pin s signal from low to high Motion is started when there is a transition in the BOOL True False Execute input pin s signal from low to high State output pin Time when there is a transition in an output pin s signal from low to high e There isa Time when there is a transition in an output pin s signal from high to low There is a transition in the Done The execution of the motion control function block Is complete The motion control function block is being executed An error occurs in the motion control function block 3 Troubleshooting The values of input pins in the motion control function block are incorrect transition in the Done output pin s signal from low to high when motion of returning home is complete There isa transition in the Busy o
463. tion is complete the second single speed motion will be executed The second single speed motion is executed before the execution of the first single speed motion is complete The motion control function block named FIRST is set so that the first axis moves at a speed of 2 000 pulses per second and moves for 10 000 pulses The motion control function block named SECOND is set so that the first axis moves at a speed of 3 000 pulses per second and moves for 15 000 pulses M1000 FIRST Donel Executed T_aAbsSeg _ M1000 SECOND T_AbsSez After the first single speed motion is complete the second single speed motion will be executed Steps a Set Execute to True b Wait for a transition in Done2 s signal from low to high or a transition in Error2 s signal from low to high 5 154 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage The second single speed motion is executed before the execution of the first single speed motion is complete Steps a Set Execute to True b Set Test to ON when Busy1 is set to True c Wait for a transition in Done2 s signal from low to high or a transition in Error2 s signal from low to high Timing diagram First The second motion The second motion can follows the first motion not interrupt the first motion Execute k EEIEIEE Busy1 Donet Second Test Execute2 a Pir Tt E E E E Et EEEE Busy2 k BrE EEIEIE MITT
464. to K100 000 M60 is ON ii lt gt on revo cr X2 M30 MEO 3100 Kr00000 5 130 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Interchanging the high byte ina device with the low byte in the device Te bitinstrucion steps x Y Ms K H knx knY knmjkns T c D v Z iswap Continuity Swapp Pulse S x x sane eee Instruction _snstructio Lae l 32 bit instruction 7 steps Note The instruction supports V devices and Z devices lf the 16 bit mowap Continuity jhowapp Pulse instruction is used Z devices can not be used If the 32 bit eer instruction PSWAPP instruction _ instruction is used V devices can not be used e Flag None Please refer to specifications for more information about device ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral system e g K1X0O octal numeral system K4SY20 octal numeral system K1MO decimal numeral system and K4S16 decimal numeral system S Source device When the 16 bit instruction is executed the high eight bits in S are interchanged with the low eight bits in S When the 32 bit instruction is executed the high eight bits in S are interchanged with the low eight bits in S and the high eight bits in S 1 are interchanged with the low eig
465. to which the X device is connected m Users can turn X devices ON OFF by means of M1304 If M1304 is OFF X devices can not be turned ON OFF by means of PMSoft If M1304 is ON X devices can be turned ON OFF by means of PMSoft However if users use PMSoft to turn ON OFF X devices in a DVP 10PM series motion controller when M1304 is ON the function of updating input signals will be disabled E Functions of output devices A Y device sends a signal to drive the load connected to it There are two types of output devices They are relays and transistors There is no limitation on the number of times the Form A contact the Form B contact of a Y device can be used in a program However it is suggested that a Y device should be 3 6 DVP 10PM Application Manual 3 Devices used once in a program If a Y device is used more than once in a program the state of the Y device depends on the Y device used last time E ey 9 Ib b YO is used twice yo gt D The state of YO depends on circuit that is the X i state of X10 determines the state of YO The procedure for processing the program in a DVP 10PM series motion controller is described below Regenerating an input signal Regenerating input signals Input Input terminals The inputsignals are read into the input memory Input memory The state of XO is read from the input memory Processing the program _ Writing the XO state of YO gt Reading
466. tored in the four control registers The maximum Capacity is 1024 bytes If an error occurs during SDO data transmission an error code will be stored in CR 073 and CR 074 If CR 073 CR 076 are used at a time CR 073 functions as the LSB and CR 076 functions as the MSB CR 080 NMT command Description lf DVP FPMC is a master an NMT command can be used to change a network status Please refer to the table below for more information Bit BSB TION Network management command 1 Enabling node communication Setting value 2 Disabling node communication Node ID of a slave 128 Switch an operation mode 129 Resetting node communication Parameters for an A2 mode An A2 mode is one of the applications of DVP FPMC specifically for Delta ASDA A2 series servo drives In an A2 mode CANopen node ID 1 CANopen ID 4 are for ASDA A2 series servo drives and CR 100 CR 499 correspond to servo parameters CR 100 CR 199 are control registers for node ID 1 CR 200 CR 299 are control registers for node ID 2 CR 300 CR 399 are control registers for node ID 3 CR 400 CR 499 are control registers for node ID 4 n in a control register number represents the digit in the hundreds place of the control register number It is in the range of 1 to 4 Control registers for ASDA A2 application are applicable only in an A2 mode CR 010 CANopen bus scan Description The control register is used to scan CANopen node ID 1 CANopen node ID 4 Bit O bit 3 i
467. trol Exp lanation register number mz Is in the range of 0 to 499 D Device in which the data read will be stored n Quantity of data which will be read 16 bit instruction 1 500 mg 32 bit instruction 1 500 m2 2 A DVP 10PM series motion controller can read the data in a control register in a special module by means of the instruction Please refer to the additional remark on the instruction TO for more information about the numbering of special modules The value in CR 29 in special module 0 is read and then stored in DO in the motion controller used The value in CR 30 in special module 0 is read and then stored in D1 in the motion controller used The two values are read at the same time When X0 is ON the instruciton is executed When XO is turned OFF the instruction is not executed and the values which are read remain unchanged XO Lt Tron eo e Example 5 80 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model Writing data into a control register 10PM in a special module Sa E oree A 16 bit instruction 9 steps X Y M S K H KnX KnY KnM kns T C D V Z ei TOP ciclo 3 ee uu w fo fetet fot ft PPPS pr Continuity prop Puse Se py pep E I RRR epioass refer to the additional a below T n e Note m is in the range of 0 to 255 16 bit instruction 32 bit instruction M2 is in the range of 0 to 499 16 bit instruction 32 bit instruct
468. troller used will blink C200 C255 are 32 bit counters When XO is ON a logical AND operator takes the values in CO and C10 and performs the logical AND operation on each pair of corresponding bits If the operation result is not 0 Y10 will be set to ON When X1 is OFF a logical OR operator takes the values in D10 and DO and performs the logical OR operation on each pair of corresponding bits If the operation result is not 0 Y1 will be set to ON When X2 is ON a logical XOR operator takes the values in D201 D200 and D101 D100 and performs the logical exclusive OR operation on each pair of corresponding bits If the operation result is not 0 or if M3 is ON M50 will be ON XO X1 DANDa D200 D100 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage Applicable model Logical operation 1OPM X Y M S K _H KnX KnY KnM KnS T C D V_ Z P Continuity NENS __instruction EE 32 bit instruction 7 steps Continuity instruction o A l Note represents amp or Flag None Please refer to specifications for more information about device ranges S Source device 1 S2 Source device 2 The instruction is used to compare the value in S with that in S2 If the comparison result is not 0 the condition of the instruction is met If the comparison result is 0 the condition of the instruction is not met The instruction OR is connected
469. truction 17 steps re CEE EE EE EEE DRAM Continuity SEE LEE ae matt e Flags M1026 Please refer to the additional Peni ft ft tt ft ft pet ft remark below e Note All devices can not be modified by V devices and Z devices M1029 Please refer to specifications for more information about device ranges i S Start a ramp S2 End of a ramp D Duration of a ramp 2 consecutive Exp lanation devices are occupied n Number of scan cycles n 1 32 67 The instruction is used to get a slope Whether a slope is linear or not has an absolute relationship with scan time When users use the instruction they have to specify scan time in advance When the contact driving the instruction RAMP is turned from OFF to ON the value in D will increase from the value in S to the value S2 and the number of scan cycles is stored in D 1 If the operand n is a D device the value in n can not be changed until the execution of the instruction stops lf the instruction is used with an output of analog signals the action of cushioning a start stop can be executed The start of a ramp is written into D10 and the end of the ramp is written into Exam pl e D11 When X20 is turned ON the value in D12 increases from the value in D10 to the value in D11 and the number of scan cycles is stored in D13 After M1039 in a program is turned ON the scan time for the program will be fixed Users can write scan time into the special da
470. truction 6 steps S x i pot tt tT tT Tt tT YP Tf oN seon DEN instruc instruction instruction e Note Please refer to specifications for more information about device e Flags ranges Ox 0100 F represents a floating point value There is a decimal point in a M1808 M1968 Zero flag floating point value M1809 M1969 Borrow flag M1810 M1970 Carry flag M1793 M1953 Operation error flag e Please refer to the additional remark below Only the 32 bit instructions DLN and DLNP are valid S Source device D Device in which an operation result is stored The natural logarithm of the value in S is calculated Ln S 1 S D 1 D The value in S can only be a positive value D must be a 32 bit register and the value in S must be a floating point value f the value in S is not a positive value an operation error will occur the instruciton will not be executed an operation error flag will be ON and the error code HOE19 will appear e S gt The value in D InS S Source device If the absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON lf an operation result is 0 a zero flag will be ON When MO is ON the value in D1 DO is converted into a binary floating point value and the conversion result is stored in D11 D1
471. truction If the upper cell is a dotted cell there will be no 16 bit instruction The lower cell indicates a 32 bit instruction If the lower cell is a dotted cell there is no 32 bit instruction If there is a 32 bit instruction D is displayed in the lower cell e g API 10 DCMP Applied instruction name lf is displayed in the upper cell a pulse instruction is generally used The lower cell indicates a pulse instruction If there is a pulse instruction P is displayed in the lower cell e g API 12 MOVP Operands Function Number of steps occupied by a 16 bit instruction continuity instruction name and pulse instruction name Number of steps occupied by a 32 bit instruction continuity instruction name and pulse instruction name Flags related to an applied instruction OO 00 O00 5 4 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage The devices marked with displayed in grayscale can be modified by V devices and Z devices Points for attention The devices marked with can be used Device name Device type Applicable model Typing an applied instruction Some applied instructions are composed of instruction names e g BRET and SRET but most applied instructions are composed of instruction names and operands The applied instructions that a DVP 10PM series motion controller can use are assigned the instruction numbers API 00 API 260 Besides every applied inst
472. truction BRET does not have to be driven by a contact Explanation After the instruction BRET is executed the instructions which should be driven l by a conditional contact will seem to be connected to a busbar and will be 5 executed Inthe general program shown below the instructions are executed only when Example X0 is ON l MOV K500 D10 XO After the instruction BRET is added the instructions which should be driven by a contact will seem to be connected to a busbar and will be executed MOV K500 D10 DVP 10PM Application Manual 5 141 5 Applied Instructions and Basic Usage Converting a 16 bit value into a 32 bit value NENG a Pepe reer eo VTP 16 bit instruction steps SSS XY MI SK A Teo Koy eens Te pV E MMoy Continuity Mmoyp Pulse mie instruction instruction _ ONS a EEEE S Note Please refer to specifications for more information about device eer BO o ranges S Source device 16 bit device D Destination device 32 bit device Exp lanation The value in the 16 bit device S is transferred to the 32 bit device D The sign bit in S is duplicated and stored in D When X23 is ON the value in D4 is transferred to D6 and D7 X23 b31 b16b15 bO Bit 15 is D4 is transferred to bit 15 bit 31 in D7 D6 The value in D7 D6 becomes a negative value The value in D4 is also a negative value 5 142 DVP 10PM Application Manual 5 Applied Instructions and B
473. ttedn into CR 18 and the gain K2 000 sz Is written into CR 24 The characteristic curve of DVP04AD H2 is adjusted The offset for channel 2 is Example 2 2 MA K400 sp and the gain for channel 2 is 18 mA K3 600 ss H18 is written into CR 1 in the analog input module whose number is 0 and channel 2 is set to mode 3 current input 20 mA 20 mA HO is written into CR 33 Channel 1 channel 4 can be tuned 3 When XO is turned from OFF to ON the offset K400Lss is writtedn into CR 19 and the gain K3 600Lssg is written into CR 25 5 82 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage The characteristic curve of DVPO2DA HZ2 is adjusted The offset for channel 2 is Example 3 oe and the gain for channel 2 is 10 mA K1 000isp H18 is written into CR 1 in the analog output module whose number is 1 and channel 2 is set to mode 3 current output 0 mA 20 mA HOis written into CR 33 Channel 1 channel 2 can be tuned 3 When X0 is turned from OFF to ON the offset KOLss is writtedn into CR 22 and the gain K1 000 sz Is written into CR 28 The characteristic curve of DVPO2DA H2 is adjusted The offset for channel 2 is 2 MA K400 sg and the gain for channel 2 is 18 mA K3 600_sz Example 4 Minho g H10 is written into CR 1 in the analog output module whose number is 1 and channel 2 is set to mode 2 current output 4 mA 20 mA HO is writ
474. ttheZais SSC an w o Dor Zasemoros o nR w 8D D2018 Electronic gear ratio ofthe Z axis Numerator o aw Ye D2019 Electronic gear rato of the Z axis Denominator RW Ys i Frequency of pulses generated by the manual pulse generator for the Z axis Low word DEn R W ooo Frequency of pulses generated by the manual pulse generator for the Z axis High word Number of pulses generated by the manual pulse generator for the Z axis Low word R W N Number of pulses generated by the manual pulse generator for the Z axis High word D2024 Response speed of the manual pulse generatorforthe Zas RW Ye 5 D2026 D2026 Electrical zero of the Z axis Low word R W Ves D2027 Electrical zero of the Z axis High word D2029 Step address in the Oz motion subroutine at which an error R W Yes occurs reserved not available presently D2056 Seting the parameters ofthe Aas W w o w Number of pulses it takes for the motor of the A axis to rotate 92038 once Low word R W Yes 2000 Number of pulses it takes for the motor of the A axis to rotate D2059 once High word DVP 10PM Application Manual is 3 Devices Special STOP RUN D UY SV Latching Page device RUN STOP Distance generated after the motor of the A axis rotate once PANON Low word R W Yes 1000 Distance generated after the motor of the A axis rotate once D2061 High word D2062 Maximum speed Vmax at which the A axis rotates Low word Maximum speed V
475. u x at which the A axis rotates High R W 500K D2063 word Start up speed Vgias at which the A axis rotates Low word Start up speed Veias at which the A axis rotates High word JOG speed VJog at which the A axis rotates Low word JOG speed Vjog at which the A axis rotates High word D2068 Speed Vat at which the A axis returns home Low word D2069 Speed Vat at which the A axis returns home High word the axis returns home Low word Speed Vcr to which the speed of the A axis decreases when the axis returns home High e n2070 SPeed Von to which the speed of the A axis decreases when D2071 x P On a ORW vs oo D2073 Supplementary pulses forthe Axis CRW Ys o D2074 Home postion ofthe axis Lowword o o aw vs o D2075 Home positon ofthe A axis High word O Ww Yes o Time Tacco it takes for the A axis to accelerate RW Yes 500 Time Tpec it takes for the A axis to decelerate Fo RW Yes 500 Target position of the A axis P I Low word Oe i RNA Ne 0 Pulse width for the A axis Low word O RW No O Target position of the A axis P 1 High word Oo RW No O Pulse width for the A axis High word O RW No O Speed at which the A axis rotates V I Low word 100 RW No 1000 Speed at which the A axis rotates V I High word Target posit
476. uction CJ a watchdog timer error will occur and the main program will not be executed Please use the instruction carefully The instruction CJ can specify the same pointer repeatedly The pointer specified by CJ can not be the same as the pointer specified by CALL otherwise an error will occur When the instruction CJ CJP in a program is executed the actions of the devices in the program are as follows 1 The states of the Y devices the states of the M devices and the states of the S devices in the program remain the same as those before the execution of the jump 2 The 10 millisecond timers in the program stop counting 3 The general counters in the program stop counting and the general applied instructions in the program are not executed 4 Ifthe instructions which are used to reset the timers in the program are driven before the jump is executed the timers will still be reset during the execution of the jump When X0 is ON the execution of the program jumps from address 0 to address N P1 When X0 is OFF the execution of the program starts from address 0 and the instruction CJ is not executed Jump instruction Example 1 XO DVP 10PM Application Manual 5 13 5 Applied Instructions and Basic Usage States of devices Exam p le 2 States of contacts States of contacts States of output coils Device before the execution during the execution during the execution B 7 of CJ of CJ
477. uctions and Basic Usage X Y M S K H KnxX KnY KnM KnS T c D v Z J ianpx Continuity instruction 32 bit instruction 7 steps l Continuity instruction e Note X represents gt lt lt gt Or 2 Fiag None Please refer to specifications for more information about device ranges S Source device 1 S2 Source device 2 Explanation The instructions are used to compare the value in S4 with that in S2 Take the instruction AND for instance If the comparison result is that the value in S4 is equal to that in Se the condition of the instruction is met If the comparison result is that the value in S4 is not equal to that in S2 the condition of the instruction is not met The instruction ANDX is connected to a contact in series 16 bit ca AND gt DAND gt S42 So S lt So Ifa 32 bit counter is used the 32 bit insturciton DANDX must be used If a 32 bit counter and the 16 bit instruction ANDX are used a program error will occur and the ERROR LED indicator on the DVP 10PM series motion controller used will blink C200 C255 are 32 bit counters When XO is ON and the present value in C10 is equal to K200 Y10 is ON When X1 is OFF and the value in DO is not equal to K 10 Y11 is set to ON When X2 is ON and the value in D11 D10 is less than 678 493 or when M3 is ON M50 is ON X0 X1 ros eo oo DAND gt K678493 C M50 gt
478. ue in D1835 D1834 D1915 D1914 D1995 D1994 D2075 D2074 D2155 D2154 D2235 D2234 will be written into D1849 D1848 D1929 D1928 D2009 D2008 D2089 D2088 D2169 D2168 D2249 D2248 Time Tacc it takes for the axis specified to accelerate Description 1 Users can set the times it takes for the speed of the axis specified to increase from its start up speed to its maximum speed The value in D1836 D1916 D1996 D2076 D2156 D2236 is in the range of 0 to 32 767 A millisecond is a unit 2 Ifthe value in D1836 D1916 D1996 D2076 D2156 D2236 is less than 10 it will be counted as 10 If the value in D1836 D1916 D1996 D2076 D2156 D2236 is greater than 32 767 it will be counted as 32 767 3 If users want to have a complete S curve the maximum speed which is set must be the same as the speed at which the axis specified operates DVP 10PM Application Manual 3 57 3 Devices X axis Time Tpgc it takes for the axis specified to decelerate Description 1 Users can set the times it takes for the speed of the axis specified to decrease from its maximum speed to its start up speed The value in D1837 D1917 D1997 D2077 D2157 D2237 is in the range of 0 to 32 767 A millisecond is a unit 2 Ifthe value in D1837 D1917 D1997 D2077 D2157 D2237 is less than 10 it will be counted as 10 If the value in D1837 D1917 D1997 D2077 D2157 D2237 is greater than 32 767 it w
479. umber of values which are moved n2 Number of values forming a group The values in the n word devices starting from D are divided into groups n2 values as a group and these groups are moved leftwards The values in the n2 word devices starting from S are moved to the vacant word devices in the word devices starting from D Generally the pulse instruction WSFLP is used If the operand S is KnX KnY KnM KnS the operand D can be a counter timer or a data register If the operand D is KnY KnM KnS the operand S can be a counter timer or a data register Ifthe operand S is KnX KnY KnM KnS and the operand D is KnY KnM KnS Kn in KnX KnY KnM KnS which is S and Kn in KnY KnM KnS must be the same 1Snosn s512 When XO is turned from OFF to ON the values in the sixteen word devices Exam pl e starting from D20 are divided into groups four values as a group and these groups are moved leftwards The values in the word devices are moved leftwards in the order during a scan cycle D35 D32 The values in D35 D32 are carried D31 D28 D35 D32 D27 D24 D31 D28 D23 D20 D27 D24 D13 D10 D23 D20 i iad eee Four values as agroup are moved leftwards lt DVP 10PM Application Manual 5 55 5 Applied Instructions and Basic Usage CS BD GD Moving a value and writing it into a word eee oe srw sm device 10PM Sere rw Ts Pe Te poas T e o VT rw Continuity SFWRP Pulse
480. unchanged Ladder diagram Instruction code Description LD XO Loading the Form A XO J RST Y5 Resetting Y5 4 8 DVP 10PM Application Manual 4 Basic Instructions Instruction Function Applicable code model 10PM 16 bit timer E R T0 T255 KO K32 767 Operand T0 T255 DO D9 999 When the instruction TMR is executed the coil specified is ON and the timer specified begins to count If the timer value matches the setting value timer valuezsetting value the contact specified will act in the way described below NO Normally open contac NC Normally closed contact Va Ladder diagram Instruction code Description X0 LD XO Loading the Form A EKAI pig TMR contact X0 m TMR T5 K1000 The setting value in the timer T5 is K1000 la Please refer to the specifications for the model used for more information about Additional the timer range which can be used remark Instruction Panenon Applicable code model Explanation 10PM 16 bit counter BA R C0 C199 KO K32 767 C0 C199 D0 D9 999 When the counter coil specified by the instruction CNT is turned from OFF to ON the counter value increases by 1 If the counter value matches the setting value counter value setting value the contact specified will act in the way described below NO Normally open contac NC Normally closed contact lf there are pulses sent to the counter specified by the instruction CNT a
481. upplementary pulses and finally stop Bit 9 1 Overwrite mode After DOG s signal is generated the motor used will rotate for a number of PGO pulses or rotate for a number of supplementary pulses and then stop DVP 10PM Application Manual 3 49 3 Devices 7 Bit 10 in D1816 D1896 D1976 D2056 D2136 D2216 Mode of triggering the return to home Bit 10 0 The return to home is triggered by a transition in DOG s signal from high to low Bit 10 1 The return to home is triggered by a transition in DOG s signal from low to high Bit 9 10 in D1816 D1896 D1976 D2056 D2136 D2216 is 00 gt The mode of returning home is 3 50 a normal mode and the return to home is triggered by a transition in DOG s signal from high to low Steps The motor used rotates at the speed Var When DOQG s signal is generated the speed of the motor begins to decrease to the speed Vcr After DOG s signal goes from high to low the motor will rotate for a specific number of PGO pulses and then rotate for a specific number of supplementary pulses and finally stop lf the number of PGO pulses or the number of supplementary pulses is not large the speed of the motor used will decrease to the speed Vcr after DOG s signal is generated After DOG s signal goes from high to low the motor will rotate for a specific number of PGO pulses and then rotate for a specific number of supplementary pulses and finally stop whether the its speed is Vcr lf the
482. ut pin Time when there is a transition in an output pin s signal from low to high e There isa Time when there is a transition in an output pin s signal from high to low e There is a transition in the Valid The execution of the motion control function block is complete The motion control function block is being executed Busy DogO_X0 Pg0_ X1 Dog1_X2 Pg1_X3 Dog2_X4 Pg2_X5 Dog3_X6 Pg3_X7 mpgA_X10 mpgB_X11 Dog4_X12 Polarity DVP 10PM Application Manual Dog5 X13 BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL transition in the Valid output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high There is a transition in the Busy output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high When input pins are set to True and the input terminals are OFF there are transitions in these output pins signals from low to high When input pins are set to False and the input terminals are ON there are transitions in these output pins signals from low to high output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Busy output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to l
483. utput pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high Input values are incorrect The motion of the axis specified is not uniaxial motion gear motion or cam motion output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when the execution of the motion control function block is complete the Done output pin will be set to False in the next cycle There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error Output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Aborted output pin s signal from low to high There is a transition in the Error Output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low Troubleshooting 5 184 Check whether the values of the input pins are in the ranges allowed DVP 10PM Application Manual 5 Applied Instructions and Basic Usage ror Troubleshooting Make sure that other uniaxial motion control function The motion control function block conflicts wi
484. ve data registers 4 Ifa 32 bit instruction uses DO as an operand the 32 bit data register composed of D1 and DO will be used D1 occupies the high 16 bits and DO occupy the low 16 bits Timers and the 16 bit counters CO C199 can be used in the same way 5 If the 32 bit counters C200 C255 are used as data registers they can be operands used by 32 bit instructions Operand type 1 Xdevices Y devices M devices and S devices can only be turned ON or OFF They are bit devices 2 16 bit or 32 bit T devices C device D devices V devices and Z devices are word devices 3 If Kn is added to the front of an X Y M S device a word device will be formed For example K2MO represents a device composed of the eight bit devices MO M X0 When XO is ON the values of MO M7 are moved to K2M0 D10 bit o bit 7 in D10 and bit 8 bit 15 are set to 0 Values in word devices composed of bit devices 16 bit instruction A 16 bit value is in the range of K 32 768 to K32 767 Value in a word device composed of bit devices K1 4 bits K2 8 bits 0 255 A 32 bit value is in the range of K 2 147 483 648 to K2 147 483 647 Value in a word device composed of bit devices K1 4 bits 0 15 0 256 2 147 483 648 2 147 483 647 OB O85 K5 20 bits K6 24 bits 2 147 483 6487 2 147 483 647 5 6 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage General fl
485. vices ON OFF M1304 Real time clock D1313 D1319 3 Devices The program is shown below XO MOVP K1M1208 DONT C208 K10 The cyclic mode is used to measure a frequency 1 D1140 Number of right side modules AD DA XA PT TC RT HC PU 8 right side modules at most 2 D1142 Number of X devices in a digital module 3 D1143 Number of Y devices in a digital module 1 Users can set latching device ranges The devices in the range of a starting latching device address and a terminal latching device address are latching devices 2 Please refer to section 3 1 for more information If M1304 in a DVP 10PM series motion controller is ON the X devices in the DVP 10PM series motion controller can be turned ON OFF by means of PMSotft 1 Special data registers which are related to the real time clock ina DVP 10PM series motion controller Device Name Function 7 D1317 D1318 Wek 7 D1319 0 99 A D 2 Ifthe value of the second in the real time clock in a DVP 10PM series motion controller is incorrect it will become O If the value of the minute in the real time clock in a DVP 10PM series motion controller is incorrect it will become O If the value of the hour in the real time clock in a DVP 10PM series motion controller is incorrect it will become O If the value of the day in the real time clock in a DVP 10PM series motion controller is incorrect it will become 1 If the value o
486. vided into groups four Exam pl e bits as a group and these groups are rotated rightwards with a carry flag The bit marked with X is transmitted to the carry flag XO RCRP D10 K4 Explanation 0 00 OF Rotating the bits in D10 rightwards p gt High byte Low byte D10 000011110000011 0 gt 1 Carry flag E Rotating the 16bits inD10 High byte Low byte D10 1101000011110000 gt 0 Carry flag DVP 10PM Application Manual 5 49 5 Applied Instructions and Basic Usage x Y M S K H KnX KnY KnM KnS T C D V Z Rot D C E 32 bit instruction 9 steps P o eee macy Continuity grog Fuse Continuity RCLP instruction _ _instruction e Note The instruction supports V devices and Z devices If the 16 bit M UO Instruction _ instruction is used Z devices can not be used If the 32 bit Flags instruction is used V devices can not be used Ox 0100 M1810 M1970 Carry flag Please refer to specifications for more information about device HS p e Please refer to the additional remark below ranges If KnX KnY KnM KnS is used it is suggested that X devices Y devices M device numbers S device numbers should start from a number which is a multiple of 16 in the octal numeral system or in the decimal numeral syste
487. vo drive BITA hase RatioNum FP Servo motor Ha PAR gt Frequency of input pulses X RatioDen gt oe B phase gt Frequency of output pulses j 5 176 DVP 10PM Application Manual 5 Applied Instructions and Basic Usage The input terminals which can be connected to a manual pulse generator are shown below jes zag av xo x2 xa xe io xie xj xis Mme fs xi x x xz xto x x2 x13 DVP 10PM AC Power IN DC Signal IN Yo fyi y2 ys vior Yi vi2e vise vide iss vies Yiz The terminals in the red frame are for the first axis the sixth axis 2 Input pins Output pins Enable Reset Axis number Numerator of RatioNum an electronic gear ratio Denominator of When the motion control function block RatioDen an electronic DWORD K1 K32 767 is executed the value of the RatioDen gear ratio input pin is updated repeatedly Time when a value is valid Data ton SRE setae The value of the Axis input pin is valid WORD K1 K6 when there is a transition in the Enable input pin s signal from low to high 800 metase The value of the Reset input pin is valid BOOL True False when there is a transition in the Enable input pin s signal from low to high When the motion control function block DWORD KO K32 767 is executed t
488. w when there is a transition in the Execute input pin s signal from high to low DVP 10PM Application Manual 5 Applied Instructions and Basic Usage State output pin Time when there is Data type a transition in an Time when there isa transition In an output pin s signal output pin s signal from high to low from low to high The execution The execution of There is a transition in the of the motion the motion Aborted output pin s signal from control function control function high to low when there is a block is block is transition in the Execute input interrupted by a interrupted by a pin s signal from high to low command command 3 Troubleshooting or Troubleshooting The values of input pins in the motion control function Check whether the values of the input pins are in the block are incorrect ranges allowed Make sure that other uniaxial motion control function The motion control function block conflicts with other blocks are not started or the execution of other Aborted motion control function blocks uniaxial motion control function blocks is complete before the motion control function block is started 4 Example Purpose The motion control function block T AbsMoveLinear and the motion control function block T_RelMoveLinear are used to start the absolute linear interpolation executed by the axes specified and the relative linear interpolation executed by the axes specified Local Symbols
489. when there is a transition in the Execute input pin s signal from low to high When the Done output pin the Aborted output pin and the Error output pin are set to True the Busy output pin are reset If the input pin that a motion control function block has is the Enable input pin the motion control function block uses the Busy output pin to indicate that the execution of the motion control function block is not complete and new output states values are expected to be generated The Busy output pin in a motion control function block is set to True when there is a transition in the Enable input pin s signal from low to high and is set to True when the motion control function block is executed When the Busy output pin is set to True output states values still change Characteristic of the Aborted output pin The Aborted output pin in a motion control function block is set to True when the execution of the motion control function block is interrupted by a command Relation between the Enable input pin and the Valid output pin If the input pin that a motion control function block has is the Enable input pin the motion control function block uses the Busy output pin to indicate whether output data states are valid The Valid Output pin is set to True only when the Enable input pin is set to true or output data state are valid If an error occurs in a motion control function block output data states will not be valid and the Valid
490. whether the output devices YO Y1 Y2 Y3 C200 C204 C208 and C212 are enabled or disabled 2 Input pins Output pins Name Funetion rh Setting value Time when a value is valid The motion control function block Is enabled when Enable there isa BOOL True False transition in the Enable input pin s signal from low to high DVP 10PM Application Manual 5 211 5 Applied Instructions and Basic Usage ee eae ee eee Ren BOOL True False CLRC208Rst CLRC212Rst Resetting the output devices YO Y1 Y2 Y3 C200 C204 C208 and C212 When the motion control function block is executed the values of these input pins are updated repeatedly CmpC200 CmpC204 CmpC208 An output value is valid The motion control function block is being executed An error occurs in the motion control function block Data ee ee States of the output devices YO Y1 Y2 Y3 C200 C204 C208 and C212 State output pin Time when there is a transition in an output pin s signal from low to high There is a transition in the Valid output pin signal from low to high when there is a transition in the Enable input pin s signal from low to high There is a transition in the Busy output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high Input values are Incorrect The source specified has been occupied Value output pin Time wh
491. xis PPS D2170 D2251 D2250 Description The value in D1851 D1850 D1931 D1930 D2011 D2010 D2091 D2090 D2171 D2170 D2251 D2250 is in the range of 0 to 2 147 483 647 2 The present command speed of the axis specified is indicated by the number of pulses h 1 Present command position of the axis specified Unit Description The value in D1853 D1852 D1933 D1932 D2013 D2012 D2093 D2092 D2173 D2172 _ m 3 64 DVP 10PM Application Manual 3 Devices D2253 D2252 is in the range of 2 147 483 648 to 2 147 483 647 2 The unit used is determined by bit 0 and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 After the axis specified returns home the value in D1835 D1834 D1915 D1914 D1995 D1994 D2075 D2074 D2155 D2154 D2235 D2234 will be written into 01853 D1852 D1933 D1932 D2013 D2012 D2093 D2092 D2173 D2172 D2253 D2252 HW LW Present command speed of the axis specified Aaxis Beaxis C axis Unit w w Description 1 The value in D1855 D1854 D1935 D1934 D2015 D2014 D2095 D2094 D2175 D2174 D2255 D2254 is in the range of 0 to 2 147 483 647 2 The unit used is determined by bit O and bit 1 in D1816 D1896 D1976 D2056 D2136 D2216 State of the axis specified Description B BRE Dee 0 Positive going pulses are being output _ 1 Negative going pulses are being
492. zation cycle in the PDO for a master must be the same as the frame ID and the synchronization cycle in the PDO for the slave connected There are two kinds of PDOs transmit and receive PDOs TPDO and RPDO Setting a TPDO CR H 1800 CR H 183F in DVP DPMC function as TPDOs They communicate with a slave s RPDOs For example the OD index H 1800 TPDO in a master communicates with the OD index H 143F RPDO in a slave The synchronization cycle set is 240 and the frame ID set is H 181 DVP FPMC Slave OD CR Transmit PDO index Receive PDO H 1800 ed al Frame ID H 181 a X H 143F e Frame ID H 181 Setting a RPDO CR H 1400 CR H 143F in DVP DPMC function as RPDOs They communicate with a slave s TPDOs For example the OD index H 1438 RPDO in a master communicates with the OD index H 1800 TPDO in a slave The synchronization cycle set is 5 and the frame ID set is H 400 DVP FPMC Slave OD CR Receive PDO index Transmit PDO H 1438 aoa Frame ID H 400 N H 1800 a al Frame ID H 400 7 20 DVP 10PM Application Manual r4 CANopen Communication Card 2 Setting PDO mapping parameters The setting of PDO mapping parameters includes the setting of a mapping target and the setting of a data length in a PDO data buffer The maximum data length which can be set is 64 bits that is to say four subindices in a PDO data buffer can

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