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DVP15MC11T Operation Manual

11

1

2.

Motion Curve and Timing Charts:



When Vel_Ex changes to TRUE, Vel_Bsy changes to TRUE and one period later, Vel_Act
changes to TRUE and the servo motor starts to move forward. Vel_Invel changes to TRUE as
the servo motor reaches the target velocity.



When Hlt_Ex changes to TRUE, Hlt_Bsy changes to TRUE and one period later, Hlt_Act
changes to TRUE. Meanwhile, Vel_Invel changes to FALSE and Vel_Abt changes to TRUE
and then the servo motor starts to decelerate.



When the axis velocity is decreased to 0, Hlt_Done changes to TRUE and meanwhile, Hlt_Bsy
and Hlt_Act change to FALSE.



As Hlt_Ex changes to FALSE, Hlt_Done changes to FALSE.

10000

Velocity

Time

Vel_Inve l

Vel_Err

Vel_Ex

Vel_Abt

Vel_Bs y

Vel_Ac t

MC_Ve loci ty

Hlt_Done

Hlt_Err

Hlt _Ex

Hlt_Abt

Hlt_Bsy

Hlt _Act

MC_Hal t

11-30

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Summary of Contents for DVP15MC11T

Page 1: ...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 6...

Page 2: ...ces 3 5 3 1 2 4 Data Types and Valid Ranges Supported 3 6 3 2 Electrical Specifications 3 7 Chapter 4 System Architecture 4 1 4 1 System Constitution 4 2 4 2 Power Supply 4 2 4 3 Left side Extension 4...

Page 3: ...6 3 1 Function that RS 485 Port Supports 6 8 6 3 2 Definitions of RS 485 Port Pins 6 8 6 3 3 RS 485 Hardware Connection 6 8 6 3 4 Supported Function Codes and Exception Codes 6 10 6 4 RS 232 Communic...

Page 4: ...1 3 Watchdog for a Task 7 6 7 1 4 Motion Instructions for Each Task Type 7 7 7 2 The Impact of PLC RUN or STOP on Variables and Devices 7 8 7 3 Relationship between Motion Program and Motion Bus 7 8 7...

Page 5: ...12 SIN 8 79 8 8 13 COS 8 81 8 8 14 TAN 8 83 8 8 15 ASIN 8 85 8 8 16 ACOS 8 88 8 8 17 ATAN 8 90 8 8 18 LN 8 92 8 8 19 LOG 8 94 8 8 20 SQRT 8 96 8 8 21 EXP 8 98 8 8 22 EXPT 8 100 8 8 23 RAND 8 102 8 8...

Page 6: ...EPLACE 8 197 8 14 7 LEN 8 199 8 14 8 FIND 8 200 8 15 Immediate Refresh Instructions 8 202 8 15 1 FROM 8 202 8 15 2 TO 8 206 8 15 3 ImmediateInput 8 210 8 15 4 ImmediateOutput 8 212 Chapter 9 Introduct...

Page 7: ...ctions 11 128 11 4 1 MC_GearIn 11 128 11 4 2 MC_GearOut 11 134 11 4 3 MC_CombineAxes 11 139 11 4 4 Introduction of Electronic Cam 11 147 11 4 5 MC_CamIn 11 148 11 4 6 MC_CamOut 11 169 11 5 Application...

Page 8: ...3 Exception Response Code in Modbus TCP B 3 B 4 Modbus Function Codes in Modbus TCP B 3 B 5 Registers in DVP15MC11T and Corresponding Modbus Addresses B 12 Appendix C CANopen Protocol C 1 C 1 Node St...

Page 9: ...Memo viii...

Page 10: ...1 Chapter 1 Preface Table of Contents 1 1 Explanation of Symbols in This Manual 1 2 1 2 Revision History 1 2 1 1...

Page 11: ...ore using DVP15MC11T 1 1 Explanation of Symbols in This Manual Precautions before operation Before operation please read relevant safety instructions carefully so as to prevent an injury to personnel...

Page 12: ...2 Chapter 2 Overview of DVP15MC11T Table of Contents 2 1 Product Description 2 2 2 2 Functions 2 2 2 3 Profile and Components 2 3 2 1...

Page 13: ...es for wiring Thanks to the high speed reliable motion control system DVP15MC11T can be widely applied to a variety of automation control industries such as packaging printing encapsulating wire cutti...

Page 14: ...lot A 2E State indicators A 11E Right side extension module port A 3E IO indicators A 12E 24V power port A 4E COM SSI communication port A 13E Screw fixing clip A 5E Incremental encoder port A 14E Ext...

Page 15: ...DVP15MC11T Operation Manual _2 MEMO 2 4...

Page 16: ...tion Specifications 3 2 3 1 1 Specifications 3 2 3 1 2 Devices and Data Types 3 3 3 1 2 1 Devices 3 3 3 1 2 2 Valid Ranges of Devices 3 4 3 1 2 3 Latched Devices 3 5 3 1 2 4 Data Types and Valid Range...

Page 17: ...orts of DVP15MC11T CAN 2 One CAN port supports the standard CANopen protocol and the other CAN port is used in Motion Ethernet 2 Two independent Ethernet ports RS 232 1 Used as a master or slave RS485...

Page 18: ...le Device name Corresponding relationships The 1st WORD The 2nd WORD The 3rd WORD The 4th WORD Bit 0 Bit 7 Bit 8 Bit 15 Bit 0 Bit 7 Bit 8 Bit 15 Bit 0 Bit 7 Bit 8 Bit 15 Bit 0 Bit 7 Bit 8 Bit 15 MX MX...

Page 19: ...15 ML ML1 3 1 2 2 Valid Ranges of Devices The table of valid ranges of the devices in DVP15MC11T Device name Expression Range IX IX0 0 IX0 7 IX0 0 IX127 7 QX QX0 0 QX0 7 QX0 0 QX127 7 MX MX0 0 MX0 0 M...

Page 20: ...0xA3FF Word QW0 QW63 0xA000 0xA03F M Register Bit MX0 0 MX0 7 0x10000000 0x10000007 Delta extended Modbus addresses MX1 0 MX1 7 0x10000008 0x1000000F MX131071 0 MX131071 7 0x100FFFF8 0x100FFFFF Word...

Page 21: ...854775808 9223372036854775807 0 14 REAL 3 402823e 38 1 175495e 38 0 1 175495e 38 3 402823e 38 0 0 15 LREAL 1 79769313486231e 308 2 22507385850721e 308 0 2 22507385850721e 308 1 79769313486231e 308 0 0...

Page 22: ...70 C Temperature 5 95 Humidity Weight About 425g Electrical specification for input points Item Content Number of input channels 16 channels Channel type High speed digital input type for the 16 chan...

Page 23: ...ntent Max switch frequency 1KHZ Max loading Resistance 0 5A 1point 2A ZP Inductance 13W 24VDC Bulb 2 5W 24VDC Max cable length The shielded cable 500m The unshielded cable 300m 1 UP and ZP must connec...

Page 24: ...2 4 3 2 Allocation of Left side Network Module Addresses 4 3 4 3 3 Method of Reading Writing of Left side Modules 4 3 4 4 Right side Extension 4 3 4 4 1 Connectable Right side Extension Modules 4 3 4...

Page 25: ...er Supply Delta power modules are recommended as the power supply for DVP15MC11T The information of Delta power modules is shown in the following table No Module name Phase Input voltage Output voltag...

Page 26: ...output mapping area for DVPPF02 SL is D6250 D6349 But the area address is expressed as MW6250 MW6349 when the module is connected to the left of DVP15MC11T 4 3 3 Method of Reading Writing of Left side...

Page 27: ...It is counted as 8 points if the number is less than 8 Digital input points and output points are numbered as below Octal IX2 0 IX2 7 IX16 0 IX16 7 IX31 0 IX31 7 QX2 0 QX2 7 QX16 0 QX16 7 QX31 0 QX31...

Page 28: ...he servo X0B 1 Set as CANopen mode P3 00 Setting a node ID Setting range 1 24 The setting of this parameter corresponds to the node address of the servo in the CANopen network P3 01 Baud rate 0403 The...

Page 29: ...r UC CMC010 01A communication cable according to the field status 3 There is one 120 terminal resistor embedded at Motion port In the CANopen network consisting of Motion port and servos the other end...

Page 30: ...AT64 Size SD SDHC Mini SDHC Micro SDHC SDXC Micro SDXC SD speed level N A CLASS 2 Min 2MB Sec CLASS 4 Min 4MB Sec CLASS 6 Min 6MB Sec CLASS 10 Min 10MB Sec CLASS 2 Min 2MB Sec CLASS 4 Min 4MB Sec CLAS...

Page 31: ...DVP15MC11T Operation Manual _4 4 6 2 Function The main purpose of SD card is to upgrade the firmware of DVP15MC11T Write protected Released 4 8...

Page 32: ...e 5 3 5 1 4 Connecting to the Right side Extension Module 5 4 5 1 5 SD Card Installing and Removing 5 5 5 2 Installing the Module in the Control Cabinet 5 7 5 2 1 Installing the Module to DIN rail 5 7...

Page 33: ...ons of Left side and Right side Extension Modules See the following dimension figure of a left side extension module by taking DVPCOPM SL for example The length width and height of all left side modul...

Page 34: ...s step 1 in figure 5 1 3 1 Press the clips respectively on the top left and bottom left of DVP15MC11T to fix the module tightly and ensure that their contact is normal as step 2 in figure 5 1 3 1 C AN...

Page 35: ...long four mounting holes in the four angles of DVP15MC11T as step 1 in figure 5 1 4 1 Press the clips on the upper right and bottom right of DVP15MC11T to fix the module tightly and ensure that their...

Page 36: ...allation is finished the SD card should be fixed tightly If the SD card inserted to the slot is loose the installation is unsuccessful In addition the SD card has a fool proofing design If the directi...

Page 37: ...remove the SD card out of the slot easily C AN E R R 1 R U N E R R 2 R U N 0 0 10 0 0 01 11 01 02 12 02 03 13 03 04 14 04 05 15 05 06 1 6 06 0 7 17 0 7 C A N ER R 1 R U N ER R 2 R U N 00 10 00 01 11...

Page 38: ...1 12 13 1 4 15 16 1 7 00 0 1 02 03 0 4 05 06 0 7 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 S 0 10 11 12 13 14 15 16 17 S 1 0 0 0 1 0 2 0 3 04 05 06 07 U P ZP 0 V 2 4 V 1 5 1 0 5 1 6 1 1 1 5 1 0 5 1 6 1 1 EN C O...

Page 39: ...binet must be cut before installation 5 2 4 Actions for Anti interference Do not install the controller in the control cabinet where there is high voltage equipment Please keep at least 200mm far away...

Page 40: ...4 2 Definitions of RS 232 Port Pins 6 11 6 4 3 RS 232 Hardware Connection 6 11 6 4 4 Supported Function Codes and Exception Codes 6 12 6 5 SSI Absolute Encoder Port 6 13 6 5 1 Function of SSI Absolute...

Page 41: ...Communication Speed and Communication Distance 6 19 6 9 CANopen Communication Port 6 20 6 9 1 Functions that CANopen Communication Port Supports 6 20 6 9 2 Pins of CANopen Communication Port 6 21 6 9...

Page 42: ...when the power returns to normal 6 1 2 Safety Circuit Wiring The action of any device inside DVP15MC11T may affect the behavior of the external equipment under DVP15MC11T s control over the servo dri...

Page 43: ...e filter value can decrease the vibration of input signals or the influence from external interference Input filter time t 31us 0 255 So the filter time is a multiple of 31us and 0 is the default valu...

Page 44: ...the relevant wiring circuit in the following figures 1 The input points of DVP15MC11T 00 07 correspond to S0 as shown below Figure 6 2 2 2 2 The input points of DVP15MC11T 10 17 correspond to S1 as s...

Page 45: ...tive load of smaller power and infrequent On Off However in the event of larger power and frequent On Off the following suppression circuit is necessary for reducing interferences and preventing the t...

Page 46: ...ion 6_ 3 2 6 DC power supply of 24 V Circuit protection fuse Emergency stop button Switch inductive load component for suppression is not used but when in smaller power 9V Zener diode 5W and are both...

Page 47: ...orts are 1 255 The broadcast function is not supported Refer to appendix A for details on Modbus communication and Modbus device addresses 6 3 2 Definitions of RS 485 Port Pins DVP15MC11T s COM SSI po...

Page 48: ...ges of two devices are different make SG Signal Ground of the two devices connected with each other to balance their SG voltages and make the communication more stable Communication Format that RS 485...

Page 49: ...r values N 256 Bit register 0x03 Read one single or multiple word register values N 100 Word register 0x05 Write one single bit register value Y 1 Bit register 0x06 Write one single word register valu...

Page 50: ...mode as well as RTU mode The function codes which RS 232 port supports include 0x01 0x02 0x03 0x05 0x06 0x0F and 0x10 The station addresses that RS 232 port supports are 1 255 The broadcast function...

Page 51: ...ndication Max number of writable readable registers Available register 0x01 Read output bit register values 256 Bit register 0x02 Read bit register values 256 Bit register 0x03 Read one single or mult...

Page 52: ...2 Definitions of SSI Port Pins DVP15MC11T s COM SSI port is a 15 pin D SUB interface See the table below for definitions of respective SSI communication port pins Pin No Signal Definition COM SSI 1 D...

Page 53: ...15 of COM SSI interface and 0V of SSI encoder to pin 8 of COM SSI interface When VCC 5V the power is supplied to SSI encoder alone according to the actual power voltage of the SSI encoder which is con...

Page 54: ...encoder axis for either of the two encoders to control the motion of slave axes according to the number of pulses received at the encoder port 6 6 2 Definition of Incremental Encoder Port Pins DVP15M...

Page 55: ...e of DVP15MC11T and the wiring method are shown below Note The power supply for Encoder port of DVP15MC11T is 5V power When VCC 5V connect the power voltage VCC of an encoder to pin 15 of DVP15MC11T s...

Page 56: ...not need to additionally select wire jumper when the Ethernet port is connected to the computer or switchboard Besides they can automatically detect the transmission speed of 10Mbps and 100 Mbps as we...

Page 57: ...rd register values 100 Word register Exception response code Indication 0x01 Unsupportive function code 0x02 Unsupportive Modbus address 0x03 The data length is out of the valid range 6 8 Motion Commu...

Page 58: ...r in its Motion interface 6 8 4 Communication Speed and Communication Distance The transmission distance of the bus network depends on the transmission speed of Motion bus Below is the table where the...

Page 59: ...NT USINT BYTE 16bit INT UINT WORD 32bit DINT UDINT REAL DWORD 64bit LINT ULINT LREAL LWORD Supports SDO service Supports standard expedited SDO transmission mode Supports Auto SDO function capable of...

Page 60: ...mmunication Port The input mapping area is MW5000 MW5499 and output mapping area is MW5500 MW5999 when DVP15MC11T works as CANopen master The input mapping area is MW5000 MW5031 and output mapping are...

Page 61: ...120 should be connected between CAN_H and CAN_L of two respective ends of the network Users can purchase Delta terminal resistor TAP TR01 6 9 5 CANopen Communication Rate and Communication Distance Th...

Page 62: ...sk Types 7 2 7 1 2 Priority levels of Tasks 7 4 7 1 3 Watchdog for a Task 7 6 7 1 4 Motion Instructions for Each Task Type 7 7 7 2 The Impact of PLC RUN or STOP on Variables and Devices 7 8 7 3 Relati...

Page 63: ...resh I O includes local I O points and left side and right side extension module data and CANopen data The data can be specified to refresh before the set task is executed If not specified the data wi...

Page 64: ...d by ev ent System processing Priority High Low System pr ocessing Task execution condition met The event tasks for option contain following few types Motion event Motion control task Rising edge or f...

Page 65: ...task with higher priority takes priority to perform The high priority task can interrupt the low priority task We recommend that the task which has a high requirement of real time should be given a h...

Page 66: ...me Task execution finished Task execution condition met IO User program Time interval between tasks Time interval between tasks IO User program System processing IO User program Task execution time IO...

Page 67: ...completed A 10E A The freewheeling task execution is completed The controller executes the cyclic task since the cyclic task request in is not responded yet A 11E A The cyclic task execution is compl...

Page 68: ...ion task Single axis instructions MC_Power V MC_MoveAbsolute V MC_MoveRelative V MC_MoveAdditive V MC_MoveSuperimposed V MC_Haltsuperimposed V MC_MoveVelocity V MC_Stop V MC_Halt V MC_Home V MC_Reset...

Page 69: ...s of variables and devices are retained When DVP15MC11T is switched from STOP to RUN variables and devices keep current values 7 3 Relationship between Motion Program and Motion Bus DVP15MC11T makes t...

Page 70: ...for program execution It is about 0 5ms for the communication between DVP15MC and a servo We recommend that the value is rounded up to an integer in application For example 5 servos are configured in...

Page 71: ...DVP15MC11T Operation Manual _7 Memo 7 10...

Page 72: ...Instructions 8 17 8 4 1 MOVE 8 17 8 4 2 MoveBit 8 18 8 4 3 TransBit 8 20 8 4 4 MoveDigit 8 22 8 4 5 Exchange 8 24 8 4 6 Swap 8 26 8 5 Comparison Instructions 8 28 8 5 1 LT 8 28 8 5 2 LE 8 30 8 5 3 GT...

Page 73: ...8 26 FRACTION 8 108 8 9 Bit String Instructions 8 110 8 9 1 AND 8 110 8 9 2 OR 8 113 8 9 3 NOT 8 116 8 9 4 XOR 8 118 8 9 5 XORN 8 121 8 10 Shift Instructions 8 124 8 10 1 SHL 8 124 8 10 2 SHR 8 126 8...

Page 74: ...open 8 182 8 14 String Processing Instructions 8 187 8 14 1 CONCAT 8 187 8 14 2 DELETE 8 189 8 14 3 INSERT 8 191 8 14 4 LEFT RIGHT 8 193 8 14 5 MID 8 195 8 14 6 REPLACE 8 197 8 14 7 LEN 8 199 8 14 8 F...

Page 75: ...Digits Exchange Data Exchange Swap Swap Bytes Comparison Instructions LT Less Than LE Less Than or Equal GT Greater Than GE Greater Than or Equal EQ Equal NE Not Equal Timer Instructions TON On Delay...

Page 76: ...al Logarithm LOG Base 10 Logarithm SQRT Square Root EXP Natural Exponential Operation EXPT Exponentiation RAND Random Number TRUNC Truncate FLOOR Real Number Floor FRACTION Real Number Fraction Bit St...

Page 77: ...Text strings_TO_ String Conversion Group CANopen Communication Instructions DMC_ReadParameter_CANopen Read a slave parameter value DMC_WriteParameter_CANopen Write a slave parameter value String Proce...

Page 78: ...es of the FB instruction will not be updated 8 3 Sequence Input Output Instructions 8 3 1 R_TRIG FB FC Explanation Applicable model FB R_TRIG is used for the rising edge trigger DVP15MC11T Parameters...

Page 79: ...ming Example The variable table and program Variable name Data type Initial value R_TRG R_TRIG R_TRG_EN BOOL FALSE R_TRG_CLK BOOL FALSE R_TRG_Q BOOL Timing Chart 1 R_TRIG EN ENO CLK Q R_TRG R_TRG_EN R...

Page 80: ...NT LINT REAL LREAL TIME DATE TOD DT STRING CLK Q Note The symbol indicates that the parameter is allowed to connect to the variable or constant of the data type Function Explanation When CLK of F_TRIG...

Page 81: ...DVP15MC11T Operation Manual _8 Timing Chart F_TRG_CLK F_TRG_Q 8 10...

Page 82: ...tring Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING SET Reset Q Note The symbol indicates that the parame...

Page 83: ...Case 1 When RS1_SET is TRUE the output RS1_Q is TRUE If RS1_Reset is TRUE RS1_Q is FALSE Case 2 When RS1_Reset is TRUE RS1_Q is always FALSE 1 RS EN ENO SET Q Reset RS1_EN RS1_SET RS1_Reset RS1_Q 1 RS...

Page 84: ...nal TRUE or FALSE Q Output signal Output Output signal TRUE or FALSE Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL L...

Page 85: ...OOL FALSE SR1_SET BOOL FALSE SR1_Reset BOOL FALSE SR1_Q BOOL Timing Chart Case 1 When SR1_SET is TRUE SR1_Q is TRUE When SR1_Reset is TRUE SR1_Q is FALSE Case 2 SR1_SET is given the priority when SR1_...

Page 86: ...OL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING CLAIM RELEASE Q Note The symbol indicates that the parameter is allowed to connect to the variable...

Page 87: ...RUE in the second period When SEMA1_RELEASE is TRUE SEMA1_Q changes to FALSE immediately Case 2 When SEMA1_CLAIM is TRUE SEMA1_Q is TRUE in the second period no matter whether SEMA1_RELEASE is TRUE or...

Page 88: ...ORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In Out Note The symbol indicates that the parameter is allowed to connect to the variable or constant of th...

Page 89: ...data type of the variable that the input parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LR...

Page 90: ...L TRUE MovBit_In USINT 31 MovBit_Inpos UINT 2 MovBit_InOutPos UINT 3 MovBit_Inout USINT 8 Move Figure 0 0 bit0 bit7 MovBit_In 0 1 0 0 0 0 0 0 M ovBit_InOut 0 1 1 1 1 1 bit0 bit7 MovBit_InPos U IN T 2...

Page 91: ...its to move Depends on the data type of the variable that the input parameter is connected to InOut Input signal Input Move destination Depends on the data type of the variable that the input paramete...

Page 92: ...d Programming Example The variable table and program Variable name Data type Current value TrsBit_EN BOOL TRUE TrsBit_In USINT 63 TrsBit_InPos UINT 1 TrsBit_InOutPos UINT 2 TrsBit_Size UINT 2 TrsBit_I...

Page 93: ...type of the variable that the input parameter is connected to InOut Input signal Input Move destination Depends on the data type of the variable that the input parameter is connected to Boolean Bit s...

Page 94: ...NT 16 1234 MovDigt_InPos UINT 1 MovDigt_InOutPos UINT 2 MovDigt_Size UINT 2 MovDigt_Inout UDINT 16 2300 Move Figure 0 0 1 0 1 1 0 0 In 16 1234 Bit0 B it3 B it4 Bit7 0 1 0 0 1 0 0 0 Bit8 Bit11 B it12 B...

Page 95: ...number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In1 In2 Note The symbol indicates that the parameter is allowed to conne...

Page 96: ...Exchange instruction is executed the values of Exchg_In1 and Exchg_In2 are always exchanged In1 Input parameter Input value Exchg_In1 In2 Exchg_In2 In1 Exchg_In2 In2 Exchg_In1 Exchange Input value Inp...

Page 97: ...l number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In Out Note The symbol indicates that the parameter is allowed to conn...

Page 98: ...Chapter 8 Logic Instructions 8_ Swap Figure 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 bit0 bit15 Swap_In High byte Low byte 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Out1 High byte Low byte bit0 bit15 8 27...

Page 99: ...String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In1 to InN Out Note The symbol indicates that the parameter is allowed to connect to the...

Page 100: ...FALSE when the values of LT_In1 LT_In2 and LT_In3 are 20 10 and 100 respectively and LT_EN changes to TRUE as shown in Variable 2 Variable 1 Variable name Data type Current value LT_EN BOOL TRUE LT_In...

Page 101: ...TE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In1 to InN Out Note The symbol indicates that the parameter is allowed to connect to the variable or co...

Page 102: ...to FALSE when the values of LE_In1 LE_In2 and LE_In3 are 20 10 and 100 respectively and LE_EN changes to TRUE as shown in Variable 2 Variable 1 Variable name Data type Current value LE_EN BOOL TRUE LE...

Page 103: ...TE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In1 to InN Out Note The symbol indicates that the parameter is allowed to connect to the variable or co...

Page 104: ...hen the values of GT_In1 GT_In2 and GT_In3 are 20 10 and 100 respectively and GT_EN changes to TRUE as shown in Variable 2 Variable 1 Variable name Data type Current value GT_EN BOOL TRUE GT _In1 INT...

Page 105: ...TE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In1 to InN Out Note The symbol indicates that the parameter is allowed to connect to the variable or co...

Page 106: ...SE when the values of GE_In1 GE_In2 and GE_In3 are 10 10 and 100 respectively and GE_EN changes to TRUE as shown in Variable 2 Variable 1 Variable name Data type Current value GE_EN BOOL TRUE GE_In1 I...

Page 107: ...WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In1 to InN Out Note The symbol indicates that the parameter is allowed to connect to the variable or cons...

Page 108: ...en the values of EQ_In1 EQ_In2 and EQ_In3 are 10 50 and 100 respectively and EQ_EN changes to TRUE as shown in Variable 2 Variable 1 Variable name Data type Current value EQ_EN BOOL TRUE EQ _In1 INT 5...

Page 109: ...er is allowed to connect to the variable or constant of the data type Function Explanation NE is used for a not equal comparison of two variables and constants Out is TRUE if In1 In2 Otherwise Out is...

Page 110: ...type Current value NE_EN BOOL TRUE NE _In1 INT 100 NE _In2 UINT 50 Out1 BOOL TRUE Variable 2 Variable name Data type Current value NE_EN BOOL TRUE NE _In1 INT 100 NE _In2 UINT 100 Out1 BOOL FALSE The...

Page 111: ...g Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In PT Q ET Note The symbol indicates that the parameter i...

Page 112: ...easure the time When the value of TON1_ET equals the setting value of TON1_PT TON1_Q is TRUE When the timer stops measuring time TON1_In is reset to FALSE and TON1_ET and TON1_Q are both reset Case 2...

Page 113: ...RD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In PT Q ET Note The symbol indicates that the parameter is allowed to connect to the variable or constant of...

Page 114: ...E When TOF1_In is FALSE the timer starts to measure the time When the value of TOF1_ET equals the setting value of TOF1_PT TOF1_Q is FALSE and the timer stops timing Case 3 When TOF1_In changes from T...

Page 115: ...1us615ns Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In PT Q ET Note The symbol indi...

Page 116: ...TP1_ET equals the setting value of TP1_PT TP1_Q is FALSE When TP1_In is FALSE TP1_ET is reset Case 2 TP1_PT sets the time for off delay When TP1_In is TRUE and the timer starts to measure time TP1_Q...

Page 117: ...PV TRUE or FALSE CV Counter value Output Counter present value 0 4294967295 Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LIN...

Page 118: ...TU1_PV UDINT 4 CTU1_Q BOOL CTU1_CV UDINT Timing Chart Case 1 If CTU counts up normally the value of CTU1_CV is increased by 1 whenever CTU1_CU is triggered once Case 2 When CTU1_CV equals CTU1_PV CTU1...

Page 119: ...value 0 4294967295 Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING CU Load PV Q CV Note...

Page 120: ..._CV is 0 Case 2 When CTD1_Load is TRUE and CTD1_CV equals the set value of CTD1_PV CTD1_Q changes from TRUE to FALSE At the moment CTD1_CV does not count down when CTD1_CD is triggered Case 3 If CTD c...

Page 121: ...value TRUE or FALSE Load Load signal Input For writing the down counter value TRUE or FALSE PV Preset value Input Counter setting value 0 4294967295 QU Output signal Output Q is TRUE when CV equals P...

Page 122: ...alue CTUD1 CTUD CTUD1_EN BOOL FALSE CTUD1_CU BOOL FALSE CTUD1_CD BOOL FALSE CTUD1_Reset BOOL FALSE CTUD1_Load BOOL FALSE CTUD1_PV UDINT 4 CTUD1_QU BOOL CTUD1_QD BOOL CTUD1_CV UDINT Timing Chart Case 1...

Page 123: ..._QD changes to FALSE At the moment if CTUD1_CD is triggered the instruction can not count down Case 4 If the instruction counts down normally CTUD1_QU is FALSE when CTUD1_CD is TRUE The value of CTUD1...

Page 124: ...ftware in creating a program Depends on the data type of the variable that the input parameter is connected to Out Sum Output The addition result of In1 to InN Depends on the data type of the variable...

Page 125: ...data type about time and date following combinations are supported only 1 In1 is TIME In2 is TIME and Out is TIME 2 In1 is TOD TIME_OF_DAY In2 is TIME and Out is TOD 3 In1 is DT DAY_AND_TIME In2 is TI...

Page 126: ...ADD_In1 ADD_In2 and Out1 are DT TIME and DT respectively The values of ADD_In1 and ADD_In2 are DT 2016 9 1 8 00 00 and TIME 1H53M34S respectively The value of Out1 is DT 2016 09 01 09 53 34 when ADD_E...

Page 127: ...er Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In1 In2 Out Note The symbol indicates that the parameter is allowed to conne...

Page 128: ...for Correct Use The input variables are not allowed to omit An error will occur during the compiling of the software if any input variable is omitted But the output variable is allowed to omit The dif...

Page 129: ...DATE 2016 10 1 and DATE 2016 9 1 respectively The value of Out1 is TIME 30D when SUB_EN changes to TRUE as shown in Variable 3 Variable 1 Variable name Data type Current value SUB_EN BOOL TRUE SUB _I...

Page 130: ...data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LR...

Page 131: ...the output variable is allowed to omit The multiplication result of In1 In2 may be out of the valid range of the data type of Out For example the data types of MUL _In1 and MUL _In2 are both INT with...

Page 132: ...Logic Instructions 8_ The variable table and program Variable name Data type Initial value MUL_EN BOOL TRUE MUL _In1 INT 10 MUL _In2 INT 50 Out1 INT 500 1 MUL EN ENO In1 Out In2 MUL_EN MUL_In1 MUL_In2...

Page 133: ...ime date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In1 In2 Out Note The symbol indicates that the parameter is allowed to connect t...

Page 134: ...of In2 is 0 The division result of In1 and In2 may be out of the valid range of the data type of Out For example the data types of DIV _In1 and DIV _In2 are both INT with their respective values 32768...

Page 135: ...of division Programming Example The data types of variables DIV _In1 DIV _In2 and Out1 are all INT The values of DIV _In1 and DIV _In2 are 100 and 20 respectively The value of Out1 is 5 when DIV _EN c...

Page 136: ...ut Note The symbol indicates that the parameter is allowed to connect to the variable or constant of the data type Function Explanation The instruction is used to get the remainder of the division of...

Page 137: ...s the divisor in the division operation can not be 0 The value of Out will be 0 if the value of In2 is 0 Programming Example The data types of variables MOD _In1 MOD _In2 and Out1 are all INT The valu...

Page 138: ...RD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In1 In2 Out Note The symbol indicates that the parameter is allowed to connect to the variable or constant of the...

Page 139: ...The values of MODREAL _In1 and MOD _In2 are 10 5 and 2 5 respectively The value of Out1 is 0 5 when MODREAL _EN changes to TRUE The variable table and program Variable name Data type Current value MOD...

Page 140: ...ta type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREA...

Page 141: ...be 0 The value of Out will be 0 if the value of In2 is 0 Programming Example The data types of variables MODTURNS _In1 MODTURNS _In2 are both REAL and Out1 is DINT The values of MODTURNS _In1 and MODT...

Page 142: ...type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL T...

Page 143: ...data type of Out1 is LREAL The values of MODABS _In1 and MODABS _In2 are 400 23 and 360 0 respectively The value of Out1 is 40 2300109863281 when MODABS _EN changes to TRUE The values of MODABS _In1...

Page 144: ...or constant of the data type Function Explanation ABS finds the absolute value of the input parameter In The result is output to Out That is Out In1 The input variable and output variable are allowed...

Page 145: ...ble 1 Variable name Data type Current value ABS_EN BOOL TRUE ABS _In INT 10 Out1 INT 10 Variable 2 Variable name Data type Current value ABS_EN BOOL TRUE ABS _In INT 20 Out1 INT 20 The program 1 ABS E...

Page 146: ...unction Explanation DegToRad is used to convert the input parameter In to a radian and the result is output to Out That is Out In 180 The units of In and Out are degree and radian respectively Users c...

Page 147: ...nt value DegToRad_EN BOOL TRUE DegToRad _In INT 10 Out1 LREAL 0 174532925199433 Variable 2 Variable name Data type Current value DegToRad_EN BOOL TRUE DegToRad _In INT 10 Out1 LREAL 0 174532925199433...

Page 148: ...nction Explanation RadToDeg is used to convert the input parameter In to degrees and the result is output to Out That is Out In 180 The units of In and Out are radian and degree respectively Users can...

Page 149: ...ent value RadToDeg _EN BOOL TRUE RadToDeg _In INT 10 Out1 LREAL 572 957795130824 Variable 2 Variable name Data type Current value RadToDeg_EN BOOL TRUE RadToDeg_In INT 10 Out1 LREAL 572 957795130824 T...

Page 150: ...Time date String BxOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In Out Note The symbol indicates that the parameter is allowed to connect to...

Page 151: ...pes of variables SIN _In and Out1 are INT and LREAL respectively The value of Out1 is 0 54402111088937 if the value of SIN _In is 10 when SIN _EN changes to TRUE The value of Out1 is 0 54402111088937...

Page 152: ...Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In Out Note The symbol indicates that the parameter is allowed to connect to th...

Page 153: ...es COS _In and Out1 are INT and LREAL respectively The value of Out1 is 0 839071529076452 if the value of COS _In is 10 when COS _EN changes to TRUE The value of Out1 is 0 839071529076452 as COS _In i...

Page 154: ...result Output Operation result Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USI...

Page 155: ...oftware if the input variable is omitted But the output variable is allowed to omit Programming Example The data types of variables TAN _In and Out1 are INT and LREAL respectively The value of Out1 is...

Page 156: ...type of the variable that the input parameter is connected to Out Operation result Output Operation result 2 2 Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT...

Page 157: ...tate if the value of In is out of 1 0 1 0 and the value of Out is nonnumeric as shown in the following table and program The variable table and program Variable name Data type Current value ASIN_EN BO...

Page 158: ...Chapter 8 Logic Instructions 8_ The program 1 ASIN EN ENO In Out ASIN_EN ASIN_In Out1 8 87...

Page 159: ...BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In Out Note The symbol indicates that the parameter is allowed to connect to the variable or co...

Page 160: ...e table and program Variable name Data type Current value ACOS_EN BOOL TRUE ACOS_In REAL 2 0 Out1 LREAL 1 QNAN 1 ACOS EN ENO In Out ACOS_EN ACOS_In Out1 Programming Example The data types of variables...

Page 161: ...tring BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In Out Note The symbol indicates that the parameter is allowed to connect to the variable...

Page 162: ...In is Programming Example The data types of variables ATAN_In and Out1 are REAL and LREAL respectively The value of Out1 is 0 785398163397448 if the value of ATAN_In is 1 0 when ATAN_EN changes to TRU...

Page 163: ...ral logarithm of In Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDI...

Page 164: ...c when the input value of In is a non positive number as shown in the following table The variable table and program Variable name Data type Current value LN_EN BOOL TRUE LN_In REAL 2 0 Out1 LREAL 1 Q...

Page 165: ...o Out Logarithm Output The base 10 logarithm Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD D...

Page 166: ...nonnumeric value when the input value of In is a non positive number as shown in the following table The variable table and program Variable name Data type Current value LOG_EN BOOL TRUE LOG_In REAL 2...

Page 167: ...t is a non negative number Out Square root Output Square root Depends on the data type of the variable that the output parameter is connected to And it is a non negative number Boolean Bit string Inte...

Page 168: ...numeric value when the input value of In is a negative number The variable table and program Variable name Data type Current value SQRT_EN BOOL TRUE SQRT_In REAL 2 0 Out1 LREAL 1 QNAN 1 SQRT EN ENO In...

Page 169: ...ration result with the base number e and exponent In Depends on the data type of the variable that the output parameter is connected to And it is a non negative number Boolean Bit string Integer Real...

Page 170: ...lowed to omit When the value of In is 0 and a nonnumeric value the corresponding output values of Out is listed in the following table In Out 0 1 0 0 0 nonnumeric nonnumeric Programming Example The da...

Page 171: ...ring Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In Pwr Out Note The symbol indicates that the paramete...

Page 172: ...n EXPT _EN changes to TRUE The value of Out1 is 100 0 as the values of EXPT _In and EXPT_Pwr are 10 and 2 respectively Variable 1 Variable name Data type Current value EXPT_EN BOOL TRUE EXPT_In INT 10...

Page 173: ...te The symbol indicates that the parameter is allowed to connect to the variable or constant of the data type Function Explanation RAND is used to generate a random number and the result is output to...

Page 174: ...gramming Example A random number is generated by writing RAND 0 as below The variable table and program Variable name Data type Current value RAND_EN BOOL TRUE RAND_In INT 0 Out1 DINT 256 1 RAND EN EN...

Page 175: ...RD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In Out Note The symbol indicates that the parameter is allowed to connect to the variable or constant of the data...

Page 176: ...is 5 when TRUNC _EN changes to TRUE And the value of Out1 is 10 as the values of TRUNC _In 10 8 Variable 1 Variable name Data type Current value TRUNC_EN BOOL TRUE TRUNC _In REAL 5 6 Out1 LINT 5 Varia...

Page 177: ...s that the parameter is allowed to connect to the variable or constant of the data type Function Explanation FLOOR is used to get the integral part of a real number and the result is output to Out The...

Page 178: ...Out1 is 5 when FLOOR _EN changes to TRUE And the value of Out1 is 11 as the values of FLOOR _In 10 2 Variable 1 Variable name Data type Current value FLOOR_EN BOOL TRUE FLOOR _In REAL 5 6 Out1 LINT 5...

Page 179: ...NT LINT REAL LREAL TIME DATE TOD DT STRING In Out Note The symbol indicates that the parameter is allowed to connect to the variable or constant of the data type Function Explanation FRACTION is used...

Page 180: ...FRACTION _EN changes to TRUE And the value of Out1 is 0 8 as the values of FRACTION _In 10 8 Variable 1 Variable name Data type Current value FRACTION_EN BOOL TRUE FRACTION _In REAL 5 6 Out1 LREAL 0...

Page 181: ...on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT...

Page 182: ...tions for Correct Use The input variables are not allowed to omit An error will occur during the compiling of the software if any input variable is omitted But the output variable is allowed to omit P...

Page 183: ...Operation Manual _8 The variable table and program Variable name Data type Current value AND_EN BOOL TRUE AND_In1 BYTE 255 AND_In2 WORD 256 Out1 WORD 0 1 AND EN ENO In1 Out AND_EN AND_In1 Out1 In2 AND...

Page 184: ...pe of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIM...

Page 185: ...iables are required to be BOOL Otherwise an error will occur in the compiling of the software Precautions for Correct Use The input variables are not allowed to omit An error will occur during the com...

Page 186: ...tively The values of OR_In1 and OR_In2 are 255 and 256 respectively and the value of Out1 is 511 when OR_EN is TRUE The variable table and program Variable name Data type Current value OR_EN BOOL TRUE...

Page 187: ...LREAL TIME DATE TOD DT STRING In Out Note The symbol indicates that the parameter is allowed to connect to the variable or constant of the data type Function Explanation NOT is used for the bitwise N...

Page 188: ...of NOT _In and Out1 are both BYTE The value of In1 is 10 and the value of Out1 is 245 when NOT_EN is TRUE The variable table and program Variable name Data type Current value NOT_EN BOOL TRUE NOT _In...

Page 189: ...nN Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT...

Page 190: ...en the logical XOR of the bit values of In1 and In2 is conducted as below If the data type of an input variable is BOOL the data types of all input and output variables are required to be BOOL Otherwi...

Page 191: ...e Current value XOR_EN BOOL TRUE XOR _In1 BYTE 10 XOR _In2 BYTE 50 Out1 BYTE 56 Variable 2 Variable name Data type Current value XOR_EN BOOL TRUE XOR_In1 BYTE 255 XOR_In2 WORD 256 Out1 WORD 511 The pr...

Page 192: ...In1 InN Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SIN...

Page 193: ...ORN of the bit values of In1 and In2 is conducted as below If the data type of an input variable is BOOL the data types of all input and output variables are required to be BOOL Otherwise an error wil...

Page 194: ...t value XORN_EN BOOL TRUE XORN _In1 BYTE 10 XORN _In2 BYTE 50 Out1 BYTE 199 Variable 2 Variable name Data type Current value XORN _EN BOOL TRUE XORN _In1 BYTE 255 XORN _In2 WORD 256 Out1 WORD 65535 Th...

Page 195: ...s by which all bits of the original data are shifted to the left Depends on the data type of the variable that the input parameter is connected to Out Result Output Result from shifting all bits of th...

Page 196: ...he value of Out is the same as In when the value of Num is 0 Programming Example The data types of SHL_In and SHL_Num are UINT and USINT respectively and their values are 300 and 3 respectively The da...

Page 197: ...he bits of the original data are shifted to the right Depends on the data type of the variable that the input parameter is connected to Out Result Output Result from shifting all bits of the original...

Page 198: ...mit When the value of Num is 0 the value of Out is the same as In Programming Example The data types of SHR_In and SHR_Num are UINT and USINT respectively and their values are 300 and 3 respectively T...

Page 199: ...ified by Num to the left Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UIN...

Page 200: ...value of out when Num USINT 1 is the same for when Num USINT 9 Programming Example The data types of ROL_In and ROL_Num are UINT and USINT respectively and their values are 300 and 3 respectively The...

Page 201: ...cified by Num to the right Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT U...

Page 202: ...alue of out when Num USINT 1 is the same for when Num USINT 9 Programming Example The data types of ROR_In and ROR_Num are UINT and USINT respectively and their values are 300 and 3 respectively The d...

Page 203: ...t parameter is connected to Out Comparison result Output The largest value of In1 InN Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real...

Page 204: ...the length of all input parameters Otherwise an error will occur during the compiling of the software Programming Example The data types of MAX_In1 MAX_In2 and MAX_In3 are INT UINT and DINT respectiv...

Page 205: ...n the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT R...

Page 206: ...mpiling of the software Programming Example The data types of MIN_In1 MIN_In2 and MIN_In3 are INT UINT and DINT respectively The data type of Out1 is DINT If the values of MIN_In1 MIN_In2 and MIN_In3...

Page 207: ...e data type of the variable that the input parameter is connected to Out Selection result Output Selection result Depends on the data type of the variable that the output parameter is connected to Boo...

Page 208: ...must contain the length of the variables that the input parameters In0 and In1 connect Otherwise an error will occur during the compiling of the software Programming Example The data types of SEL_G S...

Page 209: ...e of the variable that the input parameter is connected to Out Selection result Output Selection result Depends on the data type of the variable that the output parameter is connected to Boolean Bit s...

Page 210: ...d But the output variable is allowed to omit The length of the data type of the output variable must contain the length of the variables that the input parameters In0 InN connect Otherwise an error wi...

Page 211: ...nnected to MX Maximum value Input Maximum value Depends on the data type of the variable that the input parameter is connected to Out Processing result Output Processing result Depends on the data typ...

Page 212: ...will occur during the compiling of the software if the input variables are omitted But the output variable is allowed to omit Programming Example The data types of LIMIT_MN LIMIT_In and LIMIT_MX are...

Page 213: ...DVP15MC11T Operation Manual _8 The program 1 LIMIT EN ENO MN Out MX In LIMIT_EN LIMIT_MN LIMIT_MX LIMIT_In Out1 8 142...

Page 214: ...pends on the data type of the variable that the input parameter is connected to Out Processing result Output Processing result Depends on the data type of the variable that the output parameter is con...

Page 215: ...iables are omitted But the output variable is allowed to omit When the value of MN is greater than that of MX the instruction will still be executed normally and the value of Out will be equal to that...

Page 216: ...Chapter 8 Logic Instructions 8_ The program 1 BAND EN ENO MN Out MX In BAND_EN BAND_MN BAND_MX BAND_In Out1 8 145...

Page 217: ...type of the variable that the input parameter is connected to Out Processing result Output Processing result Depends on the data type of the variable that the output parameter is connected to Boolean...

Page 218: ...if the input variables are omitted But the output variable is allowed to omit When the value of BiasN is larger than BiasP the instruction will still be executed normally Programming Example The data...

Page 219: ...DVP15MC11T Operation Manual _8 The program 1 ZONE EN ENO BiasN Ou t BiasP In ZONE_EN ZONE_BiN ZONE_BiP ZONE_ In Out1 8 148...

Page 220: ...Output Conversion result Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UI...

Page 221: ...re converted into Integer data is as the following table shows Boolean Integer USINT UINT UDINT ULINT SINT INT DINT LINT FALSE 0 0 0 0 0 0 0 0 TRUE 1 1 1 1 1 1 1 1 BOOL to Real number Relevant instruc...

Page 222: ...rule that Boolean data are converted into String data is as the following table shows The string format is to be confirmed Boolean String STRING FALSE FALSE TRUE TRUE Precautions for Correct Use The...

Page 223: ...sion result Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT...

Page 224: ...ta and setting the values of the remaining bits of the greater length data to 0 See the following example that the Byte data in In is converted to the Word data in Out The values of Bit0 Bit7 of In ar...

Page 225: ...16 _ _ _0000 16 _ _ _FFFF 16 0000 16 FFFF DWORD 16 _ _0000_0000 16 _ _FFFF_FFFF 16 0000_0000 16 FFFF_FFFF Bit string to Integer The Bit string data can be converted to the Integer data And some instru...

Page 226: ...0 16 FF 0 255 ULINT 16 00 16 FF 0 255 SINT 16 00 16 7F 0 127 16 80 16 FF 128 1 INT 16 00 16 FF 0 255 DINT 16 00 16 FF 0 255 LINT 16 00 16 FF 0 255 WORD USINT 16 00 16 FF 0 255 UINT 16 0000 16 FFFF 0 6...

Page 227: ...4775808 0 Bit string to Real number The Bit string data can be converted to the Real number data And some instructions are shown below The Bit string data are converted into the Real number data as th...

Page 228: ...1 TOD 16 0000 16 FFFF TOD 0 0 0 TOD 0 1 5 535 DT 16 0000 16 FFFF DT 1970 1 1 0 0 0 DT 1970 1 1 18 12 15 DWORD TIME 16 0000_0000 16 FFFF_FFFF T 0ns T 4s294ms967us295ns DATE 16 0000_0000 16 FFFF_FFFF D...

Page 229: ...0000000000000000 FFFFFFFFFFFFFFFF When the Bit string data are converted to the String data the length of the output String data must meet the length of the input parameter For example during the use...

Page 230: ...ult Depends on the data type of the variable that the output parameter is connected to Boolean Bit string Integer Real number Time date String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT IN...

Page 231: ...be converted to the Bit string data And some instructions are shown below The rule for the conversion of the Integer data into the Bit string data is the same as that for the conversion of the Bit st...

Page 232: ...0_0000_0000 16 0000_0000_0000_00FF INT BYTE 16 00 16 FF 16 00 16 FF WORD 16 0000 16 FFFF 16 0000 16 FFFF DWORD 16 0000 16 FFFF 16 0000_0000 16 0000_FFFF LWORD 16 0000 16 FFFF 16 0000_0000_0000_0000 16...

Page 233: ...tring data are converted into the Integer data as the following table shows Data type The value of In corresponds to the value of Out In Out In Out USINT USINT 16 00 16 FF 0 255 UINT 16 00 16 FF 0 255...

Page 234: ...6 FFFF_FFFF_FFFF_FFFF 9223372036854775808 0 SINT USINT 16 00 16 FF 0 255 UINT 16 00 16 FF 0 255 UDINT 16 00 16 FF 0 255 ULINT 16 00 16 FF 0 255 SINT 16 00 16 7F 0 127 16 80 16 FF 128 1 INT 16 00 16 FF...

Page 235: ...F_FFFF 0 18446744073709551645 SINT 16 _ _ _ 00 16 _ _ _ 7F 0 127 16 _ _ _ 80 16 _ _ _ FF 128 1 INT 16 _ _ _0000 16 _ _ _7FFF 0 32767 16 _ _ _8000 16 _ _ _FFFF 32768 1 DINT 16 _ _0000_0000 16 _ _7FFF_F...

Page 236: ...372e 18 LREAL 9223372036854775808 9223372036854775807 9 22337203685477e 18 9 22337203685477e 18 Integer to Time or Date The Integer data are converted into the Time or Date data and some instructions...

Page 237: ...00 16 FFFFFFFF DT 1970 1 1 0 0 0 DT 2016 2 7 6 28 15 SINT TIME 16 00 16 FF T 0ns T 255ns DATE 16 00 16 FF D 1970 1 1 TOD 16 00 16 FF TOD 0 0 0 TOD 0 0 0 255 DT 16 00 16 FF DT 1970 1 1 0 0 0 DT 1970 1...

Page 238: ...STRING 0 4294967295 0 4294967295 ULINT STRING 0 18446744073709551615 0 18446744073709551615 SINT STRING 128 127 128 127 INT STRING 32768 32767 32768 32767 DINT STRING 2147483648 2147483647 2147483648...

Page 239: ...TIME DATE TOD DT STRING In Out The data type of Out must be the same as of the instruction name Note The symbol indicates that the parameter is allowed to connect to the variable or constant of the da...

Page 240: ...253 Note For the Real Number to Integer Conversion there are two cases for the value of a real number 1 If the number of input digits of a real number exceeds what is allowed the result will be an uns...

Page 241: ...to integer conversion and integer to time or date conversion Real Number to String Real numbers can be converted to strings And some instructions are shown below The rule for the real number to string...

Page 242: ...l indicates that the parameter is allowed to connect to the variable or constant of the data type Function Explanation Time and Date to Bool Bit String Integer Real Number and String The rule for the...

Page 243: ...Manual _8 Precautions for Correct Use The input variable is not allowed to omit An error will occur during the compiling of the software if the input variable is omitted But the output variable is al...

Page 244: ...String BOOL BYTE WORD DWORD LWORD USINT UINT UDINT ULINT SINT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In Out The data type of Out must be the same as of the instruction name Note The symbol...

Page 245: ...are shown in the following table Input value Output result Data type Output value 123 REAL 123 123 123 REAL 123 123 1 23e 5 REAL 1 23e 5 M123 123 REAL The conversion is not allowed and the original va...

Page 246: ...the same as that for the string to integer conversion Precautions for Correct Use The input variable is not allowed to omit An error will occur during the compiling of the software if the input varia...

Page 247: ...eters Parameter name Function Data type Valid range Done TRUE when the instruction execution is completed BOOL TRUE FALSE Busy TRUE when the instruction is being executed BOOL TRUE FALSE Active TRUE w...

Page 248: ...ve parameters refer to CANopen related manual of the slave Output Update Timing Parameter Name Timing for changing to TRUE Timing for changing to FALSE Done When the reading of the parameter content i...

Page 249: ...DVP15MC11T Operation Manual _8 8 178...

Page 250: ...ding error codes As Execute changes from TRUE to FALSE Error changes from TRUE to FALSE and the content of ErrorID is cleared to 0 Functions DMC_ReadParameter_CANopen is used to read the parameter val...

Page 251: ...dPm_C1_Done ReadPm_C1_Dat 0 16 2137 Axis1 ReadPm_C1_Ex DMC_ReadParameter_CANopen Axis Done ReadPm_C1 Execute Busy Active Error ErrorID DataType Data Index SubIndex DMC_WriteParameter_CANopen Axis Done...

Page 252: ...WritePm_C_Done changes to TRUE That is 1000 is written as the content of the servo slave parameter P1 55 The maximum speed of the servo is limited to 1000rpm The second DMC_ReadParameter_CANopen is e...

Page 253: ...alue of the parameter which is set UDINT Notes 1 The value of DataType must indicate the data type of the parameter which is set If the filled value is incorrect an error will occur in the instruction...

Page 254: ...TRUE and one period later Done changes to TRUE When Done changes to TRUE Busy and Active change to FALSE When Execute changes from TRUE to FALSE Done changes from TRUE to FALSE Case 2 Before DMC_Writ...

Page 255: ...E ReadPm_C1_DaTy USINT 2 ReadPm_C1_Dat UDINT 5000 WritePm_C DMC_WriteParameter_CANopen WritePm_C_Done BOOL TRUE WritePm_C_Bsy BOOL FALSE WritePm_C_Act BOOL FALSE WritePm_C_Err BOOL FALSE WritePm_C_Err...

Page 256: ...DMC_WriteParameter_CANopen Axis Done WritePm_C Execute Busy Active Error ErrorID Index SubIndex DataType Data Axis1 ReadPm_C1_Done 0 16 2137 2 16 03E8 WritePm_C_Bsy WritePm_C_Act WritePm_C_Err WriteP...

Page 257: ...ne changes to TRUE That is the content of the servo slave parameter P1 55 which is written is 1000 The maximum speed of the servo is limited to 1000rpm When WritePm_C_Done changes from FALSE to TRUE t...

Page 258: ...m number of joined parameters is 8 and the minimum number is 2 N 2 8 Depends on the data type of the variable that the input parameter is connected to Out Result of joining Output String resulted from...

Page 259: ...the input variables are omitted But the output variable is allowed to omit Programming Example The data types of CONCAT_In1 CONCAT_In2 and Out1 are strings and the values of CONCAT_In1 and CONCAT_In2...

Page 260: ...aracters to delete Input Number of characters to delete 0 maximum length of the string P Deletion start position Input Deletion start position 1 maximum length of the string Out Deletion result Output...

Page 261: ...ing of the software if the input variables are omitted But the output variable is allowed to omit Programming Example DELETE_In is AaBbCcDd DELETE_L 2 and DELETE_P 3 When DELETE_EN is TRUE Out1 is AaC...

Page 262: ...ends on the data type of the variable that the input parameter is connected to P Insertion start position Input Insertion start position 0 maximum length of the string Out Insertion result Output Star...

Page 263: ...lowed to omit An error will occur during the compiling of the software if the input variables are omitted But the output variable is allowed to omit Programming Example Insert_In1 is AaBbCcDd Insert_I...

Page 264: ...nected to L Number of characters to get Input Number of characters to get 0 maximum number of characters Out Extraction result Output Extraction result Depends on the data type of the variable that th...

Page 265: ...ample When the LEFT_In string is AaBbCcDd LEFT_L 2 and LEFT_EN is TRUE Out1 is Aa as shown in the following table 1 When the RIGHT_In string is AaBbCcDd RIGHT_L 2 and RIGHT_EN is TRUE Out1 is Dd as sh...

Page 266: ...ers to extract Input Number of characters to extract 0 maximum number of characters P Extraction start position Input Extraction start position 1 maximum number of characters Out Extraction result Out...

Page 267: ...compiling of the software if the input variables are omitted But the output variable is allowed to omit Programming Example The MID_In string is AaBbCcDd MID_L 2 and MID_LP 3 When MID_EN is TRUE Out1...

Page 268: ...able that the input parameter is connected to L Number of characters Input Number of characters to delete 0 maximum number of characters P Replacement start position Input Replacement start position 1...

Page 269: ...output variable is allowed to omit Programming Example The REPLACE_In1 string is AaBbCcDd the REPLACE_In2 string is DELTA REPLACE_L 2 and REPLACE_LP 3 When REPLACE_EN is TRUE Out1 is AaDELTACcDd The v...

Page 270: ...DATE TOD DT STRING In Out Note The symbol indicates that the parameter is allowed to connect to the variable or constant of the data type Function Explanation The LEN instruction finds the number of c...

Page 271: ...INT INT DINT LINT REAL LREAL TIME DATE TOD DT STRING In1 In2 Out Note The symbol indicates that the parameter is allowed to connect to the variable or constant of the data type Function Explanation Th...

Page 272: ...tructions 8_ The variable table and program Variable name Data type Current value FIND_EN BOOL TRUE FIND_In1 STRING AaBbCcDd FIND_In2 STRING Cc Out1 UINT 5 1 FIND EN ENO In1 Out FIND_EN FIND_In1 Out1...

Page 273: ...module at the right side of DVP15MC11T is 0 The variable value must be set When Execute changes from FALSE to TRUE Execute The instruction is executed when Execute changes from FALSE to TRUE BOOL TRUE...

Page 274: ...e 1 DesPtr Case 2 Case 1 When Execute changes from FALSE to TRUE Busy and Active change to TRUE and one period later Done changes to TRUE Meanwhile Busy and Active change to FALSE and DesPtr shows the...

Page 275: ...e StationID value of DVP04AD S is 0 and the StationID value of DVP04DA S is 1 Programming Example The variable table and program Variable name Data type Current value FRM FROM FRM_ID USINT 0 FRM _Ex B...

Page 276: ..._ErrID FRM1_Err FRM1_Act FRM1_Bsy DVP 04AD is connected to the right side of DVP15MC11T When FRM1_Ex changes from FALSE to TRUE and FRM1_Bsy and FRM1_Act change to TRUE simultaneously FROM instruction...

Page 277: ...instruction is executed when Execute changes from FALSE to TRUE BOOL TRUE or FALSE FALSE CR The number of the first CR Controlled Register to be read UINT 0 max CR number The variable value must be se...

Page 278: ...tion is used to write data to the specified CR registers of the left side module and right side module The positions of left side and right side modules are specified by StationID The StationID range...

Page 279: ...5MC11T When TO1_Ex changes from FALSE to TRUE TO1_Bsy and TO1_Act change to TRUE simultaneously and the TO instruction execution starts When TO1_Done changes to TRUE the instruction execution is finis...

Page 280: ...y and TO2_Act change to TRUE simultaneously and the TO instruction execution starts As TO2_Done changes to TRUE the instruction execution is completed and the values written in CR2 CR3 CR4 and CR5 in...

Page 281: ...that the parameter is allowed to connect to the variable or constant of the data type Function Explanation The ImmediateInput instruction is used for refreshing external input point status to IX0 0 I...

Page 282: ...ue ImdInput_EN BOOL FALSE ImdInput_Input INT 2 ImdInput_NM USINT 2 ImdInput_ENO BOOL ImmediateInput EN ENO Input Num ImdInput_EN ImdInput_NM ImdInput_Input ImdInput_ENO Program explanation When the in...

Page 283: ...current status of internal output point QX0 0 QX0 7 to external hardware output point If the ImmediateOutput instruction does not exist the controller refreshes internal output point status to externa...

Page 284: ...lue ImdOput_EN BOOL FALSE ImdOput_Oput INT 2 ImdOput_NM USINT 2 ImdOput_ENO BOOL ImmediateOutput EN ENO Output Num ImdOput_EN ImdOput_NM ImdOput_Oput ImdOput_ENO Program Explanation When the input var...

Page 285: ...DVP15MC11T Operation Manual _8 Memo 8 214...

Page 286: ...9 Chapter 9 Introductions of Axis Parameters Table of Contents 9 1 Description of Axis Parameters 9 2 9 1...

Page 287: ...h UnitsPerRotation E g Users can fill mm millimeter or degree as a unit Linear Axis Linear Axis Model Note P1 Positive Limit P2 Negative Limit Servo Position Rotary Axis Rotary Axis Model Modulo 360 N...

Page 288: ...nic gear ratio is used to set how many pulses the servo drive receives for one rotation that the servo motor runs The resolution of the servo motor is 1 280 000 pulses rotation Suppose the value of pa...

Page 289: ...r BOOL Rel_ErrID WORD 15 Homing Mode Set the homing mode of the servo drive range 1 35 See appendix D for more details UINT 1 16 Speed 1 The speed from starting homing to finding the home switch Unit...

Page 290: ...Chapter 10 Motion Control Function Table of Contents 10 1 EN and ENO 10 2 10 2 Relation among Velocity Acceleration and Jerk 10 3 10 3 Introduction of BufferMode 10 6 10 4 The State Machine 10 32 10...

Page 291: ...and ENO When one instruction which is used has EN and ENO and EN is FALSE 0 the function defined by instruction will not be performed and the output values of the instruction will not be refreshed On...

Page 292: ...dicates the maximum change rate of the acceleration or deceleration in the motion of an axis with the unit of unit second3 The value of Jerk can be specified in the instruction and the value will be u...

Page 293: ...tion Deceleration Unit second2 Velocity Unit second Motion type 1 0 2 10000 units second3 Acceleration is increased to 20000 units second2 Increasing The acceleration motion with an increasing acceler...

Page 294: ...ncreased to 20000unit second2 Decreasing The deceleration motion with an increasing deceleration 6 15 18 0 Deceleration has been increased to 20000units second2 and it has been 20000units second2 duri...

Page 295: ...reached The transit velocity is the target velocity of the current instruction 4 mcBlendingNext Blend with next The buffered instruction just starts to control the axis after the target position of th...

Page 296: ...truction is aborted while the controlled axis is moving at a constant velocity 3 Current instruction is aborted while the controlled axis is decelerating 4 The velocity direction of the buffered instr...

Page 297: ...eted t he buffer ed i nstructio starts to control the axis Buffer ed instruction V Current instruction i s started Current instr uction The buffer ed instruction is started V1 V2 S1 S2 t Buffered inst...

Page 298: ...tion V Current instruction is started C urrent i nstruction The buffered instr uction is star ted The buffered i nstruction starts to control the axi s when cur rent instr uction executi on is complet...

Page 299: ...r rent instr uction i s decreased to 0 V1 V2 S1 S2 t Buffer ed instruction V Current instructi on i s started Current instructi on The buffered i nstruction is started The buffer ed instruction starts...

Page 300: ...of the buffered instruction can be selected according to the current instruction as listed below Current instruction The selectable BufferMode value of the buffered instruction MC_MoveAbsolute mcAbor...

Page 301: ...MC_MoveVelocity Yes Yes InVelocity MC_CamIn Yes Yes EndOfProfile MC_CamOut No Yes Done MC_GearIn Yes Yes InGear MC_GearOut No Yes Done MC_CombineAxes Yes Yes InSync Examples of Buffer Modes Example 1...

Page 302: ...ContinuousUpdate Busy Active Distance CommandAborted Error ErrorID Acceleration Deceleration Jerk BufferMode Velocity Axis1 True True Pwr_BM Pwr_Bsy Pwr_Act Pwr_Err Pwr_ErrID True Pwr_Sta MC_Power Axi...

Page 303: ...d later Rel1_Abt and Rel2_Act change to TRUE and Rel1_Bsy and Rel1_Act change to FALSE Meanwhile the first MC_MoveRelative instruction is aborted and the second MC_MoveRelative instruction execution s...

Page 304: ...cution continues As the target position is reached Rel1_Done changes to TRUE Rel1_Bsy and Rel1_Act change to FALSE Rel2_Act changes to TRUE and the second MC_MoveRelative instruction execution starts...

Page 305: ...E At the moment the velocity is 300 units second which is the lower one of the target velocities of the current instruction and buffered instruction Rel1_Bsy and Rel1_Act change to FALSE Rel2_Act chan...

Page 306: ...ched Rel1_Done changes to TRUE At the moment the velocity is 300 units second which is the target velocity of the current instruction Rel1_Bsy and Rel1_Act change to FALSE Rel2_Act changes to TRUE and...

Page 307: ...ched Rel1_Done changes to TRUE At the moment the velocity is 500 units second which is the target velocity of the buffered instruction Rel1_Bsy and Rel1_Act change to FALSE Rel2_Act changes to TRUE an...

Page 308: ...ges to TRUE At the moment the velocity is 500 units second which is the higher one of the target velocities of the current instruction and buffered instruction Rel1_Bsy and Rel1_Act change to FALSE Re...

Page 309: ...sy BOOL Pwr_Act BOOL Pwr_Err BOOL Pwr_ErrID WORD Vel MC_MoveVelocity Vel _Ex BOOL FALSE Vel _Vel LREAL 10000 0 Vel _Acc LREAL 10000 0 Vel _Dec LREAL 10000 0 Vel _Jerk LREAL 10000 0 Vel _Dir MC_DIRECTI...

Page 310: ...Relative Axis Done Rel Execute ContinuousUpdate Busy Active Distance CommandAborted Error ErrorID Acceleration Deceleration Jerk BufferMode Velocity Rel_Bsy Rel_Act Rel_Abt Rel_Err Rel_ErrID Rel_Done...

Page 311: ...nstruction as Rel_Ex changes from FALSE to TRUE As Vel_Abt changes to TRUE Vel_Bsy and Vel_Act change to FALSE the velocity instruction is aborted the MC_MoveRelative instruction is executed and Rel_B...

Page 312: ...Rel_Act is TRUE which means that the MC_MoveRelative instruction starts to control the motion of the axis Rel_Done changes to TRUE as the positioning is completed The effect of Rel_BM mcBlendingLow m...

Page 313: ...EAL 10000 0 Rel_Jerk LREAL 10000 0 Rel_BM MC_Buffer_Mode 0 Rel_Done BOOL Rel_Bsy BOOL Rel_Act BOOL Rel_Abt BOOL Rel_Err BOOL Rel_ErrID WORD Vel MC_MoveVelocity Vel _Ex BOOL FALSE Vel _Vel LREAL 20000...

Page 314: ...Relative Axis Done Rel Execute ContinuousUpdate Busy Active Distance CommandAborted Error ErrorID Acceleration Deceleration Jerk BufferMode Velocity Rel_Bsy Rel_Act Rel_Abt Rel_Err Rel_ErrID Rel_Done...

Page 315: ...and acceleration specified by the velocity instruction When Rel_Abt changes to TRUE Rel_Bsy and Rel_Act change to FALSE the MC_MoveRelative instruction is aborted and the velocity instruction is exec...

Page 316: ...the MC_MoveRelative instruction is completed Then Rel_Done changes to TRUE Rel_Bsy and Rel_Act change to FALSE and the axis moves at the velocity and acceleration specified by the velocity instructio...

Page 317: ...and Vel_Bsy changes to TRUE The axis will wait for the completion of MC_MoveRelative execution After MC_MoveRelative execution is completed Rel_Done changes to TRUE Rel_Bsy changes to FALSE and Rel_A...

Page 318: ...tion of MC_MoveRelative execution After MC_MoveRelative execution is completed Rel_Done changes to TRUE Rel_Bsy changes to FALSE Rel_Act changes to FALSE and meanwhile Vel_Act changes to TRUE At the m...

Page 319: ...f MC_MoveRelative execution After MC_MoveRelative execution is completed Rel_Done changes to TRUE Rel_Bsy changes to FALSE Rel_Act changes to FALSE and meanwhile Vel_Act changes to TRUE At the moment...

Page 320: ...s completed Rel_Done changes to TRUE Rel_Bsy changes to FALSE and Rel_Act changes to FALSE At the moment the velocity is 20000units second which is the higher one of the target speeds of the current i...

Page 321: ...oveVelo ci ty M C _MoveAb so lute M C_ MoveR ela ti ve M C _Mo veA dditive M C _M ove Super im posed MC _M oveVelocity M C_M oveVelocity M C _Mo veS uperi mpo se d M C _Mo ve Vel ocity M C _MoveAb so...

Page 322: ...of MC_Power is TRUE Note6 The axis enters from Stopping to Standstill state when Done of MC_Stop is TRUE and Execute of MC_Stop is FALSE No Axis state Indication 1 StandStill Pre execution state 2 Dis...

Page 323: ...DVP15MC11T Operation Manual 10 MEMO 10 34...

Page 324: ...veAbsolute 11 52 11 3 9 MC_MoveSuperimposed 11 61 11 3 10 MC_HaltSuperimposed 11 68 11 3 11 MC_SetPosition 11 73 11 3 12 MC_SetOverride 11 83 11 3 13 MC_Reset 11 87 11 3 14 DMC_SetTorque 11 90 11 3 15...

Page 325: ...11 177 11 5 4 Introduction to Cam Curve with Rotary Cut Function 11 178 11 5 5 Rotary cut Instructions 11 182 11 5 5 1 APF_RotaryCut_Init 11 182 11 5 5 2 APF_RotaryCut_In 11 185 11 5 5 3 APF_RotaryCu...

Page 326: ...n MC_SetOverride Set Override Factors MC_Reset Reset DMC_SetTorque Set Torque MC_ReadAxisError Read Axis Error MC_ReadActualPosition Read Actual Position MC_ReadStatus Reead Axis Status MC_ReadMotionS...

Page 327: ...only be added to the motion event task Otherwise they can not be executed if they are added to other types of tasks The following table shows task types and whether motion instruction can be added to...

Page 328: ...Negative The specified axis is allowed to move reversely only under the condition that Enable is TRUE and EnableNegative is also TRUE BOOL TRUE or FALSE FALSE When Enable changes to TRUE Buffermode Sp...

Page 329: ...urs in the execution of the instruction Error changes to TRUE the corresponding error code is contained in ErrorID and meanwhile Status Busy and Active all change to FALSE Error changes to FALSE when...

Page 330: ..._Power changes from TRUE to FALSE and whether the axis enters the Disable state depends on the value of Buffermode 9 Buffermode BufferMode specifies the behavior of MC_Power when Enable changes from T...

Page 331: ...el MC_Power Axis Status Pwr Enable EnablePositive Busy Active EnableNegative BufferMode Error ErrorID MC_MoveVelocity Axis Invelocity Vel Execute ContinuousUpdate Busy Active Velocity Error ErrorID Co...

Page 332: ...Pwr_En changes to FALSE Pwr_Sta change to FALSE after the axis is disabled Programming Example 2 The example of Vel _BM 0 When the value of Vel _BM is set to 0 and Pwr_En changes from TRUE to FALSE th...

Page 333: ...t Stp_Err Stp_ErrID MC_Stop Axis Done Stp Execute Deceleration Busy Active Jerk Error ErrorID CommandAborted 2 Motion Curve and Timing Chart When Vel _Ex changes to TRUE the servo motor starts moving...

Page 334: ...he Disabled state 1 The variables and program Variable name Data type Initial value Pwr MC_Power Axis1 USINT 1 Pwr_En BOOL FALSE Pwr_EnPs BOOL FALSE Pwr_BM MC_Buffer_Mode 0 Pwr_Sta BOOL Pwr_Bsy BOOL P...

Page 335: ...Axis Done Stp Execute Deceleration Busy Active Jerk Error ErrorID CommandAborted 2 Motion Curve and Timing Chart When Vel _Ex changes to TRUE Vel _Bsy changes to TRUE one cycle later Vel _Act changes...

Page 336: ...ile the axis enters the Standstill state and Pwr_Sta changes to FALSE One cycle later the axis goes to the Disabled state When Vel _Ex changes to FALSE Vel _Abt changes to FALSE When Stp _Ex changes t...

Page 337: ...ameter name Function Data type Valid range Done TRUE when the homing is completed BOOL TRUE FALSE Busy TRUE when the instruction is being executed BOOL TRUE FALSE Active TRUE when the axis is being co...

Page 338: ...ror occurs in the instruction execution or the input parameters for the instruction are illegal When Execute changes from TRUE to FALSE Output Update Timing Chart Case 1 When Execute changes from FALS...

Page 339: ...between the mechanical zero point and servo reference zero point as the figure below A Mechanical zero point where the photoelectric sensor is For different Position value the servo will eventually s...

Page 340: ...gards the home switch position as the mechanical zero point position A The home switch is OFF before searching for the home While the mechanism is searching for the home point the servo rotates revers...

Page 341: ...trols the motion of the servo motor The mechanism starts to run reversely rotates forward after reaching the home switch and then stops at the mechanical zero point And the mechanism is driven to retu...

Page 342: ...celeration Specify the target acceleration Unit unit second2 LREAL Positive number The variable value must be set When Execute changes from FALSE to TRUE Deceleration Specify the target deceleration U...

Page 343: ...E to TRUE Invelocity will change from FALSE to TRUE when the new target speed is reached after the target speed is changed through MC_SetOverride before the execution of MC_MoveVelocity is completed w...

Page 344: ...on is aborted by other instruction and CommandAborted changes to TRUE Meanwhile Invelocity Busy and Active change to FALSE When Execute changes from TRUE to FALSE CommandAborted changes to FALSE Case...

Page 345: ...Dir MC_DIRECTION 1 Vel_BM MC_Buffer_Mode 0 Vel_Invel BOOL Vel_Bsy BOOL Vel_Act BOOL Vel_Abt BOOL Vel_Err BOOL Vel_ErrID WORD 2 1 Axis1 True True Pwr_BM Pwr_Bsy Pwr_Act Pwr_Err Pwr_ErrID True Pwr_Sta M...

Page 346: ...the example that one MC_MoveVelocity instruction aborts another MC_MoveVelocity instruction 1 The variable table and program Variable name Data type Initial value Pwr MC_Power Axis1 USINT 1 Pwr_BM MC...

Page 347: ...0 0 100 0 15 0 Vel1_Dir Vel1_BM Vel1_Bsy Vel1_Act Vel1_Abt Vel1_Err Vel1_ErrID Vel1_Ex Vel1_Invel MC_MoveVelocity Axis Invelocity Vel1 Execute ContinuousUpdate Busy Active Velocity Error ErrorID Comma...

Page 348: ...ges to TRUE the first MC_MoveVelocity instruction is aborted Vel1_Abt changes to TRUE and the axis starts to perform the second MC_MoveVelocity instruction When the target velocity is reached Vel2_Inv...

Page 349: ...en Execute changes from FALSE to TRUE BufferMode Specify the behavior when executing two instructions 0 Aborting 1 Buffered MC_Buffer_ Mode 0 mcAborting 1 mcBuffered 0 When Execute changes from FALSE...

Page 350: ...uction execution is completed Done changes to TRUE when the instruction execution is completed after Execute changes from TRUE to FALSE during the instruction execution One period later Done changes t...

Page 351: ...after Execute changes from TRUE to FALSE Meanwhile Busy and Active change to FALSE and one period later Done changes to FALSE Function MC_Halt is used to make the axis decelerate at a given decelerati...

Page 352: ...Pwr_BM Pwr_Bsy Pwr_Act Pwr_Err Pwr_ErrID Pwr_En Pwr_Sta MC_Power Axis Status Pwr Enable EnablePositive Busy Active EnableNegative BufferMode Error ErrorID Axis1 10000 0 5000 0 5000 0 2000 0 Vel_Dir V...

Page 353: ...to TRUE Hlt_Bsy changes to TRUE and one period later Hlt_Act changes to TRUE Meanwhile Vel_Invel changes to FALSE and Vel_Abt changes to TRUE and then the servo motor starts to decelerate When the axi...

Page 354: ...to TRUE There is no impact on the instruction execution when Execute of the instruction changes from TRUE to FALSE in the course of the instruction execution 2 While Execute changes from FALSE to TRU...

Page 355: ...TRUE When CommandAborted changes to TRUE When Done changes from TRUE to FALSE Active When the instruction starts to control the axis When Error changes to TRUE When CommandAborted changes to TRUE Whe...

Page 356: ...ctive all change to FALSE Function MC_Stop is used to make the axis decrease its speed at a given deceleration rate till it stops As long as Execute is TRUE after execution of MC_Stop is completed and...

Page 357: ...1 Axis1 True True Pwr_BM Pwr_Bsy Pwr_Act Pwr_Err Pwr_ErrID Pwr_En Pwr_Sta MC_Power Axis Status Pwr Enable EnablePositive Busy Active EnableNegative BufferMode Error ErrorID Axis1 10000 0 5000 0 5000 0...

Page 358: ...UE Stp_Bsy changes to TRUE One period later Stp_Act changes to TRUE meanwhile Vel_Invel changes to FALSE Vel_Abt changes to TRUE and the servo motor starts to decelerate When the axis velocity is decr...

Page 359: ...Unit second LREAL Positive number The variable value must be set When Execute changes from FALSE to TRUE Acceleration Specify the target acceleration rate Unit Unit s2 LREAL Positive number The variab...

Page 360: ...alid range Done TRUE when the instruction execution is completed BOOL TRUE FALSE Busy TRUE when the instruction is being executed BOOL TRUE FALSE Active TRUE when the axis is being controlled by the i...

Page 361: ...en Execute changes from FALSE to TRUE and the instruction is aborted by other instruction CommandAborted changes to TRUE and meanwhile Busy and Active change to FALSE CommandAborted changes to FALSE w...

Page 362: ...00 10000 when Distance 0 10000 In the following right figure the axis moves in the negative direction and the target position is 0 10000 10000 when Distance 0 10000 Programming Example 1 The programmi...

Page 363: ...st time when Rel_Ex changes from FALSE to TRUE for the first time At the moment the current position of the axis is 2000 and the target position is 7000 7000 2000 5000 When the axis position of 7000 i...

Page 364: ..._En BOOL FALSE Pwr_BM MC_Buffer_Mode 0 Pwr_Sta BOOL Pwr_Bsy BOOL Pwr_Act BOOL Pwr_Err BOOL Pwr_ErrID WORD Rel1 MC_MoveRelative Rel1 _Ex BOOL FALSE Rel1 _BM MC_Buffer_Mode 0 Rel1 _Done BOOL Rel1 _Bsy B...

Page 365: ...leration Jerk BufferMode Velocity Axis1 True True 0 Pwr_Bsy Pwr_Act Pwr_Err Pwr_ErrID Pwr_En Pwr_Sta MC_Power Axis Status Pwr Enable EnablePositive Busy Active EnableNegative BufferMode Error ErrorID...

Page 366: ...Ex changes from FALSE to TRUE the second MC_MoveRelative instruction starts being executed and the execution of the first MC_MoveRelative is aborted and Rel1_Abt changes to TRUE When the axis position...

Page 367: ...te changes from FALSE to TRUE Acceleration Specify the target acceleration Unit Unit s2 LREAL Positive number The variable value must be set When Execute changes from FALSE to TRUE Deceleration Specif...

Page 368: ...e there is an error BOOL TRUE FALSE ErrorID Contains the error code when an error occurs Please refer to the section 12 2 WORD Output Update Timing Parameter Name Timing for changing to TRUE Timing fo...

Page 369: ...s the uncompleted distance left by the former instruction and the given distance of this instruction when MC_MoveAdditive is executed When the execution of MC_MoveAdditive is completed the final posit...

Page 370: ...that the terminal actuator will travel is the set distance of MC_MoveAdditive plus the uncompleted distance left by MC_MoveSuperimposed plus the uncompleted distance left by the position instruction...

Page 371: ...5000 0 500 0 20 0 20 0 20 0 Addt_BM Addt_Ex MC_MoveAdditive Axis Done Addt Execute ContinuousUpdate Busy Active Distance Error ErrorID CommandAborted Acceleration Deceleration Jerk BufferMode Velocity...

Page 372: ...r controls the motion of the servo motor and Addt_Done changes from FALSE to TRUE once again after the servo motor reaches the set distance Programming Example 2 Below is an example on the execution o...

Page 373: ...eration Jerk BufferMode Velocity Axis1 True True Pwr_BM Pwr_Bsy Pwr_Act Pwr_Err Pwr_ErrID Pwr_En Pwr_Sta MC_Power Axis Status Pwr Enable EnablePositive Busy Active EnableNegative BufferMode Error Erro...

Page 374: ...ted and Addt1_Abt changes from FALSE to TRUE Meanwhile the servo motor moves according to the parameters of the second MC_MoveAdditive instruction Addt2_Done changes from FALSE to TRUE when the servo...

Page 375: ...pecify the target velocity Unit Unit s LREAL Positive number The variable value must be set When Execute changes from FALSE to TRUE Acceleration Specify the target acceleration Unit Unit s2 LREAL Posi...

Page 376: ...is completed the instruction can be re executed 3 When the axis is a rotary axis Position can be the value within the range of 0 the value of modulo excluding the value of modulo An error will occur i...

Page 377: ...changes from TRUE to FALSE during the instruction execution One period later CommandAborted changes to FALSE Error When an error occurs in the instruction execution or the input parameters for the ins...

Page 378: ...will move reversely when Position 0 5000 See the figure below when Position is 5000 The axis will move reversely when Position 0 5000 See the figure below when Position is 5000 Note As long as MC_Mov...

Page 379: ...angle 135 Direction 2 Shortest way Current position 315 Target position 270 Movement angle 45 Direction 4 Current direction The status of the rotary axis before the instruction is executed Moving in t...

Page 380: ...bs_BM MC_Buffer_Mode 0 Abs_Done BOOL Abs_Bsy BOOL Abs_Act BOOL Abs_Abt BOOL Abs_Err BOOL Abs_ErrID WORD 2 1 Abs_Bsy Abs_Act Abs_Abt Abs_Err Abs_ErrID Abs_Done Axis1 7000 0 300 0 100 0 100 0 15 0 Abs_D...

Page 381: ...MoveAbsolute instruction aborts the execution of another MC_MoveAbsolute instruction is shown below 1 The variables and program Variable name Data type Initial value Pwr MC_Power Axis1 USINT 1 Pwr_En...

Page 382: ...Done Abs1 Execute ContinuousUpdate Busy Active Position Error ErrorID CommandAborted Acceleration Deceleration Jerk Direction Velocity BufferMode Axis1 True True Pwr_BM Pwr_Bsy Pwr_Act Pwr_Err Pwr_Er...

Page 383: ...ALSE to TRUE the second MC_MoveAbsolute instruction starts being executed and the first MC_MoveAbsolute instruction is aborted with its output parameter Abs1_Abt changing to TRUE When the axis reaches...

Page 384: ...ositive number The variable value must be set When Execute changes from FALSE to TRUE Deceleration Specify the target deceleration rate Unit Unit s2 LREAL Positive number The variable value must be se...

Page 385: ...FALSE Done When the superimposed positioning is completed When Execute changes from TRUE to FALSE after the instruction execution is completed Done changes to TRUE when the instruction execution is c...

Page 386: ...borted If the two instructions are executed simultaneously their distances velocities accelerations and decelerations will be respectively added up in real time When the set velocity of either of the...

Page 387: ...n is used 1 The variable table and program Variable name Data type Initial value Pwr MC_Power Axis1 USINT 1 Pwr_En BOOL FALSE Pwr_BM MC_Buffer_Mode 0 Pwr_Sta BOOL Pwr_Bsy BOOL Pwr_Act BOOL Pwr_Err BOO...

Page 388: ...r completes the set distance the motion controller controls the servo motor to run When the servo motor completes the set distance Sup_Done changes to TRUE again Programming Example 2 Below is the exa...

Page 389: ...gative BufferMode Error ErrorID Rel_Bsy Rel_Act Rel_Abt Rel_Err Rel_ErrID Rel_Done Rel_Ex Axis1 10000 0 600 0 100 0 100 0 15 0 MC_MoveRelative Axis Done Rel Execute ContinuousUpdate Busy Active Distan...

Page 390: ...ocities and accelerations of the two instructions respectively When the superimposed distance specified by the MC_MoveSuperimposed instruction is completed Sup_Done changes to TRUE and Sup_Bsy and Sup...

Page 391: ...en Execute changes from FALSE to TRUE Notes 1 MC_HaltSuperimposed instruction is executed when Execute changes from FALSE to TRUE There is no impact on the instruction execution when Execute of the in...

Page 392: ...r changes to TRUE When CommandAborted changes to TRUE CommandAborted When this instruction execution is aborted by other motion control instruction When Execute changes from TRUE to FALSE CommandAbort...

Page 393: ...he MC_HaltSuperimposed instruction cannot be executed alone and it can only be used with the MC_MoveSuperimposed instruction together If the MC_HaltSuperimposed instruction is executed when the MC_Mov...

Page 394: ...bt Sup_Err Sup_ErrID Sup_Done Sup_Distan Axis1 5000 0 600 0 90 0 90 0 15 0 Sup_Ex MC_MoveSuperimposed Axis Done Sup Execute ContinuousUpdate Busy Active Distance Error ErrorID CommandAborted Accelerat...

Page 395: ...anges to TRUE Hltsup_Bsy changes to TRUE One cycle later Hltsup_Act changes to TRUE the execution of the MC_HaltSuperimposed instruction starts the MC_MoveSuperimposed instruction is aborted and Sup_B...

Page 396: ...L TRUE or FALSE FALSE Position Specify the target Position Unit Unit LREAL Negative number positive number or 0 0 When Execute changes from FALSE to TRUE Relative Specify the relative mode or absolute...

Page 397: ...e illegal When Execute changes from TRUE to FALSE Output Update Timing Chart Case 1 When Execute changes from FALSE to TRUE Busy changes to TRUE and one period later Done changes to TRUE and meanwhile...

Page 398: ...Type is used to select the command position or actual position as the reference position When ReferenceType is 0 the reference position is the command position of the axis When ReferenceType is 1 the...

Page 399: ...nd actual position of the axis are 3000 and 2300 respectively difference value P 700 The command position changes to 6000 and actual position becomes 5300 5300 6000 P after the instruction is executed...

Page 400: ...influenced MC_SetPosition will report an error when it is executed in the process of execution of MC_Stop But MC_SetPosition can be executed normally after MC_Stop execution is completed Programming E...

Page 401: ...not affect the motion which is being performed through observing the above velocity change curve Programming Example 2 The following example describes the impact of MC_SetPosition execution on the ax...

Page 402: ...4000 0 SetPos_RefTp SetPos_Bsy SetPos_Done SetPos_Err SetPos_ErrID MC_SetPosition Axis Done SetPos Execute Position Busy Error Relative ReferenceType ErrorID Rel_Bsy Rel_Act Rel_Abt Rel_Err Rel_ErrID...

Page 403: ...being performed through observing the above velocity change curve Programming Example 3 The following example shows how MC_SetPosition execution affects MC_MoveAbsolute instruction which is being exe...

Page 404: ...Abs_Err Abs_ErrID Abs_Done Axis1 10000 0 3000 0 3000 0 3000 0 3000 0 Abs_Dir Abs_Ex MC_MoveAbsolute Axis Done Abs Execute ContinuousUpdate Busy Active Position Error ErrorID CommandAborted Accelerati...

Page 405: ...SetPosition starts being executed and 11000 after the instruction execution is completed The position is 15000 as MC_MoveAbsolute execution ends It can be seen that MC_SetPosition does not affect the...

Page 406: ...abled TRUE when the instruction is controlling the axis BOOL TRUE FALSE Busy TRUE when the instruction is being executed BOOL TRUE FALSE Error TRUE when an error occurs in execution of the instruction...

Page 407: ...ditive positioning MC_MoveVelocity Velocity instruction MC_MoveSuperimposed Superimposed positioning 3 The new target velocity is calculated as below The new target velocity after modification Target...

Page 408: ...d after Invelocity of MC_MoveVelocity changes to TRUE Programming Example The example of how MC_MoveVelocity is affected by the execution of the MC_SetOverride instruction is described as below 1 The...

Page 409: ...reached Vel_Invel changes to TRUE After Vel_Invel changes to TRUE Vel_Invel remains TRUE even if VelFactor value SetOv_Velf is modified When SetOv_En changes to FALSE it means the axis starts to dece...

Page 410: ...FALSE Error TRUE when an error occurs in execution of the instruction BOOL TRUE FALSE ErrorID Contains the error code when an error occurs Please refer to section 12 2 for the corresponding error ID...

Page 411: ...executed stop When the axis alarms the execution of the instruction can clear the axis alarm information After the execution of MC_Reset instruction is completed the axis state will be determined by...

Page 412: ...is TRUE in the first cycle and Rset_Done is TRUE in the second cycle Meanwhile the axis enters the Standstill state from the ErrorStop state 3 2 1 ReadSt_Bsy ReadSt_Err ReadSt_ErrID ReadSt_Disbl Read...

Page 413: ...nges to TRUE Notes 1 If the torque value is a positive number the effection that the servo produces works in the positive direction If the torque value is a negative number the effection that the serv...

Page 414: ...SE Error When an error occurs in the instruction execution or the input parameters for the instruction are illegal When Enable changes from TRUE to FALSE Output Update Timing Chart Case 1 When Enable...

Page 415: ...ble name Data type Initial value Pwr MC_Power Axis1 USINT 1 Pwr_BM MC_Buffer_Mode 0 Pwr_Sta BOOL Pwr_Bsy BOOL Pwr_Act BOOL Pwr_Err BOOL Pwr_ErrID WORD SetTq DMC_SetTorque SetTq_En BOOL FALSE SetTq_InT...

Page 416: ...ycle later SetTq_Act changes to TRUE and the DMC_SetTorque instruction starts When the torque is reached SetTq_InTorque changes to TRUE and SetTq_Bsy and SetTq_Act remain TRUE SetTq_InTorque SetTq_Bsy...

Page 417: ...ecution of the instruction BOOL TRUE FALSE ErrorID Contains the error code when an error occurs Please refer to section 12 2 WORD AxisErrorID When Valid is TRUE the value of ErrorID xxx hex indicates...

Page 418: ...s Error changes to TRUE and ErrorID shows corresponding error code Meanwhile Busy changes to FALSE When Enable changes from TRUE to FALSE Error changes to FALSE and the value of ErrorID is cleared Fun...

Page 419: ...he instruction is valid BOOL TRUE FALSE Busy TRUE while the instruction is being executed BOOL TRUE FALSE Error TRUE while there is an error in the execution of the instruction BOOL TRUE FALSE ErrorID...

Page 420: ...ear axis its output Position equals ActualPosition above when the instruction is executed If the axis is a rotary axis its output Position equals ActualPosition modulo when the instruction is executed...

Page 421: ...name Data type Initial value Rel MC_MoveRelative Axis1 USINT 1 Rel_Ex BOOL FALSE Rel_Done BOOL Rel_Bsy BOOL Rel_Act BOOL Rel_Abt BOOL Rel_Err BOOL Rel_ErrID WORD TON1 TON SR1 SR SetPos SetPosition Set...

Page 422: ...is1 10000 0 3000 0 3000 0 3000 0 3000 0 MC_MoveRelative Axis Done Rel Execute ContinuousUpdate Busy Active Distance CommandAborted Error ErrorID Acceleration Deceleration Jerk BufferMode Velocity TON...

Page 423: ...ution is completed The actual position is 15000 after MC_MoveRelative execution is completed It can be seen from the above velocity curve chart that MC_SetPosition does not affect the ongoing motion B...

Page 424: ...TRUE FALSE Busy TRUE while the instruction is being executed BOOL TRUE FALSE Error TRUE while there is an error in the execution of the instruction BOOL TRUE FALSE ErrorID Contains error codes when an...

Page 425: ...struction are illegal When Enable changes from TRUE to FALSE ErrorStop When the axis enters ErrorStop state When the axis is not in ErrorStop state Disabled When the axis enters Disabled state When th...

Page 426: ...ws corresponding error codes and Busy changes from TRUE to FALSE When Enable changes from TRUE to FALSE Error changes from TRUE to FALSE and meanwhile ErrorID changes to 0 Function MC_ReadStatus is us...

Page 427: ...rr Rel_ErrID Rel_Done Rel_Ex Axis1 5000 0 300 0 100 0 100 0 MC_MoveRelative Axis Done Rel Execute ContinuousUpdate Busy Active Distance CommandAborted Error ErrorID Acceleration Deceleration Jerk Buff...

Page 428: ...E and ReadSt_Dism changes to TRUE When the servo motor moves the target distance Rel_Done and ReadSt_Stans change to TRUE Rel_Bsy Rel_Act and ReadSt_Dism change to FALSE Rel_Done also changes to FALSE...

Page 429: ...able is TRUE Output Parameters Parameter name Function Data type Valid range Valid TRUE when the output of the instruction is valid BOOL TRUE FALSE Busy TRUE while the instruction is being executed BO...

Page 430: ...ed When the axis velocity is not increased any more and Enable is still TRUE Decelerating When the absolute value of the axis velocity is decreased When the axis velocity is not decreased any more and...

Page 431: ...e is used to read current motion state of the servo axis The motion state of the servo axis includes the constant motion acceleration or deceleration positive rotation and negative rotation Programmin...

Page 432: ...ve Source Axis1 True True Pwr_Bsy Pwr_Act Pwr_Err Pwr_ErrID Pwr_En Pwr_Sta MC_Power Axis Status Pwr Enable EnablePositive Busy Active EnableNegative BufferMode Error ErrorID Rel1_Bsy Rel1_Act Rel1_Abt...

Page 433: ...on and meanwhile ReadMoSt_Accet and ReadMoSt_DirtPos change to TRUE When ReadMoSt_Constvel changes from FALSE to TRUE ReadMoSt_Accet changes from TRUE to FALSE and the axis enters the state of moving...

Page 434: ...on execution is completed BOOL TRUE FALSE Busy TRUE when the instruction is being executed BOOL TRUE FALSE Active TRUE when the axis is being controlled BOOL TRUE FALSE Error TRUE when an error occurs...

Page 435: ...o FALSE after the instruction execution is completed Busy When Execute changes to TRUE When Error changes to TRUE When Done changes from FALSE to TRUE Active When the instruction starts to control the...

Page 436: ...the content of ErrorID is cleared to 0 Function DMC_ReadParameter_Motion reads a slave parameter value Users can specify the index and subindex of the parameter which is to be read Programming Example...

Page 437: ...TRUE the value of ReadPm_M1_DaTy is 2 and ReadPm_M1_Dat is 5000 That is the content of the servo parameter P1 55 which is read is 5000 The maximum velocity of the servo is limited to 5000rpm When Rea...

Page 438: ...uble Word USINT Data The value of the parameter to write UDINT Notes 1 DataType must be the data type of the parameter to write An error will occur if the filled value is incorrect 2 Refer to Chapter...

Page 439: ...y and Active change to FALSE in the same cycle When Execute changes from TRUE to FALSE Done changes from TRUE to FALSE Case 2 The input parameter value is illegal such as axis number 0 before the DMC_...

Page 440: ...ReadPm_M2_Dat UDINT 1000 2 1 ReadPm_M1_Bsy ReadPm_M1_Act ReadPm_M1_Err ReadPm_M1_ErrID ReadPm_M1_DaTy ReadPm_M1_Done ReadPm_M1_Dat 0 16 2137 Axis1 ReadPm_M1_Ex DMC_ReadParameter_Motion Axis Done ReadP...

Page 441: ...TRUE That means the content of the servo slave parameter P1 55 which is set is 1000 The maximum velocity of the servo is limited to 1000rpm When WritePm_M_Done changes from FALSE to TRUE executing the...

Page 442: ...OOL TRUE or FALSE FALSE TriggerInput Specify one of the input points I0 I7 I10 I17 of DVP15MC11T as the bit for triggering position capture The values of the parameter 0 15 correspond to input points...

Page 443: ...drive receives through axis parameters Mode 4 The trigger signal comes from the rising edge of the high speed input point DI7 of the servo drive The captured position is converted from the number of p...

Page 444: ...e changes from TRUE to FALSE CommandAborted is set to TRUE when the instruction execution is aborted after Execute changes from TRUE to FALSE during the instruction execution One period later CommandA...

Page 445: ...7 it will become 2147483648 The value of RecordedPosition will change from a positive number to a negative number The position captured by the DMC_TouchProbe instruction is calculated according to axi...

Page 446: ...axis parameters Mode 1 The external signal triggers I point of DVP15MC11T and the position capture is conducted through the falling edge of the input point specified by TriggerInput The captured posit...

Page 447: ...ual 11 1 Mode 3 The external signal triggers the high speed input point DI7 of the servo drive The captured position is converted from the number of pulses CN1 port of the servo drive receives through...

Page 448: ...s Programming Example 1 Capture the position of the external encoder axis by using the rising edge of I0 under mode 0 1 The variable table and program Variable name Data type Initial value NOT_EN BOOL...

Page 449: ...ch_Pos When Touch_Ex changes from FALSE to TRUE Touch_Bsy changes from FALSE to TRUE in the first cycle and Touch_Act changes from FALSE to TRUE in the second cycle When the external signal triggers c...

Page 450: ...s Mode Mask RecordedPosition Axis2 Touch1_Tri Touch1_Ex Touch1_Mode Touch1_Done Touch1_Pos Touch1_ErrID Touch1_Err Touch1_Abt Touch1_Act Touch1_Bsy 2 Timing Chart Di7 o f servo s CN1 Touch1_Ex Touch1_...

Page 451: ...FALSE ContinuousUpdate Reserved RatioNumerator Gear ratio Numerator LREAL Positive number and negative number The variable value must be set When Execute changes from FALSE to TRUE RatioDenominator G...

Page 452: ...ip between the master axis and slave axis will disconnected MC_Halt or MC_Stop can abort the motion of the slave axis 3 Refer to section 10 2 for the relation among Acceleration Deceleration and Jerk...

Page 453: ...e is reached InGear changes to TRUE and meanwhile Busy and Active remain TRUE Case 2 When Execute changes to TRUE and the slave axis is controlled by other instruction MC_GearIn instruction is aborted...

Page 454: ...tio If the e gear ratio is a positive number the motion directions of the slave axis and master axis are same If the e gear ratio is a negative number the motion directions of the slave axis and maste...

Page 455: ...8000 GearIn1_Bsy GearIn1_Act GearIn1_Abt GearIn1_Err GearIn1_ErrID GearIn1_InGear MC_GearIn Master InGear GearIn2 Slave Execute Busy Active ContinuousUpdate Error ErrorID CommandAborted RatioNumerato...

Page 456: ...changes from FALSE to TRUE and meanwhile GearIn2 _Bsy changes to TRUE One period later GearIn2_Act and GearIn1_Abt change to TRUE and the slave axis gets to the target velocity based on the values of...

Page 457: ...e relationship between the master axis and slave axis is disconnected through the MC_GearOut instruction To stop the motion of the slave axis MC_Halt or MC_Stop instruction can be used Output Paramete...

Page 458: ...ion is aborted by other instruction as Execute changes to TRUE CommandAborted changes to TRUE and meanwhile Busy and Done change to FALSE CommandAborted changes to FALSE as Execute changes from TRUE t...

Page 459: ...rID WORD GearIn MC_ GearIn GearIn_Ex BOOL FALSE GearIn_BM MC_Buffer_Mode 0 GearIn_InGear BOOL GearIn_Bsy BOOL GearIn_Act BOOL GearIn_Abt BOOL GearIn_Err BOOL GearIn_ErrID WORD GearOut MC_ GearOut Gear...

Page 460: ...y GearIn_Act GearIn_Abt GearIn_Err GearIn_ErrID GearIn_InGear 1 Axis1 40000 0 10000 0 10000 0 10000 0 Vel_Dir Vel_BM Vel_Bsy Vel_Act Vel_Abt Vel_Err Vel_ErrID Vel_Ex Vel_Invel MC_MoveVelocity Axis Inv...

Page 461: ...instruction and the slave axis moves by following the motion of the master axis While the master axis is executing the velocity instruction GearOut_Ex changes from FALSE to TRUE and GearOut_Bsy change...

Page 462: ...me Function Data type Valid range Default Validation timing Master1 The position source of axis 1 USINT 1 32 The variable value must be set When Execute changes from FALSE to TRUE Master2 The position...

Page 463: ...mber or negative number The variable value must be set When Execute changes from FALSE to TRUE MasterValueSourceM1 Specify the synchronization position source of master axis 1 0 Command position 1 Act...

Page 464: ...TRUE FALSE CommandAborted TRUE when the instruction is aborted BOOL TRUE FALSE Error TRUE when there is an error in the execution of the instruction BOOL TRUE FALSE ErrorID Contains the error code wh...

Page 465: ...eanwhile InSync Busy and Active change to FALSE When Execute changes from TRUE to FALSE Error changes to FALSE Case 4 The instruction is still executed and the states of Busy and Active do not change...

Page 466: ...he set acceleration deceleration and jerk so as to realize the synchronization with the master position variations When the synchronization is achieved InSync is TRUE and the instruction execution is...

Page 467: ...BOOL Pwr3_Act BOOL Pwr3_Err BOOL Pwr3_ErrID WORD CombinA MC_CombineAxes CombinA_Ex BOOL FALSE CombinA_BM MC_Buffer_Mode 1 CombinA_InSync BOOL CombinA_Bsy BOOL CombinA_Act BOOL CombinA_Abt BOOL CombinA...

Page 468: ...ative BufferMode Error ErrorID 3 Axis3 True True Pwr3_BM Pwr3_Bsy Pwr3_Act Pwr3_Err Pwr3_ErrID Pwr3_En Pwr3_Sta MC_Power Axis Status Pwr3 Enable EnablePositive Busy Active EnableNegative BufferMode Er...

Page 469: ...n and meanwhile the slave also starts to run according to the sum of two master axis position variations The slave axis position variation is the sum of the two master axis position variations in the...

Page 470: ...1 The electronic cam is an analog cam of the mechanical cam through applying computer technology Compared with the mechanical cam the electronic cam has many advantages of being easy to design and mod...

Page 471: ...ange Default Validation timing Master Specify the number of the master axis in the electronic cam operation USINT 1 32 The variable value must be set When Execute changes from FALSE to TRUE Slave Spec...

Page 472: ...the slave axis position LREAL Positive number or negative number The variable value must be set When Execute changes from FALSE to TRUE MasterStartDistance Reserved MasterSyncPosition Reserved Activat...

Page 473: ...In instruction execution starts when Execute changes from FALSE to TRUE Changing Execute from TRUE to FALSE does not influence the instruction execution during execution of the instruction 2 Changing...

Page 474: ...s to TRUE When CommandAborted changes to TRUE Active When the instruction starts to control axes When the acyclic cam motion is performed Periodic FALSE and EndOfProfile changes to TRUE When Error cha...

Page 475: ...rID changes to 0 as Execute changes from TRUE to FALSE Case 3 The instruction execution still continues after Execute changes from TRUE to FALSE during execution of the instruction The timing for chan...

Page 476: ...the engagement action in the standstill state The time to start the engagement is when the master axis passes the position specified by the parameter ActivationPosition In different circumstances the...

Page 477: ...vationPosition Relative axis position As ActivationMode 0 ActivationPosition is an axis position which is relative to the master axis position at the time when the MC_CamIn instruction is executed The...

Page 478: ...r got by dividing the axis absolute position by modulo The slave axis starts to perform the engagement action as the master axis absolute phase is ActivationPosition The absolute axis phase is cyclic...

Page 479: ...ted ActivationPosition Absolute cam phase When ActivationMode 3 ActivationPosition is the absolute cam phase which is the remainder got by dividing the axis absolute position by its cam cycle The slav...

Page 480: ...ctivationPosition parameter value is 0 cam cycle value excluding the cam cycle value If the value of ActivationPosition exceeds the valid range an error will occur and the execution will fail as the M...

Page 481: ...am phase are in the relative relationship as the MasterAbsolute parameter is FALSE That is to say the master axis position corresponds to its cam phase 0 at the time when the engagement starts After t...

Page 482: ...phase in the cam relationship When the slave axis is in absolute mode the corresponding relationship between the slave axis position and its cam phase is consistent with that between the master axis...

Page 483: ...nd the engagement begins the master axis position and slave axis position are both 0 When there is no position offset and scaling the offset and scaling are default values the actual master axis posit...

Page 484: ...Scaling is 1 and their offsets are 0 If it is observed from the perspective of the cam phase the master axis cam phase is 1 2 what is preplanned That is the master cam cycle changes from 360 to 180 18...

Page 485: ...sition corresponding to the slave axis position will shift add by 90 based on the planned position as MasterScaling and SlaveScaling are 1 MasterOffset is 90 and SlaveOffset is 0 For example in the pl...

Page 486: ...e shortest way mcRamplnShortest positive direction mcRamplnPositive and negative direction mcRamplnNegative Users can select the right engagement mode according to actual need StartMode 0 The shortest...

Page 487: ...tion till the cam relationship is disconnected As Periodic FALSE when the end point of the cam cycle is reached after the slave axis and master axis enter the synchronous cam motion the cam relationsh...

Page 488: ...osition instruction MC_Stop and MC_Halt As the MC_Stop and MC_Halt instructions are executed on the slave axis the MC_CamIn instruction is aborted the cam relationship is disconnected and the slave ax...

Page 489: ...fect of the MC_CamIn instruction is described in the following example The cam curve is planned as below Key points of the cam curve No Master axis position Slave axis position Velocity Acceleration 1...

Page 490: ...ic MasterAbsolute SlaveAbsolute SlaveOffset MasterScaling SlaveScaling MasterOffset MasterSyncPosition ActivationPosition ActivationMode StartMode 1 1 100 0 0 Axis2 Axis1 1 TRUE FALSE FALSE 0 CamIn_Ex...

Page 491: ...engagement After that the master axis will move from 0 in the positive direction under the control of the MC_MoveVelocity instruction When the master axis passes 100 the position where the engagement...

Page 492: ...is aborted BOOL TRUE FALSE Error TRUE when there is an error in the execution of the instruction BOOL TRUE FALSE ErrorID Contains the error code when an error occurs Please refer to the section 12 2 W...

Page 493: ...bled Error changes to TRUE and ErrorID shows corresponding error codes Meanwhile Busy and Done change to FALSE As Execute changes from TRUE to FALSE Error changes to FALSE Case 4 Execute changes from...

Page 494: ...0 100 0 0 3 180 300 0 0 4 360 0 0 0 Explanation Cam period of the master axis and slave axis 360 MasterScaling and SlaveScaling 1 MasterOffset and SlaveOffset 0 MasterAbsolute Relative SlaveAbsolute R...

Page 495: ...sterSyncPosition ActivationPosition ActivationMode StartMode 1 1 100 0 0 Axis2 Axis1 1 TRUE FALSE FALSE 0 CamIn_Ex 0 CamIn_EndOP CamIn_Bsy CamIn_Act CamIn_Abt CamIn_Err CamIn_InSync 100 0 1 100 0 100...

Page 496: ...nPosition As Vel_Ex changes from FALSE to TRUE at t2 the MC_MoveVelocity instruction execution starts At the moment the master axis position is 0 and the slave axis continues waiting for the execution...

Page 497: ...chieved at t4 and the InSync output parameter CamIn1_InSync changes from FALSE to TRUE During the synchronous cam motion in which the slave axis follows the motion of the master axis by executing the...

Page 498: ...periodically with the rotation of the rotary cut axis Note The feed axis is to control the feed roller the rotary cut axis is to control rotary cut roller with the knife mounted on the rotary cut roll...

Page 499: ...PF_RotaryCut_Init FeedRadius R2 The radius of the rotary axis i e the distance from the center of the rotary roller to the tool bit APF_RotaryCut_Init RotaryRadius N The number of knives of the rotary...

Page 500: ...cut axis and feed axis move at a certain speed rate Their velocities are usually equal And the cutting of material is conducted in the SYN area 3 DVP15MC11T supports the rotary roller with multiple k...

Page 501: ...in the following three situations based on various cutting length 1 Short material cutting When cutting length is less than the knife roller circumference the rotary cut curve for any cycle is shown b...

Page 502: ...ircumference the rotary cut curve for any cycle is shown below Rotary cut axis Feed axis SYNC area Adjustment area SYNC area Circumference of the knife roller End of SYNC area Start of SYNC area Cutti...

Page 503: ...hen rotary cut function is started The curve is the rotary cut function entry curve When the rotary cut function is started up the rotary cut axis will follow the feed axis to rotate according to the...

Page 504: ...taryCut_Out is started up the system will use the curve to make the rotary cut axis break away from the rotary cut state Eventually the knife stops at the end position as shown in the figure above The...

Page 505: ...Positive number The variable value must be set When Execute changes from FALSE to TRUE FeedAxisRadius The radius of the feed axis i e the radius length of the feed roller LREAL Positive number The var...

Page 506: ...function are RotaryAxisRadius FeedAxisRadius CutLenth SyncStartPos and SyncStopPos with the same unit For example if the unit for one of the parameters is CM centimeter the units for other parameters...

Page 507: ...he rotary cut relationoship is established the instruction is used for initializing the radius of the rotary cut axis and feed axis cutting length SYNC area and other parameters After the instruction...

Page 508: ...number so that the rotary cut axis could better follow the feed axis for motion The axis number can be set in order of 1 32 from small to large USINT 1 32 The variable value must be set When Execute...

Page 509: ...ion execution One cycle later Done changes to FALSE Busy When Execute changes to TRUE When Done changes to TRUE When Error changes to TRUE Error When an error occurs in the instruction execution or th...

Page 510: ...ALSE to TRUE RotaryCutID The number for a group of rotary cut instructions a group of rotary cut instructions use the same number Setting range 1 8 USINT 1 8 The variable value must be set When Execut...

Page 511: ...rom TRUE to FALSE during the instruction execution One cycle later Done changes to FALSE Busy When Execute changes to TRUE When Done changes to TRUE When Error changes to TRUE Error When an error occu...

Page 512: ...AxisRadius 20 Unit units CutLenth 30 Unit units SyncStartPos 19 Unit units SyncStopPos 1 Unit unit Programming Example 1 As Pwr1_En is TRUE the servo of node address 1 turns Servo On as Pwr2_En is TRU...

Page 513: ...RotyCut_Init _Done BOOL TRUE RotyCut_Init _Bsy BOOL RotyCut_Init _Err BOOL RotyCut_Init _ErrID WORD 1 Axis1 True True Pwr1_BM Pwr1_Bsy Pwr1_Act Pwr1_Err Pwr1_ErrID Pwr1_En Pwr1_Sta MC_Power Axis Stat...

Page 514: ...ent the rotary cut axis executes the rotary cut action based on the phase of the feed axis The variable table and program Variable name Data type Initial value Vel MC_MoveVelocity Axis1 USINT 1 Vel _E...

Page 515: ...o the entry point and the motion of the feed axis will not impact the rotary cut axis any more The variable table and program Variable name Data type Initial value RotyCut_Out APF_RotaryCut_Out RotyCu...

Page 516: ...hapter 12 Troubleshooting Table of Contents 12 1 Explanation of LED Indicators 12 2 12 2 Table of Error IDs in Motion Instructions 12 8 12 3 System Trouble Diagnosis through System Error Codes 12 12 1...

Page 517: ...LED ERR LED indicates the error state of DVP15MC11T LED state Explanation How to deal with LED OFF DVP15MC11T is in the state of normal work No correction Red light blinking Errors in the program or...

Page 518: ...that of other slaves 5 Check if configured slaves have been actually connected to the network 6 Check if some slave can not make the connection with the master 7 Check if some slave is offline Green l...

Page 519: ...her stations are same ERR LED Red light is in a single flash and double flashes as below CAN2 Motion LED RUN LED LED state Explanation How to deal with LED OFF No axis is configured for CAN2 Motion po...

Page 520: ...configrued in the software have actually been connected to the network 4 Check if the interference around CANopen bus cable is too strong Red light single flash The bus error is out of the alert level...

Page 521: ...ernet port of DVP15MC11T is not connected to the Ethernet network RS232 LED RS232 LED the RS 232 communication indicator of DVP15MC11T indicates the communication state of RS 232 port of DVP15MC11T LE...

Page 522: ...shooting 12 Output point LED There are 8 output point LED indicators for showing if DVP15MC11T s digital output points are ON or OFF LED state Indication Red light ON Output point is ON LED OFF Output...

Page 523: ...wrong Modify the value of the input variable ReferenceType into that which can be set in the instruction 0x100A 4106 The timing for executing MC_SetPosition is improper Change the timing of executing...

Page 524: ...tructions are performed for capturing the position of the same axis at the same time Prevent two DMC_TouchProbe instructions from capturing the position of the same axis at the same time 0x101C 4124 T...

Page 525: ...he slave axis cam cycle range Modify the value of SlaveOffset into that between the negative number and positive number of the slave axis cam cycle range The slave axis cam cycle range Maximum slave a...

Page 526: ...xecution of MC_HaltSuperimposed The execution of MC_HaltSuperimposed should be conducted in the process of performing MC_MoveSuperimposed 0x2100 8448 The state machine limits that the function cannot...

Page 527: ...04 The access to flash failed in the extension area 0x1009 4105 The access to flash failed in the program area 0x100A 4106 The access to flash failed in the CAN motion area 0x100B 4107 The access to f...

Page 528: ...repower on 0x1602 5634 The Ethernet LAN2 buffer overflows 0x3000 12288 The number of inputs or the number of outputs is greater than the limit 32 Reset the number of input and output variables in the...

Page 529: ...of the downloaded hardware configuration is illegal 0x3026 12326 Watchdog timeout Check if the program is correct or there is a loop of which the program execution can not get out when the program ex...

Page 530: ...ty 7 task exceeds the set watchdog timeout time 1 Reset the watchdog time to a larger value for the task 2 Check whether there is any infinite loop in the program which the task calls 3 Revise the pro...

Page 531: ...ls 3 Redownload it after modifying the program 0x3060 12384 The actual time for executing the priority 16 task exceeds the set watchdog timeout time 1 Reset the watchdog time to a larger value for the...

Page 532: ...eeds the set watchdog timeout time 1 Reset the watchdog time to a larger value for the task 2 Check whether there is any infinite loop in the program which the task calls 3 Redownload it after modifyi...

Page 533: ...ll exists after repower on 0x5200 20992 The buffer for receiving CANopen data is full Adjust the CANopen configuration and check the task setup 0x5201 20993 The buffer for sending CANopen data is full...

Page 534: ...Format in ASCII Mode A 2 A 2 Message Format in RTU Mode A 5 A 3 Modbus Function Codes Supported A 7 A 4 Modbus Exception Response Code Supported A 7 A 5 Introduction to Modbus Function Codes A 8 A 6...

Page 535: ...F ASCII code 0x38 0x39 0x41 0x42 0x43 0x44 0x45 0x46 ADR Communication address The valid range of communication address 0 254 Communication address 0 means the broadcast message is sent to all slaves...

Page 536: ...30 Data number Counted by word 2 0 30 0 30 0 30 2 32 LRC check code 0xFA F 46 A 41 End character 1 CR 0D End character 0 LF 0A Response message Field name Field character ASCII code corresponding to...

Page 537: ...o the final inverse value For instance LRC check code value 0xFA The method of calculating LRC check code value 0x01 0x03 0x00 0x00 0x00 0x02 0x06 the result 0xFA is got by getting the inverse values...

Page 538: ...example to communication with the slave with the communication address of 16 the address of the slave is set as 0x10 since decimal 16 is equal to hexadecimal 10 Function code and data The data format...

Page 539: ...the value of the lowest bit in CRC register If the value is 0 repeat the action of step 3 if 1 make XOR operation between the content in CRC register and hex A001 and then store the result in CRC reg...

Page 540: ...alue QX 0x06 Write one single word register value MW QW 0x0F Write multiple bit register value the data of 256 bits at most can be written at a time QX 0x10 Write multiple word register value the data...

Page 541: ...NO Name Byte Byte0 Modbus ID Single byte Byte1 Function code Single byte Byte2 Read the number of addresses of word registers in DVP15MC11T Counted by Byte Single byte Byte3 The address content of th...

Page 542: ...Byte7 High byte of CRC check sum High byte Data structure of a response message Byte NO Name Byte Byte0 Modbus ID Single byte Byte1 Function code Single byte Byte2 DVP15MC11T word register address wh...

Page 543: ...lue written into DVP15MC11T word register High byte Byte n 1 Low byte Byte n 2 Low byte of CRC check sum Low byte Byte n 3 High byte of CRC check sum High byte Data structure of a response message Byt...

Page 544: ...gh byte of CRC check sum High byte Data structure of a response message Byte NO Name Byte Byte0 Modbus ID Single byte Byte1 Function code Single byte Byte2 Read the number of bytes of bit registers Si...

Page 545: ...it registers where to read the state High byte Byte3 Low byte Byte4 Read the number of bit registers High byte Byte5 Low byte Byte6 Low byte of CRC check sum Low byte Byte7 High byte of CRC check sum...

Page 546: ...essage 01 02 A0 10 00 0D 9A 0A Response message 01 02 02 81 11 19 E4 Function code 0x05 writes one single bit register value Data structure of a request message Byte NO Name Byte Byte0 Modbus ID Singl...

Page 547: ...s of QX0 0 is set to 0xA000 via function code 05 Request message 01 05 A0 00 FF 00 AE 3A Response message 01 05 A0 00 FF 00 AE 3A Function code 0x0F writes multiple bit register values Data structure...

Page 548: ...Low byte Byte4 High byte of CRC check sum High byte Note How many bytes of data in the request message depend on the number of bit registers in the request message Example The value of QX0 0 QX0 7 is...

Page 549: ...DVP15MC11T Operation Manual A MEMO A 16...

Page 550: ...s B 1 Modbus TCP Message Structure B 2 B 2 Modbus Function Codes Supported in Modbus TCP B 2 B 3 Exception Response Code in Modbus TCP B 3 B 4 Modbus Function Codes in Modbus TCP B 3 B 5 Registers in...

Page 551: ...e The number of bytes of Modbus data is determined by function code B 2 Modbus Function Codes Supported in Modbus TCP Modbus function codes which DVP15MC11T supports Function code Function Register 0x...

Page 552: ...O Name Byte Byte0 Transaction identifier High byte Byte1 Low byte Byte2 Protocol identifier High byte Byte3 Low byte Byte4 Modbus data length High byte Byte5 Low byte Byte6 Modbus ID Low byte Byte7 Fu...

Page 553: ...nction code Single byte Byte8 Exception response code Single byte Example To read the content value in the addresses 0x0000 and 0x0001 inside DVP15MC11T via function code 03 0x0000 and 0x0001 are the...

Page 554: ...te Byte3 Low byte Byte4 Modbus data length High byte Byte5 Low byte Byte6 Modbus ID Single byte Byte7 Function code Single byte Byte8 The address of a word register where to write a value High byte By...

Page 555: ...byte Byte6 Modbus ID Single byte Byte7 Function code Single byte Byte8 The start address of word registers where to write values High byte Byte9 Low byte Byte10 The number of word registers where to...

Page 556: ...e Byte8 Exception response code Single byte Note How many bytes of data in a response message depend on the number of read register addresses in DVP15MC11T in the request message So the value of n in...

Page 557: ...e Byte1 Low byte Byte2 Protocol identifier High byte Byte3 Low byte Byte4 Modbus data length High byte Byte5 Low byte Byte6 Modbus ID Single byte Byte7 Function code Single byte Byte8 How many bytes f...

Page 558: ...00 00 06 01 02 02 81 11 Function code 0x05 to write one single bit register value Request message data structure Byte NO Name Byte Byte0 Transaction identifier High byte Byte1 Low byte Byte2 Protocol...

Page 559: ...us data length High byte Byte5 Low byte Byte6 Modbus ID Single byte Byte7 0x80 function code Single byte Byte8 Exception response code Single byte Note The written value 0x0000 means that 0 is written...

Page 560: ...it register Single byte Byte n The value written in a bit register Single byte Response message data structure Byte NO Name Byte Byte0 Transaction identifier High byte Byte1 Low byte Byte2 Protocol id...

Page 561: ...the address of QX0 0 to 0xA000 in DVP15MC11T Request message 00 00 00 00 00 0A 01 0F A0 00 00 08 01 81 Response message 00 00 00 00 00 06 01 0F A0 00 00 08 B 5 Registers in DVP15MC11T and Correspondi...

Page 562: ...C Appendix C CANopen Protocol Table of Contents C 1 Node States C 4 C 2 Network Management NMT C 7 C 3 PDO Process Data Object C 7 C 4 SDO Service Data Object C 9 C 1...

Page 563: ...the relation between the CAN standard and the CANopen protocol is as follows The object dictionary CANopen uses an object based way to define a standard device Every device is represented by a set of...

Page 564: ...receive the command sent by the master They do act until they receive the synchronous message In this way many devices can act synchronously The format of the SYNC message COB ID 80 hex Emergency Obje...

Page 565: ...operational state 3 6 The remote node is started 4 7 The device enters the Pre operational state 5 8 The remote node is stopped 9 10 11 The application layer is reset 12 13 14 The communication is res...

Page 566: ...is used to detect the disconnection of the node in the network The error control services can be classified into two types Heartbeat and Node Guarding The PLC only supports Heartbeat For example the m...

Page 567: ...e pre operational state it will transmit a Boot up message which indicates the initializing is completed Heartbeat producer Heartbeat consumer Request Request Recieving Receiving Receiving Heartbeat t...

Page 568: ...mer receives is called PDO RxPDO which the consumer device receives Every PDO is described with two objects in the object dictionary The PDO communication parameters and the PDO mapping parameters The...

Page 569: ...2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Object identifier Data PDO_1 Application object C zzh zzzzh Application object B yyh yyyyh Application object A xxh xxxxh Object dictionary xxxxh zzzzh yyyyh 8 xx...

Page 570: ...nd response message can be differentiated according to their different COB IDs The SDO can transmit the data in any length If the data length is more than 4 bytes the data has to be transmitted by seg...

Page 571: ...DVP15MC11T Operation Manual C Memo C 10...

Page 572: ...D Appendix D Explanation of Homing Modes Table of Contents D 1 Explanation of Homing Modes D 2 D 1...

Page 573: ...econd phase speed Where the first Z pulse is met is the home position when the negative limit switch is OFF Homing depending on the negative limit switch and Z pulse mode 1 Mode 2 Homing which depends...

Page 574: ...on at the second phase speed Where the first Z pulse is met is the home position while the home switch is OFF Mode 4 Circumstance 1 When the home switch is OFF MC_Home instruction is executed and the...

Page 575: ...Z pulse is met is the home position when the home switch is OFF Mode 6 Circumstance 1 When the home switch is ON MC_Home instruction is executed and the axis moves in the positive direction at the se...

Page 576: ...d the axis moves in the negative direction at the second phase speed Where the first Z pulse is met is the home position when the home switch is OFF Circumstance 3 When the home switch is OFF MC_Home...

Page 577: ...F And where the first Z pulse is met is the home position Circumstance 3 When the home switch is OFF MC_Home instruction is executed and the axis moves in the positive direction at the first phase spe...

Page 578: ...ositive direction at the second phase speed The motion direction changes and the axis moves at the second phase speed when the home switch is OFF And where the first Z pulse is met is the home positio...

Page 579: ...is ON And where the first Z pulse is met is the home position while the home switch is OFF Circumstance 3 MC_Home instruction is executed and the axis moves in the positive direction at the first pha...

Page 580: ...axis moves in the positive direction at the second phase speed while the home switch is ON And where the first Z pulse is met is the home position while the home switch is OFF Circumstance 3 MC_Home...

Page 581: ...F And where the first Z pulse is met is the home position Circumstance 3 MC_Home instruction is executed and the axis moves in the negative direction at the first phase speed while the home switch is...

Page 582: ...cond phase speed while the home switch is ON The motion direction changes and the axis moves at the second phase speed while the home switch is OFF And where the first Z pulse is met is the home posit...

Page 583: ...ch is ON Where the first Z pulse is met is the home position while the home switch is OFF Circumstance 3 MC_Home instruction is executed and the axis moves in the negative direction at the first phase...

Page 584: ...but the relevant home switch and limit switch status while returning to the home position Mode 17 is similar to mode 1 mode 18 is similar to mode 2 mode 19 mode 20 is similar to mode 3 mode 21 mode 2...

Page 585: ...oming which depends on the positive limit switch Circumstance 1 MC_Home instruction is executed when the positive limit switch is OFF and the axis moves in the positive direction at the first phase sp...

Page 586: ...the moment when the home switch becomes OFF Homing depending on the home switch 19 mode 19 Mode 20 Circumstance 1 MC_Home instruction is executed when the home switch is OFF and the axis moves in the...

Page 587: ...home switch becomes OFF Homing depending on the home switch 21 mode 21 Mode 22 Circumstance 1 MC_Home instruction is executed while the home switch is ON and the axis moves in the positive direction...

Page 588: ...depending on the home switch and positive limit switch 23E A mode 23 Mode 24 Circumstance 1 MC_Home instruction is executed while the home switch is OFF and the axis starts to move in the positive di...

Page 589: ...ere the axis stands is the home position when the home switch is ON Circumstance 2 MC_Home instruction is executed while the home switch is ON and the axis moves in the positive direction at the secon...

Page 590: ...ction is executed while the home switch is ON and the axis moves in the positive direction at the second phase speed Where the axis stands is the home position when the home switch is OFF Circumstance...

Page 591: ...in the positive direction at the second phase speed Where the axis stands is the home position when the home switch is OFF Circumstance 3 MC_Home instruction is executed while the home switch is OFF T...

Page 592: ...ch is OFF Where the axis stands is the home position when the home switch is ON Circumstance 3 MC_Home instruction is executed while the home switch is OFF The axis moves in the negative direction at...

Page 593: ...the home switch is ON Circumstance 2 MC_Home instruction is executed while the home switch is ON and the axis moves in the negative direction at the second phase speed The motion direction changes an...

Page 594: ...struction is executed while the home switch is ON and the axis moves in the negative direction at the second phase speed Where the axis stands is the home position when the home switch is OFF Circumst...

Page 595: ...34 MC_Home instruction is executed and the axis moves at the second phase speed in the positive direction And the place where the axis stands is the home position once the first Z pulse is met Homing...

Page 596: ...E Appendix E List of Accessories Table of Contents E 1 Accessories for CANopen Communication E 2 E 2 Accessories for PROFIBUS DP Communication E 4 E 3 Accessories for DeviceNet Communication E 4 E 1...

Page 597: ...per reel and mimimum length is 1M with metre as the unit 2 UC DN01Z 01A and UC DN01Z 02A can be used as the main line cable as well as the branch line cable The maximum communication distances that th...

Page 598: ...P CN02 TB1 TB2 TB5 TB3 TB4 Thick Cable Thick Cable Thin Cable Thin Cable V V V H H H S S S L L L V V V V V H H S S L L V V 121 Thin Cable TAP CN03 TB 1 TB 2 Th ick C ab le Th ick C ab le V V H H S S L...

Page 599: ...E 2 Accessories for PROFIBUS DP Communication Connector 1E A 2E A 3E Model UN 03PF 01A UN 03PF 02A UN 03PF 03A Connector Male DB9 connector Male DB9 connector Male DB9 connector Program planning conn...

Page 600: ...unication distance for UC DN01Z 02A m 100 100 100 3 The maximum communication distance at a transmission speed is regulated in the DeviceNet protocol The relationships between maximum communication di...

Page 601: ...the DeviceNet protocol the two ends of the DeviceNet communication cable should connect a terminal resistor of 120 1 4W respectively 1 The terminal resistor connected to the start of the cable The te...

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