Page 1 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, 153-704 DVP-ES2/EX2/SS2/ 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 SA2/SX2/SE&TP TEL: 65-6747-5155 / FAX: 65-6744-9228 Delta Electronics (India) Pvt. Ltd.
Page 2 DVP-ES2/EX2/SS2/SA2/SX2/SE&TP Operation Manual Programming Revision History I ssu e D e sc ri pt i o n of Ch a n ge s D a t e F i r st T h e f i r st edi t i o n i s i ssu e d.
Page 3 I ssu e D e sc ri pt i o n of Ch a n ge s D a t e C h a pt er 3. 6 N um eri c al Li st of I n st ru ct i o n s an d C h a pt er 3.
Page 4 I ssu e D e sc ri pt i o n of Ch a n ge s D a t e 6 . A p p en di x B i s a d de d. 7 . A p p en di x C i s ad d e d. 1 .
Page 5 I ssu e D e sc ri pt i o n of Ch a n ge s D a t e C R # 1 7~ C R #2 4 ar e u p da t e d, t h e d e scri pt i o n of C R # 2 7 i s a dd e d, a nd t he d e scri pt i on s of C R # 8 7~ C R 10 3 ar e u p da t e d.
Page 6: Table Of Contents
DVP-ES2/EX2/SS2/SA2/SX2/SE&TP Operation Manual Programming Contents 1 PL C Conc epts PLC Scan Method ..................1-2 Current Flow ....................1-3 NO Contact, NC Contact ................1-3 PLC Registers and Relays ................ 1-3 Ladder Logic Symbols ................1-3 1.5.1 Creating a PLC Ladder Program ............1-5 1.5.2...
Page 7: Table Of Contents
2.12 High-speed Counters ................2-25 2.13 Special Data Register ................2-29 2.14 E, F Index Registers ................2-38 2.15 Nest Level Pointer[N], Pointer[P], Interrupt Pointer [I] ......2-39 2.16 Applications of Special M Relays and D Registers ........2-41 3 In st ru ctio n Se t Basic Instructions (without API numbers) ..........
Page 8: Table Of Contents
6 T roub le shoot ing Common Problems and Solutions ............. 6-2 Error code Table (Hex) ................6-4 Error Detection Devices................6-6 7 CANop en Fu nct ion and Ope rat ion The Introduction of CANopen ..............7-2 7.1.1 The Description of the CANopen Functions ........7-2 7.1.2 The Input/Output Mapping Areas ............
Page 9: Table Of Contents
B.3.4 Searching by an IP Address ............. B-11 Data Exchange..................B-12 EtherNet/IP List ..................B-12 B.5.1 EtherNet/IP Information Supported by DVP-SE series PLCs ..B-13 B.5.2 EtherNet/IP Objects Supported by DVP-SE series PLCs ....B-14 RTU Mapping ..................B-17 B.6.1 Setting the RTU Mapping ..............
Page 10 T h e D VP seri e s PL C s a r e l i st ed b el o w. S e ri e s Mo d el n a m e D VP 1 6E S2 0 0 R, DVP 1 6ES 2 0 0T , DVP 2 4E S2 00 R , D VP 2 4ES 2 0 0T , D VP 3 2E S2 0 0 R, DVP 3 2ES 2 0 0T , DVP 3 2E S2 11 T , DV P4 0E S2 0 0 R, D VP -E S2 D VP 4 0E S2 0 0T , DV P6 0E S 20 0 R, DVP 6 0E S2 00 T ,...
Page 11 PLC Concepts This chapter introduces basic and advanced concepts of ladder logic, which is the mostly adopted programming language of PLC. Users familiar with the PLC concepts can move to the next chapter for further programming concepts. However, for users not familiar with the operating principles of PLC, please refer to this chapter to get a full understanding of PLC concepts.
Page 12: Plc Scan Method
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng PLC Scan Method PLC utilizes a standard scan method when evaluating user program. Scanning process: Read the physical input status and store the data in internal Scan input status...
Page 13: Current Flow
1 . PLC Conc e pts Current Flow Ladder logic follows a left to right principle. In the example below, the current flows through paths started from either X0 or X3. Reverse Current When a current flows from right to left, which makes a reverse current logic, an error will be detected when compiling the program.
Page 14: Ladder Logic Symbols
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Bit, word or double word memory used for counting and has coil, contact and register in it.
Page 15: Creating A Plc Ladder Program
1 . PLC Conc e pts Ladder Diagram Explanation Instruction Available Devices Structure Multiple output branches None Output coil Y, M, S Step ladder Basic instructions and API Basic / Application instructions. Please refer to instruction chapter 3 Instruction Set Inverse logic None 1.5.1 Creating a PLC Ladder Program...
Page 16: Ld / Ldi (Load No Contact / Load Nc Contact)
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 1.5.2 LD / LDI (Load NO contact / Load NC contact) LD or LDI starts a row or block LD instruction LD instruction...
Page 17: Orb (Connect Block In Parallel)
1 . PLC Conc e pts 1.5.9 ORB (Connect block in parallel) ORB instruction connects a block in parallel with another block ORB instruction 1.5.10 MPS / MRD / MPP (Branch instructions) These instructions provide a method to create multiplexed output branches based on current result stored by MPS instruction.
Page 18: Ret (Return)
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng previous step is completed, therefore it forms a sequential control process similar to SFC (Sequential Function Chart) mode.
Page 19: Conversion Between Ladder Diagram And Instruction List Mode
1 . PLC Conc e pts Conversion between Ladder Diagram and Instruction List Mode Ladder Diagram Instruction block block Block in series block Block in parallel The output AN I continues based on status of Multiple outputs Start of step ladder S0 status operates with X10 Output Y10 and transfer of step point...
Page 20: Fuzzy Syntax
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Fuzzy Syntax Generally, the ladder diagram programming is conducted according to the “up to down and left to right”...
Page 21: Correcting Ladder Diagram
1 . PLC Conc e pts Block combination should be made on top of the circuit. Parallel connection with empty device is not allowed.. Parallel connection with empty device is not allowed. No device in the middle block. Devices and blocks in series should be horizontally aligned Label P0 should be at the first row of the complete network.
Page 22 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Example 2: When a device is to be connected to a block, connect the device to upper row for omitting ORB instruction Instruction List ...
Page 23: Basic Program Design Examples
1 . PLC Conc e pts Example 5: Correct the circuit of reverse current. The pointed reverse current loops are modified on the right.  LOO P1 rev er se c urrent LOOP1 Example 6: Correct the circuit of reverse current. The pointed reverse current loops are modified on the right. LOO P1 rev er se c urrent ...
Page 24 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Start first Stop First circuit while SET which is lower than RST forms a Start First circuit.
Page 25 1 . PLC Conc e pts Example 8 - Oscillating Circuit An oscillating circuit with cycle ΔT+ΔT In the first scan, Y1 turns on. In the second scan, Y1 turns off due to the reversed state of contact Y1. Y1 output status changes in every scan and forms an oscillating circuit with output cycleΔT(ON)+ΔT(OFF) Example 9 –...
Page 26 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Example 13 - Output delay circuit The output delay circuit is composed of two timers executing delay actions. No matter input X0 is ON or OFF, output Y4 will be delayed.
Page 27 1 . PLC Conc e pts Timing Diagram: Vertical Light Yellow 25 Sec Green 5 Sec 5 Sec Horizontal Light Yellow Green 25 Sec 5 Sec 5 Sec SFC Figure: M1002 K350 K250 M1013 K250 M1013 K350 1 - 1 7...
Page 28 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Ladder Diagram: M1002 ZRST S127 K350 K250 M1013 K250 M1013 K350 1 - 1 8...
Page 29 1 . PLC Conc e pts WPLSoft programming (SFC mode) SFC logic Internal Ladder Logic LAD-0 LAD-0 M1002 ZRST S127 Transfer condition 1 TRANS* M1013 Transfer condition 4 TRANS* TRANS* TRANS* TRANS* TRANS* TRANS* TRANS* Transfer condition 7 TRANS* TRANS* TRANS* TRANS* TRANS*...
Page 30 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng MEMO 1 - 2 0...
Page 31 Programming Concepts DVP-ES2/EX2/SS/SA2/SX2/SE is a programmable logic controller spanning an I/O range of 10–256 I/O points (SS2/SA2/SX2/SE: 512 points). PLC can control a wide variety of devices to solve your automation needs. PLC monitors inputs and modifies outputs as controlled by the user program.
Page 32: Es2/Ex2 Memory Map
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng ES2/EX2 Memory Map Specifications Control Method Stored program, cyclic scan system Batch processing method (when END instruction is I/O Processing Method executed)
Page 33 2 . Pr ogr am m i ng Conc e pts Specifications Current value T0~T255, 256 words C0~C199, 16-bit counter, 200 words Current value C200~C254, 32-bit counter, 55 words D0~D407, 408 words, (*1) General D600~D999, 400 words, (*1) D3920~D9999, 6080 words, (*1) Word D408~D599, 192 words, (*2) Latched...
Page 34: Ss2 Memory Map
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng SS2 Memory Map Specifications Control Method Stored program, cyclic scan system Batch processing method (when END instruction is I/O Processing Method executed)
Page 35 2 . Pr ogr am m i ng Conc e pts Specifications Current value T0~T255, 256 words C0~C199, 16-bit counter, 200 words Current value C200~C254, 32-bit counter, 55 words D0~D407, 408 words, (*1) General D600~D999, 400 words, (*1) Word D3920~D4999, 1080 words, (*1) Register Data D408~D599, 192 words, (*2)
Page 36: Sa2/Sx2 Memory Map
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng SA2/SX2 Memory Map Specifications Control Method Stored program, cyclic scan system Batch processing method (when END instruction is I/O Processing Method executed)
Page 37 2 . Pr ogr am m i ng Conc e pts Specifications Current value T0~T255, 256 words C0~C199, 16-bit counter, 200 words Current value C200~C254, 32-bit counter, 55 words D0~D407, 408 words, (*1) General D600~D999, 400 words, (*1) D3920~D9799, 5880 words, (*1) D408~D599, 192 words, (*2) Word Latched...
Page 38 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng occupies 16 input points (X0~X17), and 16 output points (Y0~Y17). Extension input points start from X20, and extension output points start from Y17.
Page 39: Se Memory Map
2 . Pr ogr am m i ng Conc e pts SE Memory Map Specifications Control Method Stored program, cyclic scan system Batch processing method (when END instruction is I/O Processing Method executed) LD instructions – 0.64µs, MOV instructions – 2µs, Execution Speed 1000 steps –...
Page 40 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Specifications Current value T0~T255, 256 words C0~C199, 16-bit counter, 200 words Current value C200~C254, 32-bit counter, 55 words D0~D407, 408 words, (*1)
Page 41: Status And Allocation Of Latched Memory
2 . Pr ogr am m i ng Conc e pts 6. If an SE series MPU is connected to a left-side special module, and M1182 is Off, the range of data registers can be used. Every special module connected to an SE series MPU occupies ten data registers.
Page 42: Plc Bits, Nibbles, Bytes, Words, Etc
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng PLC Bits, Nibbles, Bytes, Words, etc For different control purposes, there are five types of values inside DVP-PLC for executing the operations.
Page 43 2 . Pr ogr am m i ng Conc e pts Constant (H): A hexadecimal number in a PLC is generally preceded by H. For example, the hexadecimal number H100 represents the decimal number 256. Reference Table: Hexadecimal Binary Octal Decimal (K) (BIN) (OCT)
Page 44 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Function Attrib. Default STOP ○ ○...
Page 45 2 . Pr ogr am m i ng Conc e pts STOP Special Latch    Function Attrib. Default STOP Y0/CH0(Y0, Y1) pulse output pause ○ ○ ○ ○ M1078 (immediate) ○ ○ ○ ○ M1079 Y1 pulse output pause (immediate) ○...
Page 46 16-bit mode for HKY input ○ ○ ○ ○ M1168 Designating work mode of SMOV Enable the communication instruction for Delta VFD series inverter. ○ ○ ○ ○ M1177 ON: VFD-A (Default), OFF: other models of VFD 2 - 1 6...
Page 47 2 . Pr ogr am m i ng Conc e pts STOP Special Latch    Function Attrib. Default STOP ╳ ╳ ○ ○ M1178 Enable knob VR0 ╳ ╳ ○ ○ M1179 Enable knob VR1 The EX2/SX2 model reads analog-to- ○...
Page 48 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Function Attrib. Default STOP ○ ○...
Page 49 ○ ○ ○ ○ M1348 output is completed When M1349 is ON, the CANopen ○ ╳ ╳ ╳ M1349 function is enabled. (Only for DVP-ES2- ○ ○ ○ ○ M1350* Enable PLC LINK ○ ○ ○ ○ M1351* Enable auto mode on PLC LINK ○...
Page 50 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Function Attrib. Default STOP Enabling the detection of X0’s input pulse V3.2 V2.6 ╳...
Page 51 2 . Pr ogr am m i ng Conc e pts STOP Special Latch    Function Attrib. Default STOP ○ ○ ○ ○ M1401* Slave ID#10 linking error ○ ○ ○ ○ M1402* Slave ID#11 linking error ○ ○...
Page 52: Relay
M1540 Indicate pause status of Y2 ○ ○ ○ ○ M1541 Indicate pause status of Y3 The absolute position of Delta ASDA-A2 V2.6 V3.2 ╳ M1580 servo is read successfully by means of V2.4 OFF V1.4 the instruction DABSR. The absolute position of Delta ASDA-A2 V2.6...
Page 53: T (Timer)
2 . Pr ogr am m i ng Conc e pts General purpose step relay General relays in sequential function chart (SFC). They will be cleared when power loss after running. S128 ~ S911, total 784 points. Alarm step relay Used with alarm driving instruction API 46 ANS as an alarm contact for recording the alarm messages or eliminating external malfunctions.
Page 54: C (Counter)
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng the only timers that can be used in subroutines or interrupts. Generals timers used in subroutines and interrupts will not work if the subroutines or interrupts are not executing.
Page 55: High-Speed Counters
2 . Pr ogr am m i ng Conc e pts When X0 = ON, RST instruction resets C0. Every time When X1 is driven, C0 will count up (add 1). When C0 reaches the preset value K5, output coil Y0 will be ON and C0 will stop counting and ignore the signals from input settings present...
Page 56 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng result in syntax error when executing DCNT instruction. Applicable Software High Speed Counters: 1-phase input 2 phase 2 input C235...
Page 57 K4 or other value (Quadruple frequency) (Default) 8. DVP-ES2/DVP-SS2 series PLCs whose firmware version is 2.80 or above support the single frequency mode. DVP-SA2/DVP-SX2 series PLCs whose firmware version is 2.00 support the single frequency mode. The other PLCs support the three modes.
Page 58 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Example: M1000 DCNT C243 K100 FEND M1000 I101 D1240 DMOV IRET When C243 is counting and external interrupt is triggerred from X1(I101), counted value in C243 will be move to (D1241, D1240) immediately then C243 is reset.
Page 59 2 . Pr ogr am m i ng Conc e pts DCNT C247 K5 C247 1. When X20 is ON, RST instsruction executes and the current value in C247 will be cleared. Contact C247 will be OFF. 2. When X21=ON, C247 receives count signals from X0 and counter counts up (+1), or C247 receives count signal from X1 and counter counts down (-1) 3.
Page 60: Special Data Register
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng A-phase X0 B-phase X1 C251 present value Counting up Counting down Y0, C251 contact 2.13 Special Data Register The types and functions of special registers (special D) are listed in the table below.
Page 61 2 . Pr ogr am m i ng Conc e pts STOP Special Latch    Content Attrib. Default STOP The pulse number for masking Y0 is set when M1156 = ON (High word) If the value in the 32-bit register (D1027, ○...
Page 62 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Content Attrib. Default STOP Low word of the password in DVP-PCC01 ○...
Page 63 2 . Pr ogr am m i ng Conc e pts STOP Special Latch    Content Attrib. Default STOP Number of pulses for ramp-down operation ○ ○ ○ ○ D1133 of positioning instruction (Low word) Number of pulses for ramp-down operation ○...
Page 64 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Content Attrib. Default STOP When interupt I400/I401/I100/I101 occurs, ○...
Page 65 2 . Pr ogr am m i ng Conc e pts STOP Special Latch    Content Attrib. Default STOP ○ ╳ ╳ ╳ D1323* ID of the 4 right side module ○ ╳ ╳ ╳ D1324* ID of the 5 right side module ○...
Page 66 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Content Attrib. Default STOP ╳ ╳...
Page 67 2 . Pr ogr am m i ng Conc e pts STOP Special Latch    Content Attrib. Default STOP ○ ○ ○ ○ D1460* Data length to be written on Slave ID#11 ○ ○ ○ ○ D1461* Data length to be written on Slave ID#12 ○...
Page 68 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Content Attrib. Default STOP D1767* D1768* The data which is read from slave ID#10 in ↓...
Page 69: E, F Index Registers
╳ D9998 turned from OFF to ON, the value in D9998 FFFF will be H’0. If DVP-ES2-C V3.26 (or above) is turned from OFF to ON, the value in D9998 will be H’FFFF.) Showing the CAN baud rate K1: 20K; K2: 50K; K3: 125K; K4: 250K; K5: ╳...
Page 70: Nest Level Pointer[N], Pointer[P], Interrupt Pointer [I]
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 2.15 Nest Level Pointer[N], Pointer[P], Interrupt Pointer [I] The control point of Master control nested N0~N7, 8 points master control nested...
Page 71 2 . Pr ogr am m i ng Conc e pts CALL Call subroutine P** FEND (subroutine subroutine subroutine return SRET Interrupt pointer I: used with application instruction API 04 EI, API 05 DI, API 03 IRET. There are four types of interruption pointers. To insert an interruption, users need to combine EI (enable interruption), DI (disable interruption) and IRET (interruption return) instructions.
Page 72: Applications Of Special M Relays And D Registers
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng communication. Set up the specific end word in D1168 and write the interruption subroutine I150.
Page 73 2 . Pr ogr am m i ng Conc e pts 4. Scan time could be prolonged due to complicated instruction operations or too many I/O modules being connected. Check D1010 ~ D1012 to see if the scan time exceeds the SV in D1000.
Page 74 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 10 ms 100 Hz M1011 (10 ms) 100 ms M1012 (100 ms) 10 Hz 1 sec 1 Hz...
Page 75 2 . Pr ogr am m i ng Conc e pts b) Use peripheral devices or WPLSoft to set the RTC value. π (PI) Function Group Number D1018~D1019 Contents: 1. D1018 and D1019 are combined as 32-bit data register for storing the floating point value ofπ 2.
Page 76 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 03: requested data exceeds the range. 07: checksum error Function Group Pulse output Mark and Mask function M1108, M1110, M1156, M1158, M1538, M1540, D1026, D1027, D1135, D1136, Number...
Page 77 2 . Pr ogr am m i ng Conc e pts Function Group Output State Latched in STOP mode Number M1033 Contents: When M1033 = ON, PLC outputs will be latched when PLC is switched from RUN to STOP. Function Group Disabling all Y outputs Number M1034...
Page 78 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Content 0: 7 data bits, 1: 8 data bits Data Length (RTU supports 8 data bits only) 00: None Parity bit...
Page 79 2 . Pr ogr am m i ng Conc e pts Example 3: Modifying COM3 communication format Add the below instructions on top of the program to modify the communication format of COM3. When PLC switches from STOP to RUN, the program will detect whether M1136 is ON in the first scan.
Page 80 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Definitions of the pins in COM1: (It is suggested that users should use the Delta communication cable DVPACAB2A30.)
Page 81 2 . Pr ogr am m i ng Conc e pts Number D1038 Contents: 1. Data response delay time can be set when PLC is a Slave in COM2, COM3 RS-485 communication. Unit: 0.1ms. 0~10,000 adjustable. 2. By using PLC-Link, D1038 can be set to send next communication data with delay. Unit: 1 scan cycle.
Page 82 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 6. The descriptions of the special data registers for the analog functions: Device Function Average number of times analog input signals are input through CH0~CH3 of...
Page 83 2 . Pr ogr am m i ng Conc e pts The description of D1115 for 30EX2: Bit15~12 Bit11~8 Bit7~4 Bit3~0 Analog output mode Analog input mode Analog input mode Analog input mode of DA0 of AD2 of AD1 of AD0 The analog input modes for 30EX2: Code Three-wire...
Page 84 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng DMOV K100000 DMOV K50000 DMOV K100000 DMOV K50000 D1030 DMOV D1336 DMOV M1119 DDRVI...
Page 85 2 . Pr ogr am m i ng Conc e pts Function Group Program Execution Error Number M1067~M1068, D1067~D1068 Contents: STOP→RUN RUN→STOP Device Explanation Latched M1067 Program execution error None Clear Unchanged M1068 Execution error locked None Unchanged Unchanged D1067 Error code for program execution None Clear...
Page 86 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Special D D1241, D1240 D1243, D1242 Counter C243 C246 C248 C252 C244 C250 C254...
Page 87 2 . Pr ogr am m i ng Conc e pts Function Group ID of left side modules on SA2/SX2/SE Number D1386~D1393 Contents: When left side modules are connected on SA2/SX2/SE, the ID of each I/O module will be stored in D1386~D1393 in connection order.
Page 88 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 2. Special D and special M corresponding to Slave ID1~ Slave ID8: (M1353 = OFF, access available for only 16 words) MASTER PLC SLAVE ID 1...
Page 89 2 . Pr ogr am m i ng Conc e pts 4. Special D and special M corresponding to Slave ID1~ID8: (M1353 = ON, access available for up to 50 words) (DVP-SE V1.6 supports 100 words at most.) MASTER PLC SLAVE ID 1 SLAVE ID 2 SLAVE ID 3...
Page 90 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 5. Special D and special M corresponding to Slave ID9~ID16: (M1353 = ON, access available for up to 50 words) (DVP-SE V1.6 supports 100 words at most.) MASTER PLC SLAVE ID 9...
Page 91 2 . Pr ogr am m i ng Conc e pts 6. Special D and special M corresponding to Slave ID17~ID24: (M1353 = ON, access available for up to 100 words) (Model supported: DVP-SE V1.6) MASTER PLC SLAVE ID 17 SLAVE ID 18 SLAVE ID 19 SLAVE ID 20 SLAVE ID 21 SLAVE ID 22 SLAVE ID 23 SLAVE ID 24...
Page 92 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 7. Special D and special M corresponding to Slave ID25~ID32: (M1353 = ON, access available for up to 100 words) (Mode supported: DVP-SE V1.6) MASTER PLC SLAVE ID 25 SLAVE ID 26 SLAVE ID 27 SLAVE ID 28...
Page 93 2 . Pr ogr am m i ng Conc e pts 8. Explanation: (16 slave stations at most can be supported.) a) PLC LINK is based on MODBUS communication protocol. b) Baud rate and communication format of all phariferal devices connected to the Slave PLC should be the same as the communication format of Master PLC, no matter which COM port of Slave PLC is used.
Page 94 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng  M1355 = ON, Slave status is user-defined. Set the linking statuses of slave ID 1~slave ID 16 (slave ID 1~slave ID 32) manually by M1360~M1375 (M1360~M1375 and M1440~M1455).
Page 95 2 . Pr ogr am m i ng Conc e pts b) Manual mode (M1352): When manual mode is selected, times of polling cycle in D1431 has to be set up. A full polling cycle refers to the completion of accessing all Slaves. When PLC LINK is enabled, D1432 starts to store the times of polling.
Page 96 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 13. Operation flow chart: In the flow chart below, there are 16 slaves, and 50 words are accessed. Set starting refer ence of the S lave PLC to be read: D1355~D1370...
Page 97 2 . Pr ogr am m i ng Conc e pts 14. Example 1: Connect 1 Master and 2 Slaves by RS-485 and exchange 16 data between Master and Slaves through PLC LINK a) Write the ladder diagram program into Master PLC (ID#17) M1002 D1121 Master ID#...
Page 98 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Master PLC Preset value Slave PLC Preset value D1512 ~ D1527 K6,000 D100 ~ D115 of Slave ID#2 K6,000...
Page 99 (For example, the external interrupt or SPD will not be enabled after the frequency detection function is enabled.) 7. DVP-ES2/EX2 series PLCs (exclusive of DVP-ES2-C series PLCs) whose firmware version is 3.22 (or above), and DVP-SX2 series PLCs whose firmware version is 2.66 (or above) support this function.
Page 100 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 3. DVP-ES2/EX2/SS2 series PLCs whose firmware version is 3.28 (or above), and DVP- SA2/SX2 series PLCs whose firmware version is 2.82 (or above) support this function.
Page 101 Instruction Set This chapter explains all of the instructions that are used with DVP-ES2/EX2/SS2/ SA2/SX2/SE as well as detailed information concerning the usage of the instructions. Chapter Contents 3.1 Basic Instructions (without API numbers) ................3-2 3.2 Explanations to Basic Instructions ..................3-2 3.3 Pointers ..........................
Page 102: Basic Instructions (Without Api Numbers)
The LD instruction is used to load NO contact which connects to left side bus line or starts a new block of program connecting in series or parallel connection. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is...
Page 103 The LDI instruction is used to load NC contact which connects to left side bus line or starts a new block of program connecting in series or parallel connection. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is 2.40 (and above) support the operands X, Y, M,...
Page 104 Explanations: The AND instruction is used to connect NO contact in series. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is 2.40 (and above) support the operands X, Y, M, and S.
Page 105 Explanations: The OR instruction is used to connect NO contact in parallel. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is 2.40 (and above) support the operands X, Y, M, and S.
Page 106 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program example: Ladder diagram: Instruction: Operation: Load NO contact X0 Connect NC contact X1 in parallel Drive Y1 coil Ladder diagram: Instruction:...
Page 107 3 . I ns t r uc ti on Se t Program example: Ladder diagram: Instruction: Operation: Load NO contact X0 Block A Connect NC contact X1 in series Load NC contact X2 Block B Connect NO contact X3 in series Connect circuit block in parallel Drive Y1 coil Mnemonic...
Page 108 Explanations: Output the program evaluation results before OUT instruction to the designated device. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is 2.40 (and above) support the operands Y, M, and S.
Page 109 SET instruction is still driven. In this case, RST instruction can be applied to turn off the device. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is 2.40 (and above) support the operands Y, M,...
Page 110 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Status of designated devices remains the same when RST instruction is not executed. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is 2.40 (and above) support the operands Y, M,...
Page 111 3 . I ns t r uc ti on Se t Note: MC-MCR master-control instruction supports max 8 layers of nest levels. Please use the instructions in order from N0~ N7. Program example: Ladder diagram: Instruction: Operation: Load NO contact X0 Enable N0 nest level Load NO contact X1 Drive coil Y1...
Page 112 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program example: Ladder Diagram: Instruction: Operation: Load NO contact X0 NOP instruction will be omitted in the ladder diagram No operation Drive coil Y1...
Page 113: Pointers
3 . I ns t r uc ti on Se t Timing Diagram: A scan cycle A scan cycle 3.3 Pointers Mnemonic Operands Function Program steps Controllers ES2/EX2 SS2 P0~P255 Pointer Explanation: Pointer P is used with API 00 CJ and API 01 CALL instructions. The use of P does not need to start from P0, and the No.
Page 114 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program example: Ladder diagram: Instruction Operation: code: Enable interruption Allowable range X1 Load NO contact X1 for interruption Y1 Drive Y1 coil...
Page 115: Application Programming Instructions
3 . I ns t r uc ti on Se t 3.5 Application Programming Instructions PLC instructions are provided with a unique mnemonic name to make it easy to remember instructions. In the example below the API number given to the instruction is 12, the mnemonic name is MOV and the function description is Move.
Page 116 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Source: if there are more than one source is required, it will be indicated as S ...etc.
Page 117 3 . I ns t r uc ti on Se t Steps occupied by the 16-bit/32-bit/pulse instruction Applicable PLC models for 16-bit/32-bit/pulse execution instruction. Continuous execution vs. Pulse execution There are two execution types for instructions: continuous execution instruction and pulse instruction.
Page 118 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 10. “Kn” can be placed before bit devices X, Y, M and S to make it a word device for performing word-device operations.
Page 119 3 . I ns t r uc ti on Se t When X0 = ON, DSW will be enabled. When X0 = OFF, M0 is DSW X10 latched. M0 will be reset M1029 only when DSW instruction is completed to activate M1029.
Page 120 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng and DHSZ instructions: 4. DHSZ takes up 2 times of the total available times. For counters C244, C249, C250, C253, C254, the total max times for using DHSCS, DHSCR and DHSZ instructions: 4.
Page 121 3 . I ns t r uc ti on Se t When the Kn value is specified as K1~K3 (K4~K7) for a 16-bit (32-bit) operation, the empty upper bits of the target register will be filled with “0.” Therefore, the operation result in this case is positive since the MSB(Most significant bit) is 0.
Page 122 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Binary Floating Point DVP-PLC represents floating point value in 32 bits, following the IEEE754 standard: 8-bit 23-bit exponent...
Page 123 3 . I ns t r uc ti on Se t [exponent D1 ] Decimal floating point = [constant D0] × 10 Constant D0 = ±1,000 ~ ±9,999 Exponent D1 = -41 ~ +35 The constant 100 does not exist in D0 because 100 is represented as 1,000 × 10 .
Page 124: Numerical List Of Instructions (Classified According To The Function)
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng application instruction indicate the operands modifiable by E and F. If you need to modify device P, I, X, Y, M, S, KnX, KnY, KnM, KnS, T, C and D by applying E, F, you have to select a 16-bit register, i.e.
Page 125 3 . I ns t r uc ti on Se t Mnemonic Applicable to STEPS PULSE Function 16 bits 32 bits SX2 16-bit 32-bit  29 NEG DNEG 2’s Complement (Negation)      16-bit/32-bit Binary Multiplication  ...
Page 126 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Applicable to STEPS PULSE Function 16 bits 32 bits SX2 16-bit 32-bit DHSCR High speed counter RESET ...
Page 127 3 . I ns t r uc ti on Se t Mnemonic Applicable to STEPS PULSE Function 16 bits 32 bits SS2 SA2 SX2 SE 16-bit 32-bit 80 RS Serial communication       81 PRUN DPRUN Parallel run ...
Page 128 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Applicable to STEPS PULSE Function 16 bits 32 bits SX2 16-bit 32-bit SE 2 206 ASDRW ASDA servo drive R/W...
Page 129 3 . I ns t r uc ti on Se t Additional Instruction Mnemonic Applicable to STEPS PULSE Function 16 bits 32 bits SS2 SA2 SX2 SE 16-bit 32-bit       143 DELAY Delay   ...
Page 130 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Applicable to STEPS PULSE Function 16 bits 32 bits SX2 16-bit 32-bit ...
Page 131 3 . I ns t r uc ti on Se t Contact Type Logic Operation Mnemonic Applicable to STEPS PULSE Function 16 bits 32 bits SX2 16-bit 32-bit     215 LD& DLD& & S    ...
Page 132 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Applicable to STEPS PULSE Function 16 bits 32 bits SX2 16-bit 32-bit 306 ANDZ= DANDZ= ...
Page 133 3 . I ns t r uc ti on Se t Mnemonic Applicable to STEPS PULSE Function 16 bits 32 bits SX2 16-bit 32-bit     FOR> > S     FOR< < S   ...
Page 134: Numerical List Of Instructions (In Alphabetic Order)
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 3.7 Numerical List of Instructions (in alphabetic order) Mnemonic PULSE Function Applicable to STEPS 16 bits...
Page 135 3 . I ns t r uc ti on Se t Mnemonic PULSE Function Applicable to STEPS 16 bits 32 bits SS2 SA2 SX2 SE 16-bit 32-bit Output specified bit of a      266 BOUT DBOUT word ...
Page 136 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic PULSE Function Applicable to STEPS 16 bits 32 bits SS2 SA2 SX2 SE 16-bit 32-bit Incremental drum ...
Page 137 3 . I ns t r uc ti on Se t Mnemonic PULSE Function Applicable to STEPS 16 bits 32 bits SS2 SA2 SX2 SE 16-bit 32-bit      52 MTR Input Matrix     ...
Page 138 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic PULSE Function Applicable to STEPS 16 bits 32 bits SS2 SA2 SX2 SE 16-bit 32-bit ...
Page 139 3 . I ns t r uc ti on Se t Mnemonic PULSE Function Applicable to STEPS 16 bits 32 bits SS2 SA2 SX2 SE 16-bit 32-bit       28 WXOR DXOR Logical XOR  17 XCH DXCH Exchange ...
Page 140 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic PULSE Function Applicable to STEPS 16 bits 32 bits SS2 SA2 SX2 SE 16-bit 32-bit Point Motion Single-Axis pulse output by ...
Page 141: Detailed Instruction Explanation
3 . I ns t r uc ti on Se t 3.8 Detailed Instruction Explanation Mnemonic Operands Function Controllers ES2/EX2 SS2 Conditional Jump Range Program Steps P0~P255 CJ, CJP: 3 steps PULSE 16-bit 32-bit ES2/EX2 SS2 SX2 ES2/EX2 SS2 SX2 ES2/EX2 SS2 Operands: S: The destination pointer P of the conditional jump.
Page 142 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program example 1: When X0 = ON, the program will skip from address 0 to N (Pointer P1) automatically and keep on executing.
Page 143 3 . I ns t r uc ti on Se t When the instruction MC is executed, the previous state of the switch contact is put onto the top of the stack inside the PLC. The stack is controlled by the PLC, and can not be changed by users.
Page 144 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Y1 is a dual output. When M0 = OFF, Y1 is controlled by M1. M0 = ON, Y1 is controlled by M12. T240 K1000 T240...
Page 145 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 CALL Call Subroutine Valid Range Program Steps P0~P255 CALL, CALLP: 3 steps PULSE 16-bit 32-bit ES2/EX2 SS2 SX2 ES2/EX2 SS2 SX2 ES2/EX2 SS2 Operands: S: The destination pointer P of the call subroutine.
Page 146 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Function Controllers ES2/EX2 SS2 SRET Subroutine Return Descriptions Program Steps No contact to drive the instruction is required SRET: 1 step Automatically returns program execution to the address...
Page 147 3 . I ns t r uc ti on Se t CALL CALL Main Subroutine Program FEND SRET CALL CALL Subroutine Subroutine SRET SRET Subroutine CALL SRET Subroutine SRET 3 - 4 7...
Page 148 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Function Controllers ES2/EX2 SS2 IRET Interrupt Return Descriptions Program Steps No contact to drive the instruction is required.
Page 149 3 . I ns t r uc ti on Se t 3. Interrupt subroutines must be placed after the FEND instruction. 4. Other interrupts are not allowed during execution of a current interrupt routine. 5. When many interruptions occur, the priority is given to the firstly executed interruption. If several interruptions occur at the same time, the priority is given to the interruption with the smaller pointer No.
Page 150 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program example: During the PLC operation, the program scans the instructions between EI and DI, if X1 or X2 are ON, the subroutine A or B will be interruptted.
Page 151 3 . I ns t r uc ti on Se t Mnemonic Function Controllers ES2/EX2 SS2 FEND The End of The Main Program (First End) Descriptions Program Steps No contact to drive the instruction is required. FEND: 1 step PULSE 16-bit 32-bit ES2/EX2 SS2...
Page 152 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng CJ Instruction Program Flow The program flow The program flow when X0=On when X0=off, program jumps to P0 X1=off...
Page 153 3 . I ns t r uc ti on Se t CALL Instruction Program Flow The program flow when X0=off, The program flow X1=off when X0=Off, Main program X1=On. CALL Main program FEND Main program FEND Command CALL subroutine SRET Interrupt subroutine I301 IRET...
Page 154 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Function Controllers ES2/EX2 SS2 Watchdog Timer Refresh Descriptions Program Steps WDT, WDTP: 1 step PULSE 16-bit...
Page 155 3 . I ns t r uc ti on Se t Program example: If the program scan time is over 300ms, users can divide the program into 2 parts. Insert the WDT instruction in between, making scan time of the first half and second half of the program being less than 200ms.
Page 156 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Start of a FOR-NEXT Loop Type Bit Devices Word devices...
Page 157 3 . I ns t r uc ti on Se t Program example 1: After program A has been executed for 3 times, it will resume its execution after NEXT instruction. Program B will be executed for 4 times whenever program A is executed once. Therefore, program B will be executed 3 ×...
Page 158 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program example 3: Users can adopt CJ instruction to skip a specified FOR ~ NEXT loop. When X1 = ON, CJ instruction executes to skip the most inner FOR ~ NEXT loop.
Page 159 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Compare Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F CMP, CMPP: 7 steps DCMP, DCMPP: 13 steps PULSE 16-bit...
Page 160 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Zone Compare Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ZCP, ZCPP: 9 steps...
Page 161 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Move Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F MOV, MOVP: 5 steps DMOV, DMOVP: 9 steps PULSE 16-bit...
Page 162 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers Shift ES2/EX2 SS2 SMOV Move Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SMOV, SMOVP: 11 step...
Page 163 3 . I ns t r uc ti on Se t Program example 1: 1. When M1168 = OFF (in BCD mode) and X0 = ON, the 4 (thousand) and 3 (hundred) digit of the decimal value in D10 start to move to the 3 (hundred) and 2 (ten) digit of the decimal value in D20.
Page 164 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program example 3: 1. This instruction can be used to combine the DIP switches connected to the input terminals without continuous numbers.
Page 165 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Compliment Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F CML, CMLP: 5 steps DCML, DCMLP: 9 steps PULSE 16-bit...
Page 166 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Block Move BMOV Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F BMOV, BMOVP: 7 steps...
Page 167 3 . I ns t r uc ti on Se t Program example 2: Assume the bit devices KnX, KnY, KnM and KnS are designated for moving, the number of digits of S and D has to be the same, i.e. their n has to be the same. M1000 BMOV K1M0...
Page 168 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Fill Move FMOV Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F FMOV, FMOVP: 7 steps...
Page 169 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Exchange Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F XCH, XCHP: 5 steps DXCH, DXCHP: 9 steps PULSE 16-bit...
Page 170 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Before After execution execution E0=0, D0 L D 0 L M 1303 D 0 H D 0 H R ST...
Page 171 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Convert BIN to BCD Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F BCD, BCDP: 5 steps DBCD, DBCDP: 9 steps PULSE 16-bit...
Page 172 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Convert BCD to BIN Type Bit Devices Word devices Program Steps...
Page 173 3 . I ns t r uc ti on Se t 4-digit DIP switch in BCD format 4-digit BCD value Using BIN instruction to store the BIN value into D100 Using BCD instruction to convert the content in D100 into a 4-digit BCD value. 4-digit 7-segment display in BCD format 3 - 7 3...
Page 174 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng MEMO 3 - 7 4...
Page 175 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Addition Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ADD, ADDP: 7 steps DADD, DADDP: 13 steps PULSE 16-bit...
Page 176 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 2. If the operation result exceeds -2,147,483,648, the borrow flag M1021 will be ON. 3.
Page 177 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Subtraction Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SUB, SUBP: 7 steps DSUB, DSUBP: 13 steps PULSE 16-bit...
Page 178 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Multiplication Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F MUL, MULP: 7 steps DMUL, DMULP: 13 steps...
Page 179 3 . I ns t r uc ti on Se t If D is specified with a word device, it can specify K1~K8 to store a 32-bit result. Users can use 2 consecutive 32-bit registers to store 64-bit data. If the product of a 32-bit multiplication must be a 32-bit value (32-bit value x 32-bit value = 32-bit value), users have to use API 114 MUL32/MUL32P.
Page 180 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Division Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DIV, DIVP: 7 steps DDIV, DDIVP: 13 steps...
Page 181 3 . I ns t r uc ti on Se t Program Example: When X0 = ON, D0 will be divided by D10 and the quotient will be stored in D20 and remainder in D21. ON/OFF of the MSB indicates the positive/negative status of the result value.. 3 - 7 9...
Page 182 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Increment Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F INC, INCP: 3 steps DINC, DINCP: 5 steps...
Page 183 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Decrement Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DEC, DECP: 3 steps DDEC, DDECP: 5 steps PULSE 16-bit...
Page 184 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Logical Word AND WAND Type Bit Devices Word devices Program Steps...
Page 185 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Logical DWord AND DAND Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DAND, DANDP: 13 steps PULSE 16-bit 32-bit...
Page 186 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Logical Word OR Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F WOR, WORP: 7 steps...
Page 187 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Logical DWord OR Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DOR, DORP: 13 steps PULSE 16-bit 32-bit...
Page 188 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Logical Word XOR WXOR Type Bit Devices Word devices Program Steps...
Page 189 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Logical DWord XOR DXOR Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DXOR, DXORP: 13 steps PULSE 16-bit 32-bit...
Page 190 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers 2’s Complement ES2/EX2 SS2 (Negation) Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F NEG, NEGP: 3 steps...
Page 191 3 . I ns t r uc ti on Se t Detailed explanations on negative value and its absolute value 1. MSB = 0 indicates the value is positive while MSB = 1 indicates the value is negative. 2. NEG instruction can be applied to convert a negative value into its absolute value. (D0=2) (D0=1) (D0=0)
Page 192 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Rotation Right Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ROR, RORP: 5 steps...
Page 193 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Rotate Left Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ROL, ROLP: 5 steps DROL, DROLP: 9 steps PULSE 16-bit...
Page 194 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Rotation Right with Carry Type Bit Devices Word devices Program Steps...
Page 195 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Rotation Left with Carry Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F RCL, RCLP: 5 steps DRCL, DRCLP: 9 steps PULSE 16-bit...
Page 196 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SFTR Bit Shift Right Type Bit Devices Word devices Program Steps...
Page 197 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SFTL Bit Shift Left Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SFTL, SFTLP: 9 steps PULSE 16-bit 32-bit...
Page 198 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 WSFR Word Shift Right Type Bit Devices Word devices Program Steps...
Page 199 3 . I ns t r uc ti on Se t Program Example 2: 1. When X0 is triggered, WSFRP instruction shifts X20~X27 into data stack Y20~Y37 and Y20~Y37 also shift to the right with a group of 4 devices. 2.
Page 200 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 WSFL Word Shift Left Type Bit Devices Word devices Program Steps...
Page 201 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SFWR Shift Register Write Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SFWR, SFWRP: 7 steps PULSE 16-bit 32-bit...
Page 202 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SFRD Shift Register Read Type Bit Devices Word devices Program Steps...
Page 203 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 ZRST Zone Reset Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ZRST, ZRSTP: 5 steps PULSE 16-bit 32-bit...
Page 204 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 2. For clearing multiple devices, API 16 FMOV instruction can be used to send K0 to word devices T, C, D or bit devices KnY, KnM, KnS.
Page 205 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 DECO Decode Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DECO, DECOP: 7 steps PULSE 16-bit 32-bit...
Page 206 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example 2: 1. When D is used as a word device, n = 1 ~ 4. Errors will occur if n = 0 or n > 4. 2.
Page 207 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Encode ENCO Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DECO, DECOP: 7 steps PULSE 16-bit 32-bit...
Page 208 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example 2: 1. When S is used as a word device, n = 1 ~ 4. Errors will occur if n = 0 or n > 4. 2.
Page 209 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Sum of Active bits Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SUM, DSUMP: 5 steps DSUM, DSUMP: 9 steps PULSE 16-bit...
Page 210 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers Check specified bit ES2/EX2 SS2 status Type Bit Devices Word devices Program Steps...
Page 211 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Mean MEAN Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F MEAN, MEANP: 7 steps DMEAN, DMEANP: 13 steps PULSE...
Page 212 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Timed Annunciator Set Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ANS: 7 steps...
Page 213 3 . I ns t r uc ti on Se t Mnemonic Function Controllers ES2/EX2 SS2 Annunciator Reset Descriptions Program Steps Instruction driven by contact is necessary. ANR, ANRP: 1 steps PULSE 16-bit 32-bit ES2/EX2 SS2 SX2 ES2/EX2 SS2 SX2 ES2/EX2 SS2 Explanations: 1.
Page 214 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng M1000 M1049 K100 S912 K200 S920 M1048 ANRP 1. M1048 and D1049 are valid only when M1049 = ON. 2.
Page 215 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Square Root Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SQR, SQRP: 5 steps DSQR, DSQRP: 9 steps PULSE 16-bit...
Page 216 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 Floating Point Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F FLT, FLTP: 5 steps...
Page 217 3 . I ns t r uc ti on Se t M1002 M1081 DFLT Program Example 2: 1. When M1081 = ON, the source data is converted from floating point value to BIN integer. (Decimal ignored) 2. When X20 = ON, D1 and D0 (floating point) are converted to D12 (BIN integer). If D0 (D1) = H47C35000, the result will be 100,000 which exceeds the available range of BIN integer in 16-bit register D12.
Page 218 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng M1000 D100 K2X0 D200 D200 D202 DEDIV K615 D300 DEDIV D100 D202 D400 DEMUL...
Page 219 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Refresh Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F REF, REFP: 5 steps PULSE 16-bit 32-bit...
Page 220 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example 3: When X0 = ON, I/O points starting from X10 or Y4 will all be refreshed. 或...
Page 221 3 . I ns t r uc ti on Se t Controllers Mnemonic Operands Function ES2/EX2 SS2 Refresh and Filter Adjust REFF Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F REFF, REFFP: 3 steps PULSE 16-bit 32-bit...
Page 222 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng high-speed counters or SPD instruction. 3 - 1 2 0...
Page 223 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 Input Matrix Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F MTR: 9 steps PULSE 16-bit 32-bit...
Page 224 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng The figure below illustrates the external wiring of the 2-array matrix input loop constructed by X40 ~ X47 and Y40 ~ Y41.
Page 225 3 . I ns t r uc ti on Se t Points to note: 1. Operand S must be a multiple of 10, e.g. 00, 10, 20, which means X0, X10… etc. and occupies 8 continuous devices. 2. Operand D should be a multiple of 10, i.e.
Page 226 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers High Speed Counter ES2/EX2 SS2 HSCS Type Bit Devices Word devices Program Steps...
Page 227 3 . I ns t r uc ti on Se t  Table of settings for the high-speed interrupts of the software counters and software comparators: Counter C232 C233 C234 C235 C236 C237 DHSCS High-speed I010 I050 I070 I010 I020 I030 interrupt High-speed comparator...
Page 228 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng as the source counter automatically and no syntax check error will be detected. ...
Page 229 3 . I ns t r uc ti on Se t  Block diagram of hardware counters and comparators: Hardware comparator Set /res et A x 4 I010 Count Hardware value counter Set /res et I040 Hardware comparator Set /res et B x 4 I050 Hardware...
Page 230 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng  When value in C235 varies from 99 to100, DHSCS instruction sets M0 ON. (M1235 = OFF, C235 counts up) ...
Page 231 3 . I ns t r uc ti on Se t Program Example 3: Executes interrupt subroutine by applying software comparator. M1000 DCNT C235 K100 C235 DHSCS I010 K100 FEND M1000 I010 IRET  When value in C235 varies from 99 to100, interrupt subroutine triggered by I010 executes immediately to set Y0 ON.
Page 232 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng the count value will be moved to D1242 and D1243 when interrupt occurs and then the counter will be reset.
Page 233 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 High Speed Counter HSCR Reset Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DHSCR: 13 steps PULSE 16-bit 32-bit...
Page 234 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 High Speed Zone Compare Bit Devices Word devices Program Steps...
Page 235 3 . I ns t r uc ti on Se t  There are 6 software zone comparators available exclusively for zone compare operation, hence the limit of 6 comparisons for zone compare does not include the comparisons of DHSCS and DHSCR. ...
Page 236 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng available for DHSZ instruction. If comparators are used repeatedly, the syntax error will be detected on the instruction behind.
Page 237 3 . I ns t r uc ti on Se t Timing diagram Speed variable transmission device High speed Low speed Stop Present value of C251 2400 2000 3 - 1 3 5...
Page 238 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Speed Detection Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SPD: 7 steps...
Page 239 3 . I ns t r uc ti on Se t 6. If X0, X1, X2, X6 or X7 are used in a SPD instruction, their associated high-speed counters or external interrupts I000/I001, I100/I101, I200/I201, I600/I601 or I700/I701 can not be used. 7.
Page 240 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Pulse Output PLSY Type Bit Devices Word devices Program Steps...
Page 241 3 . I ns t r uc ti on Se t 6. Four pulse output modes: (They are only applicable to DVP-SE.) D1220 D1221 Mode Output Pulse Pulse Pulse Pulse Pulse Pulse Pulse Pulse 7. Pulse output flags: Output device Completed Flag M1029 M1030...
Page 242 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng PLSY K1000 K200 M1029 0.5ms Output Y0 Points to note: 1. Description of associated flags: M1029: M1029 = ON when Y0 pulse output is completed.
Page 243 3 . I ns t r uc ti on Se t 2. Description of associated special D registers: D1030: Present number of Y0 output pulses (Low word). D1031: Present number of Y0 output pulses (High word). D1032: Present number of Y1 output pulses (Low word). D1033: Present number of Y1 output pulses (High word).
Page 244 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Explanations: a) Whenever I001 is triggered, Y0 will output 1,000 pulses; whenever I101 is triggered, Y2 will output 1,000 pulses.
Page 245 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Pulse Width Modulation Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F PWM: 7 steps PULSE 16-bit 32-bit...
Page 246 11. When M1071 = ON, the unit of Y3 output pulse is 100μs, when M1071 = OFF, the unit is 1ms. 12. When M1116 is ON, M1112 and M1113 do not work. The time unit of the pulse output through Y0 and Y2 is 1μs. DVP-ES2 version 3.00/SS2 version 2.80/SA2 version 2.60/SE version 2.60/SX2 version 2.40 support this function.
Page 247 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Pulse Ramp PLSR Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F PLSR: 9 steps DPLSR: 17 steps PULSE 16-bit...
Page 248 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O pe r a t i on Ma nua l - Pr ogr am m i ng 8. When assigning Y0 and Y2 output mode as Pulse/Dir, i.e. D1220 = K1, D1221 = K1, the available range for S is 1~32,767 or -1~-32,768 (16-bit instruction) and 1~2,147,483,647 or -1~-2,147,483,648 (32-bit instruction)
Page 249 3 . I ns t r uc ti on Se t 17. When M1334 or M1335 is enabled, execute API59 PLSR/DPLSR instructions on Y0 or Y2 to ramp-down when the conditional contacts are closed. 12SA2/ ES2/EX Series ES2-C ES2-E 26SE 28SA2 Firmware V3.42...
Page 250 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O pe r a t i on Ma nua l - Pr ogr am m i ng M1257: Set the ramp up/down of Y0, Y2 to be “S curve.” ON = S curve. M1158: Enabling the mask and alignment mark function on I600/I601(X6) corresponding to M1534: Enable ramp-down time setting on Y0.
Page 251 3 . I ns t r uc ti on Se t  When M1156/M1158 = ON, enable ramp-down pause (Mark function) on Y0/Y2 when X4/X6 receives interrupt signals.  When Mark function is enabled, ramp down time is independent of the ramp up time. Users can set ramp up time in S and ramp down time in D1348/D1349.
Page 252 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O pe r a t i on Ma nua l - Pr ogr am m i ng the pause status. If users need to complete the remaining pulses, set OFF the flag M1108 and pulse output will resume.
Page 253 3 . I ns t r uc ti on Se t M1108 will be ON. If no interrupt is detected on X4, Y0 pulse output will stop after 1,000,000 pulses are completed.  Interrupt triggered between 0 ~ 50,000 pulses will be invalid, i.e. no ramp-down process will be performed before 50,000 pulses are achieved.
Page 254 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O pe r a t i on Ma nua l - Pr ogr am m i ng  Execution of the mask function (use Y0 as an example) Frequency (Hz) External interrupts X4 External interrupts X4...
Page 255 3 . I ns t r uc ti on Se t target as well as the time of ramp-up and down. See the black line for reference.  The frequency for the fixed slope is defined by the frequencies of starting, ending and the maximum as well as the time of ramp-up and down.
Page 256 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Initial State Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F IST: 7 steps...
Page 257 3 . I ns t r uc ti on Se t Program Example 2: Robot arm control (by IST instruction): 1. Control purpose: Select the big balls and small balls and move them to corresponding boxes. Configure the control panel for each operation. 2.
Page 258 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng a) X0: ball size sensor. b) X1: left-limit of robot arm, X2: right-limit (big balls), X3: right-limit (small balls), X4: upper-limit of clamp, X5: lower-limit of clamp.
Page 259 3 . I ns t r uc ti on Se t b) Ladder Diagram: Enter zero return mode Release balls Stop lowering robot arm Raise robot arm to the upper-limit (X4 = ON) Stop shifting to right Shift to left and to reach the left-limit (X1 = On) Enable zero return completed flag M1043...
Page 260 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng b) Ladder Diagram: M1041 M1044 Enter auto operation mode Lower robot arm X5 X0 Clip balls Raise robot arm to the...
Page 261 3 . I ns t r uc ti on Se t Flag explanation: M1040: Disable step transition. When M1040 = ON, all motion of step points are disabled. 1. Manual operation mode: M1040 remains ON in manual mode. 2. Zero return mode/one cycle operation mode: M1040 remains ON in the interval after Auto Stop and before Auto Start is pressed.
Page 262 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng D1040 ~ D1047 records 8 step numbers from the current ON step to the previous 7 ON steps. M1047: Enable STL monitoring.
Page 263 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Search a Data Stack Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SER, SERP: 9 steps DSER, DSERP: 17 steps PULSE 16-bit...
Page 264 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Absolute Drum ABSD Sequencer Type Bit Devices Word devices...
Page 265 3 . I ns t r uc ti on Se t 4. M10~ M13 = ON when the current value of C10 falls between lower and upper bounds. Lower-bound value Upper- bound value Current value of C10 Output D100= 40 D101 = 100 40≦C10≦100 M10 = ON...
Page 266 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng API Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Incremental drum INCD sequencer Type Bit Devices...
Page 267 3 . I ns t r uc ti on Se t 5. When X0 turns from ON →OFF, C10 and C11 will all be reset to 0 and M10~M14 = OFF. When X0 turns ON again, this instruction will be executed again from the beginning. M1013 K100 INCD...
Page 268 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Teaching Timer TTMR Type Bit Devices Word devices Program Steps...
Page 269 3 . I ns t r uc ti on Se t Program Example 2: 1. Use TMR instruction to write in 10 groups of set time. 2. Write the set values into D100 ~ D109 in advance 3. The timer resolution is 0.1 sec for timers T0 ~ T9 and 1 sec for the teaching timer. 4.
Page 270 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Special Timer STMR Type Bit Devices Word devices Program Steps...
Page 271 3 . I ns t r uc ti on Se t 6. Apply a NC contact Y3 after the drive contact X20, and Y1, Y2 will form a flashing circuit output. When X20 turns OFF, Y0, Y1 and Y3 = OFF and the content of T10 will be reset. STMR 5 sec 5 sec 3 - 1 6 9...
Page 272 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Alternate State Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ALT, ALTP: 3 steps...
Page 273 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Ramp variable RAMP Value Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F RAMP: 9 steps DRAMP: 17 steps PULSE 16-bit...
Page 274 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng If X20 = ON, n scans n scans D10 >D11 D10<D11 The scan times is stored in D13 Points to note: The variation of the content in D12 according to ON/OFF state of M1026 (Ramp mode selection):...
Page 275 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Data Transform and Move Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DTM: 9 steps PULSE 16-bit 32-bit...
Page 276 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Proportional value calculation function of multi-point areas (16-bit values) Available for SEV1.0, ES2/EX2 V2.4, SA2/SX2 V2.0, SS2 V2.2 Proportional value calculation function of multi-point areas (32-bit values) Available for SEV1.0, ES2/EX2 V2.4, SA2/SX2 V2.0, SS2 V2.2 Proportional value calculation function of multi-point areas (floating-point...
Page 277 3 . I ns t r uc ti on Se t 4. Explanations on parameter settings of m operand: K0: With n = 4, transform 8-bit data into 16-bit data (Hi-byte, Lo-byte) in the following rule: Hi-byte Lo-byte Hi-byte Lo-byte ...
Page 278 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng K4: With n = 3, transform 8-bit HEX data into ASCII data (higher 4 bits, lower 4 bits) in the following rule: Hi-byte Lo-byte Hi-byte Lo-byte...
Page 279 3 . I ns t r uc ti on Se t K5: With n = 3, transform 8-bit HEX data into ASCII data (lower 4 bits, higher 4 bits) in the following rule: Hi-byte Lo-byte Hi-byte Lo-byte L L Hi-byte Lo-byte Hi-byte Lo-byte ...
Page 280 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng K8: Transform 8-bit GPS data into 32-bit floating point data in the following rule: Hi-byte Lo-byte Hi-byte Lo-byte 32bit Floating (S+4=H4E )
Page 281 3 . I ns t r uc ti on Se t 2. Assume the data of source device is set up as below: Total Pulses Total Time Ramp-up Time Ramp-down Time D0, D1 K10000 K200 3. The optimal positioning results can be obtained as below: Optimal max frequency Optimal start frequency D10, D11...
Page 282 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng S+1, S+2….. S+n: set values of multi-point areas. S+1 must be the minimum value, S+2 must be larger than S+1 and so on.
Page 283 3 . I ns t r uc ti on Se t destination data string. The source data string will be copied in byte order until the ETX (value 0x00) is reached. Points to note: The operand n sets the max data length after the string combination (max 256). If the ETX is not reached after the combination, the location indicated by n will be the ETX and filled with 0x00.
Page 284 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng K18: Convert data string to floating point value Explanations: The system converts n words (lower 8 bits) of the source data string (decimal point is not included) to floating point value and stores the converted value in the destination device.
Page 285 3 . I ns t r uc ti on Se t The conversion will be performed in the following rule: Hi-byte Lo-byte Hi-byte Lo-byte ‘1’ ‘1’ ‘2’ ‘2’ ‘3’ ‘3’ n = k6 n = k6 32-bit Floating value 32-bit Floating value ‘.’...
Page 286 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Example: If M0 switches OFFON for 5 times in a row, execute the instruction DTM will copy the values stored in D0 to D101~105, as the image shown below: Adding one to the value stored in D100, after the execution of the DTM instruciton is complete.
Page 287 3 . I ns t r uc ti on Se t Example: If M0 switches OFFON, execute the instruction DTM will copy the values stored in D101 to D0. As the image shown below, execute the instruciton DTM to copy the value K12 stored in D101 to D0 and put K0 to D105.
Page 288 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng taken. “No action will be taken” means no error will be displayed nor will the index value (S+0) have any change.
Page 289 3 . I ns t r uc ti on Se t Note1: when the target index value (D+1) is less than 0, change D+1 to 0 and the actions of data copy and accumulation begin. When the target index value (D+1) is bigger than n-1, change D+1 to n;...
Page 290 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Read and store the state stored from M[S+0]+0 to the M[D] (target value) and move the state of the succeeding forward and change the state of the last to OFF and then diminish the index value (S+1) by 1.
Page 291 3 . I ns t r uc ti on Se t 3. Execute the instruciton DTM for 8 times to have the results: M70=1 and the states in M100~M107 are 0. K36: Read the last written register to the D device (target value) (last in first out). Diminish the index value (S+0) by 1 and then read and store the data stored from S+[S+0] to the D device and put K0 to the source value S+[S+0].
Page 292 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 6. Execute the instruciton DTM for 5 times to have the results: D0=K12 and values in D101~105 are K0.
Page 293 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Data sort SORT Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SORT: 11 steps DSORT: 21 steps PULSE 16-bit...
Page 294 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Example table of data sort Columns of data: m Data Column Column Students English...
Page 295 3 . I ns t r uc ti on Se t Program Example 1: (Sorting one-dimensional data) If X0 is On, the data specified will be sorted. After the data is sorted, M1029 will be On. If m is K1, and m is K1, one-dimensional data will be sorted.
Page 296 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Ten key input Type Bit Devices Word devices Program Steps...
Page 297 3 . I ns t r uc ti on Se t number key BCD value 1-digit BCD code overflow BCD value BIN value 2. As shown in the timing diagram below, four keys connected with X35, X33, X31 and X30 are pressed in order.
Page 298 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Hexadecimal key input Type Bit Devices Word devices Program Steps...
Page 299 3 . I ns t r uc ti on Se t 2. Input keys 0~9: number key 1-digit BCD code BCD value overflow BCD value BIN value 3. Input keys A~F: a) When A is pressed, M0 will be ON and retained. When D is pressed next, M0 will be OFF, M3 will be ON and retained..
Page 300 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng External wiring: +24V PLC(Transistor output) Points to note: 1. When HKY instruction is executed, 8 scan cycles (matrix scan) are required for reading the input value successfully.
Page 301 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 DIP Switch Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DSW: 9 steps PULSE 16-bit 32-bit...
Page 302 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 3. Please use transistor output for Y20 ~ Y23. Every pin 1, 2, 4, 8 shall be connected to a diode (0.1A/50V) in series before connecting to the input terminals on PLC.
Page 303 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 7-segment decoder SEGD Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SEGD, SEGDP: 5 steps PULSE 16-bit 32-bit...
Page 304 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 7-segment with Latch SEGL Type Bit Devices...
Page 305 3 . I ns t r uc ti on Se t 3. When there is 1 set of 4-digit 7-segment display, n = 0 ~ 3 a) Connect the 7-segment display terminals 1, 2, 4, 8 in parallel then connect them to Y20 ~ Y23 on PLC.
Page 306 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Pull-up resistor Drive Y Signal output 5. Positive logic (negative polarity) output of BCD code BCD value Y output (BCD code) Signal output...
Page 307 3 . I ns t r uc ti on Se t ‘－’: Negative logic (Positive polarity) output 9. The polarity of PLC transistor output and the polarity of the 7-segment display input can be designated by the setting of n. 3 - 2 0 5...
Page 308 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Arrow switch ARWS Type Bit Devices Word devices Program Steps...
Page 309 3 . I ns t r uc ti on Se t Add / up Digit indication Move Move to right to left Minus / down 7-segment display for the 4-digit set value The 4 switches are used for moving the digits and modifying set values. 3 - 2 0 7...
Page 310 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 ASCII code conversion Type Bit Devices Word devices Program Steps...
Page 311 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Print (ASCII Code Output) Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F PR: 5 steps PULSE 16-bit 32-bit...
Page 312 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example 2: 1. PR instruction supports ASCII data output of 8-bit data string when M1027 = OFF. When M1027 = ON, the PR instruction is able to execute an output of 1~16 bit data string.
Page 313 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers Read CR data ES2/EX2 SS2 SA2 FROM from Special Modules Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F FROM, FROMP: 9 steps DFROM, DFROMP: 17 steps PULSE...
Page 314 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng SS2: n in the 16-bit n in the 32-bit Operand instruction instruction Right-side 0~48...
Page 315 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers Write CR data ES2/EX2 SS2 SA2 into Special Modules Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F TO, TOP: 9 steps DTO, DTOP: 17 steps PULSE 16-bit...
Page 316 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 3. FROM/TO instruction reads/writes 1 CR at a time. DFROM/DTO instruction reads/writes 2 CRs at a time.
Page 317 8. If a Delta VFD series AC motor drive is used, the PLC provides the convenience instructions API 102 FWD, API 103 REV, API 104 STOP, API 105 RDST, and API 106 RSTEF. If a Delta ASD series servo drive is used, the PLC provides the convenience instruction API 206 ASDRW.
Page 318 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example 1: COM2 RS-485 1. Write the data to be transmitted in advance into registers starting from D100 and set M1122 (Sending request) as ON.
Page 319 3 . I ns t r uc ti on Se t Sending data: (PLC -> external equipment) D100L D101L D102L D103L ETX1 ETX2 source data register, starting from the lower 8 bits of D100 length = 4 Receiving data: (External equipment -> PLC) D120L D121L D122L...
Page 320 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Receiving data: (External equipment -> PLC) D120L D120H D121L D121H D122L D122H D123L Registers for received data,...
Page 321 LRC CHK 0 D136 high D137 low 3. The status of Delta VFD series inverters can also be accessed by handy instruction API 105 RDST instruction through COM2/COM3 on PLC. Program Example 4: COM2 RS-485 1. Connect PLC to VFD-B series AC motor drives (AC motor drive in RTU Mode; PLC in 16-bit mode and M1161 = ON).
Page 322 D127 low 07 H CRC CHK High 3. The forward running function of Delta’s VFD series inverter can also be set by handy instruction API 102 FWD instruction through COM2/COM3 on PLC. Program Example 5: COM1 RS-232 1. Only 8-bit mode is supported. Communication format and speed are specified by lower 8 bits of...
Page 323 3 . I ns t r uc ti on Se t D1036. 2. STX/ETX setting function (M1126/M1130/D1124~D1126) is not supported. 3. High byte of 16-bit data is not available. Only low byte is valid for data communication. 4. Write the data to be transmitted in advance into registers starting from D100 and set M1312 (COM1 sending request) as ON 5.
Page 324 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Receving data: (External equipment→PLC) D120L D121L D122L D123L D124L D125L D126L Registers for r eceived data, starting from...
Page 325 3 . I ns t r uc ti on Se t Sending data: (PLC→External equipment) D100L D101L D102L D103L Source data register, starting from lower 8 bits of D100 Length = 4 Receving data: (External equipment→PLC) D120L D121L D122L D123L D124L D125L D126L...
Page 326 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Flag Function Action COM1 Data receiving completed. When data receiving of System communication instructions is completed, M1314 will be ON.
Page 327 3 . I ns t r uc ti on Se t Flag Function Action Data transmission ready. M1121 = OFF indicates that RS-485 in System M1121 COM2 is transmitting sets Sending request. Before executing communication instructions, User sets, users need to set M1122 to ON by trigger pulse, so that the data M1122 system sending and receiving will be started.
Page 328 REV / STOP / RDST / RSTEF can also be applied. 8/16-bit mode. ON: 8-bit mode. OFF: 16-bit mode M1161 Supported communication instructions: RS Enable the communication instruction for Delta VFD series inverter. User sets ON: VFD-A (Default), OFF: other models of VFD M1177...
Page 329 3 . I ns t r uc ti on Se t Special Function register Feedback data (ASCII) of Modbus communication. When PLC’s RS-485 communication instruction receives feedback signals, the data will be D1070~D1085 saved in the registers D1070~D1085 and then converted into Hex in other registers.
Page 330 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Special Function register The specific end word to be detected for RS instruction to execute an D1168 interruption request (I150) on COM2 (RS-485).
Page 331 3 . I ns t r uc ti on Se t Flag Function Action System COM3 data receiving error. M1319 will be set ON when errors occur sets, M1319 and the error code will be stored in D1252 user resets Special register Function Delay time of data response when PLC is SLAVE in COM2, COM3...
Page 332 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng COM1 COM2 COM3 Function Description D1125 Definition of ETX1 (RS) D1126 Definition of ETX2 (RS) D1249 D1129...
Page 333 3 . I ns t r uc ti on Se t COM1 COM2 COM3 Function Description MODRD/MODWR/MODRW parameter error M1141 (Exception Code exists in received data) Exception Code is stored in D1130 Errors Data receiving error of VFD-A handy instructions M1142 (FWD/REV/STOP/RDST/RSTEF) COM2 (RS-485) Error code returning from...
Page 334 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 6. When RS instruction is applied for communication between a PLC and peripheral devices, usually the STX (Start of the text) and the ETX (End of the text) have to be defined.
Page 335 3 . I ns t r uc ti on Se t Value Error Description H0005 Communication data length error 9. Corresponding table between D1167~D1169 and the associated interrupt pointers. (Only lower 8 bits are valid) I1□0 interrupt COM Port Special D COM1 I140 D1167...
Page 336 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng ‘0’ ‘1’: toward the drive at address 01 ‘0’ ‘F’: toward the drive at address 15 ‘1’...
Page 337 3 . I ns t r uc ti on Se t Inquiry message: Response message: ‘2’ 2103H ‘0’ ‘D’ ‘0’ LRC Checksum ‘7’ ‘0’ ‘7’ LRC Checksum ‘1’ RTU mode Field Name Descriptions START Refer to the following explanation Communication address: n 8-bit binary Address Function code: n 8-bit binary Function...
Page 338 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Function code: 03 H: read contents from multiple registers 06 H: write one word into single register 10 H: write contents to multiple registers Data characters: The data sent by the user...
Page 339 3 . I ns t r uc ti on Se t Example program of RS-485 communication: M1002 Setting communication protocol 9600, 7, E, 1 D1120 M1120 Communication protocol latched Setting communication time out 100ms K100 D1129 Transmission request Write transmitting data in advance Pulse Sending request M1122...
Page 340 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Timing diagram: SET M1122 X0 RS executes X20 Transmission ready M1121 Auto reset after transmitting completed Sending request M1122 User has to...
Page 341 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Parallel Run PRUN Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F PRUN, PRUNP: 5 steps DPRUN, DPRUNP: 9 steps PULSE...
Page 342 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Convert Hex to ASCII ASCI Type Bit Devices...
Page 343 3 . I ns t r uc ti on Se t D10=0123 H high byte low byte high byte low byte When n is 6, the bit structure will be as: D10 = H 0123 D11 = H 4567 0 0 1 1 1 1 Converted to H 37...
Page 344 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng “8” D20 low byte “B” “A” “9” “F” “E” “D” “C” “8”...
Page 345 3 . I ns t r uc ti on Se t When n is 2, the bit structure will be as: D10=0123 H ASCII code of "2" in D20 is 32H ASCII code of "3" in D21 is 33H When n is 4, the bit structure will be as: D10 = H 0123 Converted to 0 0 0...
Page 346 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 6. When n = 1 ~ 16: “3” “2” “1” “0” “7”...
Page 347 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Convert ASCII to HEX Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F HEX, HEXP: 7 steps PULSE 16-bit 32-bit...
Page 348 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng ASCII code ASCII code conversion conversion D23 low byte H 41 “A”...
Page 349 3 . I ns t r uc ti on Se t 2. Assume: ASCII code ASCII code conversion conversion H 43 “C” H 39 “9” H 44 “D” H 41 “A” H 45 “E” H 42 “B” H 46 “F” H 34 “4”...
Page 350 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Check Code Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F CCD, CCDP: 7 steps...
Page 351 3 . I ns t r uc ti on Se t Program Example 2: 1. M1161 = ON, 8-bit conversion. 2. When X0 = ON, 6 bytes from low byte of D0 to low byte of D5 will be summed up, and the checksum is stored in D100 while the parity bits are stored in D101.
Page 352 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers SS2 SA2 SX2 SE VRRD Volume Read Type Bit Devices Word devices...
Page 353 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers SS2 SA2 SX2 SE VRSC Volume Scale Read Type Bit Devices Word devices Program Steps Y M S H KnX KnY KnM KnS T E F VRSC, VRSCP: 5 steps PULSE 16-bit 32-bit...
Page 354 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Absolute Value Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ABS, ABSP: 3 steps...
Page 355 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 PID control Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F PID : 9 steps DPID: 17 steps PULSE 16-bit...
Page 356 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Points to note: 1. There is no limitation on the times of using this instruction. However, the register No. designated in S +19 cannot be repeated.
Page 357 It is suggested that the control mode should be used in a control environment which change more slowly. Control mode DVP-ES2/DVP-EX2/DVP-SS2/DVP-SA2/DVP-SX2 series PLCs whose version is 2.00 (or above), and DVP-SE series PLCs whose version is 1.00 (or above) are supported.
Page 358 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Device Function Setup Range Explanation Ex: if S +9 is set as -1,000, the integral Lower bound of value will be -1,000 when it is smaller -32,768~32,767...
Page 359 3 . I ns t r uc ti on Se t Device No. Function Set-point range Explanation The proportion for Proportional gain (K 0~30,000 (%) magnifying/minifying the error between SV and PV. The proportion for magnifying/minifying the integral Integration gain (K 0~30,000 (%) value (The accumulated error).
Page 360 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Device No. Function Set-point range Explanation The previous PV is usually for -2,147,483,648~ reference.
Page 361 3 . I ns t r uc ti on Se t operation is within dotted area G(s)  The equation above illustrates that this operation is different from a general PID operation on the application of the derivative value. To avoid the fault that the transient derivative value could be too big when a general PID instruction is first executed, our PID instruction monitors the derivative value of the PV.
Page 362 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng  If users have no idea on parameter adjustment, select K3 (auto-tuning). After all the parameters are adjusted (the control direction will be automatically set as K4), users can modify the parameters to better ones according to the adjusted results.
Page 363 3 . I ns t r uc ti on Se t the power is cut off. There is no guarantee that the adjusted parameters are suitable for every control requirement. Therefore, users can modify the adjusted parameters according to specific needs, but it is suggested to modify only K or K 5.
Page 364 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng K =40 SV=1 K =20 K =10 K =5 Time (sec) Step 2: When K is 40, response overshoot occurs, so we will not select it.
Page 365 3 . I ns t r uc ti on Se t If the control mode becomes the automatic mode (K5), the output value MV changes from the output value set by users to the output value of the PID operation. Example 6: Transition between the manual mode (K8) and the automatic mode (K5) If the setting of the PID parameters is complete, and the control mode is the manual mode (K8), the control curve will be as shown below.
Page 366 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Control properties: The system requires a gradual control. Therefore, the system will be overloaded or out of control if the process progresses too fast.
Page 367 3 . I ns t r uc ti on Se t Example program of SV ramp up function: M1002 > K-50 < > < D1116 Application 2: Speed control system and pressure control system work individually (use diagram of Example 2) Control purpose: After the speed control operates in open loop for a period of time, adding pressure control system (PID instruction) to perform a close loop control.
Page 368 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng M2=ON speed D1116 convert SV of drive speed voltage 0rpm 3000rpm convert to accel/decel M0=ON...
Page 369 3 . I ns t r uc ti on Se t example, the control environment is a heating oven. See the example program below. M1002 K4000 K400 D200 K800 M1013 FROM D204 D200 GPWM Results of initial auto-tuning Auto tuning area Auto tuning area PID control area PID control area...
Page 370 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Results of using adjusted parameters generated by initial auto-tuning function. From the figure above, we can see that the temperature control after auto-tuning is working fine and it spent only approximately 20 minutes for the control.
Page 371 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Rising-edge output Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F PLS: 3 steps PULSE 16-bit 32-bit...
Page 372 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Rising–edge detection operation Type Bit Devices Word devices Program Steps...
Page 373 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Falling–edge detection operation Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F LDF: 3 steps PULSE 16-bit 32-bit...
Page 374 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Rising-edge series connection ANDP Type Bit Devices Word devices...
Page 375 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Falling-edge series connection ANDF Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ANDF: 3 steps PULSE 16-bit 32-bit...
Page 376 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Rising-edge parallel connection Type Bit Devices Word devices Program Steps...
Page 377 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Falling-edge parallel connection Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ORF: 3 steps PULSE 16-bit 32-bit...
Page 378 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Timer Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F TMR: 5 steps...
Page 379 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 16-bit counter Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F CNT: 5 steps PULSE 16-bit 32-bit...
Page 380 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 32-bit counter DCNT Type Bit Devices Word devices Program Steps...
Page 381 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Inverse operation Descriptions Program Steps Invert the current result of the internal PLC operations INV: 1 step PULSE 16-bit 32-bit ES2/EX2 SS2 SX2 ES2/EX2 SS2 SX2 ES2/EX2 SS2 Explanations:...
Page 382 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Falling-edge output Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F PLF: 3 steps...
Page 383 1. MODRD instruction supports COM2 (RS-485). 2. MODRD is an instruction exclusively for peripheral communication equipment in MODBUS ASCII/RTU mode. The built-in RS-485 communication ports in Delta VFD drives (except for VFD-A series) are all compatible with MODBUS communication format. MODRD can be used for communication (read data) of Delta drives.
Page 384 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example 1: Communication between PLC and VFD-B series AC motor drives (ASCII Mode, M1143 = OFF) M1002 D1120 Set communication protocol as 9600, 8, E, 1...
Page 385 3 . I ns t r uc ti on Se t Registers for received data (responding messages) Register Data Descriptions D1070 low byte ‘0’ 30 H ADR 1 D1070 high byte ‘1’ 31 H ADR 0 D1071 low byte ‘0’ 30 H CMD 1 D1071 high byte...
Page 386 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example 2: Communication between PLC and VFD-B series AC motor drive (RTU Mode, M1143= ON) M1002 Set communication protocol as 9600, 8, E, 1 D1120...
Page 387 3 . I ns t r uc ti on Se t Program Example 3: 1. In the communication between PLC and VFD-B series AC motor drive (ASCII Mode, M1143 = OFF), executes Retry when communication time-out, data receiving error or parameter error occurs.
Page 388 1. MODWR instruction supports COM2 (RS-485). 2. MODWR is an instruction exclusively for peripheral communication equipment in MODBUS ASCII/RTU mode. The built-in RS-485 communication ports in Delta VFD drives (except for VFD-A series) are all compatible with MODBUS communication format. MODRD can be used for communication (write data) of Delta drives.
Page 389 3 . I ns t r uc ti on Se t Program Example 1: Communication between PLC and VFD-B series AC motor drives (ASCII Mode, M1143 = OFF) M1002 Set communication protocol as 9600, 8, E, 1 D1120 Retain communication protocol M1120 Set receiving timeout as 100ms K100...
Page 390 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Registers for received data (responding messages) Register Data Descriptions D1070 low ‘0’...
Page 391 3 . I ns t r uc ti on Se t Registers for data to be sent (sending messages) Register Data Descriptions D1089 low 01 H Address of AC motor drive D1090 low 06 H Command code of AC motor drive D1091 low 20 H Data address...
Page 392 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng M1002 Set communication protocol as 9600, 8, E, 1 D1120 Retain communication protocol M1120 Set communication timeout as 100ms K100...
Page 393 6. For detailed information of associated flags and special registers, please refer to RS instruction. 7. M1177 = OFF, only Delta VFD-A is supported and the definition of each operand is: a) S = Address of VFD-A.
Page 394 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng d) The feedback data from the peripheral equipment will be stored in D1070 ~ D1080 After data receiving is completed, PLC will check if all data are correct automatically.
Page 395 ‘0’ 30 H D1080 low ‘0’ 30 H 2. M1177 = ON, other Delta VFDs are supoported a) S = Address of VFD-A. Range of S : K0 ~ K255, when S is specified as K0, PLC will broadcast to all connected VFDs.
Page 396 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng M1002 Set up communication protocol as D1120 9600, 7, E, 1 Retain communication protocol M1120 Set up communication time-out: 100ms...
Page 397 3 . I ns t r uc ti on Se t Received data (responding messages) Data Descriptions ‘0’ 30 H ADR 1 ‘1’ 31 H ADR 0 ‘1’ 31 H CMD 1 ‘0’ 30 H CMD 0 ‘2’ 32 H ‘0’...
Page 398 3. M1177 has to be set up in advance for selecting the target model of VFD. When M1177 = OFF (Default), RDST instruction supports Delta’s VFD-A inverter. When M1177 = ON, the instruction supports other models of VFD inverters, e.g. VFD-B, VFD.
Page 399 PLC will automatically convert the ASCII characters in ”CD” into D1052. For example, ”CD” = “16”, PLC will convert CD into K16 and store it in the special register D10512 8. M1177 = ON, other Delta VFDs are supoported a) Range of S : K1 ~ K255...
Page 400 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng user manual of specific VFD for details.) and store the feedback data in D1070~D1074. However, the content in D1070~D1074 will not be updated when receiving error or timeout occurs.
Page 401 3 . I ns t r uc ti on Se t Received data (responding messages) Data Descriptions ‘0’ 30 H ADR 1 ‘1’ 31 H ADR 0 ‘0’ 30 H CMD 1 ‘3’ 33 H CMD 0 ‘0’ 30 H Number of data (count by byte) ‘A’...
Page 402 6. For detailed information of associated flags and special registers, please refer to RS instruction. 7. M1177 = OFF, only Delta VFD-A is supported and the definition of each operand is: a) S = Address of VFD-A. Range of S : K0 ~ K31 b) n = Communication mode.
Page 403 3 . I ns t r uc ti on Se t M1002 Set up communication protocol as D1120 9600, 7, E, 1 Retain communication protocol M1120 Set up communication time-out: 100ms K100 D1129 M1122 Sending request M1129 Communication instruction setting: RSTEF Device address: 1 K0: Reserved...
Page 404 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Received data (responding messages) Data Descriptions ‘0’ 30 H ADR 1 ‘1’...
Page 405 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 LRC checksum Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F LRC, LRCP: 7 steps PULSE 16-bit 32-bit...
Page 406 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example: Connect PLC to VFD series AC motor drive (ASCII mode, M1143 = OFF), (8-bit mode, M1161 = ON), Write the data to be sent into registers starting from D100 in advance for reading 6 data from address H0708 on VFD.
Page 407 3 . I ns t r uc ti on Se t LRC checksum: 01 H + 03 H + 07 H + 08 H + 00 H + 06 H = 19 H. Operate 2’s complement on 19H and the result is E7H. Store ‘E’(45 H) in the low byte of D113 and ‘7’ (37 H) in the low byte of D114. Remarks: ASCII mode communication data: ‘: ’...
Page 408 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 CRC checksum Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F CRC, CRCP: 7 steps...
Page 409 3 . I ns t r uc ti on Se t Program Example: Connect PLC to VFD series AC motor drive (RTU mode, M1143 = ON), (8-bit mode, M1161 = ON), Write the data to be sent (H1770) into address H0706 on VFD. M1002 Set communication protocol as D1120...
Page 410 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Floating point compare ECMP Type Bit Devices Word devices...
Page 411 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers Floating point zone ES2/EX2 SS2 SA2 D EZCP P compare Bit Devices Word devices Program Steps DEZCP, DEZCPP: 17 S K H KnX KnY KnM KnS T C D E F steps PULSE 16-bit...
Page 412 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Move floating point data MOVR Bit Devices Word devices...
Page 413 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Ethernet ETHRW communication Bit Devices Word devices Program Steps ETHRW: 9 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 414 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 3. The operand D specifies a source data register or a destination data register. For example, D specifies D10 and set the function code to H’03;...
Page 415 3 . I ns t r uc ti on Se t M1002 M1002 MOV H0002 D100 MOV H0002 D100 MOV HC0A8 D101 MOV HC0A8 D101 MOV K108 D102 MOV K108 D102 D103 D103 D104 D104 ETHRW D100 H1000 D10 K2 ETHRW D100 H1000 D10 K2 BLD D1394 K8 BLD D1394 K8...
Page 416 3. If the sign bit is 0, it represents a positive value. If the sign bit is 1, it represents a negative value. 4. The models which are supported are DVP-ES2/EX2 v. 3.22, DVP-SS2 v. 3.20, DVP-SA2/SX2 v. 2.66, and DVP-SE v.1.60 (and above).
Page 417 3 . I ns t r uc ti on Se t Program Example 1: The 16-bit value K100 in D0 is multiplied by the 16-bit value K200 in D10, and the product is stored in D20. Whether the product is a positive value or a negative value depends on the leftmost bit (bit 15) in D20.
Page 418 3. If the divisor is 0, the instruction will not be executed, M1067 and M1068 will be ON, and the error code in D1067 will be H0E19. 4. The models which are supported are DVP-ES2/EX2 v. 3.22, DVP-SS2 v. 3.20, DVP-SA2/SX2 v. 2.66, and DVP-SE v. 1.60 (and above).
Page 419 3 . I ns t r uc ti on Se t Program Example 1: When X0 is ON, the dividend K103 in D0 is divided by the divisor K5 in D10, and the quotient is stored in D20. Whether the quotient is a positive value or a negative value depends on the leftmost bit in D20.
Page 420 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Degree  Radian Bit Devices Word devices Program Steps DRAD, DRADP: 9 steps...
Page 421 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Radian  Degree Bit Devices Word devices Program Steps DDEG, DDEGP: 9 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 422 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 D EBCD P Float to scientific conversion Type Bit Devices Word devices...
Page 423 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 EBIN Scientific to float conversion Bit Devices Word devices Program Steps DEBIN, DEBINP: 9 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 424 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example 2: 1. Use FLT instruction (API 49) to convert BIN integer into binary floating point value before performing floating point operation.
Page 425 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 EADD Floating point addition Bit Devices Word devices Program Steps DEADD, DEADDP: 13 S K H KnX KnY KnM KnS T C D E F steps PULSE 16-bit...
Page 426 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 ESUB Floating point subtraction Bit Devices Word devices Program Steps...
Page 427 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 D EMUL P Floating point multiplication Bit Devices Word devices Program Steps DEMUL, DEMULP: 13 S K H KnX KnY KnM KnS T C D E F steps PULSE 16-bit...
Page 428 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 EDIV Floating point division Bit Devices Word devices Program Steps...
Page 429 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Float exponent operation Bit Devices Word devices Program Steps DEXP, DEXPP: 9 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 430 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Float natural logarithm operation Bit Devices Word devices Program Steps...
Page 431 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Float logarithm operation Bit Devices Word devices Program Steps DLOG, DLOGP: 13 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 432 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Floating point square root ESQR Bit Devices Word devices...
Page 433 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers Floating point power ES2/EX2 SS2 SA2 operation Bit Devices Word devices Program Steps DPOW, DPOWP: 13 S K H KnX KnY KnM KnS T C D E F steps PULSE 16-bit...
Page 434 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng M1081 DFLT DFLT DPOW DEBCD 3 - 3 3 2...
Page 435 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Float to integer Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F INT, INTP: 5 steps DINT, DINTP: 9 steps PULSE 16-bit...
Page 436 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Sine Bit Devices Word devices Program Steps DSIN, DSINP: 9 steps S K H KnX KnY KnM KnS T C D E F...
Page 437 3 . I ns t r uc ti on Se t Program Example 2: M1018 = OFF, radian mode. Select the degree value from inputs X0 and X1 and convert it to RAD value for further sine operation. MOVP (K30 D10) (K60 D10)
Page 438 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Cosine Bit Devices Word devices Program Steps DCOS, DCOSP: 9 steps S K H KnX KnY KnM KnS T C D E F...
Page 439 3 . I ns t r uc ti on Se t Program Example 2: M1018 = ON, degree mode. When X0 = ON, DCOS instruction performs cosine operation on the degree value (0°≦degree＜360°) in (D1, D0) and stores the COS value in (D11, D10) in binary floating format..
Page 440 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Tangent Bit Devices Word devices Program Steps DTAN, DTANP: 9 steps S K H KnX KnY KnM KnS T C D E F...
Page 441 3 . I ns t r uc ti on Se t RAD value(degree x / 180) binary floating point TAN value binary floating point Program Example 2: M1018 = ON, degree mode. When X0 = ON, DTAN instruction performs tangent operation on the degree value (0°≦degree＜360°) in (D1, D0) and stores the TAN value in (D11, D10) in binary floating format.
Page 442 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Arc Sine ASIN Bit Devices Word devices Program Steps DASIN, DASINP: 9 steps...
Page 443 3 . I ns t r uc ti on Se t Binary floating point ASIN value binary floating point 3 - 3 4 1...
Page 444 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Arc Cosine ACOS Bit Devices Word devices Program Steps DACOS, DACOSP: 9...
Page 445 3 . I ns t r uc ti on Se t Binary floating point ACOS value binary floating point 3 - 3 4 3...
Page 446 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Arc Tangent ATAN Bit Devices Word devices Program Steps DATAN, DATANP: 9...
Page 447 S: Delay time, unit: 0.1ms (K1~K1000) Please see the explanation below for more information about the unit of a delay. Explanations: (The instruction can be used in DVP-ES2/EX2 series PLCs whose version is 3.00/DVP-SS2 series PLCs whose version is 2.80/DVP-SA2 series PLCs whose version is 2.40/DVP-SX2 series PLCs whose version is 2.20/DVP-SE series...
Page 448 M1000 DELAY I001 IRET Program Example: (for DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SX2 series PLCs whose veresion is 2.40/DVP-SE series PLCs whose version is 1.40 (and above)) When interrupt input X0 is triggered from OFF to ON, interrupt subroutine executes DELAY instruction first, therefore the program after DELAY instruction (X1 = ON, Y0 = ON…) will be delayed...
Page 449 3 . I ns t r uc ti on Se t 3. The delay time of DELAY instruction could be increased due to the delay of transistor or relay when external output (transistor or relay) is specified. 3 - 3 4 7...
Page 450 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 General PWM output GPWM Bit Devices Word devices Program Steps...
Page 451 4. There is no limit on the times of using FTC instruction, but Do not repeatedly use a designated operand in case an error may occur. 5. The models which are supported are DVP-ES2/EX2 v. 3.22, DVP-SA2/SX2 v. 2.66, and DVP-SE v. 1.60 (and above).
Page 452 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Remarks: 1. Setting of S Device No. Function Range Explanation If T is less than a scan time, PID instruction will be executed for a Sampling time (T...
Page 453 3 . I ns t r uc ti on Se t Example 1: control diagram Fuzzy GPWM Program Controller Temperature PT Module Sensor Output D22 (MV) of FTC instruction is the input D22 of GPWM instruction, as the duty cycle of ajustable pulses.
Page 454 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Experiment in an oven which can be heated up to 250°C. See below for the records of target and present temperatures.
Page 455 3 . I ns t r uc ti on Se t Example 3: To speed up the speed to reach the target temperature, we correct the sampling time as 4 seconds (D12 = K40, D30 = K4,000). The results are shown in the diagram below. From the diagram below, we see that the overall control time has been shortened as 37 minutes.
Page 456 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Example 4: To see if we can reach the target temperature faster, we modify the sampling time frim example 3 into 2 seconds (D12 = K20, D30 = K2,000).
Page 457 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Byte swap SWAP Bit Devices Word devices Program Steps SWAP, SWAPP: 3 steps S K H KnX KnY KnM KnS T C D E F DSWAP, DSWAPP: 5 steps PULSE...
Page 458 4. If no data is written into the file register, the default value which will be read from it is -1. 5. DVP-ES2/EX2 version 2.80 and above, DVP-SA2/SX2 version 2.40 and above are supported. The instruction is not applicable to DVP-ES2-C.
Page 459 Note: The data only can be written into the file registers 100,000 times. Please use them with care. 5. DVP-ES2/EX2 version 2.80 and above, DVP-SA2/SX2 version 2.40 and above are supported. The instruction is not applicable to DVP-ES2-C.
Page 460 Explanations: 1. MODRW supports COM1 (RS-232), COM2 (RS-485), COM3 (RS-485). (COM3 is only applicable to DVP-ES2/EX2/SA2/SE, and is not applicable to DVP-ES2-C.) 2. S : Address of the device to be accessed. Range: K0~K254. The address specified by the function codes K1, K2, K3, K4, and K23 can not be K0.
Page 461 3 . I ns t r uc ti on Se t K23, S only can specify a data register. Besides, S is a data register from which data is read, +1 is a data register into which data is written. ...
Page 462 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Communication Communication Function code mode port H01/H02 H03/H04 COM1(RS-232) K 64 K 16 K 64 K 16...
Page 463 3 . I ns t r uc ti on Se t 3. In ASCII or RTU mode, when PLC’s COM2 sends out data, the data will be stored in D1256~D1295. The feedback data will be stored in registers starting with S and converted into D1296~D1311 in Hex automatically.
Page 464 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Registers for received data (responding messages) Register Data Descriptions D0 Low ‘0’...
Page 465 3 . I ns t r uc ti on Se t Analysis of the read status of PLC2 Y0~Y17: 1234H Device Status Device Status Device Status Device Status Program Example 2: COM1(RS-232) / COM3(RS-485), Function Code H02 (H01 is used the same as H02.) 1.
Page 466 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng M1002 D1109 Set communication protocol as 9600, 8, E,1 Retain communication setting M1136 Set receiving timeout as 100ms K100...
Page 467 3 . I ns t r uc ti on Se t  RTU mode (COM3: M1320 = ON, COM1: M1139 = ON): When X0 = ON, MODRW instruction executes the function specified by Function Code 02 PLC1  PLC2, PLC1 sends: “01 02 0500 0010 79 0A” PLC2 ...
Page 468 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng M1002 Set communication protocol as 9600, 8, E, 1 D1120 Retain communication protocol M1120 Set communication timeout as 100ms...
Page 469 3 . I ns t r uc ti on Se t Register Data Descriptions D1260 Low byte ‘0’ 30 H D1260 High byte ‘0’ 30 H Number of data (count by word) D1261 Low byte ‘0’ 30 H D1261 High byte ‘6’...
Page 470 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng RTU mode (M1143 = ON): When X0 = ON, MODRW instruction executes the function specified by Function Code 03 PLC ...
Page 471 3 . I ns t r uc ti on Se t 3. Take the connection between PLC and VFD-B for example, the tables below explains the status when PLC reads VFD-B status. (M1320 = OFF, ASCII Mode ), (M1320 = ON, RTU Mode) ...
Page 472 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Register Data Descriptions PLC converts ASCII codes in 2101 H and stores the converted 1766 H data automatically.
Page 473 3 . I ns t r uc ti on Se t M1002 Set communication protocol as 9600,8,E,1 D1120 Retain communication prot oc ol M1120 Set receiving timeout as 100ms K100 D1129 M1143 = ON M1143 = OFF M1143 M1143 RTU mode ASCII mode Sending request M1122...
Page 474 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Register Data Descriptions D1071 low byte ‘0’ 30 H CMD 1 D1071 high byte ‘5’...
Page 475 3 . I ns t r uc ti on Se t  If PLC1 applies COM1 for communication, the below program can be usable by changing: 1. D1109→D1036: communication protocol 2. M1136→M1138: retain communication setting 3. D1252→D1249: Set value for data receiving timeout 4.
Page 476 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng 3. For ASCII or RTU mode, PLC COM2 stores the data to be sent in D1256~D1295, and received data in D1070~D1085.
Page 477 3 . I ns t r uc ti on Se t Register Data Descriptions D1261 High byte ‘0’ 30 H D1262 Low byte ‘5’ 35 H LRC CHK 1 Checksum: LRC CHK (0,1) D1262 High byte ‘2’ 32 H LRC CHK 0 Registers for received data (responding messages) Register Data...
Page 478 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng 1. Function code K6 (H06): Write in single Word device. 2.
Page 479 3 . I ns t r uc ti on Se t RTU mode (COM3: M1320 = ON, COM1: M1139 = ON) When X0 = ON, MODRW instruction executes the function specified by Function Code 06 PLC  VFD-B, PLC sends: “01 06 2000 1770 8C 1E” VFD-B →...
Page 480 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng ASCII mode (M1143 = OFF) When X0 = ON, MODRW instruction executes the function specified by Function Code H0F. PLC1 ...
Page 481 3 . I ns t r uc ti on Se t RTU mode (M1143 = ON) When X0 = ON, MODRW instruction executes the function specified by Function Code H0F PLC1  PLC2，PLC1 sends: “01 0F 0500 0010 02 34 12 21 ED” PLC2 ...
Page 482 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng 4. M1320→M1139: ASCII/RTU mode selection 5. M1316→M1312: sending request 6. M1318→M1314: receiving completed flag M1002 Set communication protocol as 9600, 8, E, 1 D1109...
Page 483 3 . I ns t r uc ti on Se t 3. Take the connection between PLC COM2 and VFD-B AC motor drive for example, the tables below explain the status when PLC COM2 writes multiple word devices in VFD-B. M1002 Set communication protocol as 9600, 8, E, 1 D1120...
Page 484 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Register Data Descriptions D1264 Low byte ‘7’ 37 H D1264 High byte ‘0’...
Page 485 3 . I ns t r uc ti on Se t Registers for received data (responding messages) Register Data Descriptions D1070 Low byte 01 H Address D1071 Low byte 10 H Function D1072 Low byte 20 H Data Address D1073 Low byte 00 H D1074 Low byte 00 H...
Page 486 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng M1002 D1109 Set communication protocol as 9600,8,E,1 Retain communication setting M1136 Set communication t imeout as 100ms K100...
Page 487 3 . I ns t r uc ti on Se t M1002 D1120 Set communication protocol as 9600, 8, E, 1 M1120 Retain communication protocol K100 D1129 Set communication timeout as 100ms M1143 = OFF M1143 = ON M1143 M1143 ASCII mode RTU mode H1100...
Page 488 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Register Data Description D3006 High byte ‘6’ D3007 Low byte ‘6’...
Page 489 3 . I ns t r uc ti on Se t M1002 Set communication protocol as 9600, 8, E, 1 D1109 Retain communication protocol M1136 K100 D1252 Set communication timeout as 100ms M1320 = ON M1320 = OFF M1320 M1320 RTU mode ASCII mode H1100...
Page 490 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Random number RAND Type Bit Devices Word devices...
Page 491 : Absolute position data (32-bit) read from servo (occupies 4 consecutive devices at most) Explanations: (The instruction can be used in DVP-ES2/EX2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.40/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is 2.20/DVP-SS2 series PLCs (and below).)
Page 492 MR-J2 servo drive is used. Please refer to the points above for more information about setting MITSUBISHI MR-J2 servo drive. If M1177 is On, Delta ASDA-A2 servo drive is used. Please refer to the points below for more information about settiing Delta ASDA-A2 servo drive.
Page 493 2.5 seconds for the instruciton to be executed. The time it takes for the instruction to be executed is affected by the scan time. Program Example: (for DVP-ES2/EX2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.40/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose veresion is 2.20/DVP-SS2 series PLCs...
Page 494 1.40/DVP-SX2 series PLCs whose version is 2.40 (and above)) 1. When X7 = On, the absolute position data read from Delta ASDA-A2 servo will be stored in the registers D0~D3. The state of M1580 and the state of M1581 indicates whether the reading of the absolute position is successful.
Page 495 3 . I ns t r uc ti on Se t Servo ON ABS data ABSM mode transmission AMP output Transmission ready ABSR Controller output ABS request AMP output ABS(bit 1) AMP output ABS(bit 0) Current position data 32-bit + check data 6-bit 2.
Page 496 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma n ua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Zero return Type Bit Devices Word Devices Program Steps...
Page 497 3 . I ns t r u c ti o n Se t Channel CH0(Y0,Y1) CH1(Y2,Y3) Remark Input M1346=On Please refer to point Start output clear signals 8 for the explanation. M1308 = Off Please refer to point (seeking Z-phase signal) D1312 != 0 9 for the explanation.
Page 498 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma n ua l - Pr ogr am m i ng k-100, it means that DOG stops immediately after DOG leaves DOG switch and another 100 pulses will be output in the negative direction with JOG frequency.
Page 499 3 . I ns t r u c ti o n Se t State 3: Current position at left side of zero point, pulse output in reverse, limit switch enabled. Forward Reverse Reverse output output output End flag M1029/M1102 Limit switch X5/X7 DOG switch: X4/X6 Freq.
Page 500 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma n ua l - Pr ogr am m i ng State 5: Current position at right side of zero point, D1312=-2, M1308=Off, M1346=On. M1029 M1029 Freq.
Page 501 3 . I ns t r u c ti o n Se t Program Example 2: When M0 = ON, Y0 pulse output executes zero return with a frequency of 20kHz. When it reaches the DOG switch, X4 = ON and the frequency changes to JOG frequency of 1kHz. When X4 = OFF, it seeks the second X2(Z-phase) pulse input (right-edge trigger signal), and Y4 stops after a pulse (the width of On is 20ms) is output from it (M1029=On).
Page 502 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma n ua l - Pr ogr am m i ng Mnemonic Operands Function Controllers Adjustable Speed Pulse ES2/EX2 SS2 SA2 D PLSV Output Type...
Page 503 3 . I ns t r uc ti on Se t API Mnemonic Operands Function Controllers Relative Position ES2/EX2 SS2 SA2 D DRVI Control Bit Devices Word devices Program Steps DDRVI: 17 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 504 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng 9. D1343 (D1353) is the ramp up/down time setting of CH0 (CH1). Available range: 20 ~ 32,767ms. Default: 100ms.
Page 505 3 . I ns t r uc ti on Se t +3,000 Ramp up time Ramp down time Start / End freq. Min: 6Hz Current position -3,000 2. Registers for setting ramp up/down time and start/end frequency:  Output Y0: Sample time of ramp-up Pulse output frequency...
Page 506 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng M1305: Reverse Y1 pulse output direction in high speed pulse output instructions M1306: Reverse Y3 pulse output direction in high speed pulse output instructions M1347:...
Page 507 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers Absolute Position ES2/EX2 SS2 SA2 D DRVA Control Bit Devices Word devices Program Steps DRVA: 9 steps S K H KnX KnY KnM KnS T C D E F DDRVA: 17 steps PULSE 16-bit...
Page 508 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng 9. D1343 (D1353) is the ramp up/down time (between start frequency and pulse output frequency) setting of CH0 (CH1).
Page 509 3 . I ns t r uc ti on Se t 2. Registers for setting ramp up/down time and start/end frequency:  Output Y0: Sample time of ramp-up Pulse output frequency Ramp-up slope End freq. Start freq. Y0 (D1340) Y0(D1340) Min: 6Hz Min: 6Hz Target position...
Page 510 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Time compare TCMP P Bit Devices Word devices Program Steps...
Page 511 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Time zone compare TZCP Bit Devices Word devices Program Steps TZCP, TZCPP: 9 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 512 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Time addition TADD Bit Devices Word devices Program Steps...
Page 513 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Time subtraction TSUB Bit Devices Word devices Program Steps TSUB, TSUBP: 7 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 514 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng If the subtraction result is a negative value (less than 0), Borrow flag M1021 = ON. TSUB D0 05(Hour) D10 19(Hour)
Page 515 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Time read Bit Devices Word devices Program Steps TRD, TRDP: 3 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 516 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Points to note: 1. There are two methods to correct built-in RTC: ...
Page 517 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Time write Bit Devices Word devices Program Steps TWR, TWRP: 5 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 518 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Year (2004) Day (Tuesday) Month (December) Hour Minute Second Write the set time into RTC M1017 30 seconds correction 3 - 4 1 6...
Page 519 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Transfer Designated Bits Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F MVM, MVMP: 7 steps DMVM,DMVMP: 13 steps PULSE...
Page 520 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Hour meter HOUR Bit Devices Word devices Program Steps...
Page 521 3 . I ns t r uc ti on Se t In 32-bit instruction, when X0 = ON, Y10 will be ON and the timing will start. When the timing reaches 40,000 hours, Y0 will be ON. D1 and D0 will record the current time measured (in hour) and D2 will record the current time less than an hour (0 ~ 3,599;...
Page 522 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 BIN → Gray Code Bit Devices Word devices Program Steps...
Page 523 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Gray Code → BIN GBIN Bit Devices Word devices Program Steps GBIN, GBINP: 5 steps S K H KnX KnY KnM KnS T C D E F DGBIN, DGBINP: 9 steps PULSE 16-bit...
Page 524 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Floating point addition ADDR Bit Devices Word devices...
Page 525 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers Floating point ES2/EX2 SS2 SA2 SUBR subtraction Bit Devices Word devices Program Steps DSUBR: 13 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 526 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Floating point MULR multiplication Bit Devices...
Page 527 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Floating point division DIVR Bit Devices Word devices Program Steps DDIVR: 13 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 528 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 16-bit→32-bit Conversion MMOV Type Bit Devices...
Page 529 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers SA2 SX2 GPS data receiving Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F GPS: 5 steps PULSE 16-bit 32-bit...
Page 530 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng 4. When applying GPS instruction, COM1 has to be applied in Master mode, i.e. M1312 has to be enabled to sending request.
Page 531 3 . I ns t r uc ti on Se t 3. When receiving completed, M1314 = ON. When receiving failed, M1315 = ON. The received data will be stored in devices starting with D0. Content Content Hour East / West Minute GPS data valid / invalid Second...
Page 532 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/ SA2 SX2 Solar Panel Positioning Bit Devices Word devices...
Page 533 3 . I ns t r uc ti on Se t 3. Operand D occupies 8 consecutive word registers. The function of each device is as below: Content Range Format Note D + 0~1 Zenith 0 ~ 90 Float Horizontal=0 D + 2~3 Azimuth 0 ~ 360...
Page 534 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Program example: 1. Input parameters starting from D4000: 2009/3/23/(y/m/d),10:10:30, Δt = 0, Local time zone = +8, Longitude/Latitude = +119.192345 East, +24.593456 North, Elevation = 132.2M, Pressure = 820m, MAT = 15.0℃, Slope = 0 degree, Azimuth = -10 degree.
Page 535 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers Sum of multiple ES2/EX2 SS2 SA2 WSUM devices Bit Devices Word devices Program Steps WSUM, WSUMP: 7 steps S K H KnX KnY KnM KnS T C D E F DWSUM, DWSUMP: 13 steps PULSE...
Page 536 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng (D1,D0) +(D3,D2) +(D5,D4) (D11,D10) (D1,D0) K100 R esu lt: (D11,D10) K338 (D3,D2)
Page 537 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix AND MAND Bit Devices Word devices Program Steps MAND, MANDP: 9 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 538 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Points to note: 1. A matrix consists of more than 1 consecutive 16-bit registers. The number of registers is indicated as the matrix length (n).
Page 539 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix OR Bit Devices Word devices Program Steps MOR, MORP: 9 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 540 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix XOR MXOR Bit Devices Word devices...
Page 541 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix XNR MXNR Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F MXNR, MXNRP: 9 steps PULSE 16-bit 32-bit...
Page 542 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix inverse MINV Bit Devices Word devices...
Page 543 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix compare MCMP Bit Devices Word devices Program Steps MCMP, MCMPP: 9 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 544 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng  D20 = 45, M1091 = ON, M1089 = OFF. ...
Page 545 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix bit read MBRD Bit Devices Word devices Program Steps MBRD, MBRDP: 7 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 546 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Pointer Points to note: Associated flags and registers: M1089: Indicating the end of Matrix.
Page 547 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix bit write MBWR Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F MBWR, MBWRP: 7 steps PULSE 16-bit 32-bit...
Page 548 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Before Execution M1096 (Borrow flag for matrix rotation / shift / input) Pointer After Execution...
Page 549 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix bit shift Bit Devices Word devices Program Steps MBS, MBSP: 7 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 550 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng M1096 Before execution M1095 M1097=0 After bits shift to left M1095 Program Example 2: When X1 = ON, M1097 = ON, indicating a right matrix shift is performed.
Page 551 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix bit rotate Bit Devices Word devices Program Steps MBR, MBRP: 7 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 552 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Before execution M1095 M1097=0 After rotation to the left M1095 Program Example 2: When X1 = ON, M1097 = ON, indicating a right matrix rotation is performed.
Page 553 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Matrix bit status count Bit Devices Word devices Program Steps MBC, MBCP: 7 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 554 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 2-Axis Relative Point to PPMR Point Motion Type...
Page 555 3 . I ns t r uc ti on Se t i.e. another axis is 0, the pulse output will only be performed on the axis with output pulse number. However, if the output pulse number is less than 20 in any of the 2 axes, the ramp-up/down section will be disabled and pulse output will be executed with the frequency not higher than 3kHz.
Page 556 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng 3. Operation: When PLC runs and M0 = ON, PLC will start the first point-to-point motion by 100KHz. D0 will plus 1 whenever a point-to-point motion is completed and the second point-to-point motion will start to execute automatically.
Page 557 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers 2-Axis Absolute Point ES2/EX2 SS2 SA2 PPMA to Point Motion Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DPPMA: 17 steps PULSE 16-bit 32-bit...
Page 558 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng 2. Steps: a) Set the four coordinates (-27000, -27000), (0, -55000), (27000, -27000) and (0,0) (as the figure above).
Page 559 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers 2-Axis Relative ES2/EX2 SS2 SA2 CIMR Position Arc Interpolation Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DCIMR: 17 steps PULSE 16-bit 32-bit...
Page 560 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng 6. Draw four 90° arcs as the figure below. When the direction signal is ON, the direction is positive(QI, QIV).
Page 561 3 . I ns t r uc ti on Se t that the arc has to be a 90° arc, i.e. the numbers of output pulses in X and Y axes can be different. 13. There are no settings of start frequency and ramp-up/down time. 14.
Page 562 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng 3. Operation: When PLC runs and M0 = ON, PLC will start the drawing of the first segment of the arc. D0 will plus 1 whenever a segment of arc is completed and the second segment of the arc will start to execute automatically.
Page 563 3 . I ns t r uc ti on Se t 3. Operation: When PLC runs and M0 = ON, PLC will start the drawing of the first segment of the arc. D0 will plus 1 whenever a segment of arc is completed and the second segment of the arc will start to execute automatically.
Page 564 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers 2-Axis Absolute ES2/EX2 SS2 SA2 Position Arc CIMA Interpolation...
Page 565 3 . I ns t r uc ti on Se t (D212, D214). b) Select “draw clockwise arc” and default “motion time” (S = D100 = K0) c) RUN the PLC. Set ON M0 to start the drawing of the ellipse. D100 = D0 K1 DCIMA...
Page 566 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng 2. Steps: a) Find the max. and min. coordinates on X and Y axes (0,0), (26000,26000), (34000,18000), (8000,-8000) (as the figure above).
Page 567 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers Single-axis pulse output by ES2/EX2 SS2 SA2 PTPO table Bit Devices Word devices Program Steps DPTPO: 13 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 568 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng 3. Current executing segment can be monitored by D301. DPTPO D300 4.
Page 569 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers Close loop position ES2/EX2 SS2 SA2 CLLM control Bit Devices Word devices Program Steps DCLLM: 17 steps S K H KnX KnY KnM KnS T C D E F PULSE 16-bit 32-bit...
Page 570 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng direction signal output will be OFF only when the drive contact of the instruction is OFF, i.e. completion of pulse output will not reset Y1 or Y3.
Page 571 3 . I ns t r uc ti on Se t 3. Description of the number of output pulses in the idle time: Pulse speed(Hz ) Time in te rv al fo r the puls e Target speed out pu t in eac h shif t is 1/ 20 of th e ra mp up tim e/r amp 20 20 dow n time.
Page 572 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng number of feedbacks x percentage value / 100), users can improve the situation by adjusting the percentage value, ramp-up/ramp-down time or target frequency.
Page 573 3 . I ns t r uc ti on Se t Program Example 2: Immediate stop high-speed pulse output by high speed counter 1. Adopt counter C243 (better to be reset before execution) with AB-phase input from the encoder. Set target number of feedbacks = 50,000; target frequency = 100kHz; pulse output device: Y0, Y1 (CH0);...
Page 574 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng 3. Observe the results of the first execution: a) The actual output number 50,600 – specified output number 50,000 = 600 b) 600 x (1/100Hz) = 6s (idle time) c) 3 seconds are too long.
Page 575 3 . I ns t r uc ti on Se t M1306: Reverse CH1 (Y2, Y3) pulse output direction. M1306 = ON, pulse output direction is reversed M1347: Auto-reset CH0 (Y0, Y1) when high speed pulse output completed. M1347 will be reset after CH0 (Y0, Y1) pulse output is completed.
Page 576 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers Variable speed pulse ES2/EX2 SS2 SA2 198 D VSPO output...
Page 577 3 . I ns t r uc ti on Se t Function Explanations: Pulse output diagram: Freq. Time Pulse number 1. Definitions: t1  target frequency of 1 shift t2  target frequency of 2 shift t3  target frequency of 3 shift g1 ...
Page 578 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng  2 shift: Assume t2 = 11kHz, internal frequency = 2kHz, gap time = 20ms Ramp-up steps of 2 shift: Freq.
Page 579 3 . I ns t r uc ti on Se t M1538 Indicating pause status of Y0 M1540 Indicating pause status of Y2 2. Special register explanations: D1030 Low word of the present value of Y0 pulse output D1031 High word of the present value of Y0 pulse output D1336 Low word of the present value of Y2 pulse output D1337...
Page 580 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Immediately change frequency Type Bit Devices Word devices...
Page 581 3 . I ns t r uc ti on Se t 2. If users change the target frequency by applying DICF instruction in insterupt subroutines, the actual changing timing will be executed immediately with only an approx. 10us delay (execution time of DICF instruction). The timing diagram is as below: Interrupt Actual timing of changing...
Page 582 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&T P O p e r a t i on Ma nua l - Pr ogr am m i ng DMOVP K100000 D500 K1000 D502 D503 DVSPO D500 K1000000 D502 FEND M1000...
Page 583 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Proportional SCAL P calculation Bit Devices Word devices Program Steps Type S K H KnX KnY KnM KnS T C D E F SCAL,SCLAP: 9 steps PULSE 16-bit 32-bit...
Page 584 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example 1: 1. Assume S = 500, S = 168 and S = -4.
Page 585 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Parameter proportional D SCLP P calculation Bit Devices Word devices Program Steps Type S K H KnX KnY KnM KnS T C D E F SCLP, SCLPP: 7 steps DSCLP, DSCLPP: 13 steps PULSE...
Page 586 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng value × slope = slope × (S – min. source value) + min. destination value = (S –...
Page 587 3 . I ns t r uc ti on Se t Destination value = 500 = 30 S =500 Source value Program Example 2: 1. Assume source value S = 500, max. source value D0 = 3000, min. source value D1 = 200, max. destination value D2 = 30, and min.
Page 588 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Program Example 3: 1. Assume the source value S , D100 = F500, max. source value D0 = F3000, min. source value D2 = F200, max.
Page 589 0. For example, if n is K8, bit0~7 have corresponding values, and bit8~15 are 0. 5. The 32-bit instruction supports DVP-ES2/EX2 version 3.0 and above, DVP-SS2 version 2.8 and above, DVP-SA2 version 2.6 and above, DVP-SX2 version 2.4 and above, and DVP-SE.
Page 590 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 9. The 16-bit comparison values used in the 16-bit instruction are signed values. The comparison values used in the 32-bit instruction are 32-bit signed values (M1162=OFF), or floating-point numbers (M1162=ON).
Page 591 3 . I ns t r uc ti on Se t API Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 ASDA servo drive ASDRW Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F ASDRW: 7 steps PULSE 16-bit 32-bit...
Page 592 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng For A2-type only Code Function Parameter Com. Addr. Read/Write data (Settings) S: Range: K19(H13) JOG Operation P4-05...
Page 593 3 . I ns t r uc ti on Se t Program example 2: COM3(RS-485) 1. When M0 = ON, PLC sends communication commands by COM3 to read servo drive status. 2. When PLC received the feedback data from ASDA, M1318 will be active and the read data will be stored in D0~D4.
Page 594 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers SA2 SX2 Catch speed and CSFO proportional output Type Bit Devices Word devices...
Page 595 3 . I ns t r uc ti on Se t For example, set S +0 as K1 for the speed range 1Hz~1KHz, K10 for the speed range 10Hz~10KHz, K100 for the speed range 100Hz~10KHz. For single phase input, the max frequency is 10kHz;...
Page 596 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers 215~ ES2/EX2 SS2 SA2 Contact Type Logic Operation Type Bit Devices Word devices...
Page 597 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 218~ AND# Serial Type Logic Operation Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F AND#: 5 steps DAND#: 9 steps PULSE 16-bit...
Page 598 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers 221~ ES2/EX2 SS2 SA2 O R# Parallel Type Logic Operation Type Bit Devices Word devices...
Page 599 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 224~ LD※ Contact Type Comparison Bit Devices Word devices Program Steps Type S K H KnX KnY KnM KnS T C D E F LD※: 5 steps DLD※: 9 steps PULSE 16-bit...
Page 600 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers 232~ ES2/EX2 SS2 SA2 AND※ Serial Type Comparison Type Bit Devices Word devices...
Page 601 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 240~ OR※ Parallel Type Comparison Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F OR※: 5 steps DOR※: 9 steps PULSE 16-bit...
Page 602 : Setting value (K0~K32,767, D0~D9,999)。 Explanations: 5. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is v2.40 (or above) are supported.
Page 603 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 BOUT Output Specified Bit of a Word Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F BOUT: 5 steps DBOUT: 9 steps PULSE 16-bit...
Page 604 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 BSET Set ON Specified Bit of a Word Type Bit Devices Word devices...
Page 605 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 BRST Reset Specified Bit of a Word Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F BRST: 5 steps DBRST: 9 steps PULSE 16-bit...
Page 606 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Load NO Contact by Specified Bit Type Bit Devices Word devices...
Page 607 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 BLDI Load NC Contact by Specified Bit Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F BLDI: 5 steps DBLDI: 9 steps PULSE 16-bit...
Page 608 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers Connect NO Contact in Series by ES2/EX2 SS2 SA2 BAND Specified Bit Type...
Page 609 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Connect NC Contact in Series by BANI Specified Bit Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F BANI: 5 steps DBANI: 9 steps PULSE 16-bit...
Page 610 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers Connect NO Contact in Parallel ES2/EX2 SS2 SA2 by Specified Bit Type Bit Devices...
Page 611 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 Connect NC Contact in Parallel BORI by Specified Bit Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F BORI: 5 steps DBORI: 9 steps PULSE 16-bit...
Page 612 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers 275~ Floating Point Contact Type ES2/EX2 SS2 SA2 FLD※...
Page 613 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 281~ Floating Point Contact Type FAND※ Comparison AND※ Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F FAND※: 9 steps PULSE 16-bit 32-bit...
Page 614 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers 287~ Floating Point Contact Type ES2/EX2 SS2 SA2 FOR※...
Page 615 3 . I ns t r uc ti on Se t Mnemonic Operands Function Controllers DMV communication DMVRW command Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DMVRW: 9 steps PULSE 16-bit 32-bit...
Page 616 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Number Description Remark It is used to set the length of the data read/written.
Page 617 3 . I ns t r uc ti on Se t functions as a source device at first, and then functions as a destination device when a reading command is executed. Note : If a communication combination command is used, S +1 and S +2 will be set by the PLC according to the communication combination command.
Page 618 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Example 2: The combination function code K3 is used. COM2 on a PLC communicates with a DMV. The control procedure is shown below.
Page 619 3 . I ns t r uc ti on Se t 2-6. If the DMV does not reply after the timeout period 100ms, the PLC will set D +2 (Y2) to On (a communication timeout occurs). 2-7. If the DMV replies with an execption code, the PLC will resend the command to the DMV automatically, and go back to step 2-3 ~ step 2-5.
Page 620 : Source device 3 Explanations: 1. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is 2.40 (or above) are supported.
Page 621 3 . I ns t r uc ti on Se t Program Example: 1. If the value in C10 is equal to K200 or K-200, Y20 will be On. 2. If the value in D200 is less than or equal to K230, and is larger than or equal to K170, and X1 is On, Y21 will be On and latched.
Page 622 : Source device 3 Explanations: 1. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is 2.40 (or above) are supported.
Page 623 3 . I ns t r uc ti on Se t Program Example: 1. If X0 is On, and the present value in C10 is equal to K200 or K-200, Y20 will be On. 2. If X1 is Off, and the value in D0 is not equal to K10 or K-10, Y21 will be On and latched. K200 K400 ANDZ=...
Page 624 : Source device 3 Explanations: 1. DVP-ES2/EX2 series PLCs whose version is 3.20/DVP-SS2 series PLCs whose version is 3.00/DVP-SA2 series PLCs whose version is 2.60/DVP-SE series PLCs whose version is 1.20/DVP-SX2 series PLCs whose version is 2.40 (or above) are supported.
Page 625 3 . I ns t r uc ti on Se t Program Example: If X2 and M30 are On, or the value in the 32-bit register (D101, D100) is larger than or equal to K100000, or is less than or equal to K-100000, M60 will be On. DORZ>= D100 K100000...
Page 626 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Operands Function Controllers Self-defined Ethernet ES2/ SA2/ ETHRS communication port Type Bit Devices Word devices...
Page 627 3 . I ns t r uc ti on Se t Local Remote Start Remote IP communication communication Description Mode port port Specific IP Illegal address Master mode, Specific IP Specifies the IP address; Not equal to 0 address but not specify the local communication port.
Page 628 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng length exceeds this limit will not be stored in D. Users can use the instruction DTM to transform 16-bit data into 8-bit data when the transformation is required.
Page 629 3 . I ns t r uc ti on Se t 12. If M1198 is ON, it means communication errors occur and an error code will be stored in D1176. For other error codes, please refer to the following table. When S +4=0 (UDP mode) Error code...
Page 630 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Error code Description H6214 TCP Socket connection is rejected by the remote equipment H6215 TCP Socket has not been connected H6217...
Page 631 3 . I ns t r uc ti on Se t Program Example 2: (The command is sent and received through the Ethernet port built in DVP-SE.) This example uses DVP-SE series as the client, M2 to activate and TCP connection mode to send and receive data.
Page 632 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 3 - 5 3 0...
Page 633 Communications This chapter introduces information regarding the communications ports of the PLC. Through this chapter, the user can obtain a full understanding about PLC communication ports. Chapter Contents 4.1 Communication Ports ....................4-2 4.2 Communication Protocol ASCII mode ................4-3 4.2.1 ADR (Communication Address) .................
Page 634: Communication Ports
Communication Ports DVP-ES2/EX2/SA2/SE/SX2 offers 3 communication ports (COM1~COM3), and DVP-SS2 offers 2 COM ports (COM1~COM2). COM ports of the above models support DELTA Q-link communication format on HMI. Refresh rate of HMI can be increased by this function. COM1: RS-232 communication port. COM1 can be used as master or slave and is the major COM port for PLC programming.
Page 635: Communication Protocol Ascii Mode
4 . Com m u ni c at i ons COM port RS-232 RS-485 RS-485 RS-485 (COM1) (COM2) (COM3) (SX2 COM3) Parameter Data length for access 100 registers (RTU) Default communication settings for all COM ports: − Modbus ASCII − 7 data bits −...
Page 636: Cmd (Command Code) And Data
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma n ua l - Pr ogr am m i ng Example, ASCII codes for communication address 16 in Decimal. (16 in Decimal = 10 in Hex) (ADR 1, ADR 0)=’1’,’0’’1’=31H, ‘0’...
Page 637: Lrc Chk (Checksum)
4 . Com m u ni c at i ons Field name ASCII Data Hi (T20) 30 30 Data Lo (T20) 30 31 Data Hi (T21) 30 30 Data Lo (T21) 30 32 Data Hi (T22) 30 30 Data Lo (T22) 30 33 Data Hi (T23) 30 30...
Page 638 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma n ua l - Pr ogr am m i ng exception response will return to the master device. In the exception response, the most significant bit of the original command code is set to 1, and an exception code explaining the condition that caused the exception is returned.
Page 639: Communication Protocol Rtu Mode
4 . Com m u ni c at i ons Communication Protocol RTU mode Communication Data Structure 9600 Baud rate), 8 data bits), EVEN Parity), 1 Start bit), 1 Stop bit) No data input ≥ 10 ms START Address Communication Address: the 8-bit binary address Command code Command Code: the 8-bit binary address DATA (n-1)
Page 640: Crc Chk (Check Sum)
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma n ua l - Pr ogr am m i ng PLC→PC “ 01 03 10 00 01 00 02 00 03 00 04 00 05 00 06 00 07 00 08 72 98” Feedback message: Field Name Example (Hex)
Page 641 4 . Com m u ni c at i ons obtained in the CRC register is the CRC checksum. Care should be taken when placing the LOW byte and HIGH byte of the obtained CRC checksum. Calculation example of the CRC Check using the C language: ...
Page 642: Plc Device Address
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma n ua l - Pr ogr am m i ng An example of exception response of command code 01H and exception 02H: Sent message: Field Name Example (Hex)
Page 643 4 . Com m u ni c at i ons Effective Range MODBUS Device Range Address SA2/SE Address ES2/EX2 1536~1791 B000~B0FF 1792~2047 B100~B1FF 2048~2303 B200~B2FF 2304~2559 B300~B3FF 0000 B400~B4FF 2560~2815 0000~4095 045057~047616 2816~3071 B500~B5FF 4095 3072~3327 B600~B6FF B700~B7FF 3328~3583 3584~3839 B800~B8FF 3840~4095 B900~B9FF...
Page 644: Command Code
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma n ua l - Pr ogr am m i ng Effective Range MODBUS Device Range Address SA2/SE ES2/EX2 Address 9800~98FF 6144~6399 9900~99FF...
Page 645 4 . Com m u ni c at i ons Assume Number of Points in sent message is n (Dec), quotient of n/8 is M and the remainder is N. When N = 0, Bytes Count in feedback message will be M; when N≠0, Bytes Count will be M+1. PLC→PC “:01 01 05 CD 6B B2 0E 1B D6 CR LF”...
Page 646: Command Code: 03, Read Content Of Register (T, C, D)
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma n ua l - Pr ogr am m i ng Field Name ASCII Bytes Count Data (Coils Y033…Y024) Data (Coils Y043…Y034) Data (Coils Y053…Y044) Data (Coils Y063…Y054) Data (Coils Y070…Y064)
Page 647: Command Code: 05, Force On/Off Single Contact
4 . Com m u ni c at i ons Field Name ASCII Data Lo (T24) Data Hi (T25) Data Lo (T25) Data Hi (T26) Data Lo (T26) Data Hi (T27) Data Lo (T27) Error Check (LRC) END 1 0D (Hex) END 0 0A (Hex) 4.5.4 Command Code: 05, Force ON/OFF single contact...
Page 648: Command Code: 06, Set Content Of Single Register
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma n ua l - Pr ogr am m i ng 4.5.5 Command Code: 06, Set content of single register Example: Set content of register T0: 12 34 (Hex) PC→PLC “: 01 06 06 00 12 34 AD CR LF”...
Page 649: Command Code: 16, Set Content Of Multiple Registers
4 . Com m u ni c at i ons Field Name ASCII Byte Count Force Data Hi Force Data Lo Error Check (LRC) END 1 0D (Hex) END 0 0A (Hex) PLC→PC “: 01 0F 05 00 00 0A E1 CR LF” Feedback message: Field Name ASCII...
Page 650 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O p e r a t i on Ma n ua l - Pr ogr am m i ng PLC→PC “: 01 10 06 00 00 02 E7 CR LF” Feedback message: Field Name ASCII...
Page 651 Sequential Function Chart This chapter provides information for programming in SFC mode. Chapter Contents 5.1 Step Ladder Instruction [STL], [RET] ................5-2 5.2 Sequential Function Chart (SFC) .................. 5-2 5.3 The Operation of STL Program ..................5-4 5.4 Points to Note for Designing a Step Ladder Program ..........5-10 5.5 Types of Sequences ....................
Page 652: Step Ladder Instruction [Stl], [Ret]
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Step Ladder Instruction [STL], [RET] Mnemonic Operands Function Program steps Controllers ES2/EX2 SS2 SA2 SX2 S0~S1023 Starts STL program...
Page 653 5 . Se que nt i al Fu nc ti on Cha r t action and the transition from one step to another generally requires some transition criteria (condition). The action of the previous step finishes as long as all criteria is true. When next step begins, the action of previous step will be cleared.
Page 654: The Operation Of Stl Program
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Alternative divergence. Alternative divergence is used for a step point to transfer to different corresponding step points by different transition conditions.
Page 655 5 . Se que nt i al Fu nc ti on Cha r t 3. Designate which step will take over the control from the current step Example: When X0 = ON, S20 = ON, S10 = OFF Explanation: When S10 = ON, Y0 and Y1 will be ON. When X0 = ON, S20 will be ON and Y20 will be ON. When S10 = OFF, Y0 will be OFF but Y1 will still be ON (SET instruction is applied on Y1, so Y1 will be ON and latched.) STL Transition:...
Page 656 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Repeated usage of timer: See the opposite diagram. Timers can only be used repeatedly in non-adjacent steps.
Page 657 5 . Se que nt i al Fu nc ti on Cha r t OUT Sn Used for returning to the initial step in the same step sequence. Also for jumping up/down to non-adjacent steps in the same sequence, or separating steps in different sequences. After the transition, all output from the previous status will be cleared.
Page 658 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng If M1014 is used, and M1040 is On, the steps in the same sequence will be cleared to Off. Ladder diagram: Driving the jumping of step Using OUT S24...
Page 659 5 . Se que nt i al Fu nc ti on Cha r t LD/LDI/LDP/LDF Basic instruction AND/ANI/ANDP/ANDF ANB/ORB MC/MCR OR/ORI/ORP/ORF MPS/MRD/MPP Step point INV/OUT/SET/RST Diverging step General output point/ Converging Step point transfer step point 1. DO NOT use MC/MCR instruction in the step. 2.
Page 660: Points To Note For Designing A Step Ladder Program
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Other Points to Note: 1. The instruction used for transferring the step (SET S□ or OUT S□) are suggested to be executed after all the relevant outputs and actions in the current step are completed.
Page 661 5 . Se que nt i al Fu nc ti on Cha r t 5. Sequence jump: Multiple sequences are allowed to be written into the step ladder diagram.  There are two sequences, S0 and S1. PLC writes in S0 ~ S30 first and S1 ~ S43 next..
Page 662: Types Of Sequences
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Device Description D1045 No. of the 6th step point which is ON D1046 No.
Page 663 5 . Se que nt i al Fu nc ti on Cha r t 2. Step Jump a) The control power over the step is transferred to a certain step on top. b) The control power over the step is transferred to the step in another sequence. 3.
Page 664 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Complicated Single Sequence: Includes simultaneous divergence, alternative divergence, simultaneous convergence and alternative convergence 1.
Page 665 5 . Se que nt i al Fu nc ti on Cha r t SFC diagram of alternative divergence: 3. Structure of Simultaneous Convergence Consecutive STL instructions construct a simultaneous convergence structure. When the transition condition is true after continuous steps, the operation will be transferred to next step. In simultaneous convergence, only when all sequences are completed will the transfer be allowed.
Page 666 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng SFC diagram of alternative convergence: Example of alternative divergence & alternative convergence: Step Ladder Diagram: SFC Diagram: M1002...
Page 667 5 . Se que nt i al Fu nc ti on Cha r t Example of simultaneous divergence & simultaneous convergence: Step Ladder Diagram: SFC Diagram: M1002 M1002 ZRST S127 5 - 1 7...
Page 668 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Example of the simultaneous divergence & alternative convergence: Step Ladder Diagram: SFC Diagram: M1002 M1002...
Page 669 5 . Se que nt i al Fu nc ti on Cha r t Combination example 1: (Includes alternative divergence/convergence and simultaneous divergence/convergence) Step Ladder Diagram: M1002 ZRST S127 5 - 1 9...
Page 670 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng SFC Diagram: M1002 5 - 2 0...
Page 671 5 . Se que nt i al Fu nc ti on Cha r t Combination example 2: (Includes alternative divergence/convergence and simultaneous divergence/convergence) Step Ladder Diagram: SFC Diagram: M1002 ZRST S127 M1002 Restrictions on Divergence Sequence: 1. Max. 8 step points could be used for single divergence sequence. As the diagram below, there are maximum 8 diverged steps S30 ~ S37 after step S20.
Page 672 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng SFC Diagram: M1002 5 - 2 2...
Page 673: Ist Instruction
5 . Se que nt i al Fu nc ti on Cha r t IST Instruction Mnemonic Operands Function Controllers ES2/EX2 SS2 SA2 SX2 Initial State Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F IST: 7 steps PULSE 16-bit 32-bit...
Page 674 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 5. When S2 (auto mode) is initialized, i.e. selected, auto mode will NOT be executed if M1043 = ON or any of the state between D to D is ON.
Page 675 5 . Se que nt i al Fu nc ti on Cha r t 5. Control panel Auto ON Power ON Zero return Auto OFF Power OFF Right Clip Ascend Step X32 Shift balls One cycle Zero return X31 operation X33 Left Release Descend...
Page 676 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 8. Zero return mode: a) SFC: Release balls Stop lowering robot arm Raise robot arm to the upper-limit (X4 = ON) Stop shifting to right...
Page 677 5 . Se que nt i al Fu nc ti on Cha r t 9. Auto operation (Single step / One-cycle operation / continuous operation): a) SFC: M1041 M1044 5 - 2 7...
Page 678 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng b) Ladder Diagram: M1041 M1044 Enter auto operation mode Lower robot arm X5 X0 Clip balls Raise robot arm to the...
Page 679 Troubleshooting This chapter offers error code table and information for troubleshooting during PLC operation. Chapter Contents 6.1 Common Problems and Solutions ..................6-2 6.2 Error code Table (Hex) ......................6-4 6.3 Error Detection Devices ...................... 6-6 6 - 1...
Page 680: Common Problems And Solutions
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma n ua l - Pr ogr am m i ng Common Problems and Solutions The following tables list some common problems and troubleshooting procedures for the PLC system in the event of faulty operation.
Page 681 6 . Tr o ubl e s hoo t i ng Symptom Troubleshooting and Corrective Actions Diagnosing Input When input indicator LEDs are OFF, Malfunction Check the wiring of the input devices. Check that the power is properly supplied to the input terminals. If the power is properly supplied to the input terminal, there is probably an abnormality in the PLC’s input circuit.
Page 682: Error Code Table (Hex)
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma n ua l - Pr ogr am m i ng Error code Table (Hex) After you write the program into the PLC, the illegal use of operands (devices) or incorrect syntax in the program will result in flashing of ERROR indicator and M1004 = ON.
Page 683 6 . Tr o ubl e s hoo t i ng Error code Description Action 0E18 BCD conversion error 0E19 Division error (divisor=0) 0E1A Device use is out of range (including index registers E, F) Check the D1137 0E1B Negative number after radical expression (Error step number) 0E1C FROM/TO communication error...
Page 684: Error Detection Devices
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma n ua l - Pr ogr am m i ng Error code Description Action C40D Use I / P incorrectly instructions is incorrectly specified.
Page 685 CANopen Function and Operation This chapter explains the functions of CANopen and the usage. Chapter Contents 7.1 The Introduction of CANopen ..................7-2 7.1.1 The Description of the CANopen Functions ............7-2 7.1.2 The Input/Output Mapping Areas ................7-3 7.2 The Installation and the Network Topology ..............7-3 7.2.1 The Dimensions ....................
Page 686: The Introduction Of Canopen
OFF, the CANopen functions are disabled. In a master mode, the CANopen functions can support slave 1~slave 16.  The CANopen network configuration software for DVP-ES2-C is CANopen Builder. The CANopen station address and the communication rate are set by means of this software. The programming software for DVP-ES2-C is WPLSoft or ISPSoft.
Page 687: The Input/Output Mapping Areas
If an error or an alarm occurs in DVP-ES2-C, the master is notified through the emergency. 7.1.2 The Input/Output Mapping Areas DVP-ES2-C as a master supports 16 slaves at most, and the slave node ID range from 1 to 16. The output mapping areas are D6250-D6476, and the input mapping areas are D6000-D6226.
Page 688: The Profile
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 7.2.2 The Profile 7.2.3 The CAN Interface and the Network Topology ...
Page 689 7 CANope n Func t i on a nd O pe r a t i on The data frame format is shown below. The CAN nodes transmit the CAN messages to the network from left to right, as the data frame format below shows. ...
Page 690  The topology structure of the CANopen network 1) Users should use standard Delta cables when creating the CANopen network. These cables are the thick cable TAP-CB01, the thin cable TAP-CB02, and the thin cable TAP-CB10. The communication cables should be away from the power cables.
Page 691 7 CANope n Func t i on a nd O pe r a t i on Product Model Function DVPCOPM-SL is a module connected to the left side of an S series PLC. It can function as the CANopen master or slave. DVPCOPM-SL The PLCs which can be connected to DVPCOPM-SL are DVP-28SV,...
Page 692 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Product Model Function The EC series AC motor drive has the EC series AC motor built-in CANopen interface.
Page 693: The Canopen Protocol
7 CANope n Func t i on a nd O pe r a t i on The CANopen Protocol 7.3.1 The Introduction of the CANopen Protocol The CAN (controller area network) fieldbus only defines the physical layer and the data link layer. (See the ISO11898 standard.) It does not define the application layer.
Page 694: The Canopen Communication Object
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng 7.3.2 The CANopen Communication Object The CANopen communication protocol contains the following communication objects. ...
Page 695 7 CANope n Func t i on a nd O pe r a t i on All the data in the PDO has to be mapped from the object dictionary. The following is an example of the PDO mapping. Object dictionary PDO_1 mapping xxxxh Application object A...
Page 696 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng The format of the reply message: COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7...
Page 697 7 CANope n Func t i on a nd O pe r a t i on “reset communication” state. The relation between the communication object and the state is shown below. The communication object service can be executed only in a proper state. For example, SDO can be executed only in the operational state and in the pre-operational state.
Page 698 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Heartbeat consumer Heartbeat producer Receiving Request Receiving Heartbeat Receiving producing time Heartbeat timeout period...
Page 699: The Predefined Connection Set
7 CANope n Func t i on a nd O pe r a t i on The format of the SYNC message: COB-ID 80 (hex)  Emergency object The emergency object is used by the CANopen device to indicate an internal error. When an emergency error occurs in the device, the device sent the emergency message (including the emergency error code), and the device enters the error state.
Page 700: Sending Sdo, Nmt And Reading Emergency Message Through The Ladder Diagram
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Index of the Object Function code COB-ID communication parameter NMT Error 1110 1793 (701h)–1919 (77Fh) 1016h, 1017h...
Page 701 7 CANope n Func t i on a nd O pe r a t i on Response message PLC device High byte Low byte Header D6001 Reserved Size Node ID D6002 Type D6003 High byte of main index Low byte of main index D6004 Reserved Sub-index...
Page 702: Data Structure Of Nmt Message
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng  Response data: Response message PLC device High byte(Hex) Low byte(Hex) D6000 ResID =01 Command =01...
Page 703: Data Structure Of Emergency Request Message
7 CANope n Func t i on a nd O pe r a t i on is sent out, the original ID number must be changed. In other words, to send out the NMT request message is triggered by changing of the value of “ReqID”. ReqID range: 00 (Hex) ~ FF (Hex).
Page 704 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng message is sent out, the original ID number must be changed. In other words, to send out the Emergency request message is triggered by changing of the value of “ReqID”.
Page 705: Example On Sending Sdo Through The Ladder Diagram
7 CANope n Func t i on a nd O pe r a t i on  Emergency response data Response message PLC device High byte Low byte D6000 ResID=01 Status code =01 Message D6001 Reserved =0 Size =2A (Hex) header D6002 Type =04...
Page 706 Subindex = 00  Editing the Ladder Diagram through WPLsoft When M0=ON, DVP-ES2-C sends out the first request message and D6000 should be 101(hex) after the response message is transmitted back successfully. In program, if the 7 - 2 2...
Page 707: Indicators And Troubleshooting
Datum 2= 00 Indicators and Troubleshooting There are 6 LED indicators on DVP-ES2-C. Power indicator shows whether the power is normal, RUN and ERROR indicator display the state of running of internal program and COM3 displays the communication state of CANopen.
Page 708: Canopen Network Node State Display
(Only applicable to DVP-ES2-C V3.26 (and above))  As a master, DVP-ES2-C supports maximum 16 slaves ranging from node 1 to node 16. D9998 can be used for monitoring the state of nodes from 1 to 16 in the network. And the 16 bits of D9998 corresponds to 16 slaves and the corresponding relations of them are shown below.
Page 709 Set the node ID of master and slave again slave repeat. and ensure their node IDs are sole.  Code display in D9980 as DVP-ES2-C is in master mode: Code Indication How to correct Slave has not been added to...
Page 710: Application Example
Application Example DVP-ES2-C is used to control Delta A2 servo rotation and monitor the actual rotation speed of motor in real time. The principle of operation is to map the relevant parameters of servo drive to the corresponding PDO and read or write the relevant parameters of servo drive through the CAN bus to accomplish the control requirement.
Page 711 Setting CANopen Baud Rate and Node ID of DVP-ES2-C DVP-ES2-C uses the default setting values: Node ID: 17 and baud rate: 1Mbps. CANopen Node ID and baud rate of DVP-ES2-C are set up through CANopen Builder software. See the detailed operation steps below: 1) Open CANopen Builder software and then click menu “Setup”...
Page 712 The communication mode between computer and Mode ASCII Mode DVP-ES2-C 3) After setting is finished, click “Network”> “Online” and the “Select communication channel” page appears. 1> When “CANopen Slave” displays in the Name column, it indicates that PLC is in the mode of CANopen slave.
Page 713 According to actual requirement, user can set the CANpen Node ID, baud rate and master/slave mode of DVP-ES2-C. 5) After the steps above are finished, the download will be performed as the figure shows below. Note: The new parameters after being downloaded will be effective unless DVP-ES2-C is re-powered. 7 - 2 9...
Page 714 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng  Network Scanning: Scan the master and slave on the CANopen network by clicking menu “Network”>>”Online”. The scanned master and slave are displayed on the page below.
Page 715 7 CANope n Func t i on a nd O pe r a t i on  PDO Mapping: RxPDO1: the mapping parameter P1-09; transmission type 255. RxPDO2: the mapping parameter P3-06, P4-07; transmission type 255. TxPDO1: the mapping parameter P0-09; transmission type 1. ...
Page 716 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng PDO Transmission types in details are introduced in the following table. Transmission Type Description Remark...
Page 717 256r/min. See details in the following figure. Program explanation: While DVP-ES2-C is running for the first time, set the parameter P3-06 of servo drive to F.  When M0 turns from OFF to ON, write K256 to D6282 and then the value is written to P1-09 of servo parameter through RxPDO1.
Page 718: Object Dictionary
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Object Dictionary The communication objects in the object dictionary are shown as below: Index Subindex Object name...
Page 719 7 CANope n Func t i on a nd O pe r a t i on Index Subindex Object name Data type Attribute Default value H’1402 H’03 Inhibit time Unsigned 16 bits RxPDO4 communication parameter Number of valid H’00 Unsigned 8 bits subindex H’1403 COB-ID of...
Page 720 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Index Subindex Object name Data type Attribute Default value Number of valid H’00 Unsigned 8 bits subindex...
Page 721 7 CANope n Func t i on a nd O pe r a t i on Index Subindex Object name Data type Attribute Default value The first mapped H’01 Unsigned 32 bits object The second H’01 Unsigned 32 bits mapped object H’1604 The third mapped H’02...
Page 722 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Index Subindex Object name Data type Attribute Default value H’1800 H’05 Timer Unsigned 16 bits TxPDO2...
Page 723 7 CANope n Func t i on a nd O pe r a t i on Index Subindex Object name Data type Attribute Default value H’03 Inhibit time Unsigned 16 bits H’1805 H’05 Timer Unsigned 16 bits TxPDO7 communication parameter Number of valid H’00 Unsigned 8 bits...
Page 724 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Index Subindex Object name Data type Attribute Default value The third mapped H’03 Unsigned 32 bits object...
Page 725 7 CANope n Func t i on a nd O pe r a t i on Index Subindex Object name Data type Attribute Default value Number of valid H’00 Unsigned 8 bits subindex The first mapped H’01 Unsigned 32 bits object The second H’1A07...
Page 726 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng MEMO 7 - 4 2...
Page 727 Appendix Installing a USB Driver in the PLC Contents A.1 Installing the USB Driver in Windows 7 ................A-2 A.2 Installing the USB in Windows 8 ..................A-4 A.3 Installing the USB Driver in Windows 10 ................A-7 A- 1...
Page 728: A.1 Installing The Usb Driver In Windows 7
A.1 Installing the USB Driver in Windows 7 This section introduces the installation of the DELTA PLC USB driver in the computer. After the driver is installed, the USB interface can be used as the serial port (RS-232). Please use the standard USB cable.
Page 729 Appe dndi x A I ns ta ll i ng a USB Dr i v e r i n t he PLC After the driver is installed, users can find the Delta PLC device and the communication port assigned to it in the Device Manger window. The usage of this device is the same as that of RS-232.
Page 730: A.2 Installing The Usb In Windows 8
Windows 8 driver signature enforcement provides a way to improve the security of the operating system by validating the integrity of a driver or system file each time it is loaded into memory. However since Delta PLC USB driver does not include the driver signature, this section will help users to disable driver signature enforcement functionality in Windows 8 to ensure a success Delta PLC USB installation.
Page 731 Appe dndi x A I ns ta ll i ng a USB Dr i v e r i n t he PLC 【WIN】+【I】 on the keyboard to see the Setting interface. Click “Change PC Press the button settings”. The PC settings window will appear. Select “General” and then “Restart now” under “Advanced startup”. A- 5...
Page 732 “Restart” to restart the computer. Press “7” or “F7” to choose “Disable driver signature enforcement” and the system will direct you to the Windows 8 operating page. Users can then install the Delta PLC USB driver now. A- 6...
Page 733: A.3 Installing The Usb Driver In Windows 10
Windows 10 driver signature enforcement provides a way to improve the security of the operating system by validating the integrity of a driver or system file each time it is loaded into memory. However since Delta PLC USB driver does not include the driver signature, this section will help users to disable driver signature enforcement functionality in Windows 10 to ensure a success Delta PLC USB installation.
Page 734 Press “7” or “F7” to choose “Disable driver signature enforcement” and the system will direct you to the Windows 10 operating page. Users can then install the Delta PLC USB driver now. For the installation of the USB driver, please refer to section A1 for more information.
Page 735 Appendix Setting and Using an Ethernet PLC/Module Contents Specifications for an Ethernet PLC/Module ............B-2 Ethernet Control Registers ..................B-2 B.2.1 Station Addresses of Ethernet Modules ............. B-2 B.2.2 DVP-SE Series PLC (Ethernet PLC) ..............B-2 B.2.3 DVPEN01-SL (Left-side Ethernet Communication Module) ........ B-4 B.2.4 DVP-FEN01 (DVP-EH3 Series Ethernet Communication Card) ......
Page 736: B.1 Specifications For An Ethernet Plc/Module
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng B.1 Specifications for an Ethernet PLC/Module The specifications for a DVP series Ethernet port and the functions of a DVP series Ethernet port are listed below.
Page 737 Appe dn di x B Set t i ng a nd Us i ng a n Et he r ne t PLC/M odul e CR number Attribute Register name Description #12~#0 Reserved Enabling the data Users can set CR#13 to “sending the data” or “not exchange sending the data”.
Page 738: B.2.3 Dvpen01-Sl (Left-Side Ethernet Communication Module)
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng CR number Attribute Register name Description Displaying the errors. See the error code table for #251 Error code more information.
Page 739 Appe dn di x B Set t i ng a nd Us i ng a n Et he r ne t PLC/M odul e DVPEN01-SL Ethernet communication module CR number Attribute Register name Description #48~#29 Data transmission buffer Buffer for transmitted data in data exchange #68~#49 Data receiving buffer Buffer for received data in data exchange...
Page 740: B.2.4 Dvp-Fen01 (Dvp-Eh3 Series Ethernet Communication Card)
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng B.2.4 DVP-FEN01 (DVP-EH3 Series Ethernet Communication Card) DVP-FEN01 Ethernet communication card CR number Attribute Register name...
Page 741: B.3.1 Communication Setting
Appe dn di x B Set t i ng a nd Us i ng a n Et he r ne t PLC/M odul e search by a broadcast, or an IP address. An Ethernet PLC is set up by UDP port 20006; therefore, you have to be aware of the relevant settings of the firewall.
Page 742: B.3.2 Broadcast Search
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng B.3.2 Broadcast Search (1) Click Search on the toolbar in DCISoft to search for all Delta Ethernet products on the network. The window on the left hand side shows the models found, and the window on the right hand side displays the device list of all models.
Page 743: B.3.3 Searching For A Model Specified
Appe dn di x B Set t i ng a nd Us i ng a n Et he r ne t PLC/M odul e B.3.3 Searching for a Model Specified (1) Right-click Ethernet in the left hand side window, and click Configure to designate a model to be searched for.
Page 744 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng (2) After users select a model which will be searched for, they can click OK to auto-search for the model on the network.
Page 745: B.3.4 Searching By An Ip Address
Appe dn di x B Set t i ng a nd Us i ng a n Et he r ne t PLC/M odul e B.3.4 Searching by an IP Address (1) Select Ethernet in the Type drop-down list box, type an IP address in the IP Address box, and click OK.
Page 746: B.4 Data Exchange
Quantity: A slave station can send 100 pieces of data at most and receive 100 pieces of data at most simultaneously. ※ If a device which is not a Delta PLC is connected, users can type a hexadecimal four-digit MODBUS absolute position in the Slave Device cell.
Page 747 Appe dn di x B Set t i ng a nd Us i ng a n Et he r ne t PLC/M odul e B.5.1 EtherNet/IP Information Supported by DVP-SE / ES2-E Series PLCs (1) Object list Object Name Class Code # of Instance Identity 0x01...
Page 748 B.5.2 EtherNet/IP Objects Supported by DVP-SE / ES2-E Series PLCs (1) Identity Object (0x01) Instance: 0x01 Attribute Name Access Data Type Value 0x01 Vendor ID UINT (Delta Electronics, inc.) 0x02 Device Type UINT ( Programmable Logic Controller ) 0x03 Product Code UINT 0x0015 0x04...
Page 749 Appe dn di x B Set t i ng a nd Us i ng a n Et he r ne t PLC/M odul e (6) T timer (0x66) Instance Attribute Name Access Data Type 0x64 0x64 …… 0x64 T255 Instance Attribute Name Access...
Page 750 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng (10) TCP/IP Interface Object (0xF5) Instance: 0x01 Attribute Name Access Data Type Value 0x01 Status...
Page 751: B.6 Rtu Mapping
Appe dn di x B Set t i ng a nd Us i ng a n Et he r ne t PLC/M odul e B.6 RTU Mapping Users can connect the Delta network product DVPEN01-SL/DVP-SE/ES2-E to RTU-EN01 by means of RTU mapping. After the users finish setting mapping information, they can operate RTU-EN01 by means of corresponding bits (M devices) and registers (D devices) in DVPEN01-SL/DVP-SE/ES2-E instead of communication programs.
Page 752: B.6.2 Application Of The Rtu Mapping
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng mapping, the maximum number of digital outputs used for mapping, the maximum number of registers used for mapping are described below.
Page 753 Appe dn di x B Set t i ng a nd Us i ng a n Et he r ne t PLC/M odul e 3. Use DCISoft for DVP-SE to set start addresses and numbers. (RX: M2000~M2009; RY: M3000~M3009; RCR (Reading): D2000~D2009; RCR (Writing): D3000~D3009) 4.
Page 754 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng MEMO B- 2 0...
Page 755 Appendix Inforamation about TP Series Text Panels Contents C.1 TP Memory Map ....................... C-2 C.2 Special Data Register ...................... C-3 C.3 Special Auxiliary Relay ....................C-12 C.4 Instructions applicable to TP ..................C-21 C.4.1 Basic Instructions .................... C-21 C.4.2 Numerical List of Instructions ................C-22 C.4.3 Additional Remarks on High-speed Instructions ..........
Page 756: C.1 Tp Memory Map
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng C.1 TP Memory Map Specifications Control Method Stored program, cyclic scan system Batch processing method (when END instruction is I/O Processing Method executed)
Page 757: C.2 Special Data Register
Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s Specifications Current value T0~T255, 256 words C0~C199, 16-bit counter, 200 words Current value C200~C254, 32-bit counter, 55 words D0~D407, 408 words, (*1) General...
Page 758 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Content Attrib. Default STOP D1000* Setting value of the watchdog timer (WDT) (Unit: 1ms) Displaying the firmware version of TP (For example, the D1001 firmware version is 1.0 if the value in D1001 is HXX10.)
Page 759 Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s STOP Special Latch    Content Attrib. Default STOP D1062* Average number of times an analog signal is input D1067* Error code for program execution error D1068* Address of program execution error Feedback data (ASCII) of Modbus communication.
Page 760 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Content Attrib. Default STOP Sampling time of analog/digital converstion. Default: 2. Unit: D1118* 1ms.
Page 761 Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s STOP Special Latch    Content Attrib. Default STOP When interupt I400/I401/I100/I101 occurs, D1240* D1240 stores the low word of high-speed counter.
Page 762 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Content Attrib. Default STOP D1358* Starting reference for Master to read from Slave ID#4 H’1064 D1359* Starting reference for Master to read from Slave ID#5 H’1064...
Page 763 Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s STOP Special Latch    Content Attrib. Default STOP D1436* Data length to be read on Slave ID#3 D1437* Data length to be read on Slave ID#4 D1438* Data length to be read on Slave ID#5 D1439* Data length to be read on Slave ID#6...
Page 764 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Content Attrib. Default STOP The data which is written into slave ID#1 in the PLC LINK at the time when M1353 is OFF D1496* ↓...
Page 765 Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s STOP Special Latch    Content Attrib. Default STOP D1784* ↓ The data which is written into slave ID#10 in the PLC LINK D1799* D1800*...
Page 766: C.3 Special Auxiliary Relay
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch    Content Attrib. Default STOP Present value of an object in the TP program D4000: Present value of object 1 D4000 ↓...
Page 767 Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s STOP Special Latch-    Attrib. Default Function STOP M1025* Indicate incorrect request for communication M1026 RAMP mode selection M1027...
Page 768 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch-    Attrib. Default Function STOP M1065 Syntax error M1066 Loop error...
Page 769 ON: binary floating point; OFF: decimal integer M1167 16-bit mode for HKY input M1168 Designating work mode of SMOV Enable the communication instruction for Delta VFD series M1177 inverter. ON: VFD-A (Default), OFF: other models of VFD M1200 C200 counting mode (ON: count down)
Page 770 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch-    Attrib. Default Function STOP M1206 C206 counting mode (ON: count down) M1207 C207 counting mode (ON: count down)
Page 771 Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s STOP Special Latch-    Attrib. Default Function STOP M1237 C237 counting mode (ON: count down) M1238 C238 counting mode (ON: count down) M1239...
Page 772 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch-    Attrib. Default Function STOP M1304* Enable force-ON/OFF of input point X For COM1(RS-232), sending request (Only applicable for M1312 MODRW and RS instruction)
Page 773 Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s STOP Special Latch-    Attrib. Default Function STOP M1367* Slave ID#8 status on PLC LINK network M1368* Slave ID#9 status on PLC LINK network M1369* Slave ID#10 status on PLC LINK network M1370* Slave ID#11 status on PLC LINK network...
Page 774 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng STOP Special Latch-    Attrib. Default Function STOP M1398* Slave ID#7 linking error M1399* Slave ID#8 linking error M1400* Slave ID#9 linking error M1401* Slave ID#10 linking error...
Page 775: C.4 Instructions Applicable To Tp
Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s STOP Special Latch-    Attrib. Default Function STOP M1429* Indicate that writing to Slave ID#6 is completed M1430* Indicate that writing to Slave ID#7 is completed M1431* Indicate that writing to Slave ID#8 is completed M1432* Indicate that writing to Slave ID#9 is completed...
Page 776: C.4.2 Numerical List Of Instructions
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Instruction Function Positive contact to Negative contact C.4.2 Numerical List of Instructions Mnemonic Function Classification...
Page 777 Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s Mnemonic PULSE Function Classification 16 bits 32 bits Rotation and  39 SFRD –...
Page 778 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Function Classification PULSE 16 bits 32 bits 104 STOP – –...
Page 779 Appe nd i x C I nf or am a ti on a b out TP Se r i e s Te x t Pa ne l s Mnemonic PULSE Function Classification 16 bits 32 bits Positioning – DABSR – Absolute position read Control ...
Page 780: C.4.3 Additional Remarks On High-Speed Instructions
DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng Mnemonic Function Classification PULSE 16 bits 32 bits – ≦ S 245 OR<= DOR<= Contact Type...
Page 781: D.1 Current Consumption Of A Slim Plc/An Extension Module
Appendix Introducing the Current Consumption of Slim PLCs/Extension Modules Contents D.1 Current Consumption of a Slim PLC/an Extension Module ........... D-2 D.1.1 Current supply and current consumption of a PLC (+24VDC) ......D-2 D.1.2 Current supply and current consumption of a digital input/output module (+24VDC) .........................
Page 782 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma nua l - Pr ogr am m i ng D.1 Current Consumption of a Slim PLC/an Extension Module Users can calculate the maximum current consumed by the combination of a slim PLC and modules by means of the data in the table below.
Page 783: D.1.3 Current Consumption Of A Special Input/Output Module (+24Vdc)
Ap p en d i x D I n t r o d u c i n g t h e Cu r r en t Co n s u m p tio n o f Sl im PL Cs / Ext en s i o n Mo d u l es D.1.3 Current consumption of a special input/output module (+24VDC) A special input/output module must be supplied with +24VDC power.
Page 784 DVP- ES2 / EX2 / SS2 / SA2 / SX2 / SE&TP O pe r a t i on Ma n ua l - Pr ogr am m i ng MEMO D- 4...

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