Delta DVP-10PM, Руководство по применению

Страница: 304 / 561

6
Motion Instructions and G-Code Instructions
DVP-PM Application Manual
6-23
MON Mnemonic Operands Function
07 DRVZ
N/A
Return to Mechanical Zero Point (Zero Return)
Controllers
20PM -
Explanations:
1. You can place an M-Code instruction after DRVZ.
2. Before enabling DRVZ, you have to first set up the following parameters(for relative D registers please refer to
Remarks explained later):
a) Zero return speed (V
RT
): When zero return is triggered, the system will operate at zero return speed (V
RT
)
until zero point signal (DOG) is triggered. V
RT
cannot be modified during the execution. Range: 0 ~ 500kHz.
Limitation: V
MAX
> V
RT
> V
BIAS
b) Zero return deceleration speed (V
CR
): When zero point signal (DOG) is triggered, the system will decelerate
to zero return deceleration speed (V
CR
). In order to accurately stop at zero point, it is suggested that you set
V
CR
at low speed. Range: 0 ~ 500kHz. Limitation: V
CR
< V
RT
. V
CR
cannot be modified during deceleration..
c) Acceleration time: The time spent on accelerating to V
RT
.
d) Deceleration time: The time spent on decelerating from V
RT
to V
CR
and from V
CR
to zero speed.
e) Number of zero point signals (PG0) in zero return (N): Reference signal for the motor to decelerate and stop.
When a DOG signal is detected, the program will start to count the number of PG0 signals for the reference
to stop. Range: 0 ~ +32,767 pulses.
f) Number of pulse signals in zero return (P): Reference signal for the motor to decelerate and stop. Positive
set value refers to forward-running pulses, and negative set value refers to reverse-running pulses. Range:
-32,768 ~ 32,767 pulses
g) Confirm that the flags for disabling zero return on X, Y axis are correctly set ON/OFF.
3. In addition, parameters below should be set up in special registers. D1816 for X axis; D1896 for Y axis, and
D1976 for Z axis.
a) Zero return direction
b[8] = 0: Zero return executes in positive direction, i.e. current position(CP) increases.
b[8] = 1: Zero return executes in negative direction, i.e. current position(CP) decreases.
b) Zero return mode
b[9] = 0: normal mode. When DOG signal is generated, after the specified PG0 signals (N) then the following
pulse signals (P), the motor will stop immediately.
b[9] = 1: overwrite mode. When DOG signal is generated, the motor will stop according to either PG0 signals
(N) or pulse signals (P), which is finished first.
c) Detecting DOG signal rising/falling edge triggered
b[10] = 0: On. DOG signal falling edge triggered.
b[11] = 1: Off. DOG signal rising edge triggered.
d) According to the 4 combinations of parameters b) and c), there are four zero return modes. See 3.12 for how
they work.
Program Example:
When X0 is ON, DRVZ instruction in OX0 will be executed, and the zero return on Y axis will be disabled. The