Delta DVP-10PM, Applications Manual

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3
Functions of Devices in DVP-PM
DVP-PM Application Manual
3-67
X axis Y axis Z axis A axis
HW LW HW LW HW LW HW LW
D1837 D1917 D1997 D2077
Deceleration Time T
DEC
1. T
DEC
is the time required from maximum speed V
MAX
(D1822, D1902, D1982, D2062) to bias speed V
BIAS
(D1824
D1904, D1996, D2064).
2. If the value is smaller than 10ms, the output will be set as 10ms; if the value is biggler than 32767 ms, the output
will be set as 32,767 ms.
3. If you need a complete S curve, please set the operation speed (
V)
as maximum speed V
MAX
.
X axis Y axis Z axis A axis
HW LW HW LW HW LW HW LW
D1839 D1838 D1919 D1918 D1999 D1998 D2079 D2078
Target Position (I) (P(I))
1. Range: -2,147,483,648 ~ +2,147,483,647; the unit is set by b0 and b1 of D1816 (D1896, D1976).
2. Attribute of target position P(I):
♦
Absolute coordinate: b12 of D1816 (D1896, D1976, D2056) = 0
Absolute coordinate is the coordinate starting from “0.” When the target position P(I) > current position
(D1848, D1928, D2008, D2088), the motor will conduct forward running. When the target position P(I) <
current position, the motor will conduct reverse running.
♦
Relative coordinate: b12 of D1816 (D1896, D1976, D2056) = 1
Relative coordinate is the relative displacement moved from current position (D1848, D1928, D2008,
D2088). When the relative coordinate is a positive value, the motor will conduct forward running. When the
relative coordinate is a negative value, the motor will conduct reverse running.
3. The multiplication of position data P(I) varies according to the settings of b2 and b3 in D1816 (D1896, D1976,
D2056).
X axis Y axis Z axis A axis
HW LW HW LW HW LW HW LW
D1841 D1840 D1921 D1920 D2001 D2000 D2081 D2080
Operation Speed (I) (V(I))
1. Range: 0 ~ +2,147,483,647; the unit is set by b0 and b1 of D1816 (D1896, D1976, D2056).
2. V(I) should be specified within the valid speed range of motion instructions: 10 ~ 500kPPS. If the value is bigger
than 500k, the output will be set as 500k; if the value is smaller than 10, the output will be set as 10.
3. Setup range limitation: V
MAX
> V(I) > V
BIAS
.
4. When b4 of D1846 (D1926, D2006, D2086) = 1, which enables variable speed operation, the operation speed V(I)
can be modified during operation. When the sign of V(I) is “+”, the motor will conduct forward running; when the
sign of V(I) is “-“, the motor will conduct reverse running.
X axis Y axis Z axis A axis
HW LW HW LW HW LW HW LW
D1843 D1842 D1923 D1922 D2003 D2002 D2083 D2082
Target Position (II) (P(II))
1. Range: -2,147,483,648 ~ +2,147,483,647; the unit is set by b0 and b1 of D1816 (D1896, D1976, D2056).