Delta DVP-10PM Applications Manual Download Page 28

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Hardware Specifications and Wiring

DVP-PM Application Manual

2-13

Wiring of DVP-PM DC5V SOURCE

(5V SOURCE)

5~24V

PNP

SENSOR

PG0+

PG0 -

DVP-20PM

(5V SOURCE)

5~24V

PNP

SENSOR

PG0+

PG0 -

DVP-10PM

Wiring of Relay (R) Output Circuit

DC power supply

Emergency stop: Uses external switch

Fuse: Uses 5 ~ 10A fuse at the shared terminal of output contacts to protect the output circuit

Summary of Contents for DVP-10PM

Page 1: ......

Page 2: ...2 1 3 Dimension 2 6 2 2 Installation and Wiring 2 8 2 2 1 Wiring 2 8 2 2 2 Power Input Wiring 2 9 2 2 3 Safety Wiring 2 9 2 2 4 I O Point Wiring 2 10 2 2 5 Wiring with Drives 2 18 2 3 Communication P...

Page 3: ...1 Basic Instructions 4 1 4 2 Explanations on Basic Instructions 4 3 Chapter 5 Categories and Use of Basic Application Instructions 5 1 List of Instructions 5 1 5 2 Instruction Composition 5 5 5 3 Nume...

Page 4: ...s Master and DVP PM as Slave 7 1 7 1 1 The Structure 7 1 7 1 2 Example of Master Slave Data Exchange 7 2 Chapter 8 Application Examples 8 1 Draw the Trajectories by Using Motion Instructions and G Cod...

Page 5: ...loading Program 10 3 10 1 3 Uploading Program 10 6 Chapter 11 G code Application 11 1 DVP PM00M Program Download with PEP setting 11 1 11 2 DVP PM00M G code Download Methods 11 2 11 2 1 PMGDL Software...

Page 6: ...Parameters for Control Register CR 13 3 13 5 How to Set Up ASDA A2 Servo Drive 13 5 13 6 DVP FPMC Mode Settings 13 20 13 7 DVP FPMC Ethernet Applications 13 24 13 7 1 Communication between DVP FPMC a...

Page 7: ...t 1000kHz 4 sets 500kHz 3 sets PWM Accuracy 0 3 200KHz Hardware high speed counter 6 sets differentialx2 open collector x4 2 sets Program capacity 64K Steps 64K Steps Execution speed LD 0 14us MOV 2us...

Page 8: ...error codes and their causes 4 O100 main program supports basic instructions and application instructions therefore you can design the program according to your actual needs Besides you can further a...

Page 9: ...tions Also OX subroutines are able to call Pn subroutines OX0 OX99 are instructions provided specially for controlling the moving path ON X Y Z axes See below the operation procedure and features of O...

Page 10: ...so stop OX subroutine by controlling the input signals of the external terminal STOP0 z When DVP PM is powered you can also stop OX subroutine through communication by setting M1074 to be OFF or D1846...

Page 11: ...ate more OX subroutines please set up the number of OX OXn in D1868 and set M1074 ON or D1846_b12 1 again Features functions 1 Motion subroutine especially for motion control Can be activated only by...

Page 12: ...owever P2 subroutine section called by OX subroutine supports basic instructions application instructions API motion instructions MON and G Code instructions 3 There are three ways to stop Pn subrouti...

Page 13: ...ions Note When you need to call Pn in OX and use basic instructions and application instructions please avoid pulse type instructions Quantity 256 Pn subroutines are available Features functions 1 A g...

Page 14: ...68 SET M1074 M1000 M1000 Call P1 subroutine O X0 Motion subroutine section Set OX as O 0 X Enable O 0 motion subroutine X Call P2 subroutine O100 Main control program section P1 Subrout ine section O...

Page 15: ...of the program without paying attention to the OX motion subroutine being executed 3 The enabled OX motion subroutine will only execute once If you want it to execute again you have to re enable it I...

Page 16: ...tal I O 1KV Analog Communication I O 250V Grounding The diameter of grounding wire shall not be less that of L N terminal of the power When many PLCs are in use at the same time please make sure every...

Page 17: ...phase pulse input differential signal input A1 A1 are shared by Y and Z 200kHz 15mA 5 24V B0 B0 B1 B1 MPG B phase pulse input differential signal input B1 B1 are shared by Y and Z 200kHz 15mA 5 24V PG...

Page 18: ...mA Y2 Same as clear signals for Z axis 10ms 30mA FP0 FP0 FP1 FP1 FP2 FP2 Forward reverse running mode Forward pulse output Pulse direction mode Pulse output terminal A B phase mode A phase output 500k...

Page 19: ...ing type Independent wiring Change wiring from S S to SINK or SOURCE Input indicator LED display light on ON light off OFF Input voltage 5 24 VDC 24 VDC Input current 15mA OFF ON 20us Active level ON...

Page 20: ...mA 0 5A 1 4A COM Inductive 12W 24 VDC Current spec Lamp 2 W 24 VDC OFF ON Max output delay time ON OFF 0 2 us Over current protection N A 1 Y0 Y7 on DVP20PM00D are relay output FP2 FP2 on DVP20PM00M...

Page 21: ...5 Output indicator 6 I O terminal No 7 I O terminals 8 I O module connection port cover 9 DIN rail clip 10 DIN rail 35mm 11 COM2 RS 485 12 MANU AUTO STOP RUN switch 13 COM1 RS 232 14 Battery socket 15...

Page 22: ...tery shall be changed within 1 minute Wiring Terminals See 2 1 2 for detailed electrical specifications START0 24G DOG0 LSN0 PG0 START1 DOG1 LSN1 PG1 S S2 X1 X3 X5 X7 24V S S0 STOP0 LSP0 PG0 S S1 STOP...

Page 23: ...figure Direct Mounting Please use M4 screw according to the dimension of the product DVP MPU 50mm 50mm 50mm 50mm DIN rail Mounting DVP PM can be secured to a cabinet by using the 35mm DIN rail When mo...

Page 24: ...will go OFF When the power returns to normal status the PLC will automatically resume operation Care should be taken on the latched auxiliary relays and registers inside the PLC when programming 5 Th...

Page 25: ...n fuse 3A i DVP PM MPU j DC Power supply output 24VDC 500mA 2 2 4 I O Point Wiring 1 The type of input signal is DC input and there are two types of DC input SINK and SOURCE z DC Signal IN SINK mode S...

Page 26: ...Circuit 24G S S X0 X1 X2 24V Source Type 2 Wiring of Differential Input A0 A1 and B0 B1 of DVP PM series are all DC5V 24V high speed input circuit and others are DC24V input The working frequency of...

Page 27: ...d pair cable Encoder output DVP10PM high speed input Twisted pair cable A A A B B X10 X10 X11 X11 B In low noise and low frequency less than 50kHz environment you can also use single ended DC 5V 24V S...

Page 28: ...DC5V SOURCE 5V SOURCE 5 24V PNP SENSOR PG0 PG0 DVP 20PM 5V SOURCE 5 24V PNP SENSOR PG0 PG0 DVP 10PM 3 Wiring of Relay R Output Circuit c DC power supply d Emergency stop Uses external switch e Fuse U...

Page 29: ...r and frequent ON OFF operation g Incandescent light resistive load h AC power supply i Manually exclusive output For example Y4 and Y5 control the forward running and reverse running of the motor for...

Page 30: ...rrent passes pull up resistor has to be bigger than 0 1A to ensure normal operation of PLC 1 Diode suppression Used when in smaller power 2 Diode Zener suppression Used when in larger power and freque...

Page 31: ...cable PLS PLS SIGN SIGN FP RP Photocoupler circuit Y10 Y10 Y11 Y11 FG0 Photocoupler circuit 43 41 36 37 Drive Twisted pair cable DVP 10PM differential output Wiring of DVP PM differential output with...

Page 32: ...series servo drive PLS PLS SIGN SIGN FP RP DVP 20PM differential output FP FP RP RP FG0 43 41 36 37 Photocoupler circuit Photocoupler circuit Drive Twisted pair cable PLS PLS SIGN SIGN FP RP DVP 10PM...

Page 33: ...PLS PLS SIGN 24V PG 0 5 24VDC LSP1 LSN1 A1 A1 B1 B1 PG 1 PG 0 PG 0 PG 1 FP 1 FP 1 RP 1 RP 1 CLR1 CLR1 START1 START0 STOP1 STOP0 SIGN VDD COM 24V 24V 24V PLS PLS SIGN FP 2 FP 2 RP 2 RP 2 DOG0 S S0 DOG1...

Page 34: ...PLS 24VDC DI2 COM Delta servo drive SIGN COM VDD COM 24V 24V 24V DI2 24VDC PLS PLS SIGN Y12 Y12 Y13 Y13 Y1 C1 X0 X2 ASDA A series Delta servo drive SIGN VDD COM 24V 24V 24V PLS PLS SIGN Y14 Y14 Y15 Y...

Page 35: ...4 5 6 5 24VDC SIGN1 SIGN2 PULS1 PULS2 3 4 5 6 SIGN1 SIGN2 PULS1 PULS2 3 4 5 6 SIGN1 SIGN2 PULS1 PULS2 3 4 5 6 S S2 X 3 PG 2 FP 2 FP 2 RP 2 RP 2 SIGN1 SIGN2 PULS1 PULS2 3 4 5 6 SIGN1 SIGN2 PULS1 PULS2...

Page 36: ...Y12 Y12 Y13 Y13 Y1 C1 X0 X2 Y14 Y14 Y15 Y15 S S Y2 CLR2 C2 3 5 6 4 Y16 Y16 Y17 Y17 Y3 CLR3 C3 S S 24VDC S S X1 X3 S S X5 S S X7 24VDC 24VDC 24VDC Panasonic servo drive CN5 series PULS2 PULS1 SIGN1 SIG...

Page 37: ...FP 1 RP 1 RP 1 CLR1 CLR1 START1 START0 STOP1 STOP0 PULS 8 11 12 5 24VDC 7 CLR CLR 15 14 SIGN SIGN PULS PULS 8 11 12 7 CLR CLR 15 14 5 24VDC 5 24VDC S S2 X 3 P G 2 FP 2 FP 2 RP 2 RP 2 SIGN SIGN PULS P...

Page 38: ...GN SIGN PLS 24VDC CLR CLR Y12 Y12 Y13 Y13 Y1 C1 X0 X2 Y14 Y14 Y15 Y15 S S Y2 CLR2 C2 7 11 12 8 Y16 Y16 Y17 Y17 Y3 CLR3 C3 S S 24VDC S S X1 X3 S S X5 S S X7 24VDC 24VDC 24VDC Yaskawa servo drive 14 15...

Page 39: ...1 START1 START0 STOP1 STOP0 PG 13 2 12 5 24VDC 3 CR SG 8 10 5 24VDC NP NG PP PG 13 2 12 3 CR SG 8 10 5 24VDC S S2 X 3 PG 2 FP 2 FP 2 RP 2 RP 2 NP PP PG 13 2 12 3 NG 5 24VDC CLR2 Y 2 CLR2 C2 20 46 41 2...

Page 40: ...4 Y14 Y15 Y15 S S Y2 CLR2 C2 3 2 12 13 Y16 Y16 Y17 Y17 Y3 CLR3 C3 S S 24VDC S S X1 X3 S S X5 S S X7 24VDC 24VDC 24VDC 10 8 Mitsubishi servo drive MITSUBISHI MJR2 series PP NP NG PG 24VDC CR SG 3 2 12...

Page 41: ...SN1 A1 A1 B1 B1 PG 1 PG 0 PG 0 PG 1 FP 1 FP 1 RP 1 RP 1 CLR2 Y 2 CLR2 C2 START1 START0 STOP1 STOP0 35 36 33 34 5 24VDC CA CB CB CA 35 36 33 34 CA FP 2 FP 2 RP 2 RP 2 CB CB CA 35 36 33 34 CA 5 24VDC S...

Page 42: ...G pulses A phase X10 X10 X11 CA B phase X11 24V 24V 0V CB CB Y12 Y12 Y13 Y13 Y1 C1 X0 X2 Y14 Y14 Y15 Y15 S S Y2 CLR2 C2 35 33 34 36 Y16 Y16 Y17 Y17 Y3 CLR3 C3 S S 24VDC S S X1 X3 S S X5 S S X7 24VDC 2...

Page 43: ...rt Parameter RS 232 COM1 RS 485 COM2 RS 232 RS 485 COM3 Baud rate 110 115 200 bps 110 38 400 bps Data length 7 8bits Parity Even Odd None parity check Length of stop bit 1 2 bits Register for Setting...

Page 44: ...and the baud rate is 9 600 115 200bps 2 COM2 can work in Master or Slave mode In Master mode it can be connected to lower position machines such as Delta PLCs or motor drives e g Delta servo drive tem...

Page 45: ...2 Hardware Specifications and Wiring DVP PM Application Manual 2 30 MEMO...

Page 46: ...nt X0 X7 expandable up to 256 points MPU I O module Servo output FP forward pulse RP reverse pulse CLR clear signal Y10 Y10 Y12 Y12 Y14 Y14 Y16 Y16 forward pulse Y11 Y11 Y13 Y13 Y15 Y15 Y17 Y17 revers...

Page 47: ...eed C200 C204 2 points 2 C200 C204 C208 C212 C216 C220 6 points Total 250 points The associated contact ON when counter reaches preset value General S0 S499 500 points 2 Relay bit S Step point Latched...

Page 48: ...ally ignore D1000 D2999 and set D0 D999 and D3000 D9999 as latched areas General purpose Special auxiliary relay M0 M499 M500 M999 M3000 M4095 M1000 M2999 Default not latched Default latched Default n...

Page 49: ...ferent kinds of internal manipulation DVP PLC appies 5 foramts of number systems Each number system has its specific purpose and function described as below 1 Binary value BIN DVP PM internally calcul...

Page 50: ...icates the groups of 4 bit unit which forms a digit 4 bit byte 8 bit word 16bit or double word 32 bit data e g K2Y10 K4M100 representing Y10 Y17 and M100 M115 Constant H Hexadecimal value in PLC opera...

Page 51: ...put contact X The input contact X is connected to input devices and reads the input signals into DVP PM There is no limitation on the times of using NO Normally Open NC Normally Closed contacts in the...

Page 52: ...and stores the status of devices into the device memory Update output 1 When the execution reaches M102 instruction DVP PM sends the ON OFF status of Y in the device memory to the output latched memo...

Page 53: ...and output relay Y have output coils and NO NC contacts and there is no limitation on the times of using the contacts You can use auxiliary relay M in the program but it cannot directly drive the exte...

Page 54: ...peed C200 C204 C208 C212 C216 C220 6 points Total 6 points z Input point of C200 X0 X1 z Input point of C204 X2 X3 z Input point of C208 X4 X5 z Input point of C212 X6 X7 z Input point of C216 X10 X10...

Page 55: ...ta register D1000 D2999 is not included 5 Constant K should be a positive value for SV however values in data register D can be positive or negative When PV reaches up to 32 767 the next PV will turn...

Page 56: ...0 drives M1255 to determine whether C255 is a count up or count down counter 2 When X11 goes from OFF to ON RST instruction will be executed PV in C255 will be cleared and the associated contact will...

Page 57: ...n A B A phase B phase 3 M1908 Input signal control of C200 C204 When M1908 OFF the input signal of C200 is controlled by MPG A0 B0 and reset signal is controlled by PG0 In addition Input signal of C20...

Page 58: ...147 483 648 When PV reaches down to 2 147 483 648 the next PV will turn to 2 147 483 647 10PM C200 C204 C208 C216 C220 1 The setup range of 32 bit high speed counter K 2 147 483 648 K2 147 483 647 2...

Page 59: ...set signal Counting mode selection Input pulse Input pulse Pulse U A B Dir PV of C204 D M1205 M1204 X3 X2 M1207 1 X11 z Counting mode of C208 is selected by M1208 M1209 Input signal of C208 is control...

Page 60: ...13 Reset signal of C220 is enabled by M1223 and triggered by X1 C220 C220 reset signal Counting mode selection Input pulse Input pulse Pulse U A B Dir PV of C220 D M1221 M1220 X13 M1223 1 X1 4 SV can...

Page 61: ...ta will not be cleared but will still be cleared to 0 when the power is OFF 2 Latched register When the power of DVP PM is switched off the data in the register will not be cleared and will retain the...

Page 62: ...ur 3 9 Pointer N Pointer Pn N For nested level structure N0 N7 8 points Control point of nested level Pointer P For CJ CJN JMP instructions P0 P255 256 points Position pointer of CJ CJN JMP Pointer P...

Page 63: ...FF M1011 10ms clock pulse 5ms ON 5ms OFF OFF R NO OFF M1012 100ms clock pulse 50ms ON 50ms OFF OFF R NO OFF M1013 1s clock pulse 0 5s ON 0 5s OFF OFF R NO OFF M1014 1min clock pulse 30s ON 30s OFF OFF...

Page 64: ...on when in Slave mode OFF ASCII ON RTU OFF R W NO OFF 3 36 M1140 For COM2 RS 485 MODRD MODWR data receiving error OFF OFF R NO OFF M1141 For COM2 RS 485 MODRD MODWR parameter error OFF OFF R NO OFF M1...

Page 65: ...nt down OFF R W NO OFF M1229 C229 counting mode ON count down OFF R W NO OFF M1230 C230 counting mode ON count down OFF R W NO OFF M1231 C231 counting mode ON count down OFF R W NO OFF M1232 C232 coun...

Page 66: ...p signal DOG OFF R W NO OFF M1755 Switch the source of Master of acyclic CAM OFF R W NO OFF M1756 Enable reference function of synchronized output X0 CLR0 OFF signal X1 CLR1 OFF signal OFF R W NO OFF...

Page 67: ...F 3 50 M1957 Indicate AUTO MANU STOP RUN status OFF ON R NO OFF M1968 Zero flag for O100 OFF R NO OFF M1969 Borrow flag for O100 OFF R NO OFF M1970 Carry flag for O100 OFF R NO OFF M1971 Error flag fo...

Page 68: ...ing PLC automatically converts the ASCII data in D1070 D1085 into Hex data and stores the 16 bit Hex data into D1050 D1055 0 R NO 0 D1056 CH0 present value of function card 2AD 0 R NO 0 D1057 CH1 pres...

Page 69: ...tart address of latched memory for 16 bit counter C R W YES 100 3 42 D1205 End address of latched memory for 16 bit counter C R W YES 199 3 42 D1206 Start address of latched memory for 32 bit counter...

Page 70: ...0 D1707 Present value of RPT instruction in OX subroutine 0 R NO 0 D1708 Offset value for target position of X axis low word D1709 Offset value for target position of X axis high word 0 R NO 0 D1710 O...

Page 71: ...h word R W YES 500K D1824 Bias speed of X axis VBIAS low word D1825 Bias speed of X axis VBIAS high word R W YES 0 D1826 JOG speed of X axis VJOG low word D1827 JOG speed of X axis VJOG high word R W...

Page 72: ...NO 0 D1844 Operation speed II of X axis V II low word D1845 Operation speed II of X axis V II high word 2 000 R W NO 2 000 Operation commands for X axis 0 0 R W NO 0 3 53 D1846 The enable setting of...

Page 73: ...CAM high word R W YES 0 Setting up the No of OX 0 0 R W YES 0 3 39 D1868 Selecting CAM chart 0 0 R W YES 0 3 39 D1869 Error Step of OX 0 R W NO 0 D1872 Enabling Y output when OX is ready High byte K1...

Page 74: ...xis VJOG high word R W YES 5 000 D1908 Zero return speed of Y axis VRT low word D1909 Zero return speed of Y axis VRT high word R W YES 50K D1910 Zero return deceleration speed of Y axis VCR low word...

Page 75: ...or of electronic gear ratio of Y axis R W YES 1 D1939 Denominator of electronic gear ratio of Y axis R W YES 1 D1940 MPG input frequency on Y axis low word D1941 MPG input frequency on Y axis high wor...

Page 76: ...00 D1988 Zero return speed of Z axis VRT low word D1989 Zero return speed of Z axis VRT high word R W YES 50K D1990 Zero return deceleration speed of Z axis VCR low word D1991 Zero return deceleration...

Page 77: ...Denominator of electronic gear ratio of Z axis R W YES 1 D2020 MPG input frequency on Z axis low word D2021 MPG input frequency on Z axis high word 0 0 R W NO 0 D2022 Number of accumulated MPG input p...

Page 78: ...5000 D2068 Zero return speed of A axis VRT low word D2069 Zero return speed of A axis VRT high word R W YES 50K D2070 Zero return deceleration speed of A axis VCR low word D2071 Zero return decelerat...

Page 79: ...pulse high word 0 R W NO 0 D2090 Current speed of A axis CS pps low word D2091 Current speed of A axis CS pps high word 0 0 0 R W NO 0 D2092 Current position of A axis CP unit low word D2093 Current...

Page 80: ...r the first scan when DVP PM AUTO is activated Remains ON after the initial pulse Used to initialize registers ouptuts or counters when AUTO is executed Pulse width one scan time DVP PM RUN M1000 M100...

Page 81: ...modification when high speed counters or interrupts are applied in program Function Group COM Port Function Number M1120 M1136 M1138 M1139 M1143 D1036 D1120 D1109 Explanations COM ports COM1 RS 232 CO...

Page 82: ...2 150 0011 H3 300 0100 H4 600 0101 H5 1200 0110 H6 2400 0111 H7 4800 1000 H8 9600 1001 H9 19200 1010 HA 38400 1011 HB 57600 b4 b5 b6 b7 Baud rate 1100 HC 115200 b8 Start bit STX 0 None 1 D1124 b9 The...

Page 83: ...communication format to ASCII mode 9600bps 7 data bits even parity 1 stop bits 9600 7 E 1 MOV H86 D1036 SET M1138 M1002 Note 1 After the communication format is modified the format will stay intact wh...

Page 84: ...t scan will be activated only when the fixed scan time is reached If D1039 is less than actual scan time it will scan by the actual program scan time M1000 MOV P K20 D1039 M1039 Fix scan time Scan tim...

Page 85: ...1M1216 X0 M1219 X10 X10 X11 X11 6th set C220 K1M1220 0 U D 1 P D 2 A B Single frequency 3 4A B Quadruple frequency X1 M1223 X12 X12 X13 X13 Note z U D Counting up Counting down P D Pulse Direction A B...

Page 86: ...2nd set C204 K1M1204 X11 C205 3rd set C208 K1M1208 X12 C209 4th set C212 K1M1212 X13 C213 5th set C216 K1M1216 X0 C217 6th set C220 K1M1220 Bit3 Bit2 Bit1 Bit0 x Start timing x Mode setting b0 0 Norm...

Page 87: ...diagram for the timing diagram t1 t2 X12 t C209 C209 Cycle mode Unit 0 01 s The example program of step 1 and step 2 is as below C208 K10 M1 K5 K1M1208 MOVP DCNT 3 Cycle mode is mainly used in frequen...

Page 88: ...6604 DVPPM H 6260 DVP01HC H2 H 6120 Function Group Interruption Number D1400 D1401 Explanations 1 To enable the interrupts below please set ON the corrensponding bits of D1400 bit Interruption No 0 Ti...

Page 89: ...s ready before operation M1792 will be ON During the operation of X axis M1792 will be OFF and then turn ON again when the operation on X axis is comnpleted Function Group Current position write in fu...

Page 90: ...degree Position 4000 Position 5000 90 degree Case 2 If the operation starts at random degree and JOG signal is triggered at position 63500 it should stop at position 65000 Random degree Position 63500...

Page 91: ...ion instructions 3 When D1796 K0 continuous interpolation disabled the speed will decelerate to 0kHz between each deceleration step regardless of the actual deceleration frequency See the figure below...

Page 92: ...and so forth 2 The upper limit of G Code moving speed is 500k Hz When the G Code moving speed is set to be faster than 500k Hz the speed will be set as 500k Hz automatically Function Group Setting up...

Page 93: ...t the input terminal the corresponding bit ON If not the corresponding bit OFF 20PM bit Input terminal status on X axis bit Input terminal status on Y axis 0 PG0 8 PG0 1 MPGB0 9 MPGB1 2 MPGA0 10 MPGA1...

Page 94: ...ations When there is signal input at the input terminal the corresponding bit ON If not the corresponding bit OFF 20PM 10PM bit Input terminal status 0 PG2 1 MPGB1 2 MPGA1 3 LSN2 4 LSP2 5 DOG2 bit Inp...

Page 95: ...r code will be stored in D1802 and error step will be stored in D1803 2 See the table of error messages in Appendix of Chapter 14 Function Group Parameter Setting of X Y Z A Axis Number D1816 D1896 D1...

Page 96: ...se pulses 3 PWM pulse width setting D1838 D1918 D1998 D2078 4 PWM cycle setting D1842 D1922 D2002 D2082 8 b 8 0 Zero return executes in positive direction i e current position CP increases b 8 1 Zero...

Page 97: ...nd CAM cycle as well as the second and the third CAM cycle so as to properly distribute the remaining 2 pulses See example 1 below When D1832 4 and D1833 1 the CAM data will be executed 5 times Betwee...

Page 98: ...ing with additional distance 4 Enabling variable speed operation 12 0 Stop OX 1 Start OX 5 MPG input operation 13 Enabling cyclic CAM 6 Enabling zero return mode 14 Enabling acyclic CAM 7 Externally t...

Page 99: ...ation on the range of MPG pulse output b 6 1 The range for MPG pulse output is limited within P I and P II When the range is exceeded the pulse output will decelerate to stop 7 b 7 0 During the runnin...

Page 100: ...ol not supported by DVP 10PM Number D1877 D1878 D1880 D1882 D1888 Explanations 1 D1877 is the register for setting up close loop PID control The user can enable and select the feedback source of PID c...

Page 101: ...ter the feedback source is selected the control system adjusts the output value to the set value by comaparing between set value and the feedback value The error difference between set value and the f...

Page 102: ...147 483 647 3 K1 000 D1832 D1912 D1992 D2072 Number of PG0 signals N 0 32 767 PLS K0 D1833 D1913 D1993 D2073 Number of pulses for zero return P 32 768 32 767 PLS K0 D1835 D1834 D1915 D1914 D1995 D1994...

Page 103: ...e demannd K0 D1867 D1866 D1947 D1946 D2027 D2026 D2107 D2106 Coordinate of electrical zero point Depending on the demand K0 D1868 Number of OX subroutine Depending on the demand K0 D1869 Error step of...

Page 104: ...urn speed VRT zero return deceleration speed VCR operation speed I V I operation speed II V II y Example 1 b 1 0 00 Motor unit unit of position pulse unit of speed pulse sec PPS Assume target position...

Page 105: ...eration speed V I 10K PPS Solve the number of pulses required by pulse instruction of the positioning controller Solution Total number of pulses required 200 000 B A P I A B P I pulses b2 and b3 of D1...

Page 106: ...the following pulse signals P the motor will stop immediately b 9 1 overwrite mode When DOG signal is generated the motor will stop according to either PG0 signals N or pulse signals P which is finis...

Page 107: ...fter both N signal and P pulses are finished the motor stops 2 If the specified N or P is too small when the rising edge of DOG signal is triggered the motor will stop immediately after the specified...

Page 108: ...in zero return DOG signal falling edge triggered y b 9 10 11 overwrite mode DOG signal rising edge triggered 1 Zero return The motor operates at zero return speed VRT When it encounters DOG signal it...

Page 109: ...the encoder for servo motor PPR A electronic gear ratio CMX CDV PPR generated by encoder 2 The system unit varies according to the settings of b0 and b1 in D1816 D1896 D1976 D2056 Parameter A is vali...

Page 110: ...is set by b0 and b1 of D1816 D1896 D1976 D2056 2 VJOG 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 500...

Page 111: ...bout the reference signals for zero return N P please refer to explanations of b9 10 zero return mode of D1816 D1896 D1976 D2056 X axis Y axis Z axis A axis HW LW HW LW HW LW HW LW D1833 D1913 D1993 D...

Page 112: ...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 c...

Page 113: ...PS 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 VMAX V II VBIAS X axis Y axis Z axis A axis HW...

Page 114: ...D1926 D2006 enabling zero return mode b 6 0 1 starting zero return The motions of zero return vary depending on different current positions CP Zero return path LSN DOG LSP 4 3 2 1 Direction of zero r...

Page 115: ...t position D1928 Target position D1918 Operation direction Direction of relative positioning is determined by the sign bit of the value for P I set in D1838 D1918 D1998 Direction of absolute positioni...

Page 116: ...1846 D1926 D2006 D2086 enabling single speed positioning interruption When b 9 is triggered and START ON the single speed positioning interruption mode will be started The single speed insterruption w...

Page 117: ...ng will start to decelerate to VBIAS and stop There are P I P II pulses generated during the positioning The registers involved D1824 D1904 D1984 D2054 VBIAS D1840 D1920 D2000 D2080 V I D1844 D1924 D2...

Page 118: ...ignal output mode b 2 0 CLR will output 130ms signal to the servo as the clear signal when zero return is completed b 2 1 CLR will be a general output point and its status will be controlled by ON OFF...

Page 119: ...7 D1927 D2007 returning to default setting b 15 1 Return all parameters to default settings X axis Y axis Z axis A axis HW LW HW LW HW LW HW LW D1849 D1848 D1929 D1928 D2009 D2008 D2089 D2088 Current...

Page 120: ...2097 Error Code Please see Appendix in Chapter 14 for details X axis Y axis Z axis A axis HW LW HW LW HW LW HW LW Electronic Gear Ratio D1858 D1938 D2018 D2098 Numerator of electronic gear ratio D185...

Page 121: ...when a forward pulse comes in and minused by 1 when reverse pulse comes in 2 The accumulated value is not affected by the electronic gear ratio D1858 D1938 D1918 D1859 D1939 D2019 X axis Y axis Z axis...

Page 122: ...n 2 When several manual modes are enabled at the same time they will be processed in the following order 1 STOP 7 Single speed positioning 2 Mechanical zero return 8 Single speed positioning interrupt...

Page 123: ...m speed VMAX D1825 D1824 D1905 D1904 D1985 D1984 D2065 D2064 Bias speed VBIAS D1827 D1826 D1907 D1906 D1987 D1986 D2067 D2066 JOG speed VJOG D1829 D1828 D1909 D1908 D1989 D1988 D2069 D2068 Zero return...

Page 124: ...Numerator of electronic gear D1859 D1939 D2019 D2099 Denominator of electronic gear D1861 D1860 D1941 D1940 D2021 D2020 D2101 D2100 Frequency of MPG input D1863 D1862 D1943 D1942 D2023 D2022 D2103 D2...

Page 125: ...3 Functions of Devices in DVP PM DVP PM Application Manual 3 80 MEMO...

Page 126: ...number OUT Output coil Y M S 7 3 3 4 6 SET Latches the ON status Y M S 5 6 3 4 6 RST Resets contacts registers or coils Y M S T C D V Z 6 9 3 4 7 Timers Counters API Instruction Function Operands Exec...

Page 127: ...nstruction API Instruction Function Operands Execution speed us Step Page number 89 PLS Rising edge output Y M 20 7 3 4 11 99 PLF Falling edge output Y M 20 9 3 4 12 Other Instructions API Instruction...

Page 128: ...Y1 OUT Y1 Drive coil Y1 Mnemonic Function LDI Load NC contact Controllers 20PM 10PM X0 X377 Y0 Y377 M0 M4095 S0 S1023 T0 T255 C0 C255 D0 D9999 Operand 9 9 9 9 9 9 Explanations The LDI instruction is u...

Page 129: ...n Operation LD X1 Load NO contact X1 ANI X0 Connect NC contact X0 in series X0 X1 Y1 OUT Y1 Drive Y1 coil Mnemonic Function OR Connect NO contact in parallel Controllers 20PM 10PM X0 X377 Y0 Y377 M0 M...

Page 130: ...in series consists of several contacts which form a parallel connection structure Program Example Ladder diagram Instruction Operation LD X0 Load NO contact X0 ORI X2 Connect NC contact X2 in paralle...

Page 131: ...ted device 2 Status of coil contact OUT instruction Associated Contacts Evaluation result Coil NO contact normally open NC contact normally close FALSE OFF Current blocked Current flows TRUE ON Curren...

Page 132: ...e content is set to 0 2 Status of designated devices remains the same when RST instruction is not executed Program Example Ladder diagram Instruction Operation LD X0 Load NO contact X0 X0 Y5 RST RST Y...

Page 133: ...rget the contact and present value will stay intact Use RST instruction to restart or reset the counting Program Example Ladder diagram Instruction Operation LD X0 Load NO contact X0 X0 C20 CNT K100 C...

Page 134: ...operands 2 If the status of a rising edge is ON before DVP PM is powered the rising edge contact will be activated after DVP PM is powered Mnemonic Function LDF Load Falling edge Trigger Controllers 2...

Page 135: ...AND instruction ANDF instruction connects falling edge trigger in series with another device or block Program Example Ladder diagram Instruction Operation LD X0 Load NO contact X0 ANDF X1 Connect fal...

Page 136: ...ntact X0 ORF X1 Connect Falling edge contact X1 in parallel X0 X1 Y1 OUT Y1 Drive coil Y1 Mnemonic Function PLS Rising Edge Output Controllers 20PM 10PM X0 X377 Y0 Y377 M0 M4095 S0 S1023 T0 T255 C0 C2...

Page 137: ...PLF M0 M0 falling edge output LD M0 Load NO contact M0 X0 M0 PLF M0 Y0 SET SET Y0 Y0 latched ON Timing diagram X0 M0 Y0 1 scan time Mnemonic Function P Pointer Controllers 20PM 10PM Operand P0 P255 Ex...

Page 138: ...ison 19 BIN DBIN 9 Convert BCD t o BIN 9 9 5 5 5 35 20 ADD DADD 9 Addition 9 9 7 9 5 36 21 SUB DSUB 9 Subtraction 9 9 7 9 5 38 22 MUL DMUL 9 Multiplication 9 9 7 9 5 39 23 DIV DDIV 9 Division 9 9 7 9...

Page 139: ...1 I O 87 ABS DABS Absolute value 9 9 3 5 5 84 89 PLS Rising edge Output 9 9 3 4 11 90 LDP Rising edge Detection Operation 9 9 3 4 9 91 LDF Falling edge Detection Operation 9 9 3 4 9 92 ANDP Rising edg...

Page 140: ...COSH 9 Hyperbolic Cosine 9 9 6 5 120 138 DTANH 9 Hyperbolic Tangent 9 9 6 5 121 172 DADDR Floating point addition 9 9 13 5 122 173 DSUBR Floating point subtraction 9 9 13 5 123 174 DMULR Floating poin...

Page 141: ...5 7 5 131 245 OR DOR S1 S2 9 9 5 7 5 131 246 OR DOR S1 S2 9 9 5 7 5 131 147 SWAP DSWAP Byte swap 9 9 3 5 5 132 154 RAND DRAND Random number 9 9 7 13 5 133 202 SCAL Proportional value calculation 9 9...

Page 142: ...occupied by the 16 bit 32 bit instruction Steps occupied by the 16 bit 32 bit instruction Column marked with and in grey refers to V Z index register modification is applicable Column marked with is t...

Page 143: ...uction will be executed once in present scan period only when X0 goes from OFF to ON Continuous execution instruction X1 D10 D12 MOV When X1 ON MOV instruction will be re executed in every scan of pro...

Page 144: ...n O100 mian program will affect the status of M1968 M1970 When the instruction is not executed the ON OFF status of the flag will be held The status of the four flags relates to many instructions See...

Page 145: ...K1X0 K1X4 K1X10 K1X14 K2Y0 K2Y10 K2Y20 Y2X30 K3M0 K3M12 K3M24 K3M36 K4S0 K4S16 K4S32 K4S48 Note To avoid errors please follow the order listed above when assigning continuous bit devices In additoin w...

Page 146: ...2 2 2 7 6 5 1 0 1 2 3 17 18 19 20 21 22 23 D1 b15 b0 D0 b15 b0 8 bits of exponent 23 bits of mantissa Sign bit 0 positive 1 negative When b0 b31 is 0 the content is 0 Hidden decimal point Decimal Floa...

Page 147: ...16 devices for DVP PM V0 V7 and Z0 Z7 V0 V7 Z0 Z7 16 bits 32 bits High byte Low byte V is 16 bit register which can be read and written If you need a 32 bit register you have to designate Z Devices mo...

Page 148: ...S2 5 7 5 128 234 AND DAND S1 S2 5 7 5 128 236 AND DAND S1 S2 5 7 5 128 237 AND DAND S1 S2 5 7 5 128 A 238 AND DAND S1 S2 5 7 5 128 15 BMOV Block move 7 5 28 18 BCD DBCD 9 Convert BIN to BCD 5 5 5 32 1...

Page 149: ...t to Integer 6 5 107 J 257 JMP Unconditional Jump 3 5 139 90 LDP Rising Edge Detection Operation 3 4 9 91 LDF Falling Edge Detection Operation 3 4 9 125 DLN 9 Float Natural Logarithm Operation 6 5 102...

Page 150: ...t Conversion 6 5 142 02 SRET Subroutine Return 1 5 16 13 SMOV Shift move 11 5 24 21 SUB DSUB 9 Subtraction 7 9 5 36 34 SFTR 9 Bit shift right 9 5 50 35 SFTL 9 Bit shift left 9 5 51 38 SFWR 9 Shift reg...

Page 151: ...pplication Instructions DVP PM Operation Instruction 5 14 Mnemonic STEPS API 16 bit 32 bit P Instruction Function 16 bit 32 bit Page X 17 XCH DXCH Exchange 5 9 5 31 11 ZCP DZCP 9 Zone Compare 9 12 5 2...

Page 152: ...ter P repeatedly However CJ and CALL cannot designate the same pointer P otherwise operation error will occur 5 Actions of all devices while conditional jump is being executed a Y M and S remain their...

Page 153: ...M6 OFF M6 OFF t ON Timer T240 is not enabled 10ms Timer M6 ON M6 ON t OFF Timer T240 immediately stops and is latched When M0 ON t OFF T240 will be reset M7 M10 OFF M10 is ON OFF triggered Counter C0...

Page 154: ...Basic Application Instructions DVP PM Application Manual 5 17 CJ P0 M0 M1 M2 M3 M4 M5 M6 M7 M10 M11 M0 M12 M13 RST RST RST T240 C0 D0 Y1 CJ P63 S1 TMR T0 K10 TMR RST RST CNT MOV T240 T240 C0 C0 D0 K3...

Page 155: ...with no limits on the times 6 CALL instruction is not allowed to be used in subroutines API Mnemonic Function 02 SRET Subroutine Return Controllers 20PM 10PM OP Descriptions Program Steps N A No oper...

Page 156: ...xecution of subroutines will go backwards to the subroutine of upper level until SRET instruction in P10 subroutine is executed After this program execution will return to the main program X0 X20 INC...

Page 157: ...000 It can be modified by using the following two methods i Use WDT instruction T1 T2 STEP0 END FEND WDT ii Use the set value in D1000 Default 200ms to change the time for watchdog Points to note 1 Wh...

Page 158: ...teps Explanations 1 RPT instruction executes the RPT RPE loop back and forth for N times tehn return to the instruction after the RPT RPE loop 2 N K1 K32 767 N is regarded as K1 when N K1 3 CJ instruc...

Page 159: ...5 Categories and Use of Basic Application Instructions DVP PM Operation Instruction 5 22 X7 M0 M0 P6 MOV RPT MOV D0 D0 K3 K0 INC RPE D0 D1 CJ P6 Y10 X10...

Page 160: ...truction Z device cannot be adopted when CMP is used as 32 bit instruction V device cannot be adopted 3 D will occupy 3 consecutive devices D D 1 D 2 hold the comparison results D ON if S1 S2 D 1 ON i...

Page 161: ...ction Z device cannot be adopted when ZCP is used as 32 bit instruction V device cannot be adopted 3 Operand S1 should be smaller than operand S2 When S1 S2 the instruction takes S1 as the 1st compari...

Page 162: ...used as 32 bit instruction V device cannot be adopted 3 For moving 32 bit operation results of certain instructions e g MUL DMOV instruction has to be applied Program Example 1 MOV will move a 16 bit...

Page 163: ...s 16 bit instruction Z device cannot be adopted when SMOV is used as 32 bit instruction V device cannot be adopted 3 When specifying the bit device of KnX Y M S the starting No should be a multiple of...

Page 164: ...uction is in use D10 and D20 will not be converted in BCD format but be moved in BIN format 4 digits as a unit SMOV M1168 D10 K2 D20 K3 K4 No variation No variation D10 BIN 16bit D20 BIN 16bit Shift m...

Page 165: ...instruction to move the 1st digit of D1 to the 3rd digit of D2 and combine the values from two DIP switches into one set of value 10 1 10 0 10 2 6 4 2 PLC X33 X30 X27 X20 8 8 8 M1000 BIN K2X20 D2 D1...

Page 166: ...bit instruction Z device cannot be adopted when CML is used as 32 bit instruction V device cannot be adopted 3 When specifying the bit device of KnX Y M S the starting No should be a multiple of 16 in...

Page 167: ...he devices that fall within the valid range will be used 2 When BMOV is used as 16 bit instruction Z device cannot be adopted when BMOV is used as 32 bit instruction V device cannot be adopted 3 When...

Page 168: ...operate differently automatically to prevent errors when S and D coincide 5 When S D the BMOV instruction is processed in the order 1 2 3 X20 BMOV D20 D19 K3 D19 D20 D21 D20 D21 D22 2 1 3 6 When S D...

Page 169: ...ved to n registers starting from the device designated by D If n exceeds the actual number of available source devices only the devices that fall within the valid range will be used 2 When FMOV is use...

Page 170: ...nX Y M S the starting No should be a multiple of 16 in octal or decimal format For example K1X0 K4Y20 octal K1M0 K4S16 decimal Program example When X0 OFF ON the contents of D20 and D40 exchange with...

Page 171: ...t be adopted when BCD is used as 32 bit instruction V device cannot be adopted 3 If the conversion result exceeds the range of 0 9 999 BCD will not be executed If the conversion result exceeds the ran...

Page 172: ...will automatically be converted into BIN format therefore BIN instruction do not need to be adopted for constants 5 Flags OX O100 Operation error M1793 M1953 Program Example When X0 ON the BCD value i...

Page 173: ...e g 3 9 6 4 Flags OX O100 Zero flag M1808 M1968 Borrow flag M1809 M1969 Carry flag M1810 M1970 Flag changes in binary addition In 16 bit BIN addition a If the operational result 0 zero flag will be ON...

Page 174: ...2 147 483 648 1 0 1 2 147 483 647 0 1 2 16 bit instruction Zero flag Zero flag Zero flag Borrow flag the most significant bit becomes 1 negative 32 bit instruction Zero flag Zero flag Zero flag the mo...

Page 175: ...969 Carry flag M1810 M1970 Flag changes in binary subtraction In 16 bit DIN subtraction a If the operational result 0 zero flag will be ON b If the operational result 32 768 borrow flag will be ON c I...

Page 176: ...b16 b15 b00 1 b15 is the sign bit b15 is the sign bit b31 is hte sign bit b15 of D 1 b15 0 S1 is a positive value B15 1 S1 is a negative value b15 0 S2 is a positive value b15 1 S2 is a negative valu...

Page 177: ...ult in D Care should be taken on positive negative signs of S1 S2 and D when doing 16 bit and 32 bit operations 2 When DIV is used as 16 bit instruction Z device cannot be adopted when DIV is used as...

Page 178: ...plus 1 in every scan period 2 When INC is executed the content in D will be incremented However in 16 bit instruction if 32 767 is reached and 1 is added it will write a value of 32 768 to the destina...

Page 179: ...minus 1 in every scan period 2 When DEC is executed the content in D will be decremented However in 16 bit instruction if 32 768 is reached and 1 is minused it will write a value of 32 767 to the dest...

Page 180: ...uction V device cannot be adopted Program Example 1 When X0 ON the 16 bit source D0 and D2 are analyzed and the operation result of the logical AND operation is stored in D4 X0 WAND D0 D2 D4 0 0 0 0 1...

Page 181: ...it instruction V device cannot be adopted Program Example 1 When X0 ON the 16 bit data source D0 and D2 are analyzed and the result of the logical OR is stored in D4 X0 WOR D0 D2 D4 0 1 1 1 1 1 1 0 0...

Page 182: ...bit instruction V device cannot be adopted Program Example 1 When X0 ON the 16 bit data source D0 and D2 are analyzed and the operation result of the logical XOR is stored in D4 X0 WXOR D0 D2 D4 0 1...

Page 183: ...bit instruction V device cannot be adopted 3 This instruction is generally used in pulse execution mode NEGP DNEGP Program Example 1 When X0 goes from OFF to ON the phase of each bit in D10 will be re...

Page 184: ...0 0 0 0 0 0 0 D0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 D0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 D0 1 2 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 D0 3 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 D0 1 3 1 1 1 1 1 0 1 1 1 1 1 1 1...

Page 185: ...used as 16 bit instruction Z device cannot be adopted when ROR is used as 32 bit instruction V device cannot be adopted 5 When specifying the bit device of KnX Y M S the starting No should be a multi...

Page 186: ...s 16 bit instruction Z device cannot be adopted when BMOV is used as 32 bit instruction V device cannot be adopted 5 When specifying the bit device of KnX Y M S the starting No should be a multiple of...

Page 187: ...mode RCRP DRCRP 4 When RCR is used as 16 bit instruction Z device cannot be adopted when RCR is used as 32 bit instruction V device cannot be adopted 5 When specifying the bit device of KnX Y M S the...

Page 188: ...on mode RCLP DRCLP 4 When RCL is used as 16 bit instruction Z device cannot be adopted when RCL is used as 32 bit instruction V device cannot be adopted 5 When specifying the bit device of KnX Y M S t...

Page 189: ...device of n1 bits starting from D 2 This instruction is generally used in pulse execution mode SFTRP 3 When SFTR is used as 16 bit instruction Z device cannot be adopted when SFTR is used as 32 bit i...

Page 190: ...device of n1 bits starting from D 2 This instruction is generally used in pulse execution mode SFTLP 3 When SFTL is used as 16 bit instruction Z device cannot be adopted when SFTL is used as 32 bit in...

Page 191: ...egory 4 Provided the devices designated by S and D belong to Kn type the number of digits of Kn in S and D has to be the same 5 When specifying the bit device of KnX Y M S the starting No should be a...

Page 192: ...a group of 4 devices 2 The figure below illustrates the right shift of the devices in one scan n Y27 Y20 carry o Y37 Y30 Y27 Y20 p X27 X20 Y37 Y30 completed X0 WSFRP K1X20 K4 K2 K1Y20 When using Kn de...

Page 193: ...s another category 4 Provided the devices designated by S and D belong to Kn type the number of digits of Kn in S and D has to be the same 5 When specifying the bit device of KnX Y M S the starting No...

Page 194: ...6 bit instruction Z device cannot be adopted when SFWR is used as 32 bit instruction V device cannot be adopted 4 When specifying the bit device of KnX Y M S the starting No should be a multiple of 16...

Page 195: ...pointer 0 the instruction stops and carry flag M1970 ON 2 This instruction is generally used in pulse execution mode SFRDP 3 When SFRD is used as 16 bit instruction Z device cannot be adopted when SF...

Page 196: ...gnated by D2 will be reset 5 This instruction is generally used in pulse execution mode ZRSTP Program Example 1 When X0 ON M300 to M399 will be reset 2 When X1 ON C0 to C127 will all be reset i e pres...

Page 197: ...evice n 1 8 Errors will occur if n 0 or n 8 2 If n 8 the decoded data is 28 256 bits data 3 When X20 goes from OFF to ON the data of X0 X2 will be decoded to M100 M107 4 If the source data is 3 M103 t...

Page 198: ...o bits in S is active 1 M1067 M1068 ON and D1067 records the error code 0E1A hex Program Example 1 1 When S is used as a bit device n 1 8 Errors will occur if n 0 or n 8 2 f n 8 the decoded data is 28...

Page 199: ...gories and Use of Basic Application Instructions DVP PM Operation Instruction 5 62 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 b15 b0 D20 1 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 1 b15 b0 7 D10 all be 0 Invali...

Page 200: ...S and store the value in D 2 D will occupy two registers when using in 32 bit instruction 3 When SUM is used as 16 bit instruction Z device cannot be adopted when SUM is used as 32 bit instruction V d...

Page 201: ...it specified by n in S and stores the result in D 2 When BON is used as 16 bit instruction Z device cannot be adopted when BON is used as 32 bit instruction V device cannot be adopted 3 When specifyin...

Page 202: ...nly those addresses within the valid range will be processed 4 If n is out of the valid range 1 64 PLC will determine it as an instruction operation error 5 When MEAN is used as 16 bit instruction Z d...

Page 203: ...me setting D Alarm Explanations 1 ANS instruction is used to drive the output alarm device in designated time 2 Operand S valid range T0 T183 Operand m valid range K1 K32 767 unit 100 ms Operand D val...

Page 204: ...ll remain ON but T10 will be reset and present value is cleared 2 If X20 and X21 are ON less than 2 sec the present value of T10 will be cleared 3 When X3 goes from OFF ON activated alarms S912 will b...

Page 205: ...to reach the front position X2 S912 ON 3 When Y1 ON for more than 10 sec and the product fails to reach the back position X3 S920 ON 4 When backward switch X1 ON and backward device Y1 ON Y1 will go...

Page 206: ...ot operation on a negative value will result in an error and the instruction will not be executed 3 The operation result D should be integer only and the decimal will be left out When decimal is left...

Page 207: ...int value carry flag will be ON e If the absolute value of the conversion result min floating point value borrow flag will be ON f If the conversion result is 0 zero flag will be ON Program Example 1...

Page 208: ...point 2 Covert the value of X7 X0 BCD value to D201 D200 BIN value 3 Covert D201 D200 BIN integer to D203 D202 floating point 4 Save the result of K615 K10 to D301 D300 floating point 5 Divide the flo...

Page 209: ...hed If n 8 all I O points on MPU will be refreshed z When D specifies Y0 and n 4 only Y0 X3 will be refreshed If n 4 all I O points on MPU will be refreshed z When D specifies X10 or Y10 I O points on...

Page 210: ...Example 3 When X0 ON I O points starting from X10 or Y4 will all be refreshed X0 REF X10 K8 X0 REF Y10 K8 Or Program Example 4 For DVP EX2 only When X0 ON and M1180 ON A D signal in D1110 D1113 will b...

Page 211: ...n SER is used as 32 bit instruction V device cannot be adopted 4 If the instruction applied 32 bit instruction operands S1 S2 D n will specify 32 bit registers 5 When specifying the bit device of KnX...

Page 212: ...uted 2 When ALT instruction is executed ON OFF state of D will be switched which is usually applied on switching two operation modes e g Start Stop 3 This instruction is generally used in pulse execut...

Page 213: ...ch is explained later in Points to note 3 When n specifies a D register the value in D cannot be modified during the execution of the instruction Please modify the content of D when the instruction is...

Page 214: ...Application Manual 5 77 D10 D12 D11 D11 D12 D10 D10 D11 D10 D11 n scans The scan times is stored in D13 n scans Points to note The variation of the content in D12 according to ON OFF state of M1026 D...

Page 215: ...S with a number which is a multiple of 10 e g D0 D10 etc 3 SORT instruction is completed after m1 times of scan Once the SORT instruction is completed the Flag M1029 Execution completed flag ON 4 The...

Page 216: ...5 D66 54 D71 63 3 D52 1 D57 90 D62 75 D67 66 D72 79 4 D53 5 D58 95 D63 79 D68 75 D73 69 Groups of data m 1 5 D54 3 D59 80 D64 98 D69 89 D74 90 Sort data table when D100 K5 Columns of data m2 Data Colu...

Page 217: ...n to read CR Control register data from special modules 2 Range of m1 16 bit and 32 bit 0 255 3 Range of m2 16 bit and 32 bit 0 499 4 Range of n 16 bit 1 500 m2 32 bit 1 500 m2 2 5 When FROM is used a...

Page 218: ...Example 1 Use 32 bit instruction DTO to write the content in D11 and D10 into CR 13 and CR 12 of special module No 0 One 32 bit data is written at a time n 1 2 When X0 ON the instruction executes when...

Page 219: ...nput module No 0 to set CH1 as mode 0 voltage input 10V 10V 2 Write H 0 into CR 33 to allow OFFSET GAIN tuning in CH1 CH4 3 When X0 goes from OFF to ON write the OFFSET value K0LSB into CR 18 and GAIN...

Page 220: ...ing in CH1 and CH2 3 When X0 goes from OFF to ON write the OFFSET value K0LSB into CR 22 and the GAIN value K1 000LSB into CR 28 FROM TO Application Example 4 Adjust the D A conversion curve of DVP02D...

Page 221: ...on 1 The instruction conducts absolute value operation on D 2 This instruction is generally used in pulse execution mode ABSP DABSP 3 When ABS is used as 16 bit instruction Z device cannot be adopted...

Page 222: ...ll be stored in D1070 D1085 After data receiving is completed PLC will check the validity of the data automatically If there is an error M1140 will be ON 6 The feedback data are all ASCII codes in ASC...

Page 223: ...gister DATA Explanation D1070 low 0 30 H ADR 1 D1070 high 1 31 H ADR 0 D1071 low 0 30 H CMD 1 D1071 high 3 33 H CMD 0 D1072 low 0 30 H D1072 high C 43 H Number of Data count by byte D1073 low 0 30 H D...

Page 224: ...1 Retain communication protocol Sett receiving timeout as 100ms Processing received data Reset M1127 Sending request X1 The received data in HEX is stored in D1070 D1085 Set as RTU mode X0 MODRD K1 H...

Page 225: ...r M1140 and send request for reading the data again 5 M1141 will be ON when parameter error occurs The program will trigger M1141 and send request for reading the data again M1002 MOV H87 D1120 SET M1...

Page 226: ...nvalid to VFD B M1141 will be ON and D1130 2 For error code explanations please see the user manual of VFD B 4 The feedback returned data from the peripheral equipment will be stored in D1070 D1085 Af...

Page 227: ...91 low 0 30 H D1091 high 1 31 H D1092 low 0 30 H D1092 high 0 30 H Data Address D1093 low 1 31 H D1093 high 7 37 H D1094 low 7 37 H D1094 high 0 30 H Data contents D1095 low 7 37 H LRC CHK 1 D1095 hig...

Page 228: ...s 01 MOV D1129 K100 SET M1143 SET M1122 MODWR H2000 K1 H12 DVP PM VFD B DVP PM transmits 01 06 2000 0012 02 07 VFD B DVP PM DVP PM receives 01 06 2000 0012 02 07 Registers for sent data sending messag...

Page 229: ...M1129 M1140 M1141 Sending request Retry when communication time out occurs Retry when data receiving error occurs Retry when parameter error occurs RST M1127 M1127 RST M1129 Receiving completed Proce...

Page 230: ...ving completed Processing received data Set communication protocol as 9600 8 E 1 Retain communication protocol Set communication timeout as 100ms Sending request Set communication instruction Data H17...

Page 231: ...tive devices 4 F refers to floating point input Be sure to add a decimal point when using it 5 If S1 or S2 is specified with floating point value F the instruction will operate in binary floating poin...

Page 232: ...nly 32 bit instructions DEZCP and DEZCPP are applicable 5 If S1 or S2 is specified with floating point value F the instruction will operate in binary floating point 6 Operand S1 should be smaller than...

Page 233: ...ns 1 Directly input floating point value in S 2 When the instruction executed content of S will be moved to D 3 When specifying the bit device of KnX Y M S the starting No should be a multiple of 16 i...

Page 234: ...tions DRAD and DRADP are applicable 4 Flags OX O100 Zero flag M1808 M1968 Borrow flag M1809 M1969 Carry flag M1810 M1970 a If the absolute value of the result exceeds the max floating point value carr...

Page 235: ...ctions DDEG and DDEGP are applicable 5 Flags OX O100 Zero flag M1808 M1968 Borrow flag M1809 M1969 Carry flag M1810 M1970 d If the absolute value of the result exceeds the max floating point value car...

Page 236: ...the instruction is specified as continuous execution instruction generally DEADDP instruction and the drive contact is ON the register will be added once in every scan 6 Flags OX O100 Zero flag M1808...

Page 237: ...S1 and S2 can designate the same register In this case if the instruction is specified as continuous execution instruction generally DESUBP instruction and the drive contact is ON the register will b...

Page 238: ...t 5 S1 and S2 can designate the same register In this case if the instruction is specified as continuous execution instruction generally DEMULP instruction and the drive contact is ON the register wil...

Page 239: ...t 5 If S2 0 operation error will occur the instruction will not be executed The operational error flag will be ON and the error code H 0E19 will be recorded 6 Flags OX O100 Zero flag M1808 M1968 Borro...

Page 240: ...fore exponent operation 5 The content in D e S e 2 71828 and S is the specified exponent 6 Flags OX O100 Zero flag M1808 M1968 Borrow flag M1809 M1969 Carry flag M1810 M1970 a If the absolute value of...

Page 241: ...e executed The operational error flag will be ON and the error code H 0E19 will be recorded 6 eD S The content of D LN S where the value in S is specified by users 7 Flags OX O100 Zero flag M1808 M196...

Page 242: ...S2 D LogS1 S2 D Example Assume S1 5 S2 125 D log5 125 S1 D S2 5D 125 D log5 125 3 6 Flags OX O100 Zero flag M1808 M1968 Borrow flag M1809 M1969 Carry flag M1810 M1970 a If the absolute value of the r...

Page 243: ...instruction will not be executed Operation error flag will be ON and error code 0E19 will be recorded 3 F refers to floating point input Be sure to add a decimal point when using it 4 If S is specifie...

Page 244: ...floating point value so the value in S1 and S2 needs to be converted into floating value before power operation 6 If the value in S1 or S2 is invalid operation error flag will be ON and error code 0E...

Page 245: ...es and Use of Basic Application Instructions DVP PM Operation Instruction 5 108 M0 M1 D10 D12 M2 DEBCD D20 D30 D2 D12 D20 Points to note For floating point operations see 5 3 Numeric Values for Data P...

Page 246: ...imal of the operation result will be left out 2 This instruction is the opposite of the API 49 FLT instruction 3 Only 32 bit instructions DINT and DINTP are applicable 4 Flags OX O100 Zero flag M1808...

Page 247: ...be set as radian or degree by Radian Degree selection flag M1760 M1920 OFF indicates radian mode RAD degree 180 M1760 M1920 ON indicates degree mode Degree range 0 degree 360 5 If the result 0 zero f...

Page 248: ...D11 D10 D15 D14 binary floating point 180 D21 D20 binary floating point D15 D14 degree x 180 D41 D40 RAD binary floating point D41 D40 RAD D51 D50 SIN binary floating point Program Example 3 Radian d...

Page 249: ...M1920 OFF indicates radian mode RAD degree 180 M1760 M1920 ON indicates degree mode Degree range 0 degree 360 5 If the result 0 zero flag will be ON 6 Flags OX O100 Zero flag M1808 M1968 Radian Degree...

Page 250: ...on the degree value 0 degree 360 in D1 D0 and stores the COS value in D11 D10 in binary floating format M1002 SET X0 DCOS D0 D10 Degree radian flag D 1 D 0 D 1 D 10 Degree value COS value binary float...

Page 251: ...DTANP are applicable 4 The value in S can be set as radian or degree by Radian Degree selection flag M1760 M1920 OFF indicates radian mode RAD degree 180 M1760 M1920 ON indicates degree mode Degree r...

Page 252: ...ian degree selection flag ON indicates degree mode When X0 ON DTAN instruction performs tangent operation on the degree value 0 degree 360 in D1 D0 and stores the TAN value in D11 D10 in binary floati...

Page 253: ...re applicable 4 See the figure below for the relation between input S and the result R S 2 2 0 1 0 1 0 S Input SIN value R Result ASIN value 5 The decimal value of the SIN value designated by S should...

Page 254: ...able 4 See the figure below for the relation between the input S and the result R S 2 0 1 0 1 0 S Entered data cosine value R ACOS value radian 5 The decimal value of the COS value designated by S sho...

Page 255: ...nput Be sure to add a decimal point when using it 3 Only 32 bit instructions DATAN and DATANP are applicable 4 See the figure below for the relation between the input and the result R S 2 2 0 S Entere...

Page 256: ...3 Only 32 bit instructions DSINH and DSINHP are applicable 4 Flags OX O100 Zero flag M1808 M1968 Borrow flag M1809 M1969 Carry flag M1810 M1970 a If the absolute value of the result exceeds the max fl...

Page 257: ...Only 32 bit instructions DCOSH and DCOSHP are applicable 4 Flags OX O100 Zero flag M1808 M1968 Borrow flag M1809 M1969 Carry flag M1810 M1970 a If the absolute value of the result exceeds the max flo...

Page 258: ...3 Only 32 bit instructions DTANH and DTANHP are applicable 4 Flags OX O100 Zero flag M1808 M1968 Borrow flag M1809 M1969 Carry flag M1810 M1970 a If the absolute value of the result exceeds the max f...

Page 259: ...s API 120 EADD instruction 5 S1 and S2 can designate the same register In this case if the instruction is specified as continuous execution instruction generally DADDRP instruction and the drive conta...

Page 260: ...and S2 can designate the same register In this case if the instruction is specified as continuous execution instruction generally DSUBRP instruction and the drive contact is ON the register will be s...

Page 261: ...tion 5 S1 and S2 can designate the same register In this case if the instruction is specified as continuous execution instruction generally DMULRP instruction and the drive contact is ON the register...

Page 262: ...R instruction is the same as API 123 EDIV instruction 5 If S2 0 operation error occurs and M1067 ON M1068 ON D1067 stores the error code 0E19 HEX 6 Flags OX O100 Zero flag M1808 M1968 Borrow flag M180...

Page 263: ...with bus API No 16 bit instruction 32 bit instruction ON condition OFF condition 215 LD DLD S1 S2 0 S1 S2 0 216 LD DLD S1 S2 0 S1 S2 0 217 LD DLD S1 S2 0 S1 S2 0 5 Logical AND operation 6 Logical OR...

Page 264: ...ion 32 bit instruction ON condition OFF condition 218 AND DAND S1 S2 0 S1 S2 0 219 AND DAND S1 S2 0 S1 S2 0 220 AND DAND S1 S2 0 S1 S2 0 5 Logical AND operation 6 Logical OR operatioin 7 Logical XOR o...

Page 265: ...instruction 32 bit instruction ON condition OFF condition 221 OR DOR S1 S2 0 S1 S2 0 222 OR DOR S1 S2 0 S1 S2 0 223 OR DOR S1 S2 0 S1 S2 0 5 Logical AND operation 6 Logical OR operatioin 7 Logical XO...

Page 266: ...LD instruction is used for direct connection with left hand bus bar API No 16 bit instruction 32 bit instruction Continuity condition Discontinuity condition 224 LD DLD S1 S2 S1 S2 225 LD DLD S1 S2 S1...

Page 267: ...erial connection with contacts API No 16 bit instruction 32 bit instruction Continuity condition Discontinuity condition 232 AND DAND S1 S2 S1 S2 233 AND DAND S1 S2 S1 S2 234 AND DAND S1 S2 S1 S2 236...

Page 268: ...sabled 2 3 OR instruction is used for parallel connection with contacts API No 16 bit instruction 32 bit instruction Continuity condition Discontinuity condition 240 OR DOR S1 S2 S1 S2 241 OR DOR S1 S...

Page 269: ...egisters separately 3 When SWAP is used as 16 bit instruction Z device cannot be adopted when SWAP is used as 32 bit instruction V device cannot be adopted 4 When specifying the bit device of KnX Y M...

Page 270: ...e range of 32 bit operands S1 S2 K0 S1 S2 K2 147 483 647 2 Entering S1 S2 will result in operation error The instruction will not be executed at this time M1067 M1068 ON and D1067 records the error co...

Page 271: ...on 2 Operation equation in the instruction D S1 S2 1000 S3 3 Users have to obtain S2 and S3 decimals are rounded up into 16 bit integers by using the slope and offset equations below Slope equation S2...

Page 272: ...0 Slope 168 Destination value Source value Points to note 1 This instruction is applicable for known slope and offset If slope and offset are unknown please use SCLP instruction for the calculation 2...

Page 273: ...occupies 8 consecutive devices Range Device No Parameter Integer Floating point number S2 S2 1 Max source value S2 2 3 Min source value S2 4 5 Max destination value S2 6 7 Min destination value 2 147...

Page 274: ...1126 Flag for switching between decimal integer and binary floating point for SCLP instruction ON binary floating point OFF decimal integer Program Example 1 1 Assume source value S1 500 max source va...

Page 275: ...64 Rounding off the result into an integer D10 450 X0 SCLP K500 D0 D10 X0 MOV MOV MOV MOV K3000 K200 K30 K500 D0 D1 D2 D3 S1 500 D 0 30 500 Destination value Source value Program Example 3 1 Assume th...

Page 276: ...ger S1 for 32 bit instruction max source value S1 min source value 2 147 483 648 2 147 483 647 If the value exceeds the bounds the bound value will be used for calculation 3 Range of floating point S1...

Page 277: ...uction WDT timeout will occur and PLC will stop running Please use it carefully 5 CJN instruction can designate the same pointer P repeatedly However CJN and CALL cannot designate the same pointer P o...

Page 278: ...ters V Z 2 No contact to drive the instruction is required 3 JMP instruction is similar to CJ instruction CJ instruction requires a drive contact as the condition but JMP instruction requires no drive...

Page 279: ...ction is required 2 When BRET instruction is executed the instructions which require drive contacts can be connected to bus line directly i e instructions can be driven without drive contacts Program...

Page 280: ...estination device 32 bit Explanations MMOV instruction sends the data in 16 bit device S to 32 bit device D Sign bit MSB of source device will be copied to every bit in the high byte of D Program Exam...

Page 281: ...n device 16 bit Explanations RMOV instruction sends the data in 32 bit device S to 16 bit device D Sign bit MSB of source device will be copied to MSB of destination device Program Example When X24 ON...

Page 282: ...Arc Movement set radius considering remaining distance 9 9 20 24ms 6 18 04 CW Clockwise Helical Movement set radius considering remaining distance 9 20 25ms 6 18 Counterclockwise Arc Movement set rad...

Page 283: ...o center of arc considering remaining distance 9 9 6 51 02 CW Clockwise Helical Movement set distance to center of arc considering remaining distance 9 6 51 03 CCW Counterclockwise Arc Movement set di...

Page 284: ...arabic numerals The operands will be operated in 16 bit format For example DRV XK1000 FXH1000 YK1000 FYD1000 3 Enter single K H D or double K H D with arabic numerals The operands can be operated in b...

Page 285: ...nction index z Function index of the operand must not be ignored z Parameter value of the operand can be specified by entering arabic numerals or decimals All operands will all be operated in 32 bit f...

Page 286: ...03 G01 X 200 0 Y50 0 G01 X 200 0 Y50 0 F200 0 f G90 absolute coordinate and G91 relative coordinate have the top priority G90 G01 X100 0 Y300 0 F500 0 G90 G01 X100 0 Y300 0 F500 0 G01G90 X100 0 Y300 0...

Page 287: ...16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 3 Acceleration deceleration time and bias speed can be set up in special D 4 Acceleration decel...

Page 288: ...X P1 Y P2 Z P3 15 X P1 Y P2 FY V2 Z P3 16 X P1 FX V1 Y P2 Z P3 17 X P1 FX V1 Y P2 FY V2 Z P3 18 Z P3 FZ V3 19 X P1 Z P3 FZ V3 20 X P1 FX V1 Z P3 FZ V3 21 Y P2 Z P3 FZ V3 22 Y P2 FY V2 Z P3 FZ V3 23 X...

Page 289: ...um speed on X axis D1822 low word D1823 high word D1824 D1825 Bias speed of X axis D1824 low word D1825 high word D1836 Acceleration time of X axis D1837 Deceleration time of X axis D1902 D1903 Maximu...

Page 290: ...cceleration deceleration time and bias speed can be set up in special D 4 Acceleration deceleration time increases or decreases in proportional to the setting of VMAX 5 Timing diagram Speed TACC TDEC...

Page 291: ...X P1 Y P2 Z P3 14 LIN X P1 Y P2 Z P3 F V Program Example 1 LIN XK12345 YH7567 ZKK3280 FKK40000 The instruction performs linear interpolation on 3 axes to the target position K12345 H7567 ZKK3280 The t...

Page 292: ...complete remaining distance in next activation considering remaining distance K2 execute the next instruction in next activation Others restart D1902 D1903 Maximum speed on Y axis D1902 low word D1903...

Page 293: ...ce to the center of arc helix on Z axis V Arc helical interpolation speed Explanations 1 P4 P5 P6 The vector valued coordinate of center of arc or center of helix i e distance to the center of arc hel...

Page 294: ...thout the value on Z axis G17 mode X Y plane X Y Z Z 0 X Y Z Z 0 CCW counterclockwise Target point x y z Target point x y Center I J Center I J Starting point Starting point Target point x y z Target...

Page 295: ...ion it could also be left out 14 If you set up the target position on the axis without setting up the moving speed the operation will run at VMAX 15 The arc helical movement can reach 360 16 20D model...

Page 296: ...P1 Y P2 I P3 J P4 9 18 X P1 Y P2 I P3 J P4 F V 9 19 X P1 Z P3 I P3 9 9 20 X P1 Z P3 I P3 F V 9 9 21 X P1 Z P3 J P4 9 9 22 X P1 Z P3 J P4 F V 9 9 23 X P1 Z P3 I P3 J P4 9 24 X P1 Z P3 I P3 J P4 F V 9 2...

Page 297: ...X P1 Y P2 Z P3 K P6 9 9 60 X P1 Y P2 Z P3 K P6 F V 9 9 61 X P1 Y P2 Z P3 I P3 K P6 9 62 X P1 Y P2 Z P3 I P3 K P6 F V 9 63 Y P2 K P6 9 64 Y P2 K P6 F V 9 65 Y P2 J P4 K P6 9 66 Y P2 J P4 K P6 F V 9 67...

Page 298: ...to center of arc as 10 0 5 and output speed as 2 000Hz The program should be written as ABS G18 CW XK 10 YJ15 ZK35 IK 30 JK0 can be ignored KK0 can be ignored FK2000 3 Other valid combinations of oper...

Page 299: ...eed can be set up in special D 4 Acceleration deceleration time increases or decreases in proportional to the setting of VMAX 5 2 axis arc interpolation 20D model only supports arc interpolation on X...

Page 300: ...oint Starting point Target point x z Center Center R radius R radius 9 The figure below illustrates the moving paths of the helical interpolation with and without the value on X axis G19 mode Y Z plan...

Page 301: ...ion G17 G18 G19 1 X P1 R L 9 9 2 X P1 R L F V 9 9 3 Y P2 R L 9 9 4 Y P2 R L F V 9 9 5 X P1 Y P2 R L 9 9 9 6 X P1 Y P2 R L F V 9 9 9 7 X P1 Z P3 R L 9 9 9 8 X P1 Z P3 R L F V 9 9 9 9 Y P2 Z P3 R L 9 9...

Page 302: ...when radian 180 and output speed as 100 pulses per second X Y Z 30 15 30 End Start The program should be written as ABS G17 CCW XK0 YK30 ZK15 RK30 FK100 Points to note 1 For how to set up arc radius c...

Page 303: ...specifications of DVP PM for the applicable range of each device You can place an M Code instruction after TIM Operands T Pause time unit 10ms K100 refers to pausing for 1 second Explanations 1 TIM in...

Page 304: ...ll start to count the number of PG0 signals for the reference to stop Range 0 32 767 pulses f Number of pulse signals in zero return P Reference signal for the motor to decelerate and stop Positive se...

Page 305: ...PG0 signals and pulse signals are set to 0 so the zero return will complete as soon as falling edge of DOG is triggered OUT M1074 X0 MOVP H8000 D1868 MOVP H0 D1846 X0 BRET DMOV K500000 D1828 DMOV K10...

Page 306: ...0 Zero return deceleration speed of Y axis low word D1911 Zero return deceleration speed of Y axis high word D1912 Number of zero point signals PG0 on Y axis N D1913 Number of pulses for zero return o...

Page 307: ...utine OX0 Remarks Relevant special registers D1848 Current position of X axis CP low word D1849 Current position of X axis CP high word D1866 Electrical zero point address on X axis low word D1867 Ele...

Page 308: ...sition of X axis CP low word D1849 Current position of X axis CP high word D1866 Electrical zero point address on X axis low word D1867 Electrical zero point address on X axis high word D1902 Maximum...

Page 309: ...stop mode considering remaining distance 2 Maximum V VMAX 3 Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 483 647 HH 0 FFFFFFFF DD 0 9 998 4 Acceleration...

Page 310: ...distance set by the instruction and complete the positioning process 2 Maximum V VMAX 3 The first operand of SINTR can be either X axis or Y axis for single speed positioning with additional distance...

Page 311: ...00 D1837 SINTR XKK500000 FKK500000 Subroutine OX0 Remarks 1 Even if absolute coordinate system is adopted in the program the displacement will be regarded as additional distance once SINTR is executed...

Page 312: ...execution encounters DOG signal it will further accelerate to V II then finish the additional distance set by the instruction 2 Maximum V1 V2 VMAX 3 The first operand of DINTR can be either X axis or...

Page 313: ...onal 500 000 pulses 2 When X0 OFF program OX0 and DINTR instruction will be disabled SET M1074 X0 MOVP H8000 D1868 RST M1074 X0 BRET MOVP K100 D1916 MOVP K100 D1917 DINTR YKK500000 FKK250000 FKK500000...

Page 314: ...sters D1708 D1709 for X axis D1724 D1725 for Y axis MOVC instruction will adjust the target position of linear movement according to the offset values 2 You can set up only the offset value of X axis...

Page 315: ...on is executed the offset value will automatically be written into special registers D1710 D1711 for X axis D1726 D1727 for Y axis CNTC instruction will adjust the distance to center of arc according...

Page 316: ...Operands L Offset of arc radius Explanations 1 When RADC instruction is executed the offset value will automatically be written into special registers D1712 D1713 RADC instruction will adjust the arc...

Page 317: ...be cleared automatically Remarks D1708 Offset value for target position of X axis low word D1709 Offset value for target position of X axis high word D1710 Offset for distance to center of arc on X a...

Page 318: ...d from current position DD1848 DD1928 DD2008 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 con...

Page 319: ...nto current position registers D1848 D1849 for X axis D1928 D1929 for Y axis and D2008 D2009 for Z axis 2 Range of parameters 16 bit K 32 768 32 767 H 0 FFFF D 0 9 999 32 bit KK 2 147 483 648 2 147 48...

Page 320: ...t special registers D1848 Current position of X axis CP low word D1849 Current position of X axis CP high word D1928 Current position of Y axis CP low word D1929 Current position of Y axis CP high wor...

Page 321: ...he programming engineer for different motion routes Register D1868 CR72 stores the No of subroutine in which b14 or b15 has to be 1 In addition activate b12 of D1846 CR50 or set M1074 ON and the motio...

Page 322: ...he difference between the two modes is the timing of executing M code instruction See Program Example 2 5 When the execution of M code is completed M1794 will turn from ON to OFF in two ways 1 Set M17...

Page 323: ...794 will be ON as well To stop M100 subroutine set M1744 ON In addition M code can be re activated by other instructions 2 With mode Place an M code instruction at the end of a motion instruction LIN...

Page 324: ...he usages of special M codes with mode and after mode N0100 and N0301 are special M codes for stopping O100 and OX subroutine N0105 indicates with mode N0250 indicates after mode No of row Program N00...

Page 325: ...special D 8 Acceleration deceleration time and bias speed increase or decrease in proportional to the setting of VMAX 9 Timing diagram Speed Moving at VMAX Bias speed Time Deceleration time Accelerati...

Page 326: ...l when G00 adopts Z axis target position built in 3rd axis control as G00 X1000 Y1000 Z100 The instruction will automatically be compiled as G00 Z100 A G00 X1000 Y1000 B A is first executed and at thi...

Page 327: ...this call and execute P255 subroutine Operation of step A M1000 DMOV K100 D1328 K 1 D1330 CALL P255 DMOV G00 Z100 Operation of step A P255 is a subroutine for controlling the 3rd axis e g pen lifting...

Page 328: ...01PU is required Therefore you have to design a 2 axis high speed interpolation in X Y axis and independent high speed positioning for Z axis For the safety of the mechanical operation when G01 instru...

Page 329: ...f step A M1000 DMOV K100 D1328 K200 D1330 CALL P255 DMOV G1 Z100 Operation of step A P255 is a subroutine for controlling the 3rd axis e g pen lifting clipping and release and so on When the target po...

Page 330: ...rc or center of helix i e distance to the center of arc helix on X Y Z axes 2 Range of parameters P1 P2 P3 P4 P5 P6 2 147 483 648 2 147 483 647 without decimal point 2 147 483 648 2 147 483 647 with d...

Page 331: ...is P3 Target position on Z axis L Radius of arc helix R when radian 180 R when radian 180 V Arc helical interpolation speed Explanations 1 Range of parameters P1 P2 P3 R 2 147 483 648 2 147 483 647 wi...

Page 332: ...rs to pausing for 2 5 seconds PT Pause time unit 1 ms G4 P100 refers to pausing for 0 1 second G4 P4500 refers to pausing for 4 5 seconds Explanations 1 10ms is the minimum setting for PT PT value sma...

Page 333: ...have no effects on linear interpolation 2 The three instructions can be switched to each other during the execution of instruction If no work plane is set up X Y plane G17 will be automatically select...

Page 334: ...forming motion control functions through a Slave DVP PM 7 1 1 The Structure DVP EH2 and Master DVP PM apply FROM TO instructions to transmit commands to Slave DVP PM for executing motion control subro...

Page 335: ...quency on X axis CR 8 9 D1508 D1509 D1862 D1863 Accumulated number of MPG input pulses at X axis 1 If you need to use other functions of Slave DVP PM please refer to Chapter 3 and fill the relative sp...

Page 336: ...Slave to enable 2 speed positioning on X axis in Slave When X5 ON write in CR 1 of Slave corresponding to D1501 in Slave to enable single speed positioning with additional distance on X axis in Slave...

Page 337: ...o X axis for setting up operation commands Move the current position of X axis D1848 D1849 to D1502 D1503 corresponding to CR 2 CR 3 Move the current speed of X axis D1850 D1851 to D1504 D1505 corresp...

Page 338: ...able OX subroutine in Slave Write in CR 1 of Slave corresponding to D1501 in Slave to enable OX01 and execute LIN instruction in Slave Write in CR 2 of Slave corresponding to D1502 in Slave to enable...

Page 339: ...0 main program Enable O100 in Slave then call the motion subroutine OX00 DRV X200000 FX100000 Y200000 FY100000 M2 Place motion instruction DRV in OX00 subroutine OX01 LIN X100000 Y100000 F200000 M2 Pl...

Page 340: ...8 Application Examples DVP PM Application Manual 8 1 8 1 Draw the Trajectories Below by Motion Instructions and G Codes 8 1 1 Trajectory Trajectory 1 Trajectory 2...

Page 341: ...8 Application Examples DVP PM Application Manual 8 2 Trajectory 3 Trajectory 4...

Page 342: ...current position of X axis to 0 DMOV K0 D1928 Set the current position of Y axis to 0 RST M1074 Disable OX motion subroutine MOV H8000 D1868 Write the No 0 of OX to be enabled SET M1074 Enable OX mot...

Page 343: ...linear interpolation Can also be written as LIN X20000 F40000 CCW X20000 Y70000 J30000 F20000 Move to designated position by arc interpolation Can also be written as CCW Y70000 J30000 F20000 LIN X 10...

Page 344: ...as G01 X 25 0 Y60 0 G01 X 25 0 Y 60 0 F20 0 Move to designated position by linear interpolation Can also be written as G01 X 25 0 Y 60 0 G00 X25 0 Y 25 0 Fast move to designated position SRET Example...

Page 345: ...G03 Y110 0 J40 0 G02 X10 0 Y230 0 R60 0 F15 0 Move to designated position by arc interpolation Can also be written as G02 Y230 0 R60 0 F15 0 G01 X10 0 Y210 0 F15 0 Move to designated position by linea...

Page 346: ...ode before designing the main control program In addition DVP PM 20D only offers X Y axis interpolation we have to apply additional Z axis control for the pen lifting function In this example we use D...

Page 347: ...al registers in Chapter 3 Ladder diagram Operation Zero return speed VRT of X axis 200kHz Zero return deceleration speed VCR of X axis 200kHz Zero return speed VRT of Y axis 200kHz Zero return deceler...

Page 348: ...nd G01 instructions in Chapter 6 Ladder diagram Operations Y7 control signals for pen lifting is controlled by the target position D1328 of Z axis Pause for 0 1 second D1328 K0 DLD OUT Y7 TIM K10 3 ax...

Page 349: ...e 8 3 1 Program structure 1 Trigger condition 1 external input signal X0 X3 switches to the 2nd 5th speed 2 Trigger condition 2 comparison results of CP M0 M3 switches to the 2nd 5th speed 3 Trigger c...

Page 350: ...up the operation speed for the 1st segment on X axis X0 ON modify the operation speed into 20 000Hz X1 ON modify the operation speed into 9 000Hz X2 ON modify the operation speed into 18 000Hz X3 ON m...

Page 351: ...0 000Hz Compare K30000 with the current position M1 ON modify the operation speed into 9 000Hz Compare K50000 with the current position M2 ON modify the operation speed into 18 000Hz Compare K80000 wi...

Page 352: ...he 2nd segment T0 ON modify the operation speed into 20 000Hz and T1 executes preparing for switching to the 3rd segment T1 ON modify the operation speed into 9 000Hz and T2 executes preparing for swi...

Page 353: ...main program and subroutines O100 main program Design instructions for initializing current status of X Y axis and enabling OX0 motion subroutine LD M1002 MOV H8000 D1868 Write in the No 0 of OX to b...

Page 354: ...cam follower is an output device for producing discrete signals Fixed linkage is the frame for linking and fixing the cam the the follower Cam Cam follower In comparison with mechanical cam system the...

Page 355: ...TART0 PG0 FP0 FP0 RP0 RP0 CLR0 CLR1 MPG signal Input magnification START0 PG0 Operation Process STEP1 STEP2 STEP3 Initial Settings Select Source of Master Enable Disable E CAM 7 Enable cyclic E CAM 1...

Page 356: ...9 6 D1799 Input Terminal Polarity Bit X axis Input Terminal Polarity 0 PG0 1 MPGB0 2 MPGA0 7 START0 Input Terminal Digital Filter D1806 High Byte Filter coefficient of MPG0 MPG1 D1806 Low Byte Filter...

Page 357: ...equency Pulse output Type Pulse Output Type Setting D1816 D1896 D1976 B5 B4 Pulse output type positive logic Explanation 0 0 FP forward pulses RP reverse puls es Double phase FP RP 0 1 FP pulses RP di...

Page 358: ...placement per revolution Master 360 max Pulses Input magnification D1858 Numerator of electronic gear ratio D1859 Denominator of electronic gear ratio 9 2 1 5 E CAM Activation at Non zero Position You...

Page 359: ...SN0 A0 A0 B0 B0 24V 24V 0V 5 24VDC 24V PG 0 5 24VDC A phase LSP1 LSN1 A1 A1 B1 B1 PG 1 PG 0 PG 1 FP 1 FP 1 RP 1 RP 1 CLR1 CLR1 START1 START0 STOP1 STOP0 FP 0 FP 0 RP 0 RP 0 PLS SIGN SIGN PLS VDD COM 2...

Page 360: ...ble A0 A0 B0 B0 24V 24V 0V 5 24VDC 24V PG 0 5 24VDC Shielded cable MPG input A phase B phase LSP1 LSN1 A1 A1 B1 B1 PG 1 PG 0 PG 1 FP 1 FP 1 RP 1 RP 1 CLR1 CLR1 START1 START0 STOP1 STOP0 FP 0 FP 0 RP 0...

Page 361: ...es of the two sides should be the same Please refer to 9 2 1 3 for the setting Single CAM Multiple CAM M1909 OFF M1910 OFF The source signal of X axis is from A0 B0 input of MPG0 and the source signal...

Page 362: ...r Slave through communication When M1910 ON FP1 of MasterPLC will sent out signals to C200 of Slave PLC as the source signals of virtual master C200 A B FP RP FP0 RP0 FP1 RP1 FP2 RP2 A B A B X axis Y...

Page 363: ...lic operation starts after M1812 ON Slave executes with Master constantly according to the E CAM Data 4 At the same time CLR0 outputs according to the synchronized output range When M1813 ON an E CAM...

Page 364: ...Slave Position D1846 b13 ON enables cyclic E CAM M1812 ON initialization completed CLR0 sync output E CAM completion Reset by user Master position M1813 Application Example Setup Set up E CAM Data as...

Page 365: ...F status of Xn input Step 2 Set On M0 to enable cyclic E CAM When M0 is rising edge triggered Master starts to receive the variable speed pulses from Y axis and Slave operates according to the above E...

Page 366: ...1846 bit 14 ON acyclic E CAM is enabled 2 After the initialization interval of T2 M1812 ON to indicate the completion of E CAM initialization At this time Slave is still not activated 3 In T3 acyclic...

Page 367: ...ling acyclic E CAM OFF Slave of E CAM stops immediately M1812 ON initialization completed M1813 E CAM completion n n 60 n 300 Pg0 Start0 Slave Position D1846 b14 ON enables acyclic E CAM Start signal...

Page 368: ...Set up input pulse type as A B phase D1864 H200 3 Set up pulse output type of Y axis as A B phase D1896 H30 4 Set up D1799 input terminal polarity setting 6 MPGA0 and MPGB0 are NO contacts 5 Set M1035...

Page 369: ...le acyclic E CAM Reset M1746 Acyclic E CAM is triggered by START0 Enable STOP0 START0 as external input point When M0 is falling edge triggered acyclic E CAM stops Repeat E CAM Data for 2 times ZRST D...

Page 370: ...later CLR0 switches off while CLR1 switches on After this when X1 is ON CLR1 will be OFF 2 When M1756 is OFF with the condition D1839 D1838 PI CP of Master D1843 1842 PII CLR0 will be ON M1756 OFF M1...

Page 371: ...ing pulses E CAM Data in this condition will operate 5 times and only the first and the second cycle will be added with one more pulse as below Note The value in D1833 should be smaller or equal to D1...

Page 372: ...quency of Master and Slave DD1862 DD1860 DD1848 1 Number of accumulated MPG input pulses Master position DD1862 2 MPG input frequency Master frequency DD1860 3 Current position Slave position DD1848 S...

Page 373: ...witching position DD1866 Source of Master will be switched back to MPG0 after acyclic E CAM cycle is completed Not applicable for virtual Master mode M1909 M1910 The function is generally used for obt...

Page 374: ...E CAM data there are also 2 methods Method 1 Obtain E CAM Data according to the measured point to point values Method 2 Obtain E CAM Data according to the E CAM Data function E CAM Data can be used t...

Page 375: ...Setting Area in the bottom The first 3 charts indicate user defined E CAM Data with horizontal axis as Master position and vertical axis as Slave position speed ratio of Slave Master and acc speed ra...

Page 376: ...BSpline 2 In Stroke Setting window there are many sections which compose a complete CAM curve Every section defines a part of the CAM curve and multiple sections form a full CAM curve Settings for ev...

Page 377: ...se the setting window and go back to the main page of CAM Chart 5 Click Export and PMSoft will store the CAM Data containing displacement data velocity data and acc data in the subfolder CAMData under...

Page 378: ...the user designed CAM curves will also be drawn in the CAM Chart page The design process is as follows 1 Input the point to point displacement data in the file Data_S txt under the folder path PMSoft...

Page 379: ...placement Velocity Acc 4 Click Import Speed Data PMSoft will read out the content in Data_S txt and draw the data on Velocity chart Also PMSoft will convert the velocity data and draw the converted Di...

Page 380: ...set as K100 Operand m2 represents the starting CR number and the total number of CR will be a multiple of 4 Operand S refers to the starting number of designated source device Operand n refers to the...

Page 381: ...CAM by setting up the related machinery parameters according to actual needs Parameters for rotary cut E CAM are as below Parameters Data Format Explanations P1 Length of Master Integer Length of the...

Page 382: ...3 is selected the langth of Master will be calculated by system CAM curve High word Integer Sync area setting b 13 1 Create sync area setting When the function is enabled P2 and P3 should be filled wi...

Page 383: ...ry cut applications However for think material cutting application the cutting angle and the cutter speed should be additionally considered on setting E CAM DVP 20PM provides parameters for thick mate...

Page 384: ...hen P1 is set as 1 the parameter sets the angle before Sync Start P12 Number of data points in sync area Integer When b 2 of P1 is 1 the parameter sets the number of data points in sync area For detai...

Page 385: ...ve Interpolation Explanations When the original data points are not sufficient for a smoother operation you can apply Smooth Curve Interpolation The detailed content of smooth curve interpolation will...

Page 386: ...eed and can be applied for checking the cutter position in flying saw applications For details please refer to 9 4 2 6 9 4 2 1 E CAM Data Real time Modification E CAM Data set in E CAM Chart will be d...

Page 387: ...the data in D0 D15 into E CAM chart 0 K100 Step 3 Set M82 to read the written data back into D100 D115 so as to confirm the data is correctly written into E CAM chart 0 Step 4 Use Monitor Table to con...

Page 388: ...s and the modified length of Master will be 10 000 points In this case the magnification rate of point to point section will be 10 000 23 434 On this basis PMSoft will automatically calculate the data...

Page 389: ...iagram illustrates the difference between the original curve and the curve with interpolation With higher smoothing coefficient the generated curve will be smoother as well The below diagrams show the...

Page 390: ...curve of E CAM Chart 0 Original data points 24 Length of Master 10 000 Total points to be inserted 200 points Smoothing coefficient 5 times Cycloid type Uniform B Spline The original curve is as belo...

Page 391: ...resolution of E CAM Chart 0 The resolution should be equal or bigger than Original data points Total points to be inserted Step 3 Set M0 to write the parameters for smooth curve interpolation into reg...

Page 392: ...rotary cut E CAM data Step 2 Set up and input the rotary cut E CAM Data Input the machine parameters of field devices together with cut length and sync area length into CR 10000 of special module K10...

Page 393: ...o 10 0 Acceleration curve 0 CAM curve 0 CAM curve setting Only single data real time modification is applicable Results 0 Control Steps Step 1 Add 2 sets of E CAM charts and set the resolution as 300...

Page 394: ...ample to borrow the previous E CAM data setting and combine the 2 E CAM curves so that a reciprovating flying saw operation can be performed To create the above flying saw CAM curve 2 blank E CAM data...

Page 395: ...12 and CR 10000 into D0 In addition write the data in D100 D112 into special register CR 10000 to generate the 1st rotary cut E CAM curve Step 4 Set M1 to change the data in D102 D104 and D111 Write t...

Page 396: ...ata of each cutter should be designed respectively and the sum of the data length of 3 cutters should equal to total pulses per round To meet this requirement we only need to design the data setting o...

Page 397: ...otary cut E CAM into D100 D112 and CR 10000 into D0 In addition write the data in D100 D112 into special register CR 10000 to generate the 1st rotary cut E CAM curve Step 4 Set M101 to change the data...

Page 398: ...above rotary cut application there is only one contact point for the cutter and the material regardless of the thickness of the material In this way only one synchronizing point is required when desi...

Page 399: ...s for setting thick material cutting On the other hand if the total pulses of cutting axis can not be equally divided by the cutters i e even number of pulses for odd number of cutters angle and the l...

Page 400: ...art end angle until the cutting plane is flat and smooth z Case 2 Pulses can NOT be equally divided If the total pulses of Slave can not be equally divided by the cutters angle 1 and the length of Mas...

Page 401: ...2 250 degree The cutting length can be calculated according to the parameters above 170 314 4 13345 Parameters for thick material cutting are listed as below Data Set value E CAM format 1 Pulses per...

Page 402: ...rt 0 which is the generated thick material cutting E CAM curves Ladder Diagram DMOV K200000 M0 DMOV K1 D100 DMOV K75360 D108 DMOV K10000 D0 DMOV K200000 D102 DMOV K53380 D104 Generate the thick materi...

Page 403: ...tured value at E CAM completion 2 When the Slave error increases in the next cycle substrct the increased Slave error with the initial Slave error and we can have the real Slave error 3 Substract Leng...

Page 404: ...Set M4 to calculate the modified length of Slave with offset compensation Step 6 When M4 is reset fill the original length of Slave back to D302 Ladder Diagram M1000 M3 DMOV K10001 D0 DFROM K100 D0 D...

Page 405: ...g the moving back process of cutter M1757 can be applied to remain current speed of Slave and continue operation until the limit Users can compare the designated position with Master position in curre...

Page 406: ...xis E CAM Single axis E CAM can be executed in cyclic operation and acyclic operation Unlike single axis E CAM multi axis E CAM can only be executed in cyclic operation For multi axis E CAM only one s...

Page 407: ...200 0 M1201 1 A B Single frequency M1204 0 M1205 1 A B Single frequency M1200 1 M1201 1 4A B Quadruple frequency M1204 1 M1205 1 4A B Quadruple frequency Deivce C200 Counting Mode Device C204 Counting...

Page 408: ...can add new data into the next section For switching to next section insert an additional point of 0 n1 between the sections When Master position is detected as 0 set value n1 of Slave position will...

Page 409: ...witching pattern if E CAM max frequency DD1840 is set as 0Hz and the value of deceleration time TDEC D1837 is specified E CAM will decelerate to stop The below diagram indicates the diference between...

Page 410: ...g machine which can be used on winding air cored coils of different specifications such as drive coils speaker coils antenna coils and other common bobbinless coils The winding system with DVP PM has...

Page 411: ...il will become uneven and the winding quality will drop down DVP PM PLC is designed specifically for motion control applications DVP PM applies duo CPU structure with one CPU exclusively processing mo...

Page 412: ...ssing executing die preheating wire cutting heating mold releasing while coil winding is in process 6 Cutting device Cutting device is pneumatic device used in cutting off the wires on the two ends of...

Page 413: ...ajor input parameters 1 rounds per layer 2 total rounds of winding and 3 coil spacing The value of coil spacing is calculated by adding coil diameter with the space between each round In addition Mech...

Page 414: ...P 1 OA OA OB OB PLS SIGN SIGN PLS VDD COM 24V ASDA series OA OA OB OB DOG0 S S0 DOG0 S S0 Slave servo coil shaft MPG pulses Shielded cable In above wiring diagram we connect output terminal of Y axis...

Page 415: ...winding N2 Coil spacing mm D Mechanism parameter mm revolution There is no actual moving distance of Master because winding shaft is directly driven by signals The winding principle is that Slave move...

Page 416: ...ses CSlave ASlave BSlave Winding shaft Master Y axis Length of single speed positioning pulses N2 x BMaster 80 x 3600 288000 MasterMax pulses 2 x N1 x BMaster 2 x 10 x 3600 72000 2 indicates double la...

Page 417: ...e rotary cut operates in the same direction In addition thick material cutting also works in the same direction as rotary cut The difference between think material cutting and rotary cut is the E CAM...

Page 418: ...e acc data However in this case we need to control the velocity between Slave and Master To obtain the velocity we can input the velocity data in the displacement table for creating the velocity curve...

Page 419: ...cal CAM DVP PM Application Manual 9 66 Click Draw and the displacement data can be obtained as below 3 Click Export then Import Speed Data and the velocity relationship between Slave and Master can be...

Page 420: ...ication setting at 9 3 1 7 in this chapter to obtain the proper set value The below diagram is another application on synchronizing conveyers The E CAM operation of the example is similar to flying sa...

Page 421: ...d The sync speed is maintained from position 2 to position 3 After position3 Slave decelerates in reverse direction and returns to position 4 Same as position 1 The cycle repeats for continous flying...

Page 422: ...ata in the displacement table Position 2 100 degrees position 3 200 degrees position 4 700 degrees Click Draw and the displacement data can be obtained as below 3 Click Export then Import Speed Data a...

Page 423: ...gnification setting at 9 3 1 7 in this chapter to obtain the proper set value Different from the setting of rotary cut lower higher bound of E CAM synchronized output section should be specified Pleas...

Page 424: ...n be saved from the whole operation cycle However please note that the square measure of positive pulses should be the same as that of the negative pulses if the ready position position 4 is required...

Page 425: ...put SERVO SERVO CAM Jog 1 2 3 SyncOut Injector 4 Raw Material Filling machine PMSoft provides B Spline function for CAM curve setting B Spline can smooth the CAM curve as well as the positioning proce...

Page 426: ...section is modified and the curve besides the section remains in the same shape Here is the example of inserting 210 250 and 290 between Master position 200 and 300 We can observe the curve variation...

Page 427: ...9 Electrical CAM DVP PM Application Manual 9 74...

Page 428: ...formation download and upload 10 1 1 System Information The system information area contains 2 parts 1 Program for switching between editing windows and acquiring the current program status 2 PEP Sett...

Page 429: ...subroutine will be encryoted and Ox_4 P means 4 motion subroutines will be encrypted The same rule also applies to P subroutines However there is only 1 main program therefore enable the protection di...

Page 430: ...eneral program storage area in DVP PM Encrypted programs or E CAM data will be placed in the protection area Check Apply PEP Setting 1 Select Communication C and click PC PM D or click on the toolbar...

Page 431: ...rogram transmission process if the program has been encrypted PMSoft will ask you to enter the password as a Click OK to start downloading the program or E CAM data to DVP PM as b a Enter the password...

Page 432: ...assword to unlock the protection for storing E CAM data Click OK as b to start downloading the program to DVP PM as c a Leave Apply PEP Setting box blank b Enter the password if DVP PM is set with a p...

Page 433: ...ord whether there is E CAM data or not 10 1 3 Uploading Program When you upnload the program you will see a window asking whether to read PEP protection area in DVP PM If PEP box is not checked only p...

Page 434: ...ecide whether to read PEP Click OK b Start downloading the program DVP PM is set with protection but contains no E CAM data 1 Select Communication C and click PM PC U or click on the toolbar as shown...

Page 435: ...program when PEP is not checked DVP PM is set with protection and contains E CAM data 1 Select Communication C and click PM PC U or click on the toolbar as shown in a below and decide whether to read...

Page 436: ...er password and confirm it c Start uploading the program 3 Leave PEP bix blank and click OK as a Next enter the password and confirm it as b to start uploading general program and E CAM data to PC as...

Page 437: ...10 Encrypting User Program DVP PM Application Manual 10 10 MEMO...

Page 438: ...of the 3 sources HMI memory card or PC by HMI and perform the control requirement To achieve the above G code download requirements on different sources DVP PM00M provides 2 methods for downloading G...

Page 439: ...ng The application of Common mode and DNC mode is mainly decided according to the G code file size In Common mode G codes will be completely downloaded to PM before executing OXn motion subroutine In...

Page 440: ...format 115200 8 N 1 RTU A Program for set up COM1 B Program for set up COM2 Step 2 Set up PEP settings in PMSoft to enable protection on O100 or other constant programs and download the program to 20...

Page 441: ...0M COM port as below Communication format 115200 8 N 1 should not be changed Step 4 Click Open to view the G code file to be downloaded In the bottom left corner File CRC will be displayed Click Send...

Page 442: ...11 5 3 Download completed Step 5 You can click PMCRC to calculate the CRC value and compare the CRC value with File CRC The download is succeeded if the two CRC values are the same Step 5 can be skip...

Page 443: ...DNC mode is select by PMGDL DVP PM will automatically execute OX0 when G codes are downloaded to DVP PM Step 1 The program downloaded to DVP PM should contain OX0 motion subroutine and G codes do not...

Page 444: ...ly executed rows of G code Check if the content of the registers increases and OX0 executes automatically as below Step 6 If you want to stop the operation in DNC mode click Cancel G codes will stop w...

Page 445: ...omatically when the operation is finished as below Step 8 If you want to execute other G codes repeat the steps from step 4 11 2 2 Download by B Type HMI The below diagrams illustrate the steps to dow...

Page 446: ...en Editor 2 00 12 open a new file b Set up the parameters of control block as below Option Configuration Control Block c Set up communication parameters as below Option Configuration Communication Con...

Page 447: ...0 and the address value as 65535 b Use a button object Set up On Macro When the button is pressesd 65535 will be written into 0 Select a Momentary Button and set up the internal memory address Edit On...

Page 448: ...sion of HMI can be skipped if updated a Upgrade the firmware Tools Upgrade firmware b Confirm that the firmware version is Ver 2 0122 Tools Get Firmware Information Step 2 Edit and copy the G code fil...

Page 449: ...t here should match the format set up in HMI A Program for set up COM1 B Program for set up COM2 Step 4 Use PMSoft to enable PEP protection on O100 or other constant programs nad download the program...

Page 450: ...r receiving G codes on DVP PM00M When both sides are ready the G codes can be downloaded through HMI directly The G code download program designed in DVP PM00M should operate in below steps 1 initiali...

Page 451: ...size and Group Max Recipe Count After the recipe file is ready store the file in memory card and insert the memory card in the slot on HMI Configure Recipe Setup in Screen Eitor according to the reci...

Page 452: ...eiving G codes Specify length of recipe with 50 words and groups of recipe with 10 Execute file conversion and check the conversion results If the conversion results are correct the downloaded file wi...

Page 453: ...value in D65 becomes 0 After this write in the recipe command to download next group and increase the recipe group number in D66 M25 MOV K4 D65 SET M26 RST M25 LD D65 K0 INCP D66 Step 4 The value in...

Page 454: ...M code programs including OX0 OX1 and OX2 Max 2048 points are allowed for each CAM chart and each CAM chart should accommodate displacement and speed data of 3 axes In addition only G00 G01 G04 and M...

Page 455: ...oad the data into CAM charts work modes of 3 axes should be set up first then Call OXn 1 Set up work modes of 3 axes 2 Call OXn Call OXn to load the G M codes in corresponding CAM charts without execu...

Page 456: ...us interpolation 4 Enable the dispensing operation Execute the G M codes in CAM chart Work modes of 3 axes should be set up first and select the CAM chart to be executed Set D1846 H2000 to enable cycl...

Page 457: ...cute OX1 subroutine c Execute OX2 subroutine Note When the function is not used make sure the work mode is set as 0 D1847 0 D1927 0 and D2007 0 otherwise errors will occur when executing single speed...

Page 458: ...11 G code Application DVP PM Application Manual 11 21 B O100 main program...

Page 459: ...1 Select OX0 by setting D1868 H4000 2 Load the data in OX0 into CAM chart 0 Step 3 M7 ON execute OX0 The data source is in CAM chart 0 1 Select OX0 by setting D1868 H4000 2 Enable cyclic E CAM 11 3 2...

Page 460: ...program are applied for reading the data of 3 axes in CAM chart Note In the instruction DFROM DTO K100 K0 D4000 K40 set value K100 indicates access in CAM chart 0 set value K101 indicates access in C...

Page 461: ...a is not specified 4 Stop G00 G01 Write 1 into the speed data of G00 G01 on specific axis and the instruction on the axis will be stopped 5 G04 The value 4 in upper data indicates G04 The lower data i...

Page 462: ...in ladder diagram can be replaced by symbols Symbols in ladder diagram or FB can be allocated with devices by users or by system Functions of POU help users on simplifying programs and modulizing prog...

Page 463: ...o editing windows and is explained below 1 Local symbols in Program 1 Only VAR is available for Class and the setting is only for internal use of current program 2 All columns of Address should be fil...

Page 464: ...for all POUs Double click the icon under system information as Diagram A and the Global Symbol Table will pop up as Diagram B A System Information B Global Symbol Table Rules for Naming Identifiers of...

Page 465: ...d with devices Address the specified devices should be in valid range 5 G code instructions do not support the application of symbols 6 Symbols of index V Z in local symbol table should be specified w...

Page 466: ...Create a new symbol 2 Declare Symbols z Class Class of a symbol Only local symbol table provides the column of Class 3 classes including VAR INPUT and OUTPUT are available for local symbol table of fu...

Page 467: ...allocated by system z Type Data type of a Symbol Two types of symbols are available for this column Simple Type and Function Block Users can key in the data type directly or click the column of Type...

Page 468: ...m will allocate four D devices FLOAT Declare the data type as 32 bit float and system will allocate two D devices dor floating point instructions COUNTER Declare the data type as 16 bit counter and sy...

Page 469: ...plication Manual 12 8 Step 1 Select ARRAY Step 2 Specify data type and size Step3 Results b Function Block Declare the Type Class of a symbol as function block The names of available function block sy...

Page 470: ...ion blocks have to be declared with a function block symbol in the symbol list Please follow the steps below to declare the function block symbol Step 1 Select Function Block as the type class Step 2...

Page 471: ...he content in the column 1 When the data type of symbol is specified as BOOL the initial setting has to be TRUE or FALSE 2 When the data type of symbol is specified as WORD or DWORD a prefix K or H re...

Page 472: ...modify symbols directly in the symbol table as below Notes 1 For function block POU the data type of symbol can not be specified as function block 2 For function block POU Address should be allocated...

Page 473: ...eted and the selected row will be indicated by in the front Apply one of the 4 methods to delete the row as below GA2 is deleted Step 1 Click the row to be deleted Step 2 Delete Step 3 Result z Multi...

Page 474: ...ile with an extension name cvs 1 Move the cursor to the symbol table and right click to select Export Symbols from the pop up list Step 1 move the cursor to the symbol table Step 2 Right click to sele...

Page 475: ...Import Symbols from the pop up list Step 1 move the cursor to the symbol table Step 2 Right click to select Import Symbols from the pop up list 2 Select the file to be imported and set up the preferen...

Page 476: ...le of the function block If Class in local symbol table is specified as INPUT the symbol functions as the input interface of the function block s data source If Class in local symbol table is specifie...

Page 477: ...is 20 characters Protection When password is set up users need to enter correct password for accessing the POU Take the following case for example DMOV_FB has been locked by password so users need to...

Page 478: ...ing Mode DVP PM Application Manual 12 17 POU Comment Edit the POU comment as a POU explanation in the blank area under the window of Create a New POU 3 Click OK and the ladder editing window will pop...

Page 479: ...methods to create and edit folders are explained as below 1 Create new folder Move the cursor to Function Blocks under System Information Right click and select New Folder from the drop down list and...

Page 480: ...pplication Manual 12 19 The Rename Folder window will pop up Enter the new name for this folder and click OK to finish Results 3 Delete the folder Move the cursor to the folder to be deleted Right cli...

Page 481: ...pplication Manual 12 20 A warning window will pop up to confirm the deletion Click OK and the selected folder will be deleted 4 Create new POU in the folder Move the cursor to the target folder and ri...

Page 482: ...plication Manual 12 21 Create a New POU window will be displayed For POU naming rules please refer to Rules for Naming a POU in 12 1 3 Enter the POU name and click OK The new POU will be displayed und...

Page 483: ...OU to be moved and drag it to the target folder In this way a folder or POU can be moved into other folders Move a folder into another folder Results Move a POU into another folder Results Note when a...

Page 484: ...ce of the folder name 12 1 5 Export POU Users can export POUs in the program so that the POU will be available to be imported when editing other programs There are two types of POU including program P...

Page 485: ...cted only programs under the selected program area will be displayed You can click on the program POU to be exported in the program list z The methods for selecting programs are explained as below 1 S...

Page 486: ...12 POU Editing Mode DVP PM Application Manual 12 25 3 Deselect Clicking the selected program will deselect it 4 Deselect All Click the button Deselect and all programs will be deselected as below...

Page 487: ...ord setting to set up and confirm password 4 When all options are set click OK and the file saving window will pop up Set up the path and the file name with the file extension mpu Export Function Bloc...

Page 488: ...ock information and all function blocks under function block folder will be displayed If a specific folder is selected only function blocks under the selected folder will be displayed You can click on...

Page 489: ...ect by clicking the function block to be exported In below diagram CMP_FB is selected 2 Select All Click the button and all function blocks will be selected as below 3 Deselect Clicking the selected f...

Page 490: ...12 29 5 Protection Option Password protection on POU Click Password setting to set up and confirm password 6 When all options are set click OK and the file saving window will pop up Set up the path a...

Page 491: ...time on editing POUs with the same function The steps to import POUs are explained as below Import program POU 1 Right click at the node of Programs under System Information and select Import Program...

Page 492: ...rrect password for importing the POU file If the file is not protected by password system will ignore this step 4 Confirm Because importing POUs will modify current programs a Confirm window will be d...

Page 493: ...ct Import Function Blocks 2 PMSoft will display the function block files with the extension name fbu Select a file and click Open to import this file 3 Unlock password If the function block POU is pro...

Page 494: ...window users can set up the usable range of devices including data registers D auxiliary relays M timers T counters C and pointers P for system symbols The setting range of device will be allocated b...

Page 495: ...ow Set the usable range of the following devices z Data register D Default D7000 D9999 Valid range D0 D9999 Care should be taken that special D registers should not be specified within the set range z...

Page 496: ...range z Pointers P Default P200 P254 Valid range for 20PM00M P0 P255 Valid range for 20PM00D P0 P254 3 Clicking Clear all allocated symbol addresses will reset all address values in global symbol tabl...

Page 497: ...find instructions devices or symbols in POU ladders or Symbol Tables Ladder Find function is required 1 Find Replace Ladder Right click at current POU ladder diagram and select Find from the drop down...

Page 498: ...letters you enter z Whole Word The instruction or device name you are looking for has to match the whole string of words you enter z Forward The searching is conducted from top to down z Backward The...

Page 499: ...art the searching The found item will be highlighted Click Find Next again and the searching will jump to the next found item If there are no matched results Not found window will appear indicating th...

Page 500: ...nduct Find Next function Find Next function is based on the last item found and looks downward for the next item in the ladder diagram The searching is conducted according to the search options below...

Page 501: ...l table and select Find from the drop down list However the searching is conducted only at the symbol table which is right clicked by user To search other symbol tables you need to move the cursor and...

Page 502: ...e instruction list IL after compiling and achieve the same results as well POU ladder diagram provides two advanced functions comparing with general ladder diagrams 1 Replacing devices with symbols 2...

Page 503: ...specified with a symbol declaring data type as FLOAT Take the below diagram for example The symbol angle in floating point instruction DSIN should be specified as FLOAT in Type column Character shoul...

Page 504: ...UFFER 2 V2 BUFFER 4 Z4 BUFFER 1 VD and BUFFER 6 ZD of MOV instructions are used for applying different data in the data string of buffer with VD declared as V2 and ZD declared as Z2 Note The data spec...

Page 505: ...re the same no matter declaration or assignation is performed first Step 1 To declare 1 Click Type in symbol table and select Function Block as the Type Class 2 Select the function block to be declare...

Page 506: ...st Click and enter the identifier MOV_32 b Click then enter the identifier MOV_32 a Enter DMOV_FB c Results 3 Drag and drop Click and enter the identifier MOV_32 b Drag the function block and drop at...

Page 507: ...directly or click the function block then press Tab on the keyboard Specify the value for the editing pin and press Enter The editing area will move to next pin by the following order input pins indi...

Page 508: ...evices in ladder diagram However there are only two usages when applying function blocks in ladder diagram 1 Connect function blocks in series 2 Connect function blocks in series before application in...

Page 509: ...fter compiling Function blocks and Pn subroutines should not be applied over the valid range of 256 Take below diagram as example Function block DMUL_FB is applied in both O100 main program and OX1 mo...

Page 510: ...data type of the symbol otherwise errors will occur after Compile or Check is clicked However when data type of input interface in function block is specified as WORD or DWORD the input data allows c...

Page 511: ...OU program can be directly modified in ladder diagram or monitor table under Monitoring mode Monitor ladder diagrams click and monitoring mode will be started to monitor O100 main program P subroutine...

Page 512: ...M Application Manual 12 51 Modify data in monitoring mode Modify the DA value in O100 main program from 1000 to 2000 as below 1 Click the input symbol DA of function block SHIFT and enter 2000 2 The s...

Page 513: ...ol TIMES in O100 main program and other symbols as well Quickly Insert Symbols Right click the monitor table and select Insert Symbols Symbol Select window will pop up with all declared symbols in the...

Page 514: ...be monitored O100 main program P subroutine OX subroutine or function blocks and the related symbols will be displayed in the Symbols column 3 Click the symbol to be monitored directly or click Selec...

Page 515: ...tion of symbols and function blocks by setting up Hint function Before enabling Hint function users need to enter relative information into the comment areas of Symbol Table A and Create a New POU win...

Page 516: ...f Local Symbol Table B Comment Area of POU Display Info Hint function can be enabled by clicking the icon on toolbar Diagram A Diagrams B C D indicate the information displayed on symbol interface of...

Page 517: ...12 POU Editing Mode DVP PM Application Manual 12 56 B Information of Symbol C Information of Function Block Interface D Information of Function Block...

Page 518: ...ission method CAN Electrical isolation 500VDC Type Removable connector 5 08mm Transmission cable 2 communication cables 1 shielded cable and 1 ground wire Ethernet connector Transmission method Ethern...

Page 519: ...IEC 61131 2 IEC 61000 4 3 80MHz 1000MHz 1 4GHz 2 0GHz 10V m Operation storage Operation 0 C 55 C temperature 50 95 humidity pollution degree 2 Storage 25 C 70 C temperature 5 95 humidity Shock vibrat...

Page 520: ...hernet connection command and status R W Word 1 063 IP and port setting for ethernet master R W Word 3 064 Length of data to be transmitted through ethernet R W Word 1 065 Content of data to be transm...

Page 521: ...CANopen node communication status R Word 1 n10 Emergency error code R Word 1 n11 n12 Manufacturer s error code R Word 1 n20 Servo drive status R Word 1 n21 Current operating mode of servo drive R Wor...

Page 522: ...ord 1 CANopen Common Mode CR Function Attribute Data type Data length 500 CANopen mode switch R W Word 1 504 Enable heartbeat protocol R W Word 1 505 Execution status of heartbeat protocol R Word 1 50...

Page 523: ...e is bigger than 1 Bit b15 b8 B7 b0 Function Synchronous cycle time setting Enable synchronous packet sending CR 053 DVP FPMC CANopen node ID setting Explanations Set up the CANopen node ID within the...

Page 524: ...onnected H 30 indicates Connected H 10 sends out connection command H 20 sends out disconnection command CR 063 IP and port setting for ethernet master Explanations Set up the network IP and the port...

Page 525: ...ite in check up 2 read out check up 3 write in No check up 4 read out No check up SDO data transmission diagram 1 Specify the OD index of SDO server CR 070 in CR 072 2 Set up the data to be transmitte...

Page 526: ...servo parameters CR 100 CR 199 are CRs for Node ID1 CR 200 CR 299 are CRs for Node ID2 CR 300 CR 399 are CRs for Node ID3 CR 400 CR 499 are CRs for Node ID4 Care should be taken on the special index...

Page 527: ...the setting format Bit b15 b8 b7 b0 Command Reserved ALL Servo On 1 ALL Servo Off 128 Error Reset 129 CR 090 CR 93 DVP FPMC QBuffer data data address Explanations QBuffer is designed for accessing sev...

Page 528: ...f the ASDA A2 in DWORD format CRn05 CRn06 Firmware version Explanations Display the firmware version of the ASDA A2 in DWORD format CRn07 CRn08 Product type Explanations Display the product type of th...

Page 529: ...the flag will be 1 QS Quick stop The user can execute quick stop on the servo when the bit is 1 WR Warning When the servo sents warning messages the bit will be 1 RM Remote monitor Remote monitor is a...

Page 530: ...and obtain the status Please refer to the table below for the setting format Bit b15 b8 b7 b4 b3 b2 b0 Function Subindex of the the target OD index Data length unit byte Range 1 8 Length of data shoul...

Page 531: ...12 13 14 15 OM OM OM FR X X X X X X X X Control word Bit EO Servo On The servo drive will be ON when the bit is 1 FR Error reset The servo drive will reset the error when the bit is 1 OM control comma...

Page 532: ...e positioning The content of this CR will be cleared automatically when positioning is completed 2 Relative positioning The content of this CR will be cleared automatically when positioning is complet...

Page 533: ...ORD format Range 2 147 483 648 2 147 483 647 CRn92 Enable interpolation positioning Explanations Enable interpolation positioning Interpolation positioning executes when the set value is 1 When the se...

Page 534: ...ary CR H 1006 Synchronization cycle setting Explanations Set up the time interval unit s for CANopen synchronization packet sending in normal mode Data format DWORD Default 5000 The time interval for...

Page 535: ...a length unit bit For the setting format and the corresponding PDO data buffer please refer to the table below RPDO Mapping format PDO Data Buffer Sub Index OD Index Sub Index 1 Index Len Data Sub Ind...

Page 536: ...registers Explanations Data registers storing the data for PDO access DVP FPMC currently provides 2000H 207FH of OD as the data registers Every index contains 4 subindexes for storing data and each su...

Page 537: ...GNED16 R Y 6120 ARRAY 17 Parameter of profile position mode UNSIGNED32 R Y 6200 ARRAY 5 Current operating mode of servo drive UNSIGNED8 RW Y 6300 ARRAY 5 Servo drive status UNSIGNED16 RW Y 6320 ARRAY...

Page 538: ...servo data transmission PDO Master transmit Slave receive 1 Target position of profile position mode CRn70 CRn71 Target speed of profile position mode CRn72 CRn73 2 Acceleration time ms of profile pos...

Page 539: ...e content of CR 010 as H FFFF to scan all connected drives 4 Read the content of CR 010 by FROM instruction to check if the content is cleared 5 Set the content of CR 050 as 1 to set On all connected...

Page 540: ...ed as below 1 TPDO settings 1800H 183FH of DVP FPMC serves as TPDO corresponding to RPDO of the Slave For example set up the OD index H1800 TPDO of Master to communicate with the OD index 143F RPDO of...

Page 541: ...Data to Slave Data to Slave Data to Slave 203F 203F 203F Data from DVP FPMC Data from DVP FPMC Data from DVP FPMC FPMC Slave PDO Data Buffer PDO Data Buffer 13 7 DVP FPMC Ethernet Applications DVP FP...

Page 542: ...ettings To set up the IP of DVP FPMC the user needs to fill the IP into CR 59 according to the setting format illustrated in explanations of CR 59 in 13 5 Explanations on Control Registers Take IP 192...

Page 543: ...r create a file in Screen Editor Select Configuration from Options in menu bar 2 In General window select DOP B10E615 as the HMI type from the drop down list in Standard column 3 In COM port window se...

Page 544: ...Y7 for both DVP PM according to the above procedure as the disgram below Buttons Y0 Y7 correspond to Y0 Y7 of Link3 Slave1 and Link4 Slave2 When the above settings are completed the Ethernet connectio...

Page 545: ...ndow select Internet Protocol TCP IP and click Properties to open the IP setting window 2 In Properties window check Use the following IP address and enter 192 168 0 55 in IP address where the last va...

Page 546: ...ormed through Ethernet 3 Program Download To download the program click the icon PC PM in the toolbar or select PC PM from Communications in the menu bar The download process through Ethernet interfac...

Page 547: ...ooting CANopen LED LED status Indication How to correct Green light off Not connected to CAN bus cable Check if the connection is correctly connected Green light on Connection with CAN bus cable is no...

Page 548: ...et CRn 1 D9 D8 Data register of the n 1 set DRn 1 D31 D30 Control register of the n 7 set CRn 7 D33 D32 Data register of the n 7 set DRn 7 D50 Data length 2 m 4 1 set of registers 4 words m number of...

Page 549: ...r sw itch of C apture function Bit SV 20PM 10PM 0 CP of X axis CP of X axis 1 CP of Y axis CP of Y axis 2 CP of Z axis CP of Z axis 3 C200 count value CP of A axis 4 C204 count value C200 count value...

Page 550: ...is LSN X11 12 Y axis LSP 13 Y axis DOG 14 Y axis STOP 15 Y axis START Setting initial status X0 TO K253 K1 D0 K2 D0 D1 D1 1 Reset all output states and Capture function Read initial status X0 FROM K25...

Page 551: ...of C200 current position of Master MPG of X aixs and count value of C204 MPG of Y axis For settings of high speed counters C200 and C204 please refer to Ch3 of this manual Block F Compare method comp...

Page 552: ...24G CLR1 with X7 S S2 with 24V and an additional MPG is required Please see below for the example program Comparison initial setting apply 2 sets of Compare n 0 n 1 FROM TO 10 pieces of data Compare...

Page 553: ...sters of the 1st set D3 D2 H124 Data source C204 Bit3 0 4 compare method SET Bit5 4 2 Bit7 6 0 output terminal CLR0 Bit11 8 1 2 Data registers of the 1st set D5 D4 K100 output terminal will be trigger...

Page 554: ...ation Manual 14 7 Step 7 Keep rotating the MPG When the value of C204 exceeds K100 monitor the LED of X7 to check if CLR1 is triggered Step 8 Keep rotating the MPG When the value of C204 exceeds K300...

Page 555: ...gisters store the data specified by TO instruction or the caught value from the data source specified in Block D Block D There are 5 sets of data source including current position of X Y Z axis count...

Page 556: ...RST M1 RST D0 D20 M3 FROM K253 K1 RST M3 D40 D60 M4 MOV K1 K1M1204 SET M5 RST M4 M5 DCNT C204 K10 Sequential control process Step 1 Initial setting for Capture function when O100 is activated to set O...

Page 557: ...a random value Step 3 Set M2 Active Capture function by TO instruction Step 4 Set M3 Read the data set up in D0 D5 as below Step 5 Set M4 to set C204 counting mode as P D Pulse direction then set M5 t...

Page 558: ...Pn for CJ CJN JMP 0032 Reverse pulses prohibited 0004 There is a subroutine flag in main program 0033 Left right limit achieved 0005 No subroutine 0040 Incorrect use range of device 0006 Repeated inde...

Page 559: ...r to DVP01PU H2 Slave for 3rd Axis Control For DVP20PM00D only 8 8 Added Ch 9 E CAM 9 9 Modified wiring diagram of DVP PM with servo drives of different brands 2 10 Modified explanations on the wiring...

Page 560: ...11 2 speed positioning 2 axes 3 axes 4 axes 3 11 2 speed positioning interruption 2 axes 3 axes 4 axes 3 11 Externally triggering single speed positioning X 3 axes X 3 11 MPG input 2 axes 3 axes 4 ax...

Page 561: ...14 Appendix DVP PM Application Manual 14 4 MEMO...

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