Delta DVP-15MC Series Manuals

Manuals and User Guides for Delta DVP-15MC Series. We have 1 Delta DVP-15MC Series manual available for free PDF download: Operation Manual

Delta DVP-15MC Series Operation Manual (972 pages)

Motion Controller

Brand: Delta | Category: Controller | Size: 14.25 MB

Table of Contents
2
Chapter 1 Preface

16
Explanation of Symbols in this Manual

17
Revision History

18
Chapter 2 Overview

20
Product Description

21
Functions

21
Profile and Components

22
Chapter 3 Specifications

24
- Specifications
  24
- 3.1.2 Devices and Data Types
  26
  - Devices
    26
  - Valid Ranges of Devices
    27
  - Latched Devices
    28
  - Data Types and Valid Ranges Supported
    28
3.2 Electrical Specifications

29
Chapter 4 System Architecture

33
System Constitution

33
Power Supply

33
Left-Side Extension

33
Right-Side Extension

34
- Allocation of Right-Side Extension Module Addresses
  35
Connectable Servo Drives

36
SD Memory Card

38
- Model and Specification
  38
Chapter 5 Installation

41
Dimensions

41
- Profile and Dimensions
  
  41
Installing the Module in the Control Cabinet

47
- Installing the Module to DIN Rail
  
  47
Chapter 6 Wiring, Communication Setting and Network Construction

50
Wiring

52
- Power Supply
  52
- Safety Circuit Wiring
  53
Input Point and Output Point Wiring

55
- Function that Input Points Support
  55
- Input Point Wiring
  56
- Output Point Wiring
  58
RS-485 Communication Port

59
Communication Port

62
SSI Absolute Encoder Port

64
Incremental Encoders

66
Ethernet Communication Port

68
Motion Communication Port

71
Canopen Communication Port

72
Chapter 7 Execution Principle

77
Tasks

77
- Task Types
  
  77
The Impact of PLC RUN or STOP on Variables and Devices

85
Relationship between Motion Program and Motion Bus

85
Synchronization Cycle Period Setting

86
Chapter 8 Logic Instructions

92
- Table of Logic Instructions
  92
- Explanation of Logic Instructions
  96
- R_Trig
  96
- Sequence Input /Output Instructions
  96
- F_Trig
  99
- Sema
  104
  - Sequence Control Instructions
    106
- Jmp
  106
  - Data Movement Instructions
    107
- Move
  112
- Movedigit
  113
- Exchange
  114
- Swap
  116
  - Comparison Instructions
    118
  - Timer Instructions
    130
  - Trunc
    198
  - Floor
    200
  - Fraction
    202
  - And
    204
  - Bit String Instructions
    204
  - No T
    210
  - Xor
    212
  - Xorn
    215
  - Shift Instructions
    218
  - Shl
    218
  - Shr
    220
  - Rol
    222
  - Ro R
    224
  - Max
    226
  - Selection Instructions
    226
  - Min
    228
  - Sel
    231
  - Mux
    232
  - Limit
    234
  - Band
    236
  - Zone
    239
  - Bool_To_
    242
  - Data Type Conversion Instructions
    242
  - Bit Strings_To_
    245
  - Real Numbers_To_
    245
  - Times,Dates_To_
    264
  - Strings_To_
    266
  - Communication Instructions
    269
  - Dmc_Readparameter_Canopen
    270
  - Dmc_Writeparameter_Canopen
    274
  - Eth_Link_Config
    278
  - Eth_Link_Manage
    288
  - Eth_Link_Status
    288
  - Eth_Link_Config_Ext
    294
  - ETH_ Setserverlinkkeeptime
    296
  - Eth_Socket_Manage
    297
  - Eth_Socket_Config
    299
  - Eth_Socket_Open
    302
  - Eth_Socket_Send
    304
  - Eth_Socket_Receive
    308
  - Eth_Socket_Close
    312
  - Eth_Socket_Status
    314
  - Ehternet Free Protocol Example
    317
  - Rs485_Link_Manage
    322
  - Rs485_Link_Config
    324
  - Rs485_Link_Status
    328
  - RS485 Data Exchange Example
    331
  - Rs485_Rs
    334
  - RS485 Free Protocol Example
    340
  - Rs485_Setdelaytime
    343
  - Rs232_Link_Manage
    345
  - Rs232_Link_Config
    347
  - Rs232_Link_Status
    351
  - RS232 Data Exchange Example
    354
  - Rs232_Rs
    357
  - RS232 Free Protocol Example
    363
  - Rs232_Setdelaytime
    366
- String Processing Instructions
  
  368
  - Concat
    369
  - Delete
    370
  - Insert
    373
  - Left / Right
    374
  - MID
    377
  - Replace
    378
  - Len
    380
  - Fi Nd
    381
  - Immediate Refresh Instructions
    383
  - From
    385
  - Immediateinput
    391
  - Immediateoutput
    393
  - Left_Manage
    395
  - PID-Related Instructions
    399
  - Pid
    400
  - Gpwm
    411
  - Address Instruction
    412
  - Adr
    412
  - Canmotion_Sysdiag (Motion System Diagnosis)
    414
  - Network Diagnosis
    414
  - Canmotion_Nodediag (Motion Axis Diagnosis)
    416
  - Canopen_Sysdiag (Canopen System Diagnosis)
    418
  - Canopen_Nodediag (Canopen Slave Diagnosis)
    420
  - Canopen_State (Canopen Master Diagnosis)
    422
  - Read and Write Offset Bit Value
    424
  - Setbitoffsetvalue
    424
  - Getbitoffsetvalue
    426
  - FCS Instructions
    428
  - Crc
    429
  - Lrc
    430
Chapter 9 Introductions of Axis Parameters

433
- Description of Axis Parameters
  
  434
- And ENO
  
  438
Relation Among Velocity, Acceleration and Jerk

439
Chapter 10 Motion Control Function

439
Introduction of Buffermode

442
The State Machine

468
Chapter 11 Motion Control Instructions

474
11.1 Table of Motion Control Instructions

474
11.2 about Motion Control Instructions

476
11.3 Single-Axis Instructions

477
- Mc_Power
  477
- Mc_Home
  486
- Mc_Movevelocity
  491
- Mc_Halt
  498
- Mc_Stop
  503
- Mc_Moverelative
  508
- Mc_Moveadditive
  516
- Mc_Moveabsolute
  524
- Mc_Movesuperimposed
  533
- Mc_Haltsuperimposed
  540
- Mc_Setposition
  545
- Mc_Setoverride
  556
- Mc_Reset
  560
- Dmc_Settorque
  563
- Mc_Readaxiserror
  567
- Mc_Readactualposition
  569
- Mc_Readstatus
  574
- Mc_Readmotionstate
  579
- Dmc_Readparameter_Motion
  584
- Dmc_Writeparameter_Motion
  587
- Dmc_Writeparameter_Motion
  589
- Dmc_Touchprobe
  593
- Dmc_Touchprobecyclically
  602
- Dmc_Jog
  606
- Dmc_Movevelocitystopbypos
  608
- Dmc_Movevelocitystopbylinepos
  612
- Dmc_Readpositionlagstatus
  616
- Dmc_Writepositionlagsetting
  619
- Dmc_Changemechanismgearratio
  621
- Dmc_Torquecontrol
  623
- Dmc_Movevelocity
  628
- Dmc_Switchsoftlimit
  629
11.4 Multi-Axis Instructions

631
- Mc_Gearin
  631
- Mc_Gearout
  637
- Mc_Combineaxes
  641
- Introduction of Electronic Cam
  649
- Mc_Camin
  650
- Mc_Camout
  671
- Dmc_Camreadpoint
  677
- Dmc_Camwritepoint
  681
- Dmc_Camset
  685
- Dmc_Camreadtappetstatus
  687
- Dmc_Camreadtappetvalue
  692
- Dmc_Camwritetappetvalue
  695
- Dmc_Camdeletetappet
  703
11.5 Application Instructions

706
- Rotary Cut Technology
  706
- Rotary Cut Parameters
  707
- Control Feature of Rotary Cut Function
  708
- Introduction to Cam Curve with Rotary Cut Function
  709
- Apf_Rotarycut_Init
  713
- Rotary-Cut Instructions
  713
- Apf_Rotarycut_In
  716
- Application Example of Rotary Cut Instructions
  720
11.6 G Code Instructions

724
- G Code Input Format
  724
- Explanation of G Code Formats
  726
- G Code Functions
  728
- G90 (Absolute Mode)
  728
- G91 (Relative Mode)
  729
- G0 (Rapid Positioning)
  730
- G1 (Linear Interpolation)
  733
- G2 (Clockwise Circular/ Helical Interpolation)
  737
- G3 (Anticlockwise Circular /Helical Interpolation)
  744
- G17/G18/G19 (Specify Circular Interpolation Plane)
  750
- G4 (Dwell Instruction)
  751
- G50 (Precise Stop)
  752
- G51 (Round Path Transition)
  753
- G52 (Smooth Path Transition)
  754
- M Code
  756
- Dmc_Cartesiancoordinate
  758
- G Code Instruction
  758
- Dmc_Readmfunction
  764
- Dmc_Resetmfunction
  767
- Dmc_Setg0Para
  770
- Dmc_Setg1Para
  773
- Dmc_Setstartposition
  776
11.7 Axes Group Instructions

779
- Dmc_Addaxistogroup
  779
- Dmc_Removeaxisfromgroup
  781
- Dmc_Ungroupallaxes
  783
- Dmc_Groupenable
  791
- Dmc_Groupstop
  791
- Dmc_Groupinterrupt
  794
- Dmc_Groupcontinue
  799
- Dmc_Movedirectabsolute
  801
- Dmc_Movedirectrelative
  806
- Dmc_Movelinearabsolute
  811
- Dmc_Movelinearrelative
  824
- Dmc_Movecircularabsolute
  837
- Dmc_Movecircularrelative
  848
- Dmc_Groupsetoverride
  859
- Dmc_Groupreadactualposition
  864
- 11.8 Coordination Instructions
  
  866
  - Dmc_Controlaxisbypos
    870
  - Dmc_Nc
    871
Chapter12 Troubleshooting

881
- Table of Error Ids in Motion Instructions
  
  886
- System Trouble Diagnosis through System Error Codes
  
  897
Appendix A Modbus Communication

906
- Message Format in ASCII Mode
  
  906
- Message Format in RTU Mode
  
  909
- Modbus Function Codes Supported
  
  911
- Modbus Exception Response Code Supported
  
  911
- Introduction to Modbus Function Codes
  
  912
- Table of Registers and Corresponding Modbus Addresses
  
  919
Appendix B Modbus TCP Communication

923
- Exception Response Code in Modbus TCP
  
  923
- Modbus Function Codes in Modbus TCP
  
  923
Appendix C Canopen Protocol

935
- Node States
  
  936
- Network Management (NMT
  
  938
- PDO (Process Data Object
  
  938
Appendix D Explanation of Homing Modes

943
- Explanation of Homing Modes
  
  945
Appendix E List of Accessories

969
- Accessories for PROFIBUS DP Communication
  
  970
- Accessories for Devicenet Communication
  
  970

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More Delta Manuals

Delta DVP-15MC Series Manuals

Delta DVP-15MC Series Operation Manual (972 pages)

Table of Contents

Chapter 1 Preface

Explanation of Symbols in this Manual

Revision History

Chapter 2 Overview

Product Description

Functions

Profile and Components

Chapter 3 Specifications

3.2 Electrical Specifications

Chapter 4 System Architecture

System Constitution

Power Supply

Left-Side Extension

Right-Side Extension

Connectable Servo Drives

SD Memory Card

Chapter 5 Installation

Dimensions

Profile and Dimensions

Installing the Module in the Control Cabinet

Installing the Module to DIN Rail

Chapter 6 Wiring, Communication Setting and Network Construction

Wiring

Input Point and Output Point Wiring

RS-485 Communication Port

Communication Port

SSI Absolute Encoder Port

Incremental Encoders

Ethernet Communication Port

Motion Communication Port

Canopen Communication Port

Chapter 7 Execution Principle

Tasks

Task Types

The Impact of PLC RUN or STOP on Variables and Devices

Relationship between Motion Program and Motion Bus

Synchronization Cycle Period Setting

Chapter 8 Logic Instructions

String Processing Instructions

Chapter 9 Introductions of Axis Parameters

Description of Axis Parameters

And ENO

Relation Among Velocity, Acceleration and Jerk

Chapter 10 Motion Control Function

Introduction of Buffermode

The State Machine

Chapter 11 Motion Control Instructions

11.1 Table of Motion Control Instructions

11.2 about Motion Control Instructions

11.3 Single-Axis Instructions

11.4 Multi-Axis Instructions

11.5 Application Instructions

11.6 G Code Instructions

11.7 Axes Group Instructions

11.8 Coordination Instructions

Chapter12 Troubleshooting

Table of Error Ids in Motion Instructions

System Trouble Diagnosis through System Error Codes

Appendix A Modbus Communication

Message Format in ASCII Mode

Message Format in RTU Mode

Modbus Function Codes Supported

Modbus Exception Response Code Supported

Introduction to Modbus Function Codes

Table of Registers and Corresponding Modbus Addresses

Appendix B Modbus TCP Communication

Exception Response Code in Modbus TCP

Modbus Function Codes in Modbus TCP

Appendix C Canopen Protocol

Node States

Network Management (NMT

PDO (Process Data Object

Appendix D Explanation of Homing Modes

Explanation of Homing Modes

Appendix E List of Accessories

Accessories for PROFIBUS DP Communication

Accessories for Devicenet Communication