Chapter 1 Program Framework Of A Dvp-Pm Series Motion Controller; Structure Of O100 - Delta DVP-20PM Applications Manual

1
Program Framework of a DVP-PM Series Motion Controller
Delta DVP-PM series motion controllers can put axes in particular positions at high-speeds, create linear
interpolations, and circular interpolations. They can execute basic instructions, applied instructions, motion
instructions, and G-codes. Different DVP-PM series motion controllers support different program
frameworks and functions. The functions that DVP-PM series motion controllers support are shown in the
table below.
Function
Main program O100
Ox motion subroutines
P subroutines
General instructions/Applied instructions
Motion instructions
G-codes
M-codes
JOG motion
Returning home
Variable motion
Single-speed motion
Inserting single-speed motion
Two-speed motion
Inserting two-speed motion
Triggering single-speed motion by means
of an external signal
Manual pulse generator mode
Cyclic/Noncyclic electronic cam motion
In this chapter, the basic program frameworks of DVP-PM series motion controllers are described. Owing
to the fact that the functionality of a DVP-PM series motion controller is composed of sequence control and
positioning control, a program comprises O100, Ox motion subroutines, and P subroutines. O100, Ox
motion subroutines, and P subroutines are described in this chapter. Basic instructions, applied
instructions, motion instructions, and G-codes will be introduced in other chapter 4~chapter 6. The
specifications for DVP-PM series motion controllers are shown in the table below.
Specifications
High-speed output
PWM
High-speed counter
Program capacity
Execution speed

1.1 Structure of O100

O100 is a sequence control program. It is the main program in a DVP-PM series motion controller. It only
supports basic instructions and applied instructions. Users can use these two types of instructions to
process I/O data, call P subroutines, and enable Ox motion subroutines (Ox0~Ox99). O100 functions as a
main program. Motion subroutines are enabled through O100. There is hierarchical relation between O100
and motion subroutines. The characteristics of O100 are described below.
1. There are two methods of enabling O100.
If the STOP/RUN switch of a DVP-PM series motion controller is turned from the "STOP" position to

the "RUN" position when the DVP-PM series motion controller is powered, M1072 will be ON, and
O100 will run.
DVP-20PM Application Manual
DVP-10PM
4 axes (1000 kHz)
Precision: 0.3%@200 kHz
6 input terminals (2 differential
input terminals, and 4 input
terminals whose collectors are
open collectors)
64K steps
LD: 0.14 us
MOV: 2 us
DMUL: 7.6 us
DEMUL: 6.1 us
DVP-20PM DVP-10PM
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DVP-20PM
3 axes (500 kHz)
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2 input terminals
64K steps
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