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Chapter 10 Motion Control Function



Buffer Modes that various instructions support

The buffer mode of the current instruction and buffered instruction is set by modifying the value of the

BufferMode

parameter. The value of BufferMode of the buffered instruction is selected according to the buffer

mode that current instruction supports and the B

ufferMode

parameter of the current instruction is invalid.

For example:

The

BufferMode

MC_MoveRelative supports mcAborting, mcBuffered, mcBlendingLow,

mcBlendingPrevious, mcBlendingNext and mcBlendingHigh. The

BufferMode

of MC_MoveVelocity supports

mcAborting and mcBuffered.

Case 1

：

If MC_MoveRelative is the current instruction and MC_MoveVelocity is the buffered instruction. The

BufferMode

parameter of MC_MoveVelocity can select one of mcAborting, mcBuffered,

mcBlendingLow, mcBlendingPrevious, mcBlendingNext and mcBlendingHigh.

Case 2

：

If MC_MoveVelocity is the current instruction and MC_MoveRelative is the buffered instruction. The

BufferMode

parameter of MC_MoveRelative can select one of mcAborting and mcBuffered.

The buffer mode of the buffered instruction can be selected according to the current instruction as listed
below.

Current instruction

The selectable BufferMode value of the buffered

instruction

MC_MoveAbsolute

【

mcAborting, mcBuffered, mcBlendingLow,

mcBlendingPrevious, mcBlendingNext,

mcBlendingHigh

】

MC_MoveRelative

【

mcAborting, mcBuffered, mcBlendingLow,

mcBlendingPrevious, mcBlendingNext,

mcBlendingHigh

】

MC_MoveAdditive

【

mcAborting, mcBuffered, mcBlendingLow,

mcBlendingPrevious, mcBlendingNext,

mcBlendingHigh

】

MC_MoveSuperimposed

mcAborting

MC_HaltSuperimposed

mcAborting

MC_MoveVelocity

mcAborting, mcBuffered

MC_Home

Only the MC_Stop instruction can abort the

MC_Home instruction.

MC_Halt

mcAborting, mcBuffered

MC_ GearIn

mcAborting, mcBuffered

MC_ GearOut

mcAborting, mcBuffered

MC_CombineAxes

mcAborting, mcBuffered

MC_ CamIn

mcAborting, mcBuffered

MC_ CamOut

mcAborting, mcBuffered

: The

BufferMode

parameter of the buffered instructions MC_GearIn, MC_CamIn and MC_CombineAxes

can only choose mcAborting and mcBuffered.

Whether the current instruction execution has been completed or not depends on the completion output

parameter of the instruction. As the completion output parameter is TRUE, it indicates that the instruction

execution is completed and the buffered instruction execution starts.

10-11

Содержание DVP15MC11T

Страница 1: ...1511 Byucksan Digital Valley 6 cha Gasan dong Geumcheon gu Seoul Korea 153 704 TEL 82 2 515 5303 FAX 82 2 515 5302 Delta Electronics Int l S Pte Ltd 4 Kaki Bukit Ave 1 05 05 Singapore 417939 TEL 65 6...

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

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

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

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

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

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

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

Страница 9: ...Memo viii...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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