Delta DVP-PM Series Applications Manual
  1. Manuals
  2. Brands
  3. Delta Manuals
  4. Controller
  5. DVP-PM Series
  6. Applications manual

Delta DVP-PM Series Applications Manual

Hide thumbs
1
Table Of Contents
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
Table of Contents

Advertisement

Quick Links

Advertisement

Table of Contents
loading

Related Manuals for Delta DVP-PM Series

Summary of Contents for Delta DVP-PM Series

  • Page 2: Table Of Contents

    DVP-PM APPLICATION MANUAL Table of Contents Chapter 1: Program Structure of DVP-PM O100 Main Program ................Structure of OX Motion Subroutine............Structure of Pn Subroutine ..............Structure of O100, OX and Pn Program Design ........1.4.1 The Program Structure …………………………………………………………………1-7 Chapter 2: Hardware Specifications and Wiring Hardware Specifications ..............
  • Page 3 Numbering and Functions of Counters [C] ..........Numbering and Functions of Registers [D]] .......... 3-16 3.8.1 Data Register [D] ..................3-16 3.8.2 Index Registers [V], [Z] ................3-16 Pointer [N], Pointer [P ] ............... 3-17 3.10 Special Auxiliary Relays [M], Special Data Register [D] ......3-18 3.11 Functions of Special Auxiliary Relays and Special Registers....
  • Page 4 ● (API 147 ~ 260) Other Instructions ............5-132 Chapter 6: Motion Instructions and G-Code Instructions List of Motion Instructions and G-Code Instructions ......Composition of Motion Instructions and G-Code Instructions ................... 6.2.1 Motion Instructions 6.2.2 G-Code Instructions ……………………………………………………………….. 6-4 Motion Instructions................
  • Page 5 9.2.3 Start / Stop E-CAM ..................9-9 Explanations on Special Flags and Registers ........... 9-16 Set up E-CAM Data ................... 9-21 9.4.1 Use PMsoft CAM Chart to Set up E-CAM Data ..........9-21 9.4.2 Use DTO / DFROM Instructions to Set up E-CAM Data ........ 9-27 Multi-axis E-CAM ..................
  • Page 6 12.1.8 Ladder Find ..................... 12-36 12.1.9 Ladder Replace ..................12-40 12.2 Edit POU Ladder Diagram ............... 12-41 12.2.1 Replace Devices with Symbols..............12-41 12.2.2 Applying POU Function Blocks ..............12-43 12.3 Monitor POU program ................12-50 12.4 Hint Function on Symbols and Function Blocks ........

  • Page 7: O100 Main Program

    DEMUL: 6.1us 1.1 O100 Main Program O100 main program is the PLC sequential control program for DVP-PM series MPU. The O100 main program section only supports basic instructions and application instructions. Besides processing I/O signals and calling Pn subroutine, basic instructions and application instructions also control 100 OX motion subroutines which enable OX0 ~ OX99.
  • Page 8 Program Structure of DVP-PM Auto/Manu O100 M1072 Communication 2. O100 main program operates in cyclic scans. When O100 main program is enabled, the scan will start at the start flag of O100. When the scan reaches M102 (main program ends instruction), it will return to the start flag of O100 and repeat the scan, as shown in the figure below: Pointer indicating start of main program O100...

  • Page 9: Structure Of Ox Motion Subroutine

    Program Structure of DVP-PM 1. Performs sequential control of PLC 2. Able to activate OX0 ~ OX99 motion subroutines and call Pn subroutines Features & functions 3. Can be placed in front of or after OX0 ~ OX99 motion subroutines and Pn subroutines. 6.
  • Page 10 Program Structure of DVP-PM Set No. of OX as O 10. b15=1 H800A D1868 enables OX subroutine. H1000 D1846 M1074 Set M1074 = ON or D1846_b12 = 1 to run O 10 motion subroutine X0 = ON MOVP K100 D1836 MOVP K100 D1837 When X0 = On, OX10 motion subroutine will execute once and stop when the execution reaches M2.

  • Page 11: Structure Of Pn Subroutine

    Program Structure of DVP-PM (*It will be inserted by PMSoft when compiling to IL instructions, therefore you don’t have to add it into ladder diagram.) M2, instruction indicates the end of OX subroutine (*It will be inserted by PMSoft when End of OX compiling to IL instructions, therefore you don’t have to add it into ladder diagram.) 1.
  • Page 12 Program Structure of DVP-PM M1000 Call P0 subroutine CALL O100 and O 10 program bif urcation point Set OX as O 10 H800A D1868 When X0 = ON, O 10 motion subroutine M1074 will be enabled. Path will be true. M 1000 CALL Call P2 subroutine...

  • Page 13: The Program Structure

    Program Structure of DVP-PM Pn subroutine Explanation Pn, start flag of Pn subroutine (P0 ~ P255) (*It will be inserted by PMSoft when Start of the program compiling to IL instructions, therefore you don’t have to add it into ladder diagram.) SRET, instruction indicating the end of Pn subroutine (*It will be inserted by PMSoft End of the program when compiling to IL instructions, therefore you don’t have to add it into ladder diagram.)
  • Page 14 Program Structure of DVP-PM M 1000 C all P1 subroutine C ALL M 1000 M OV H 8000 D 1868 Set O X as O 0 M 1000 Enable O 0 motion subroutine SET M 1074 M 1000 C all P2 subroutine C ALL BRET D 1848...
  • Page 15 Program Structure of DVP-PM Explanations ON the program design: The design order is from (1) to (5) in above example. However, there is no rule for the placing order of program sections, so you can place the 5 sections according to your needs. There should be only one O100 main program (2), and it cannot be called by other programs or subroutines.

  • Page 16: Hardware Specifications

    Hardware Specifications and Wiring 2.1 Hardware Specifications This chapter only provides information on electrical specification and wiring. For detailed information on program design and instructions, please refer to Chapter 5 ~ 6. For how to purchase its peripheral devices, please refer to the instruction sheet enclosed with the product.
  • Page 17 Hardware Specifications and Wiring Max. input Response Terminal Description time Current Voltage PG0+, PG0-, PG1+, Zero point signal input +, - (differential signal input) 200kHz 16mA 5 ~ 24V PG1- There are two variations according to different operation modes: DOG0, DOG1 1.
  • Page 18 Hardware Specifications and Wiring DVP20PM00D Response Max. output Terminal Description time current CLR0+, CLR0-, CLR1+, Clear signals (for clearing the error counter in servo 10ms 20mA CLR1- drive) Forward / reverse running mode: Forward pulse output FP0+, FP0-, FP1+, FP1- 500kHz 40mA Pulse / direction mode: Pulse output terminal...
  • Page 19 Hardware Specifications and Wiring DVP20PM Item 24V DC single-ended common point input Note Low speed High speed (200kHz) Spec Input wiring type Change wiring from S/S to SINK or SOURCE #1: Input point A, B and PG are high-speed inputs; others are Input indicator LED display;...
  • Page 20 Hardware Specifications and Wiring Single-ended common point transistor Item Single-ended common point output relay output Spec Low speed High speed delay time ON OFF 30us Over-current protection DVP-10PM Item Single-ended common point Double-ended differential output relay output Spec Maximum frequency 1 MHz 200 kHZ Output indicator...

  • Page 21: Dimension

    Hardware Specifications and Wiring 2.1.3 Dimension 82.2 (Unit: mm) Product Profile & Outline: Communication port cover I/O terminal cover Function card cover Input indicator Output indicator I/O terminal No. I/O terminals I/O module connection port cover DIN rail clip 10 DIN rail (35mm) 11 COM2 (RS-485) 12 MANU/AUTO (STOP/RUN) switch 13 COM1 (RS-232)
  • Page 22 Hardware Specifications and Wiring COM1 cover Left-side port cover Ports under left-side port cover Screw driver is required for removing RS-485 terminal Removable Terminal Block COM 2 (RS-485) MANU / AUTO switch COM 1 (RS-232) Battery Part Description COM2 (RS-485) For both master and slave modes MANU/AUTO (STOP/RUN) switch RUN/STOP control...

  • Page 23: Installation And Wiring

    Hardware Specifications and Wiring +24V X11+ X12+ X13+ X10+ X10- X11- X12- X13- DVP-10PM ( AC Power IN, DC Signal IN ) Y11+ Y10+ Y12+ Y13+ Y14+ Y15+ Y16+ Y17+ Y10- Y11- Y12- Y13- Y14- Y15- Y16- Y17- 2.2 Installation & Wiring DVP-PM is an OPEN-TYPE device and therefore should be installed in an enclosure free of airborne dust, humidity, electric shock and vibration.

  • Page 24: Power Input Wiring

    Hardware Specifications and Wiring 2.2.2 Power Input Wiring The power input type for DVP-PM is AC input. When operating DVP-PM, please note the following points: 1. The range of the input voltage should be 100 ~ 240VAC. The power input should be connected to L and N terminals.

  • Page 25: I/O Point Wiring

    Hardware Specifications and Wiring AC power supply load Power supply circuit protection fuse (3A) DVP-PM MPU DC Power supply output: 24VDC, 500mA 2.2.4 I/O Point Wiring The type of input signal is DC input and there are two types of DC input: SINK and SOURCE. DC Signal IN - SINK mode: Sinking Equivalent Circuit for Input Point:...
  • Page 26 Wiring of Differential Input: A0 ~ A1 and B0 ~ B1 of DVP-PM series are all DC5V ~ 24V high-speed input circuit and others are DC24V input. The working frequency of high-speed input circuit can reach up to 200kHz and is applied mainly for connecting to output circuit with dual differential line driver.
  • Page 27 Hardware Specifications and Wiring DVP20PM00D high-speed input Encoder output A0 - Twisted pair Differential output cable B0 - Encoder output DVP10PM high-speed input X10+ X10 - Twisted pair cable X11+ X11 - In low-noise and low-frequency (less than 50kHz) environment, you can also use single-ended DC 5V ~ 24V SINK/SOURCE input.
  • Page 28 Hardware Specifications and Wiring Wiring of DVP-PM DC5V SOURCE DVP-20PM SENSOR PG0+ 5~24V (5V SOURCE) PG0 - DVP-10PM SENSOR PG0+ 5~24V (5V SOURCE) PG0 - Wiring of Relay (R) Output Circuit DC power supply Emergency stop: Uses external switch Fuse: Uses 5 ~ 10A fuse at the shared terminal of output contacts to protect the output circuit DVP-PM Application Manual 2-13...
  • Page 29 Hardware Specifications and Wiring Transient voltage suppressor: To extend the life span of contact. 1. Diode suppression of DC load: Used when in smaller power. 2. Diode + Zener suppression of DC load: Used when in larger power and frequent ON/OFF operation Incandescent light (resistive load) AC power supply...
  • Page 30 Hardware Specifications and Wiring DC power supply Emergency stop Circuit protection fuse The transistor output model of DVP-PM applies “open collector output”. Therefore if Y0/Y1 is set as pulse output which requires higher operation frequency, the output current passes pull-up resistor has to be bigger than 0.1A to ensure normal operation of PLC.
  • Page 31 Hardware Specifications and Wiring Wiring of Differential Output Wiring of DVP-PM differential output with ASDA-A, ASDA-A+ or ASDA-A2 series servo drive DVP -20PM differential output Drive F P+ /PLS Photocoupler Cir cuit F P- Twisted pair F G0 cable /SIGN Photocoupler Cir cuit SIG N...
  • Page 32 Hardware Specifications and Wiring Wiring of DVP-PM differential output with ASDA-AB series servo drive DVP -20PM differential output Drive F P+ Photocoupler F P- /PLS circuit Twisted pair F G0 cable SIG N Photocoupler /SIGN circuit R P- DVP -10PM differential output Drive Y10+ Photocoupler...

  • Page 33: Wiring With Drives

    Hardware Specifications and Wiring 2.2.5 Wiring with Drives Wiring of DVP-20PM with Delta ASDA-A series servo drive: Delta servo drive ASDA-A series START0 STOP0 COM+ LSP0 /PLS FP 0+ LSN0 DOG0 FP 0- +24V /SIGN S/S0 RP 0+ SIGN RP 0-...
  • Page 34 Hardware Specifications and Wiring Wiring of DVP-10PM with Delta ASDA-A series servo drive: Delta servo drive ASDA-A series COM+ Y10+ /PLS Y10- /SIGN Y11+ SIGN Y11- +24V COM- 24VDC Delta servo drive ASDA-A series COM+ /PLS Y12+ Y12- /SIGN Y13+...
  • Page 35 Hardware Specifications and Wiring Wiring of DVP-20PM with Panasonic CN5 series servo drive: Panasonic servo drive C 5 series START0 STO P0 LSP0 PULS1 PULS1 LSN0 F P 0+ F P 0- PULS2 PULS2 DOG 0 +24V SIGN1 SIGN1 S/S0 RP 0+ RP 0- SIGN2...
  • Page 36 Hardware Specifications and Wiring Wiring of DVP-10PM with Panasonic CN5 series servo drive: Panasonic servo drive series 2 4V P ULS 1 Y 10 + P ULS 2 Y 10 - S IGN1 Y 11+ S IGN2 Y 11- +24 V S /S Panasonic servo drive series...
  • Page 37 Hardware Specifications and Wiring Wiring of DVP-20PM with Yaskawa servo drive: Yaskawa servo drive START0 STO P0 LSP0 PULS F P 0+ LSN0 /PULS DOG 0 F P 0- +24V SIGN S/S0 RP 0+ RP 0- /SIGN START1 STO P1 LSP1 CLR0+ LSN1...
  • Page 38 Hardware Specifications and Wiring Wiring of DVP-10PM with Yaskawa servo drive: Yaskawa servo drive 2 4V Y 10 + P LS /P LS Y 10 - S IGN Y 11+ /S IGN Y 11- CL R +24 V /CL R S /S 2 4V DC Yaskawa servo drive...
  • Page 39 Hardware Specifications and Wiring Wiring of DVP-20PM with Mitsubishi MJR2 series servo drive: Mitsubishi servo drive M JR2 series STAR T0 STO P0 LSP0 F P 0+ LSN0 DOG 0 F P 0- +24V S/S0 R P 0+ RP 0- STAR T1 STO P1 LSP1...
  • Page 40 Hardware Specifications and Wiring Wiring of DVP-10PM with Mitsubishi MJR2 series servo drive: Mitsubishi servo drive MITSUBISHI MJR2 s eries 2 4V Y 10 + Y 10 - Y 11+ Y 11- +24 V S /S 2 4V DC Mitsubishi servo drive MITSUBISHI MJR2 s eries Y 12 +...
  • Page 41 Hardware Specifications and Wiring Wiring of DVP-20PM with FUJI servo drive: FUJI servo drive START0 STO P0 LSP0 F P 0+ LSN0 F P 0- DOG 0 +24V S/S0 RP 0+ RP 0- START1 STO P1 LSP1 CLR0+ LSN1 CLR0- DOG 1 5-24VDC +24V...
  • Page 42 Hardware Specifications and Wiring Wiring of DVP-10PM with FUJI servo drive: FUJI servo drive 2 4V Y 10 + Y 10 - Y 11+ Y 11- +24 V S /S FUJI servo drive Y 12 + Y 12 - Y 13 + Y 13 - MPG pulses Shielded cable...

  • Page 43: Communication Ports

    Hardware Specifications and Wiring 2.3 Communication Ports DVP-PM offers two built-in communication ports, COM1 (RS-232 communication) COM2 (RS-485 communication) and one optional communication card, COM3 (RS-232/RS485.communication) COM1: RS-232 communication port. Main communication port for programming. Can be used as Slave in Modbus ASCII or RTU mode.

  • Page 44: Com2 (Rs-485)

    Delta PLCs or motor drives (e.g. Delta servo drive, temperature controller, AC motor drive, and so on) for accessing data. In Slave mode, it can be connected to HMI (e.g. Delta’s TP and DOP series HMI) for monitoring purposes.
  • Page 45 Hardware Specifications and Wiring MEMO DVP-PM Application Manual 2-30...

  • Page 46: Device In Dvp-Pm

    Functions of Devices in DVP-PM 3.1 Devices in DVP-PM Function Specifications: Specifications Note 20PM 10PM 2-axis synchronous linear/arc 4-axis synchronous interpolation Control system interpolation and independent 2-axis and 4-axis independent control control (*5) Program storage Built-in 64k steps storage device Combined Machine system Control units...
  • Page 47 Functions of Devices in DVP-PM X0 ~ X377, octal number system, 256 points External inputs (corresponding to physical input points) Total 512 points Y0 ~ Y377, octal number system, 256 points External outputs (corresponding to physical output points) M0 ~ M499, 500 points (*2) General Total 4,096 M3000 ~ M4095, 1,096 points (*3)
  • Page 48 Functions of Devices in DVP-PM H0000 ~ HFFFF (16-bit operation); H00000000 ~ HFFFFFFFF (32-bit operation) Displaying floating point value by 32-bit data complying with IEEE754 standard. Floating point ±1.1755X10 ~ ±3.4028X10 *1: Non-latched area cannot be modified. *2: Non-latched area, can be modified as latched area by changing the parameter settings *3: Latched area, can be modified as non-latched area by changing the parameter settings *4: Latched area, cannot be modified *5: DVP20PM00M supports 3-axis linear interpolation and helical interpolation...

  • Page 49: Values, Constants [K]/[H], Floating Points [F]

    Functions of Devices in DVP-PM Memory status between ON/OFF operation MANU->AUTO AUTO->MANU Power Clear all non-latched Clear all latched area Memory type Default OFF->ON areas (M1031=ON) (M1032=ON) (STOP->RUN) (RUN->STOP) Cleared when M1033 = OFF Non-latched Cleared Unchanged Cleared Unchanged Unchanged when M1033 = ON Latched Unchanged...
  • Page 50 Functions of Devices in DVP-PM 3. Decimal value (DEC) DVP-PLC appies decimal operation in situations below: Set value for timers and counters, e.g. TMR C0 K50. (K value) No. of S, M, T, C, D, E, F, P, I devices, e.g. M10, T30. (No. of device) For use of operand in API instructions, e.g.

  • Page 51: Numbering And Functions Of External Input/Output Contacts [X]/[Y]

    Functions of Devices in DVP-PM Binary Octal Decimal Binary Code Decimal Hexadecimal (BIN) (OCT) (DEC) (BCD) (HEX) Constant K and No. No. of device X, For DIP switch and 7-segment For DVP-PM internal operation of device M, S, T, C, Constant H display D, V, Z, P...

  • Page 52: Numbering And Functions Of Auxiliary Relays [M]

    Functions of Devices in DVP-PM The handling process of DVP-PM program: Update input signal Update input signal 1. Before the execution of the program, DVP-PM reads X input the ON/OFF status of the external input signals into the input signal memory. Input terminal 2.

  • Page 53: Numbering And Functions Of Step Relays [S]

    Functions of Devices in DVP-PM 1. General auxiliary relay: If the relay encounters power OFF during the operation of DVP-PM, its status will be reset to OFF and remains OFF when the power is ON again. 2. Latched auxiliary relay: If the relay encounters power OFF during the operation of DVP-PM, its status will be retained and resumes the status when the power is ON again.

  • Page 54: Numbering And Functions Of Counters [C]

    Functions of Devices in DVP-PM How to designate SV: The actual set time in the timer = timer resolutiont × set value 1. Designating constant K: set a K value as SV directly 2. Designating D register: designate a data register in TMR instruction and the timer will take the value in the register as the SV.
  • Page 55 Functions of Devices in DVP-PM Functions of counters: The counters count once when CNT instruction is driven once. When CNT instruction is executed and the PV reaches SV, the associated output coil will be ON. SV can be K value (decimal) or D register 16-bit counters C0 ~ C199: 1.
  • Page 56 Functions of Devices in DVP-PM specified as SV, it will occupy 2 consecutive data registers. 3. PV in the general purpose counter will be cleared when power of DVP-PM is OFF. If the counter is a latched (accumulative) type, PV and the contact status will be retained, and PLC will resume counting after power is ON again.
  • Page 57 Functions of Devices in DVP-PM 32-bit High Speed Counter: 20PM: C200, C204 The setup range of 32-bit high speed counter: K-2,147,483,648 ~ K2,147,483,647. C200/C204 counting mode setting: Counting mode Reset signal Counter Input signal (Valid only when b3 = 1) Device b0 / b1 0: U/D*...
  • Page 58 Functions of Devices in DVP-PM Pulse Input pulse MPGA0 PV of C200 C200 Input pulse MPGB0 M1200/M1201 Counting mode selection C200 reset signal M1203=1, PG0 SV can be K value (decimal) or D register (Special data register D1000~D2999 is not included). SV can be a positive or negative value.
  • Page 59 Functions of Devices in DVP-PM Pulse Input pulse PV of C200 C200 Input pulse M1200/M1201 Counting mode selection C200 reset signal M1203=1, X0+ Counting mode of C204 is selected by M1204/M1205. Input signal of C204 is controlled by X2/X3. Reset signal of C204 is enabled by M1207 and triggered by X11. Pulse Input pulse PV of C204...
  • Page 60 Functions of Devices in DVP-PM Pulse Input pulse PV of C212 C212 Input pulse M1213/M1212 Counting mode selection C212 reset signal M1215=1, X13- Counting mode of C216 is selected by M1216/M1217. Input signal of C216 is controlled by X10/X11. Reset signal of C216 is enabled by M1219 and triggered by X0. Pulse Input pulse PV of C216...

  • Page 61: Numbering And Functions Of Registers [D]]

    Functions of Devices in DVP-PM 3.8 Numbering and Functions of Registers [D] 3.8.1 Data Register [D] 16-bit data register stores the value between -32,768 ~ +32,767. The MSB (Most Significant Bit) is also the sign bit indicating the value as positive “+” or negative “-“. Two 16-bit registers can be combined into a 32-bit register (D+1, D; register with smaller number is low word) storing the value between -2,147,483,648 ~ +2,147,483,647.

  • Page 62: Pointer [N], Pointer [P N ]

    Functions of Devices in DVP-PM V0 ~ V7, Z0 ~ Z7, total 16 point Constant and some instructions do not support index registers. For how to use index register V, Z to modify the operands, see Ch5, 5.4 section for more details. When you use index register V, Z to modify the operands, the modification range CANNOT exceed the area of special purpose registers D1000 ~ D2999 and special auxiliary relays M1000 ~ M2999 in case errors may occur.

  • Page 63: Special Auxiliary Relays [M], Special Data Register [D]

    Functions of Devices in DVP-PM 3.10 Special Auxiliary Relays [M], Special Data Register [D] The types and functions of special auxiliary relays (special M) are listed in the table below. Special M and special D marked with “*” will be further illustrated in 3.11. Columns marked with “R” refers to “read only”, “R/W” refers to “read and write”, “-“...
  • Page 64 Functions of Devices in DVP-PM MANU AUTO Special Page Function 20D 20M Attrib. Latched Default number AUTO MANU Retain the communication setting of COM2 (RS-485). M1120* ○ ○ OFF OFF 3-36 ○ Modifying D1120 will be invalid when M1120 is set. M1121 For COM2(RS-485), data transmission ready ○...
  • Page 65 Functions of Devices in DVP-PM MANU AUTO Special Page Function 20D 20M Attrib. Latched Default number AUTO MANU M1214 C214 counting mode (ON: count down) ○ ○ OFF ○ M1215 C215 counting mode (ON: count down) ○ ○ OFF ○ M1216* C216 counting mode (ON: count down) ○...
  • Page 66 Functions of Devices in DVP-PM MANU AUTO Special Page Function 20D 20M Attrib. Latched Default number AUTO MANU M1250 C250 counting mode (ON: count down) ○ ○ OFF ○ M1251 C251 counting mode (ON: count down) ○ ○ OFF ○ M1252 C252 counting mode (ON: count down) ○...
  • Page 67 Functions of Devices in DVP-PM MANU AUTO Special Page Function 20D 20M Attrib. Latched Default number AUTO MANU M1831* Enable current position write in function on Y-axis 3-44 ○ ○ OFF ○ M1841* Stop Y axis movement at fixed position 3-44 ○...
  • Page 68 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU D1000* Scanning watch dog timer (Unit: 1ms) 3-35 ○ ○ ○ Display the firmware version of DVP-PM (initial factory D1005 ○ ○ ○ setting) D1002 Program capacity ○...
  • Page 69 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU receiving data COM2(RS-485) Definition of start character (STX) ○ ○ ○ H’3A H’3A D1124 COM2(RS-485) Definition of first ending character ○ ○ ○ H’0D H’0D D1125...
  • Page 70 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU Insterpolation speed of the third axis by G-code, G01. 6-48 (low word) Max positioning speed (D1330 = K-1) of the third axis 6-46 by G-code, G00 (high word) D1331*...
  • Page 71 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU D1802* Error code of O100 3-50 ○ ○ ○ D1803* Error STEP of O100 3-50 ○ ○ ○ D1804* Input terminal polarity 2 (for Z-axis) 3-48 ○...
  • Page 72 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU PWM pulse width setting on X axis (low word) ○ ╳ ╳ ○- Target position (I) of X axis: P(I) (high word) ○...
  • Page 73 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU Master frequency (high word) Number of accumulated MPG input pulses on X axis (low word) D1862 ○ ○ ○ Master position (low word) Number of accumulated MPG input pulses on X axis (high word) D1863...
  • Page 74 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU ○ ○ D1887 Accumulated error value on X axis (High word) ╳ The max accumulated error value on X axis ○ ○ D1888* ╳...
  • Page 75 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU PWM cycle setting on Y axis (high word) ○ ╳ ╳ D1924 Operation speed (II) of Y axis: V(II) (low word) ○...
  • Page 76 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU ╳ ○ ○ D1967 Accumulated error value on Y axis (High word) D1968 e The max accumulated error value on Y axis (Low word) ╳ ○ ○ The max accumulated error value on Y axis (High word) ╳...
  • Page 77 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU D2004 Operation speed (II) of Z axis: V(II) (low word) ○ 2000 2000 ○ ╳ D2005 Operation speed(II) of Z axis: V(II) (high word) ○...
  • Page 78 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU The max accumulated error value on Z axis ○ D2048 ╳ ╳ (Low word) The max accumulated error value on Z axis ○...
  • Page 79 Functions of Devices in DVP-PM MANU AUTO Special Page Function 10M 20D 20M Attrib. Latched Default number AUTO MANU Operation speed (II) of A axis: V(II) (low word) D2084 ○ ╳ ╳ 2000 Operation speed(II) of A axis: V(II) (high word) D2085 Operation commands for A axis ○...

  • Page 80: Functions Of Special Auxiliary Relays And Special Registers

    Functions of Devices in DVP-PM 3.11 Functions of Special Auxiliary Relays and Special Registers DVP-PM Operation Flag Function Group: M1000 ~ M1003 Number: Explanations: 1. M1000: NO contact for monitoring DVP-PM status. M1000 remains “ON” when DVP-PM is running. M1000 DVP-PM is running Remains ON in DVP-PM AUTO status...
  • Page 81 Functions of Devices in DVP-PM 4. Scan time could be prolonged due to: 1. too many complicated instructions in the program or, 2. too many I/O modules are being connected. Check D1010 ~ D1012 to see if the scan time exceeds the SV in D1000. In addition, SV in D1000 can be modified to fit the proper scan time.
  • Page 82 Functions of Devices in DVP-PM 2. M1138: retain communication setting. 3. M1139: ASCII/RTU mode selection. COM2: 1. D1120: RS-232/RS-485/RS-422 communication protocol when used as Master or Slave 2. M1120: retain communication setting. 3. M1143: ASCII/RTU mode selection. COM3: 1. D1109: communication protocol, b0~b3、b8~b15 are fixed 2.
  • Page 83 Functions of Devices in DVP-PM M1002 D1120 M1120 Notes: 1. Do NOT write any communication instruction in the program when COM2 is used as slave.. 2. After the communication format is modified, the format will stay intact when PLC switches from AUTO to MANU. 3.
  • Page 84 Functions of Devices in DVP-PM M1002 D1120 M1120 M1143 Communication Response Delay Function Group: D1038 Number: Explanations: Data response delay time can be set when DVP-PM used as Slave in COM2 RS-485 communication. Unit: 10ms. 0~3,000 (0~30 sec) adjustable. Set value should be smaller than the value in D1000. If the set value is out of the valid range, D1038 will be set as 0.
  • Page 85 Functions of Devices in DVP-PM In O100 main program, X0 enables OX99 subroutine and executes the instructions in OX99 High Speed Counting (DVP-10PM) Function Group: M1200/C200, M1204/C204, M1208/C208, M1212/C212, M1216/C216, M1220/C220 Number: Explanations: DVP-10PM provides 6 sets of high speed counters as the table below: Counting mode Reset signal Counter...
  • Page 86 Functions of Devices in DVP-PM The program of step 3 and step 4 is as below: MOVP K1M1204 DCNT C204 In O100 main program, design the 2 set of high speed counter with both A/B phase counting mode and reset function by setting K1M1024 = HA, i.e.
  • Page 87 Functions of Devices in DVP-PM MOVP K1M1208 DCNT C208 Example 2: Use the 3 set of timer and set up the timing mode as Cycle mode: 1. In O100 main program, design the 3 set of high speed timer with cycle timing mode by setting K1M1208 = K5, i.e.
  • Page 88 Functions of Devices in DVP-PM Enabling force-ON/OFF of input point X Function Group: M1304 Number: Explanations: When M1304 = ON, the peripheral devices, e.g. PMSoft, can force input ponts X0~X17 to be ON/OFF. However, the LED will not respond to the ON/OFF state in this case. ID of right-side modules Function Group: D1320 ~ D1327...
  • Page 89 Functions of Devices in DVP-PM regardless of the scan cycle. When the interrupt subroutine is completed, the program execution will return to the previous program before interrupt occurs. Timer interrupt: The interrupt subroutine will be executed repeatedly by the interrupt interval set up in D1401.
  • Page 90 Functions of Devices in DVP-PM 3. The relative registers are listed as below. X - axis Y- axis Z - axis Function M1761 M1841 M2001 Stop at fixed position D1839, 1838 D1919..1918 D1999..1998 Stop position D1843, 1842 D1923..1922 D2003, 2002 Pulses per round 4.
  • Page 91 Functions of Devices in DVP-PM Continuous Interpolation Function Group: D1796, M1036 Number: Explanations: 1. When you use D1796 to set up the deceleration speed (kHz), DVP-PM will compare the set value in D1796 with the actual deceleration frequency then takes the smaller frequency as the transition frequency of continuous interpolation.
  • Page 92 Functions of Devices in DVP-PM Path with smooth transition Block B Path with a right-angle turn Block A Setting up Percentage Value of G-Code Moving Speed Function Group: D1798 Number: Explanations: 1. When D1798 is set to 100, the G-Code moving speed will be the original speed. When D1798 is set to 1,000, the G-Code moving speed will become 10 times faster than the original speed.
  • Page 93 Functions of Devices in DVP-PM bit# Input terminal polarity DOG1 DOG2 DOG3 Reading the Status of Input Terminal Function Group: D1800 Number: Explanations: When there is signal input at the input terminal, the corresponding bit# = ON. If not, the corresponding bit# = OFF. 20PM: bit# Input terminal status on X axis...
  • Page 94 Functions of Devices in DVP-PM For input terminals below, setting the corresponding bit# to be ON will define the input terminal as NO contact; setting the corresponding bit# to be OFF will define the input terminal as NC contact. 20PM： 10PM：...
  • Page 95 Functions of Devices in DVP-PM 166.0156 0.162125 83.00781 0.081062 41.50391 0.040531 20.75195 0.020266 10.37598 0.010133 5.187988 4. When D1806 = 0, the filter function on external terminals will be disabled. 5. For example, if D1806 is set as H0A0A, the filter coefficient on input terminals START, STOP, DOG, LSN, LSP 85000 and PG and MPG0/1 will be: (KHz), i.e.
  • Page 96 Functions of Devices in DVP-PM Motor Unit Combined unit Machine unit unit Motor pulse Machine Position pulse m deg pulse inch Combined pulse/sec cm/min Speed pulse/sec 10deg/min pulse/sec inch/min Note *2: Note *3: Multiplication of b3 b2 Description position data Forward pulse + reverse pulse Pulse + direction A/B phase pulse...
  • Page 97 Functions of Devices in DVP-PM Explanations: 1. D1832 is the register for setting times of CAM repetitions. D1832 controls the repeatition times of CAM data cycle execution. When the value in D1832 exceeds H8000 (b15 = 1), cyclic CAM will start to execute. See the example below. When D1832 = 0, the CAM data will not be executed repeatedly.
  • Page 98 Functions of Devices in DVP-PM D1834 = 10 D1834 = 50 Operation Commands for X-Y-Z-A Axis Function Group: D1846, D1926, D2006, D2086 Number: Explanations: Operation commands for X axis: D1846, Y axis: D1926, Z axis: D2006 and A axis: D2086 bit# X-Y-Z-A operation setting bit#...
  • Page 99 Functions of Devices in DVP-PM CLR signal output mode CLR output ON/OFF control 01: Insert CAM data in multiple axes 10: Table-Output setting of CAM CLR polarity setting control STOP mode setting Range for MPG LSP/LSN stop mode Returning to default setting bit# Explanation When b[2] = 0, CLR will output 130ms signal to the servo as the clear signal when zero return is completed.
  • Page 100 Functions of Devices in DVP-PM Operation pauses Forward MPG input Reverse MPG input Enabling External Input for X-Y Axis Function Group: D1875, D1955 Number: Explanations: 1. When high byte of D1875 / D1955 = H’01, external input is enabled. When high byte of D1875 / D1955 = H’00 external input is disabled.
  • Page 101 Functions of Devices in DVP-PM Set value (Target value) C200 Output K value C204 value Current value The max Close-loop accumulated PID cont rol er ror Ki value After the feedback source is selected, the control system adjusts the output value to the set value by comaparing between set value and the feedback value.
  • Page 102 Functions of Devices in DVP-PM 3.12 Special Registers for Manual Mode Settings Below are the types and functions of special registers (special D) for motion modes. See the next section for more details on the functions. You can set the parameters according to explanations of each register and also know more about the system information by these registers.
  • Page 103 Functions of Devices in DVP-PM Special D Z axis A axis Content Range Default X axis Y axis HW*1 LW*1 D2098 Electronic gear ratio D1858 D1938 D2018 1 ~ +32,767 (numerator) D2099 Electronic gear ratio D1859 D1939 D2019 1 ~ +32,767 (denominator) Pulse frequency by D1861 D1860 D1941 D1940 D2021 D2020 D2101 D2100 MPG input frequency...

  • Page 104: Functions Of Special Registers For Manual Mode Settings

    Functions of Devices in DVP-PM 3.12.1 Functions of Special Registers for Manual Mode Settings X axis Y axis Z axis A axis Parameter Setting D1816 D1896 D1976 D2056 See the tables below for the explanations of b0 ~ b15. b0 and b1 of D1816 (D1896, D1976, D2056): setting of unit Unit Explanation Motor...
  • Page 105 Functions of Devices in DVP-PM P(I) × P(I) 100,000 Total number of pulses required: pulses Operation speed V(I): 6 (cm/min) = 60,000/60 (um/sec) Distance Distance Revolution Number pulses × × Speed(Freq uency) Time Revolution Number pulses Time PPS, pulse/sec Calculate the by the positioning controller V(I) ×...
  • Page 106 Functions of Devices in DVP-PM Pulse output type (positive logic) Explanation b6 of D1816 (D1896, D1976, D2056): PWM mode (for DVP-10PM only) B(6) = 1, PWM executes. (1) When the operation command “JOG+ operation” is enabled, PWM will be executed on Y0~Y3. (2) When the operation command “single speed positioning”...
  • Page 107 Functions of Devices in DVP-PM Speed (PPS) Away from DOG signal DOG signal detected Zero return direction Number of pulses (P) in zero return Number of P 0 signals (N) in zero return DOG signal falling-edge triggered b[9:10] = 01: normal mode; DOG signal rising-edge triggered 1.
  • Page 108 Functions of Devices in DVP-PM zero return deceleration speed V . When the falling edge of DOG signal is triggered, the motor will stop according to either PG0 signals (N) or pulse signals (P), of which is finished first. 2. If the specified N or P is too small, when the falling edge of DOG signal is triggered, the motor will stop immediately after the specified PG0 signals (N) or the specified pulse signals (P) of which is finished first, even if the zero return deceleration speed is not yet reached..
  • Page 109 Functions of Devices in DVP-PM b11 of D1816 (D1896, D1976, D2056): Reverse the displacement direction in same pulse output polarity b[11] = 0: CP value increases when in forward running; CP value decreases when in reverse running b[11] = 1: CP value decreases when in forward running; CP value increases when in reverse running b12 of D1816 (D1896, D1976, D2056): absolute/relative positioning setting b[12] = 0: absolute positioning b[12] = 1: relative positioning...
  • Page 110 Functions of Devices in DVP-PM X axis Y axis Z axis A axis Bias Speed (V BIAS D1825 D1824 D1905 D1904 D1985 D1984 D2065 D2064 is the start speed for pulse output. Range: 0 ~ +2,147,483,647; the unit is set by b0 and b1 of D1816 BIAS (D1896, D1976, D2056).
  • Page 111 Functions of Devices in DVP-PM X axis Y axis Z axis A axis Zero Return Deceleration Speed V D1831 D1830 D1911 D1910 D1991 D1990 D2071 D2070 1. Range: 0 ~ +2,147,483,647; the unit is set by b0 and b1 of D1816 (D1896, D1976, D2056). should be specified within the valid speed range of motion instructions: 10 ~ 500kPPS.
  • Page 112 Functions of Devices in DVP-PM X axis Y axis Z axis A axis Deceleration Time T D1837 D1917 D1997 D2077 1. T is the time required from maximum speed V (D1822, D1902, D1982, D2062) to bias speed V (D1824 BIAS D1904, D1996, D2064).
  • Page 113 Functions of Devices in DVP-PM 2. Attribute of target position P(II): ♦ Absolute coordinate: b12 of D1816 (D1896, D1976, D2056) = 0 Absolute coordinate is the coordinate starting from “0.” When the target position P(II) > current position (D1848, D1928, D2008, D2088), the motor will conduct forward running. When the target position P(II) < current position, the motor will conduct reverse running.
  • Page 114 Functions of Devices in DVP-PM operation speed achieves stable status, you can modify V(I), and the pulse output from DVP-PM will accelerate or decelerate according to the modification. In this case, the external STOP input signal cannot stop the pulse output from DVP-PM. To stop the pulse output, you have to trigger the STOP function (b0 of D1846 (D1926, D2006).
  • Page 115 Functions of Devices in DVP-PM automatically be defined, and PG1 signal which stops the positioning immediately is only valid when it is out of the mask area. When PG1 is triggered, the clear signal CLR1 will be triggered automatically after 20μs. In addition, the positioning speed is operated according to V(I), and the pulses are sent out by the pulse generator.
  • Page 116 Functions of Devices in DVP-PM Forward running occurs when P(I) is bigger than CP. Reverse running occurs when P(I) is smaller than CP. ♦ The operation speed will be stable after the speed is accelerated from to the expected V(I). When it is BIAS approaching the P(I) value set in the register, the positioning will start to decelerate to V and stop.
  • Page 117 Functions of Devices in DVP-PM Speed V(I) P(I) BIAS Time Start 11. b10 of D1846 (D1926, D2006, D2086): enabling 2-speed positioning ♦ When b[10] is triggered and START = ON, the 2-speed positioning mode will be started. The 2 -speed positioning will start immediately after the 1 -speed positioning reaches P(I).
  • Page 118 Functions of Devices in DVP-PM DOG sensor is detected during the 1 -speed positioning process, the 2 -speed positioning will start immediately to accelerate/decelerate to V(II) and operates in stable speed. Pulse output can be stopped by the input signal from external STOP terminal. ♦...
  • Page 119 Functions of Devices in DVP-PM ♦ b[6] = 1: The range for MPG pulse output is limited within P(I) and P(II). When the range is exceeded, the pulse output will decelerate to stop. 6. b7 of D1847 (D1927, D2007): LSP/LSN stop mode ♦...
  • Page 120 Functions of Devices in DVP-PM 1. Range: 0 ~ +2,147,483,647 2. Unit: machine unit (cm/min, 10deg/min, inch/min). The unit setting can be modified by b0 and b1 of D1816 (D1896, D1976). X axis Y axis Z axis A axis Execution Status D1856 D1936 D2016...
  • Page 121 Functions of Devices in DVP-PM X axis Y axis Z axis A axis MPG Input Frequency D1861 D1860 D1941 D1940 D2021 D2020 D2101 D2100 The frequency of MPG input is not affected by the electronic gear ratio. X axis Y axis Z axis A axis Number of accumulated MPG Input Pulses...

  • Page 122: Manual Modes

    Functions of Devices in DVP-PM 3.12.2 Manual Modes There are 8 manual modes in DVP-PM 1. Mechanical zero return 6. 2-speed positioning 2. JOG mode 7. 2-speed positioning interruption 3. Single-speed positioning 8. Variable speed mode 4. Single-speed positioning interruption 9.

  • Page 123: Position & Speed Control Registers For Manual Modes

    Functions of Devices in DVP-PM 3.12.3 Position & Speed Control Registers for Manual Modes Manual Mode Registers for the Motion Parameter Name X axis Y axis Z axis A axis Pulses per D1819 D1818 D1899 D1898 D1979 D1978 D2059 D2058 revolution (PPR) No need to be set up if the unit (b0, b1 of D1816, D1896, D1976) is motor unit.
  • Page 124 Functions of Devices in DVP-PM Manual Mode Registers for the Motion Parameter Name X axis Y axis Z axis A axis Current speed D1851 D1850 D1931 D1930 D2011 D2010 D2091 D2090 ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ (CS) (PPS) Current position D1853 D1852 D1933 D1932 D2013 D2012 D2093 D2092...
  • Page 125 Functions of Devices in DVP-PM MEMO DVP-PM Application Manual 3-80...
  • Page 126 Basic Instructions 4.1 Basic Instructions General Instructions Execution speed Page Instruction Function Operands Step (us) number Load NO contact X, Y, M, S, T, C Load NC contact X, Y, M, S, T, C X, Y, M, S, T, C Connect NO contact in series Connect NC contact in series X, Y, M, S, T, C...
  • Page 127 Basic Instructions Rising-/Falling-Edge Output Instruction Execution speed Page Instruction Function Operands Step (us) number Rising-edge output Y, M 20.7 4-11 Falling-edge output Y, M 20.9 4-12 Other Instructions Execution speed Page Instruction Function Operands Step (us) number Pointer P0 ~ P255 4-12 DVP-PM Application Manual...

  • Page 128: Explanations On Basic Instructions

    Basic Instructions 4.2 Explanations on Basic Instructions Mnemonic Function Controllers 20PM 10PM Load NO contact X0~X377 Y0~Y377 M0~M4095 S0~S1023 T0~T255 C0~C255 D0~D9999 Operand Explanations: 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.
  • Page 129 Basic Instructions Ladder diagram: Instruction: Operation: Load NC contact X1 Connect NO contact X0 in series Drive Y1 coil Mnemonic Function Controllers 20PM 10PM Connect NC contact in series X0~X377 Y0~Y377 M0~M4095 S0~S1023 T0~T255 C0~C255 D0~D9999 Operand Explanations: The ANI instruction is used to connect NC contact in series. Program Example: Ladder diagram: Instruction:...
  • Page 130 Basic Instructions The ORI instruction is used to connect NC contact in parallel. Program Example: Ladder diagram: Instruction: Operation: Load NO contact X0 Connect NC contact X1 in parallel Drive Y1 coil Mnemonic Function Controllers 20PM 10PM Connect a block in series Operand Explanations: The ANB instruction is used to connect a circuit block to the preceding block in series.
  • Page 131 Basic Instructions Ladder diagram: Instruction: Operation: Load NO contact X0 Block A Connect NC contact X1 in series Load NC contact X2 Connect NO contact X3 in series Connect circuit block in parallel Block B Drive Y1 coil Mnemonic Function Controllers 20PM 10PM...
  • Page 132 Basic Instructions Ladder diagram: Instruction: Operation: Load NO contact X0 Connect NC contact Y0 in series Drive Y1 and latch the status Mnemonic Function Controllers 20PM 10PM Resets contacts, registers or coils X0~X377 Y0~Y377 M0~M4095 S0~S1023 T0~T255 C0~C255 D0~D9999 V, Z Operand Explanations: 1.
  • Page 133 Basic Instructions Remarks: See the specification of DVP-PM for the range of operand T. Mnemonic Function Controllers 20PM 10PM 16-bit Counter C0 ~ C199, K0 ~ K32,767 Operand C0 ~ C199, D0 ~ D9999 Explanations: 1. When CNT instruction goes from OFF to ON, the designated counter coil will be driven, and the present value in the counter will plus 1.
  • Page 134 Basic Instructions Mnemonic Function Controllers 20PM 10PM Load Rising-edge Trigger X0~X377 Y0~Y377 M0~M4095 S0~S1023 T0~T255 C0~C255 D0~D9999 Operand Explanations: Similar to LD instruction, LDP is the rising-edge contact which is triggered only at the rising edge of the signal. Program Example: Ladder diagram: Instruction: Operation:...
  • Page 135 Basic Instructions Similar to AND instruction, ANDP instruction connects rising-edge trigger in series with another device or block. Program Example: Ladder diagram: Instruction: Operation: Load NO contact X0 Connect rising-edge contact X1 in series ANDP Drive coil Y1 Mnemonic Function Controllers 20PM 10PM...
  • Page 136 Basic Instructions Mnemonic Function Connect Falling-edge in Parallel X0~X377 Y0~Y377 M0~M4095 S0~S1023 T0~T255 C0~C255 D0~D9999 Operand Explanations: Similar to OR instruction, ORF instruction connects falling edge triggers in parallel with another device or block. Program Example: Ladder diagram: Instruction: Operation: Load NO contact X0 Connect Falling-edge contact X1 in parallel Drive coil Y1...
  • Page 137 Basic Instructions Mnemonic Function Controllers 20PM 10PM Falling-Edge Output X0~X377 Y0~Y377 M0~M4095 S0~S1023 T0~T255 C0~C255 D0~D9999 Operand Explanations: When X0 goes from ON to OFF (falling-edge triggered), PLS instruction executes and M0 generates a pulse with the pulse width of one scan time. Program Example: Ladder diagram: Instruction:...

  • Page 138: List Of Instructions

    Categories and Use of Basic Application Instructions 5.1 List of Instructions Mnemonic STEPS Category Pulse Function 20PM 10PM Page 16-bit 32-bit 16-bit 32-bit Conditional Jump 5-15 CALL Call Subroutine 5-18 SRET Subroutine Return 5-18 Watchdog timer refresh 5-20 Start of a Nested RPT-RPE Loop Control loop (Only 1 level 5-21...
  • Page 139 Categories and Use of Basic Application Instructions Mnemonic STEPS Category Pulse Function 20PM 10PM Page 16-bit 32-bit 16-bit 32-bit DSUM Sum of Active bits 5-63 DBON Check specified bit status 5-64 MEAN DMEAN Mean 5-65 Timed Annunciator Set 5-66 Annunciator Reset 5-67 DSQR Square Root...
  • Page 140 Categories and Use of Basic Application Instructions Mnemonic STEPS Category Pulse Function 20PM 10PM Page 16-bit 32-bit 16-bit 32-bit DEDIV Floating Point Division 5-102 DEXP Float Exponent Operation 5-103 Float Natural Logarithm 5-104 Operation DLOG Float Logarithm Operation 5-105 DESQR Floating Point Square Root 5-106 Floating Point Power...
  • Page 141 Categories and Use of Basic Application Instructions Mnemonic STEPS Category Pulse Function 20PM 10PM Page 16-bit 32-bit 16-bit 32-bit DAND> AND>= 5-130 ≧ DOR= S1 = S2 5-131 OR> DOR> S1 > S2 5-131 OR< DOR< S1 < S2 5-131 OR<>...

  • Page 142: Instruction Composition

    Categories and Use of Basic Application Instructions 5.2 Instruction Composition Instructions consist of either just the instruction or the instruction followed by operands for parameter settings Mnemonic: Indicates the name and the function of the instruction Operand: The parameter setting for the instruction Mnemonic of an instruction usually occupies 1 step, and each operand occupies 2 steps for 16-bit instruction or 3 steps for 32-bit instruction.
  • Page 143 Categories and Use of Basic Application Instructions Length of Operand (16-bit or 32-bit instruction) The length of operand can be divided into two groups, 16-bit and 32-bit, for processing data of different length. A prefix ”D” indicates 32-bit instructions. 16-bit MOV instruction When X0 = ON, K10 will be sent to D10.

  • Page 144: Numeric Values For Data Processing

    Categories and Use of Basic Application Instructions When X0 = ON, the contents in M0 ~ M7 will be moved to b0 ~b7 in D10 and b8 ~ b15 will be set to “0”. K2M0 Kn values 16-bit instruction 32-bit instruction Designated value: K-32,768 ~ K32,767 Designated value: K-2,147,483,648 ~ K2,147,483,647 Values for designated K1 ~ K4...
  • Page 145 Categories and Use of Basic Application Instructions the 16-bit register will all be filled with 0. The same rule applies when sending K1M0, K2M0, K3M0, K4M0, K5M0, K6M0, K7M0 to 32-bit registers. 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.”...
  • Page 146 Categories and Use of Basic Application Instructions − − × × Equation -126 +128 Therefore, the range of 32-bit floating point value is from ±2 to ±2 , i.e. from ±1.1755×10 to ±3.4028×10 Example 1: Represent “23” in 32-bit floating point value Step 1: Convert “23”...

  • Page 147: Index Register V, Z

    Categories and Use of Basic Application Instructions affected by the execution result of floating point itnstructions: Zero flag: M1968 = ON if the operational result is “0”. Borrow flag: M1970 = ON if the operational result exceeds the minimum unit. Carry flag: M1969 = ON if the absolute value of the operational result exceeds the range of use.

  • Page 148: Instruction Index

    Categories and Use of Basic Application Instructions 5.5 Instruction Index Sorted by alphabetic order: Mnemonic STEPS Function Page Instruction 16-bit 32-bit 16-bit 32-bit DADD Addition 5-34 Timed Annunciator Set 5-64 Annunciator Reset 5-65 Alternate state 5-73 DABS Absolute value 5-82 ANDP Rising-Edge Series Connection ANDF...

  • Page 149: Application Instructions

    Categories and Use of Basic Application Instructions Mnemonic STEPS Function Page Instruction 16-bit 32-bit 16-bit 32-bit DEADD Floating Point Addition 5-97 DESUB Floating Point Subtraction 5-98 DEMUL Floating Point Multiplication 5-99 DEDIV Floating Point Division 5-100 DEXP Float Exponent Operation 5-101 DESQR Floating Point Square Root...
  • Page 150 Categories and Use of Basic Application Instructions Mnemonic STEPS Function Page Instruction 16-bit 32-bit 16-bit 32-bit OR<> DOR<> S1 ≠ S2 5-127 OR<= DOR<= 5-127 ≦ OR>= DOR>= 5-127 ≧ Rising-Edge Output 4-11 Falling-Edge Output 4-12 DPOW Floating Point Power Operation 5-105 Start of a Nested RPT-RPE loop (ONly I 5-19...
  • Page 151 Categories and Use of Basic Application Instructions Mnemonic STEPS Function Page Instruction 16-bit 32-bit 16-bit 32-bit DXCH Exchange 5-31 DZCP Zone Compare 5-22 ZRST Zone Reset 5-57 DVP-PM Operation Instruction 5-14...
  • Page 152 Categories and Use of Basic Application Instructions 5.6 Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Conditional Jump Range Program Steps CJ, CJP: 3 steps P0 ~ P255 Operands: S: The destination pointer P of the conditional jump. Explanations: 1. P cannot be modified by index registers V, Z. 2.
  • Page 153 Categories and Use of Basic Application Instructions Contact state Contact state Output coil state Device before CJ execution during CJ execution during CJ execution M1, M2, M3 OFF M1, M2, M3 OFF , M20, S1 OFF Y, M, S M1, M2, M3 ON M1, M2, M3 ON , M20, S1 ON M4 OFF...
  • Page 154 Categories and Use of Basic Application Instructions T240 T240 K1000 T240 DVP-PM Application Manual 5-17...
  • Page 155 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM CALL Call Subroutine Range Program Steps P0 ~ P255 CALL, CALLP: 3 steps Operands: S: The destination pointer P of the call subroutine Explanations: 1. When the CALL instruction is active it forces the program to run the subroutine associated with the called pointer 2.
  • Page 156 Categories and Use of Basic Application Instructions When X13 is ON, execute CALL P13, jump to and run subroutine P13. When X14 is ON, execute CALL P14, jump to and run subroutine P14. When the SRET instruction is reached, jump back to the last P subroutine to finish the remaining instructions. The execution of subroutines will go backwards to the subroutine of upper level until SRET instruction in P10 subroutine is executed.
  • Page 157 Categories and Use of Basic Application Instructions Mnemonic Function Controllers 20PM 10PM Watchdog Timer Refresh Descriptions Program Steps No operand. No contact to drive the instruction is required WDT, WDTP: 1 step Explanations: WDT instruction can be used to reset the Watch Dog Timer. If the PLC scan time (from address 0 to END or FEND instruction) is more than 200ms, the ERROR LED will flash.
  • Page 158 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Start of a Nested RPT-RPE loop Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z RPT: 3 steps Operands: S: The number of times for the loop to be repeated Explanations:...
  • Page 159 Categories and Use of Basic Application Instructions DVP-PM Operation Instruction 5-22...
  • Page 160 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Compare Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z CMP, CMPP: 7 steps DCMP, DCMPP: 9 steps Operands: : Comparison value 1 : Comparison value 2...
  • Page 161 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Zone Compare Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z ZCP, ZCPP: 9 steps DZCP, DZCPP: 12 steps Operands: : Lower bound of zone comparison : Upper bound of zone comparison...
  • Page 162 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Move Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z MOV, MOVP: 5 steps DMOV, DMOVP: 6 steps Operands: S: Source of data D: Destination of data...
  • Page 163 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM SMOV Shift Move Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SMOV, SMOVP: 11 steps Operands: S: Source device : Start digit to be moved from source device : Number of digits to be moved...
  • Page 164 Categories and Use of Basic Application Instructions M1001 M1168 SMOV D10(BIN 16bit) Auto conversion D10(BCD 4 digits) Shift move No variation No variation D20(BCD 4 digits) Auto conversion D20(BIN 16bit) If D10 = K1234, D20 = K5678 before execution, D10 remains unchanged and D20 = K5128 after execution. Program example 2: When M1168 = ON (in BIN mode) and SMOV instruction is in use, D10 and D20 will not be converted in BCD format but be moved in BIN format (4 digits as a unit)..
  • Page 165 Categories and Use of Basic Application Instructions Use SMOV instruction to move the 1 digit of D1 to the 3 digit of D2 and combine the values from two DIP switches into one set of value. X33~X30 X27~X20 M1001 M1168 M1000 (X20~X27)BCD, 2 digits...
  • Page 166 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: S: Source of data D: Destination device...
  • Page 167 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM BMOV Block Move Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F BMOV, BMOVP: 7 steps Operands: S: Start of source devices D: Start of destination devices n: Number of data to be moved...
  • Page 168 Categories and Use of Basic Application Instructions Program example 3: The BMOV instruction will operate differently, automatically, to prevent errors when S and D coincide. When S > D, the BMOV instruction is processed in the order 1→2→3. BMOV When S < D, the BMOV instruction is processed in the order 3→2→1, then D11~D13 all equal to D10. BMOV DVP-PM Application Manual 5-31...
  • Page 169 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM FMOV Fill Move Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F FMOV, FMOVP: 7 steps DFMOV, DFMOVP: 13 steps Operands: S: Source of data D: Destination of data...
  • Page 170 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: : Device to be exchanged 1 : Device to be exchanged 2...
  • Page 171 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Convert BIN to BCD Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z BCD, BCDP: 5 steps DBCD, DBCDP: 6 steps Operands: S: Source of data D: Conversion result...
  • Page 172 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Convert BCD to BIN Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z BIN, BINP: 5 steps DBIN, DBINP: 6 steps Operands: S: Source of data D: Result of conversion...
  • Page 173 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Addition Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z ADD, ADDP: 7 steps DADD, DADDP: 9 steps Operands: : Summand : Addend...
  • Page 174 Categories and Use of Basic Application Instructions Points to note: Operations of flags: 16-bit instruction: Zero flag Zero flag Zero flag -32,768 32,767 0 1 2 、 、 、 、 、 、 、 、 the most significant bit the most significant bit Carry flag Borrow flag becomes 1 (negative)
  • Page 175 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Subtraction Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z SUB, SUBP: 7 steps DSUB, DSUBP: 9 steps Operands: : Minuend : Subtrahend...
  • Page 176 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Multiplication Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z MUL, MULP: 7 steps DMUL, DMULP: 9 steps Operands: : Multiplicand : Multiplicator...
  • Page 177 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Division Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z DIV, DIVP: 7 steps DDIV, DDIVP: 9 steps Operands: : Dividend : Divisor...
  • Page 178 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Increment Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z INC, INCP: 3 steps DINC, DINCP: 3 steps Operands: D: Destination device Explanations:...
  • Page 179 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Decrement Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z DEC, DECP: 3 steps DDEC, DDECP: 3 steps Operands: D: Destination device Explanations:...
  • Page 180 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM WAND Logical Word AND Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z WAND, WANDP: 7 steps DWAND, DWANDP: 9 steps Operands: : Source data device 1 : Source data device 2...
  • Page 181 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Logical Word OR Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z WOR, WORP: 7 steps DWOR, DWORP: 9 steps Operands: : Source data device 1 : Source data device 2...
  • Page 182 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM WXOR Logical Word XOR Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z WXOR, WXORP: 7 steps DWXOR, DWXORP: 9 steps Operands: : Source data device 1 : Source data device 2...
  • Page 183 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 2’s Complement (Negation) Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z NEG, NEGP: 7 steps DNEG, DNEGP: 9 steps Operands: D: Device to store the operation result of 2’s Compliment Explanations:...
  • Page 184 Categories and Use of Basic Application Instructions Points to note: 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 185 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 DROR, DRORP: 9 steps Operands: D: Device to be rotated n: Number of bits to be rotated in 1 rotation...
  • Page 186 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: D: Device to be rotated n: Number of bits to be rotated in 1 rotation...
  • Page 187 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Rotation Right with Carry Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F RCR, RCRP: 5 steps DRCR, DRCRP: 9 steps Operands: D: Device to be rotated...
  • Page 188 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: D: Device to be rotated...
  • Page 189 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM SFTR Bit Shift Right Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SFTR, SFTRP: 9 steps Operands: S: Start No.
  • Page 190 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: S: Start No.
  • Page 191 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM WSFR Word Shift Right Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F WSFR, WSFRP: 9 steps Operands: S: Start No.
  • Page 192 Categories and Use of Basic Application Instructions 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. The figure below illustrates the right shift of the devices in one scan Y27~Y20 →...
  • Page 193 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM WSFL Word Shift Left Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F WSFL, WSFLP: 9 steps Operands: S: Start No.
  • Page 194 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: S: Source device D: Head address of data stack...
  • Page 195 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM SFRD Shift Register Read Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F SFRD, SFRDP: 7 steps Operands: S: Head address of data stack D: Destination device...
  • Page 196 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM ZRST Zone Reset Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z ZRST, ZRSTP: 5 steps Operands: : Starting device of the reset range : End device of the reset range Explanations: 1.
  • Page 197 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: S: Source device to be decoded D: Device for storing the result n: Number of consecutive bits of S Explanation:...
  • Page 198 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM ENCO Encode Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DECO, DECOP: 7 steps Operands: S: Source device to be encoded D: Device for storing the result n: Number of consecutive bits of S Explanation:...
  • Page 199 Categories and Use of Basic Application Instructions Invalid data all be 0 DVP-PM Operation Instruction 5-62...
  • Page 200 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: S: Source device...
  • Page 201 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Check specified bit status Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F BON, BONP: 7 steps DBON, DBONP: 13 steps Operands: S: Source device...
  • Page 202 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: S: Source device D: Destination for storing result...
  • Page 203 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: S: Alarm timer m: Time setting D: Alarm Explanations:...
  • Page 204 Categories and Use of Basic Application Instructions Mnemonic Function Controllers 20PM 10PM Annunciator Reset Descriptions Program Steps No operand. No contact to drive the instruction is required ANR, ANRP: 1 step Explanations: ANR instruction is used to reset an alarm. When several alarm devices are ON, the alarm with smaller number will be reset.
  • Page 205 Categories and Use of Basic Application Instructions M1000 M1049 K100 S912 K200 S920 M1048 ANRP M1048 and D1049 are valid only when M1049 = ON. When Y0 = ON for more than 10 sec and the product fails to reach the front position X2, S912 = ON When Y1 = ON for more than 10 sec and the product fails to reach the back position X3, S920= ON.
  • Page 206 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: S: Source device D: Device for storing the result...
  • Page 207 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Floating Point Type Bit Devices Word Devices Program Steps K H KnX KnY KnM KnS T C D V Z DFLT, DFLTP: 6 steps Operands: S: Source device D: Device for storing the conversion result Explanations: 1.
  • Page 208 Categories and Use of Basic Application Instructions M1000 DFLT D100 DBIN K2X0 D200 DFLT D200 D202 DEDIV K615 D300 DEDIV D100 D202 D400 DEMUL D400 D300 DEBCD DINT Covert D11, D10 (BIN integer) to D101, D100 (floating point). Covert the value of X7~X0 (BCD value) to D201, D200 (BIN value). Covert D201, D200 (BIN integer) to D203, D202 (floating point).
  • Page 209 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Refresh Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F REF, REFP: 5 steps Operands: D: Start device for I/O refresh n: Number of devices for I/O refresh Explanations: PLC updates I/O status between END instruction and the start of next program scan.
  • Page 210 Categories and Use of Basic Application Instructions Program Example 3: When X0 = ON, I/O points starting from X10 or Y4 will all be refreshed. Program Example 4: For DVP-EX2 only: When X0 = ON and M1180 = ON, A/D signal in D1110~D1113 will be refreshed immediately regardless of the settings of operands D and n M1180 DVP-PM Application Manual...
  • Page 211 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: : Start device of data stack...
  • Page 212 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 Operands: D: Destination device Explanations: The status of D is alternated every time when the ALT instruction is executed.
  • Page 213 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM RAMP Ramp variable 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 Operands: : Start of ramp signal : End of ramp signal...
  • Page 214 Categories and Use of Basic Application Instructions 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: M1026 = ON M1026 = OFF M1029 M1029...
  • Page 215 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM SORT Data 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 Operands: S: Start device for the source data : Groups of data to be sorted (m...
  • Page 216 Categories and Use of Basic Application Instructions Sort data table when D100 = K3 Columns of data: m Data Column Column Students English Math. Physics Chemistry （D50）4 （D55）70 （D60）60 （D65）99 （D70）50 （D51）2 （D56）55 （D61）65 （D66）54 （D71）63 （D52）1 （D57）90 （D62）75 （D67）66 （D72）79 （D53）5 （D58）95 （D63）79 （D68）75 （D73）69 （D54）3 （D59）80 （D64）98 （D69）89 （D74）90 Sort data table when D100 = K5...
  • Page 217 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers Read CR data from Special 20PM 10PM FROM Modules Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T FROM, FROMP: 9 steps DFROM, DFROMP: 17 steps Operands: : No.
  • Page 218 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers Write CR data into Special 20PM 10PM Modules Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T TO, TOP: 9 steps DTO, DTOP: 17 steps Operands: : No.
  • Page 219 Categories and Use of Basic Application Instructions Specified device Specified CR Specified device Specified CR CR #5 CR #5 CR #6 CR #6 CR #7 CR #7 CR #8 CR #8 CR #9 CR #9 CR #10 CR #10 32-bit instruction when n=3 16-bit instruction when n=6 Application Example 1: Adjust the A/D conversion curve of DVP04AD-H2.
  • Page 220 Categories and Use of Basic Application Instructions Adjust the D/A conversion curve of DVP02DA-H2. Set the OFFSET value of CH2 as 0mA ( = K0 ) and GAIN value as 10mA（= K1,000 M1002 K1000 1. Write H’18 into CR#1 of analog output module No. 1 to set CH2 as mode 3 (current output: 0mA ~ +20mA). 2.
  • Page 221 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 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 DABS, DABSP: 5 steps Operands: D: Device for absolute value operation Explanation...
  • Page 222 3. 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 223 Categories and Use of Basic Application Instructions DVP-PM VFD-B, DVP-PM transmits: “01 03 2101 0006 D4” VFD-B DVP-PM, DVP-PM receives: “01 03 0C 0100 1766 0000 0000 0136 0000 3B” Registers for data to be sent (sending messages) Register DATA Explanation D1089 low ‘0’...
  • Page 224 Categories and Use of Basic Application Instructions Register DATA Explanation 2105 H D1081 high ‘1’ 31 H converts ASCII codes D1082 low ‘3’ 33 H and store the converted D1082 high ‘6’ 36 H value in D1054 D1083 low ‘0’ 30 H 0000 H D1083 high...
  • Page 225 Categories and Use of Basic Application Instructions D1071 low 03 H Command code of AC motor drive D1072 low 04 H Number of data (count by byte) D1073 low 17 H Content of address 2102 H D1074 low 70 H D1075 low 00 H Content of address 2103 H...
  • Page 226 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 227 Categories and Use of Basic Application Instructions DVP-PM VFD-B, DVP-PM transmits: “01 06 0100 1770 71” VFD-B DVP-PM, DVP-PM receives: “01 06 0100 1770 71” Registers for data to be sent (sending messages) Register DATA Explanation D1089 low ‘0’ 30 H ADR 1 Address of AC motor drive: ADR (1,0)
  • Page 228 Categories and Use of Basic Application Instructions Program Example 2: Communication between DVP-PM and VFD-B series AC motor drive (RTU mode, M1143 = ON) M1002 Set communication protocol as 9600, 8, E, 1 D1120 Retain communication protocol M1120 Set receiving timeout as 100ms K100 D1129 Set as RTU mode...
  • Page 229 Categories and Use of Basic Application Instructions Program Example 3: 1. In the communication between DVP-PM and VFD-B series AC motor drive (ASCII Mode, M1143 = OFF), executes Retry when communication time-out, data receiving error or parameter error occurs. 2. When X0 = ON, DVP-PM will write data H1770 K6000) into address H0100 in device 01 (VFD-B). 3.
  • Page 230 Categories and Use of Basic Application Instructions the data again. The specified times of retry: 3 (D0 = 3). M1002 D1120 Set communication protocol as 9600, 8, E, 1 Retain communication protocol M1120 K100 D1129 Set communication timeout as 100ms M1122 Sending request M1129...
  • Page 231 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM ECMP Binary Floating Point Compare Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DECMP, DECMPP: 9 steps Operands: comparison value comparison value D: Comparison result Explanations: 1.
  • Page 232 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM EZCP Floating Point Zone Compare Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DEZCP, DEZCPP: 12 steps Operands: : Lower bound of zone comparison : Upper bound of zone comparison S: Comparison value D: Comparison result...
  • Page 233 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM MOVR Move floating point data Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DMOVR, DMOVRP: 9 steps Operands: S: Source device D: Destination device...
  • Page 234 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Degree Radian Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DRAD, DRADP: 6 steps Operands: S: Source device (degree) D: Conversion result (radian) Explanations: 1.
  • Page 235 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Radian Degree Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DDEG, DDEGP: 6 steps Operands: S: Source device (radian) D: Conversion result (degree) Explanations: 1.
  • Page 236 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM EADD Binary Floating Point Addition Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DEADD, DEADDP: 9 steps Operands: : Augend : Addend D: Addition result Explanations: = D.
  • Page 237 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM ESUB Binary Floating Point Subtraction Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DESUB, DESUBP: 9 steps Operands: : Minuend : Subtrahend D: Subtraction result Explanations: −...
  • Page 238 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM EMUL Binary Floating Point Multiplication Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DEMUL, DEMULP: 9 steps Operands: : Multiplicand : Multiplicator D: Multiplication result Explanations: ×...
  • Page 239 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM EDIV Binary Floating Point Division Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DEDIV, DEDIVP: 9 steps Operands: : Dividend : Divisor D: Quotient and remainder Explanations: ÷...
  • Page 240 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Float Exponent Operation Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DEXP, DEXPP: 6 steps Operands: S: Exponent D: Operation result Explanations: [D+1, D ] 1.
  • Page 241 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Float Natural Logarithm Operation Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DLN, DLNP: 6 steps Operands: S: Source device D: Operation result Explanations: 1.
  • Page 242 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Float Logarithm Operation Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DLOG, DLOGP: 9 steps Operands: : Base : Antilogarithm D: Operation result Explanations: 1.
  • Page 243 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM ESQR Floating Point Square Root Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DESQR, DESQRP: 6 steps Operands: S: Source device D: Operation result Explanations: 1.
  • Page 244 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Floating Point Power Operation Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DPOW, DPOWP: 9 steps Operands: : Base : Exponent D: Operation result Explanations: 1.
  • Page 245 Categories and Use of Basic Application Instructions DEBCD Points to note: For floating point operations, see “5.3 Numeric Values for Data Processing”. DVP-PM Operation Instruction 5-108...
  • Page 246 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Float to Integer Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DINT, DINTP: 5 steps Operands: S: Source device D: Operation result Explanations: 1.
  • Page 247 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Sine Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DSIN, DSINP: 6 steps Operands: S: Source device (0°≦S＜360°) D: Operation result Explanations: 1.
  • Page 248 Categories and Use of Basic Application Instructions Program Example 2: Radian/degree selection flag = OFF indicates radian mode. Select the degree value from inputs X0 and X1 and convert it to RAD value for further sine operation. (K30) (D11,D10) DMOVP (K60) (D11,D10) DMOVP...
  • Page 249 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Cosine Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DCOS, DCOSP: 6 steps Operands: S: Source device (0°≦S＜360°) D: Operation result Explanations: 1.
  • Page 250 Categories and Use of Basic Application Instructions operation on the degree value (0° degree ＜360°) in (D1, D0) and stores the COS value in (D11, D10) in binary ≦ floating format. M1002 Degree/radian flag DCOS Degree value COS value D 10 binary floating point Points to note: For floating point operations, see “5.3 Numeric Values for Data Processing”.
  • Page 251 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Tangent Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DTAN, DTANP: 6 steps Operands: S: Source device (0°≦S＜360°) D: Operation result Explanations: 1.
  • Page 252 Categories and Use of Basic Application Instructions π RAD value (Degree 180) binary floating point TAN value D 11 D 10 binary floating point Program Example 2: Radian/degree selection flag = ON indicates degree mode. When X0 = ON, DTAN instruction performs tangent operation on the degree value (0°...
  • Page 253 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM ASIN Arc Sine Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DASIN, DASINP: 6 steps Operands: S: Source device (binary floating value) D: Operation result Explanations: 1.
  • Page 254 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM ACOS Arc Cosine Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DACOS, DACOSP: 6 steps Operands: S: Source device (binary floating value) D: Operation result Explanations: 1.
  • Page 255 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM ATAN Arc Tangent Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DATAN, DATANP: 6 steps Operands: S: Source device (binary floating value) D: Operation result Explanations: 1.
  • Page 256 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM SINH Hyperbolic Sine Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DSINH, DSINHP: 6 steps Operands: S: Source device (binary floating value) D: Operation result Explanations: 1.
  • Page 257 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM COSH Hyperbolic Cosine Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DCOSH, DCOSHP: 6 steps Operands: S: Source device (binary floating value) D: Operation result Explanations: 1.
  • Page 258 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM TANH Hyperbolic Tangent Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T DTANH, DTANHP: 6 steps Operands: S: Source device (binary floating value) D: Operation result Explanations: 1.
  • Page 259 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM ADDR Floating point addition Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D E F DADDR, DADDRP: 13 steps Operands: : Floating point summand : Floating point addend...
  • Page 260 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM SUBR Floating point subtraction Type Bit Devices Word devices Program Steps S F H KnX KnY KnM KnS T C D E F DSUBR: 13 steps Operands: : Floating point minuend : Floating point subtrahend D: Remainder...
  • Page 261 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM MULR Floating point multiplication Type Bit Devices Word devices Program Steps S F H KnX KnY KnM KnS T C D E F DMULR, DMULRP: 13 steps Operands: : Floating point multiplicand : Floating point multiplicator...
  • Page 262 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM DIVR Floating point division Type Bit Devices Word devices Program Steps S F H KnX KnY KnM KnS T C D E F DDIVR: 13 steps Operands: : Floating point n dividend : Floating point divisor D: Quotient...
  • Page 263 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 215~ 20PM 10PM Contact Logical Operation LD# Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T LD#: 5 steps DLD#: 7 steps Operands: : Data source device 1 : Data source device 2 Explanations: 1.
  • Page 264 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 218~ 20PM 10PM AND# Contact Logical Operation AND# Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T AND#: 5 steps DAND#: 7 steps Operands: : Data source device 1 : Data source device 2 Explanations: 1.
  • Page 265 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 221~ 20PM 10PM Contact Logical operation OR# Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T OR#: 5 steps DOR#: 7 steps Operands: : Data source device 1 : Data source device 2 Explanations: 1.
  • Page 266 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 224~ 20PM 10PM Contact Type Comparison ※ Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T : 5 steps ※ : 7 steps ※ Operands: : Source device 1 : Source device 2 Explanations:...
  • Page 267 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 232~ 20PM 10PM Serial Type Comparison ※ Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T : 5 steps ※ DAND : 7 steps ※ Operands: : Source device 1 : Source device 2...
  • Page 268 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 240~ 20PM 10PM Parallel Type Comparison ※ Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T : 5 steps ※ : 7 steps ※ Operands: : Source device 1 : Source device 2 Explanations:...
  • Page 269 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM SWAP Byte swap Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D V Z SWAP, SWAPP: 3 steps DSWAP, DSWAPP: 5 steps Operands: S: Device for byte swap.
  • Page 270 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM RAND Random number Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D V Z RAND, RANDP: 7 steps DRAND, DRANDP: 13 steps Operands: : Lower bound of the random number : Upper bound of the random number...
  • Page 271 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM SCAL P Proportional calculation Type Bit Devices Word devices Program Steps SCAL,SCLAP: 9 steps S K H KnX KnY KnM KnS T C D V Z Operands: : Source value : Slope (unit: 0.001) : Offset...
  • Page 272 Categories and Use of Basic Application Instructions Destination value Slope=168 Offset=-4 Source value = 500 Program Example 2: Assume S = 500, S = -168 and S = 534. When X0 = ON, SCAL instruction executes and the result of proportional calculation will be stored in D10..
  • Page 273 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM D SCLP P Parameter proportional value calculation Type Bit Devices Word devices Program Steps S K H KnX KnY KnM KnS T C D V Z SCLP, SCLPP: 9 steps DSCLP, DSCLPP: 13 steps Operands: : Source value...
  • Page 274 Categories and Use of Basic Application Instructions If S > max. source value, S will be set as max. source value. If S < min. source value, S will be set as min. source value. When the source value and parameters are set, the following output figure can be obtained: Destination value Max.
  • Page 275 Categories and Use of Basic Application Instructions Program Example 2: Assume source value S = 500, max. source value D0 = 3000, min. source value D1 = 200, max. destination value D2 = 30, and min. destination value D3 = 500. When X0 = ON, SCLP instruction executes and the result of proportional calculation will be stored in D10.
  • Page 276 Categories and Use of Basic Application Instructions M1162 F500 D100 DMOVR DMOVR F3000 F200 DMOVR F500 DMOVR DMOVR DSCLP D100 Points to note: Range of S for 16-bit instruction: max. source value ≥ S ≥ min. source value; -32,768 ~ 32,767. If the value exceeds the bounds, the bound value will be used for calculation.
  • Page 277 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Negated Conditional Jump Range Program Steps CJN, CJNP: 3 steps P0 ~ P255 Operands: S: The destination pointer P of the negated conditional jump Explanations: 1. P cannot be modified by index registers V, Z. 2.
  • Page 278 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM Unconditional Jump Range Program Steps JMP: 3 steps P0 ~ P255 Operands: S: The destination pointer P of the conditional jump Explanations: 1. P cannot be modified by index registers V, Z. 2.
  • Page 279 Categories and Use of Basic Application Instructions Mnemonic Function Controllers 20PM 10PM BRET Return to Bus Line Descriptions Program Steps BRET: 1 steps Explanations: 1. No contact to drive the instruction is required. 2. When BRET instruction is executed, the instructions which require drive contacts can be connected to bus line directly, i.e.
  • Page 280 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 16-bit→32-bit Conversion MMOV Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T MMOV, MMOVP: 5 steps Operands: S: Source device (16-bit) D: Destination device (32-bit) Explanations: MMOV instruction sends the data in 16-bit device S to 32-bit device D.
  • Page 281 Categories and Use of Basic Application Instructions Mnemonic Operands Function Controllers 20PM 10PM 32-bit→16-bit Conversion RMOV Type Bit Devices Word Devices Program Steps H KnX KnY KnM KnS T RMOV, RMOVP: 5 steps Operands: S: Source device (32-bit) D: Destination device (16-bit) Explanations: RMOV instruction sends the data in 32-bit device S to 16-bit device D.

  • Page 282: List Of Motion Instructions And G-Code Instructions

    Motion Instructions and G-Code Instructions 6.1 List of Motion Instructions and G-Code Instructions Motion Instructions Model Response Mnemonic Function Page Time 20D 20M 10Ｍ 2-Axis High-Speed Positioning 20 ~ 25ms 3-Axis High-Speed Positioning 20 ~ 25ms 2-Axis Synchronous Linear Interpolation (considering remaining 20 ~ 22ms distance) 3-Axis Synchronous Linear Interpolation (considering remaining...
  • Page 283 Motion Instructions & G-Code Instructions O Pointer / M Pointer (M code) Model Pointer Function Explanation Page Main program / Motion Main Program:O100, 6-40 Subroutine pointer Motion subroutine: OX0 ~ OX99 M0 ~ M65535 M pointer / M code 6-41 M102: End of O100 main program M2: end of OX0 ~ OX99 motion subroutine G-Code Instructions...

  • Page 284: Composition Of Motion Instructions And G-Code Instructions

    Motion Instructions and G-Code Instructions 6.2 Composition of Motion Instructions and G-Code Instructions 6.2.1 Motion Instructions A motion instruction has two parts: the mnemonic and the operand Mnemonic Function of the instruction Indexes X, Y, Z, F, FX, FY, FZ, R, I, J, K. Function index indicate axis, frequency, radius, and Operand...

  • Page 285: G-Code Instructions

    Motion Instructions & G-Code Instructions Parameter columns marked with * indicate the applicable device type for the parameter. Parameter columns marked with * and in grey refers to V, Z index modification is applicable. Notes for the instruction Points to note: Some motion instructions are only composed of the instruction part (mnemonic), e.g.
  • Page 286 Motion Instructions and G-Code Instructions Some G-code instructions are only composed of the instruction part (mnemonic), e.g. G90 or G91. However, most G-code instructions are composed of mnemonic with operands. In addition, no drive contact is required to be placed before a G-code instruction. Rules of using G-Code (a) Multiple instructions, including M codes, can be placed in the same row in the program For example: G91G01 X100.0 Y300.0 F500.0 M8 G04 X4.5;...

  • Page 287: Motion Instructions

    Motion Instructions & G-Code Instructions 6.3 Motion Instructions Mnemonic Operands Function Controllers FX V 20PM High-Speed Positioning FY V FZ V Type Bit Devices Double-Word Devices Notes DRV instruction supports V, Z index register modification on the devices. See specifications of DVP-PM for the applicable range of each device.
  • Page 288 Motion Instructions and G-Code Instructions FY V FY V FX V FX V FY V 10. 20M model supports 3-axis (X, Y or Z) high-speed positioning, and therefore there are 26 operand combinations for DRV instruction. Instruction Operand combination FX V FY V FY V FX V...
  • Page 289 Motion Instructions & G-Code Instructions 2. Moving path Target position Current position 3. Other valid combinations of operands: DRV XKK-345289 FXD100 YDD10Z5 FYDD102 DRV XDD20 FXHH2345 YK456@V4 FYDD0 The above instructions are legal, and device D is the register storing the value to be set up. Remarks: Relevant special registers: D1822, D1823...
  • Page 290 Motion Instructions and G-Code Instructions Mnemonic Operands Function Controllers Linear Interpolation 20PM (considering remaining distance) Type Bit Devices Double-Word Devices Notes LIN instruction supports V, Z index register modification on the devices. See specifications of DVP-PM for the applicable range of each device. You can place an M-Code instruction after LIN.
  • Page 291 Motion Instructions & G-Code Instructions 12. 20M model support 3-axis (X, Y or Z) high-speed positioning, and therefore there are 14 operand combinations for LIN instruction. Instruction Operand combination Program Example: 1. LIN XK12345 YH7567 ZKK3280 FKK40000 The instruction performs linear interpolation on 3 axes to the target position (K12345, H7567, ZKK3280). The target position can be an absolute coordinate or relative coordinate, which is determined by the ABST / INCT (G90/G91) instructions above and closest to LIN.
  • Page 292 Motion Instructions and G-Code Instructions Remarks: Relevant special registers D1822, D1823 Maximum speed on X axis. D1822 (low word); D1823 (high word). D1824, D1825 Bias speed of X axis. D1824 (low word); D1825 (high word). D1836 Acceleration time of X axis D1837 Deceleration time of X axis Stop mode for OX0 ~ 99...
  • Page 293 Motion Instructions & G-Code Instructions Mnemonic Operands Function Clockwise Arc / Clockwise Helical / Controllers Counterclockwise Arc / 20PM CW / CCW Counterclockwise Helical Movement (distance to center of arc) Type Bit Devices Double-Word Devices Notes CW/CCW instruction supports V, Z index register modification on the devices.
  • Page 294 Motion Instructions and G-Code Instructions Starting point (current position) Center (I, J) Target point ( 8. 3-axis helical interpolation: Applicable to 20M model only. 3-axis helical interpolation is an advanced function to 2-axis arc interpolation. When a 3 axis is added to arc interpolation, a helical interpolation can be performed, i.e. if the vertical value on Z axis is set to 0, the helical interpolation will simply perform 2-axis arc interpolation.
  • Page 295 Motion Instructions & G-Code Instructions S tar ting point Target point Target point Center Center ( x, y, z) (y, z) (J, K) (J, K) Target point Center ( x, y, z) (J, K) S tar ting Tar get poi nt Center point S tar ting...
  • Page 296 Motion Instructions and G-Code Instructions Instruction Operand combination CW/CCW DVP-PM Application Manual 6-15...
  • Page 297 Motion Instructions & G-Code Instructions Instruction Operand combination Program Example: 1. Example (1): Set up absolute coordinate system. Apply CW clockwise arc instruction and set target position of arc as (10000, 10000), distance to center of arc as (2500, 2500), and output speed as 2,000Hz. DVP-PM Application Manual 6-16...
  • Page 298 Motion Instructions and G-Code Instructions Operation Target point (target position) speed 2KHz (10000, 10000) 10,000 Center 2,500 5,000 Starting point (current position) (5000, 5000) 10,000 5,000 The program should be written as: ABST CW XK10000 YK10000 IK2500 JK2500 FK2000 2. Example (2): Set up absolute coordinate system on X-Z plane (G18). Apply CW (clockwise) helical instruction and set target position of arc as (-10, 15, 35), distance to center of arc as (-10, 0, 5), and output speed as 2,000Hz.
  • Page 299 Motion Instructions & G-Code Instructions Mnemonic Operands Function Clockwise Arc / Clockwise Helical Controllers / Counterclockwise Arc / 20PM CW / CCW Counterclockwise Helical Movement (radius) Type Bit Devices Double-Word Devices Notes CW/CCW instruction supports V, Z index register modification on the devices. You can place an M-Code instruction after CW/CCW.
  • Page 300 Motion Instructions and G-Code Instructions Ta rge t po in t Ta rge t po in t (x, y, z) (x, y, z) Ta rge t po in t Ta rge t po in t (x, y) (x, y) R ( radius) C en te r C en te r R ( radius)
  • Page 301 Motion Instructions & G-Code Instructions 13. 20D model only supports 2-axis (X, Y plane) arc interpolation, and according to the programming rule, there are 6 operand combinations for CW/CCW instruction. Instruction Operand combination CW/CCW 14. 20M model supports 3-zxis arc/helical interpolation, and according to the programming rule, there are 14 operand combinations for CW/CCW instruction.
  • Page 302 Motion Instructions and G-Code Instructions The program should be written as: CW XK10000 YK10000 RK5000 FK1000 2. Example (2): Set up absolute coordinate system. Apply CCW counterclockwise helical instruction and set target position of helix as (0, 30, 15), radius = 30.0 (R = ”+“ when radian < 180°), and output speed as 100 pulses per second.
  • Page 303 Motion Instructions & G-Code Instructions Mnemonic Operands Function Controllers 20PM 10PM Pause Time Type Bit Devices Double-Word Devices Notes TIM instruction supports V, Z index register modification on the devices. See the specifications of DVP-PM for the applicable range of each device. You can place an M-Code instruction after TIM.
  • Page 304 Motion Instructions and G-Code Instructions Mnemonic Operands Function Controllers 20PM DRVZ Return to Mechanical Zero Point (Zero Return) Explanations: 1. You can place an M-Code instruction after DRVZ. 2. Before enabling DRVZ, you have to first set up the following parameters(for relative D registers please refer to Remarks explained later): a) Zero return speed (V ): When zero return is triggered, the system will operate at zero return speed (V...
  • Page 305 Motion Instructions & G-Code Instructions system accelerates to V (500kHz) by 100ms and operates at V until DOG is triggered. When DOG is triggered, the system decelerates to V (10kHz) by 100ms. In this case, zero return mode is set as normal mode and PG0 signal is set as falling-edge triggered by DOG.
  • Page 306 Motion Instructions and G-Code Instructions D1830 Zero return deceleration speed of X axis: V (low word) D1831 Zero return deceleration speed of X axis: V (high word) D1832 Number of zero point signals (PG0) on X axis: N D1833 Number of pulses for zero return on X axis: P D1836 Acceleration time of X axis: T D1837...
  • Page 307 Motion Instructions & G-Code Instructions Mnemonic Operands Function Controllers 20PM SETR Set up Electrical Zero Point Explanations: 1. You can place an M-Code instruction after SETR 2. When SETR is executed, you can set the current position of X/Y/Z axis as the electrical zero point, i.e. move the content in the current position (CP) register into the register for electrical zero point.
  • Page 308 Motion Instructions and G-Code Instructions Mnemonic Operands Function Controllers 20PM DRVR Return to Electrical Zero Point Explanations: 1. You can place an M-Code instruction after DRVR. 2. When DRVR instruction is executed, X / Y / Z axes will return to electrical zero point at V (0 ~ 500kHz).
  • Page 309 Motion Instructions & G-Code Instructions Mnemonic Operands Function Controllers 2-axis Single-Speed Linear Interpolation 20PM INTR (ignoring remaining distance) Type Bit Devices Double-Word Devices Notes INTR instruction supports V, Z index register modification on the devices. See specifications of DVP-PM for the applicable range of each device.
  • Page 310 Motion Instructions and G-Code Instructions Mnemonic Operands Function Controllers 1-axis Single-speed Positioning with 20PM SINTR Additional Distance Type Bit Devices Double-Word Devices Notes SINTR instruction supports V, Z index register modification on the devices. See specifications of DVP-PM for the applicable range of each device.
  • Page 311 Motion Instructions & G-Code Instructions When DOG signal is triggered, SINTR instruction will finish the single speed positioning on X axis with the additional 500,000 pulses set by the first operand. 2. When X0 = OFF, program OX0 and SINTR instruction will be disabled. H8000 D1868 MOVP...
  • Page 312 Motion Instructions and G-Code Instructions Mnemonic Operands Function Controllers 1-axis Double-speed 20PM DINTR Positioning with Additional Distance Type Bit Devices Double-Word Devices Notes DINTR instruction supports V, Z index register modification on the devices. See specifications of DVP-PM for the applicable range of each device.
  • Page 313 Motion Instructions & G-Code Instructions Program Example: 1. When X0 = ON, DINTR instruction in OX0 subroutine will be executed. Y axis accelerates to the first speed 250kHz in 100ms and operate at the speed stably. When DOG signal is triggered, it will further accelerate to the second speed 500kHz, and finish the double speed positioning on Y axis with the additional 500,000 pulses.
  • Page 314 Motion Instructions and G-Code Instructions Mnemonic Operands Function Controllers 20PM MOVC Set up Offset of Linear Movement Type Bit Devices Double-Word Devices Notes MOVC instruction supports V, Z index register modification on the devices. See specifications of DVP-PM for the applicable range of each device.
  • Page 315 Motion Instructions & G-Code Instructions Mnemonic Operands Function Controllers 20PM CNTC Set up Offset for Distance to Center of Arc Type Bit Devices Double-Word Devices Notes CNTC instruction supports V, Z index register modification on the devices. See specifications of DVP-PM for the applicable range of each device.
  • Page 316 Motion Instructions and G-Code Instructions Mnemonic Operands Function Controllers 20PM RADC Set up Offset of Arc Radius Type Bit Devices Double-Word Devices Notes RADC instruction supports V, Z index register modification on the devices. See specifications of DVP-PM for the applicable range of each device.
  • Page 317 Motion Instructions & G-Code Instructions Mnemonic Operands Function Controllers 20PM CANC Cancel Compensation Explanations: 1. You can place an M-Code instruction after CANC. 2. When CANC instruction is executed, all motion compensations (offset values) will be cancelled, i.e. special registers D1708 ~ D1709, D1724 ~ D1725, D1710 ~ D1711, D1726 ~ D1727, and D1712 ~ D1713 will all be cleared automatically.
  • Page 318 Motion Instructions and G-Code Instructions Mnemonic Operands Function Controllers 20PM ABST Set up Absolute Coordinate Mnemonic Operands Function Controllers 20PM INCT Set up Relative Coordinate Explanations: 1. ABST enables absolute coordinate system. Absolute coordinate is the coordinate starting from “0.” When the target position P(I) >...
  • Page 319 Motion Instructions & G-Code Instructions Mnemonic Operands Function Controllers 20PM SETT Set up Current Position Type Bit Devices Double-Word Devices Notes SETT instruction supports V, Z index register modification on the devices. See specifications of DVP-PM for the applicable range of each device. You can place an M-Code instruction after SETT.
  • Page 320 Motion Instructions and G-Code Instructions Remarks: Relevant special registers D1848 Current position of X axis: CP (low word) D1849 Current position of X axis: CP (high word) D1928 Current position of Y axis: CP (low word) D1929 Current position of Y axis: CP (high word) D2008 Current position of Z axis: CP (low word) D2009...

  • Page 321: O Pointer / M Pointer

    Motion Instructions & G-Code Instructions 6.4 O Pointer / M Pointer Mnemonic Function Controllers 20PM 10PM Pointer for Main Program and Motion Subroutine Main program pointer: O100 Explanation Motion subroutine pointer: OX0 ~ OX99 Explanations: 1. O100 is the start pointer of main control program. You need the main control program to activate OX0 ~ OX99 motion subroutines.
  • Page 322 Motion Instructions and G-Code Instructions Mnemonic Function Controllers 20PM M-code Instructions M0 ~ M65535 Explanation M102: End of O100 main program M2: End of OX0 ~ OX99 motion subroutine Explanations: 1. M-code instruction is one type of motion instruction. To execute M-code, first store the No. of M-code into D1703. When M-code is enabled, M1794 will be “ON”...
  • Page 323 Motion Instructions & G-Code Instructions H0101 H0102 H0103 ． ． ． ． ． ． Program Example 2: 1. “After” mode: connect a single M-code instruction to left-hand bus bar after a motion instruction. F5000 XKK500 Y300 M100 Timing diagram: LIN instruction is completed. M100 M1794 M1744...
  • Page 324 Motion Instructions and G-Code Instructions Program Example 3: The instruction list below shows the usages of special M-codes, ”with” mode and “after” mode. N0100 and N0301 are special M-codes for stopping O100 and OX subroutine. N0105 indicates “with” mode; N0250 indicates “after” mode.

  • Page 325: G-Code Instructions

    Motion Instructions & G-Code Instructions 6.5 G-Code Instructions Mnemonic Operands Function Controllers G-Code 20PM 3-axis High-speed Positioning Operands: : Target position on X axis : Target position on Y axis : Target position on Z axis (built-in 3 axis) Explanations: 1.
  • Page 326 Motion Instructions and G-Code Instructions program will reach the target position automatically by G00. 2. For 20D model, when G00 adopts Z-axis target position (built-in 3 axis control) as: G00 X1000 Y1000 Z100; The instruction will automatically be compiled as: G00 Z100;...
  • Page 327 Motion Instructions & G-Code Instructions Mnemonic Operands Function Controllers G-Code 3-axis High-speed Positioning (3 axis 20PM control) Explanations: 1. 20D model does not support 3-axis positioning control. For 3 axis control, an additional single-axis positioning module DVP-01PU is required 2. For 20D model, when G00 sets Z-axis target position (built-in 3 axis control), the 3 axis control will be independently executed first.
  • Page 328 Motion Instructions and G-Code Instructions Mnemonic Operands Function Controllers G-Code 3-axis Linear Interpolation 20PM (considering remaining distance) Operands: : Target position on X axis : Target position on Y axis : Target position on Z axis V: Speed for linear interpolation Explanations: 1.
  • Page 329 Motion Instructions & G-Code Instructions Mnemonic Operands Function Controllers G-Code 3-axis Linear Interpolation (3 Axis 20PM Control) Explanations: 1. 20D model does not support 3-axis synchronous interpolation. For 3 axis control, an additional single-axis positioning module DVP-01PU is required. 3. For 20D model, when G01 sets Z-axis target position (built-in 3 axis control), the 3 axis control will be independently executed first.
  • Page 330 Motion Instructions and G-Code Instructions Mnemonic Operands Function Clockwise Arc / Clockwise Helical / Controllers G-Code Counterclockwise Arc / Counterclockwise 20PM Helical Movement (distance to center of arc) Operands: : Target position on X axis : Target position on Y axis : Target position on Z axis : Distance to the center of arc/helix on X axis : Distance to the center of arc/helix on Y axis...
  • Page 331 Motion Instructions & G-Code Instructions Mnemonic Operands Function Controllers Clockwise Arc / Clockwise Helical / G-Code 20PM Counterclockwise Arc / Counterclockwise Helical Movement (radius) Operands: : Target position on X axis : Target position on Y axis : Target position on Z axis L: Radius of arc / helix (R = ”+“...
  • Page 332 Motion Instructions and G-Code Instructions Mnemonic Operands Function Controllers G-Code 20PM Pause Time Operands: XT: Pause time (unit: 1 sec). G4 X1 refers to pausing for 1 second; G4 X2.5 refers to pausing for 2.5 seconds. PT: Pause time (unit: 1 ms). G4 P100 refers to pausing for 0.1 second; G4 P4500 refers to pausing for 4.5 seconds. Explanations: 1.
  • Page 333 Motion Instructions & G-Code Instructions Mnemonic Operands Function Select X-Y Plane Controllers G-Code 20PM Select X-Z Plane Select Y-Z Plane Explanations: 1. The three instructions decide the work planes for arc interpolation and helical interpolation and have no effects on linear interpolation. 2.

  • Page 334: Access Between Dvp-Eh2, Dvp-Pm (As Master) And Dvp-Pm (As Slave)

    Use DVP-PM As Slave 7.1 Access between DVP-EH2, DVP-PM (as Master) and DVP-PM (as Slave) When DVP-PM is used as Slave, there is a data exchange area in DVP-PM which corresponds to the control registers (CRs) in the Master. The data exchange area is consisted of consecutive special registers, and users can utilize the data exchange area for accessing data between Master and Slave as well as performing motion control functions through a Slave DVP-PM.

  • Page 335: Example Of Master-Slave Data Exchange

    Use DVP-PM As Slave 7.1.2 Example of Master-Slave Data Exchange Set up: design the data exchange programs in Master and Slave respectively. Slave DVP-PM: Move the data to be accessed by Master into the data exchange area through MOV instruction Master: Plan the CRs (on Slave) for Master to access.
  • Page 336 Use DVP-PM As Slave When X0 = ON, write in CR#1 of Slave, corresponding to D1501 in Slave, to enable JOG+ operation on X axis in Slave. When X1 = ON, write in CR#1 of Slave, corresponding to D1501 in Slave, to enable JOG- operation on X axis in Slave.
  • Page 337 Use DVP-PM As Slave Program in DVP-PM Slave Ladder diagram: Operation: M1002 Enable O100 in Slave, and clear the current position of X DMOV D1848 axis as “0”. Clear the number of accumulated MPG pulses of X axis as DMOV D1862 “0”.
  • Page 338 Use DVP-PM As Slave Example 2 Control Purpose: DVP-EH2 applies FROM/TO instructions to access special registers D1500 ~ D1699 in Slave DVP-PM and executes motion instructions in OX subroutines (see Chapter 6 for how to use motion instructions). Table for CRs in the Master and corresponding special registers in the Slave: Slave Master Content...
  • Page 339 Use DVP-PM As Slave When X0 ~ X4 = OFF, write in CR#1 of Slave, corresponding to D1501 in Slave, to disable OX subroutine in Slave. Program in DVP-PM Slave Instruction mode: Operation: O100 LD M1002 DMOV K0 D1848 Place the instructions for initializing current position DMOV K0 D1928 of X/Y axis in O100 main program.

  • Page 340: Trajectory

    Application Examples 8.1 Draw the Trajectories Below by Motion Instructions and G-Codes 8.1.1 Trajectory Trajectory 1 Trajectory 2 DVP-PM Application Manual...
  • Page 341 Application Examples Trajectory 3 Trajectory 4 DVP-PM Application Manual...

  • Page 342: Design Procedure

    Application Examples 8.1.2 Design Procedure 1. Trajectory 1: Set up the absolute coordinates of the four points (-20, 20), (60, 20), (60, 100) and (-20, 100). Start from (0, 0). 2. Trajectory 2: Set up the absolute coordinates of the four points (-10, 10), (20, 10), (20, 70) and (-10, 70). Start from (0, 0).
  • Page 343 Application Examples Example of G-code instructions for trajectory 1. P0 subroutine Set up absolute coordinate X-20.0 Y20.0 Fast move to designated position Move to designated position by linear X60.0 Y20.0 F20.0 interpolation. Can also be written as G01 X60.0 F20.0 Move to designated position by linear X60.0 Y100.0...
  • Page 344 Application Examples Example of motion instructions for trajectory 3 P0 subroutine INCT Set up relative position X-25000 Y25000 Fast move to designated position Move to designated position by linear X50000 F20000 interpolation. Move to designated position by linear X-25000 Y60000 F20000 interpolation.
  • Page 345 Application Examples Example of G-code instructions for trajectory 4 P0 subroutine Set up absolute coordinate X10.0 Y10.0 Fast move to designated position Move to designated position by linear X10.0 Y30.0 F20.0 interpolation. Can also be written as G01 Y30.0 F20.0 Move to designated position by arc X10.0 Y110.0...

  • Page 346: Applying Application Examples In Pmsoft

    Application Examples 8.2 Applying Application Examples in PMSoft You can apply the application example “motionSample” to draw English letters, any graph or text. If you wish to apply this function to any 2-axis control equipment, you can modify the example program below for you to realize more diverse control purposes.

  • Page 347: Design Example Program

    Application Examples 8.2.2 Design Example Program To design the example program, we can divide the program into four sections including OX0 ~ M2, O100 ~ M102, P255 ~ SRET and P0 ~ SRET explained below. 1. OX0 ~ M2: set up function parameters of X, Y axes When DVP-PM is in AUTO status and motion subroutine (OX) is ready (M1792 = ON), set ON X0 to ennable OX0 motion subroutine.
  • Page 348 Application Examples further place other operations in the main program. Ladder diagram: Operation: M1792 When OX is ready (M1792 = ON), OX0 motion subroutine can H8000 D1868 be enabled by X0 OUT M1074 Enable OX0 motion subroutine Other operations K100 Other operations K100 Other operations...

  • Page 349: Planning Variable Speed Operation

    Application Examples Ladder diagram: Operations: G0G90X1.759Y87.87 G1Z0.0F19.4 ． G-Code (NC-Code) which draws trajections ． ． G0X56.164Z5.0 When the program sections 1 ~ 4 are completed, drawing of letters, graphs or any texts by DVP-PM can be performed by DVP-PM 8.3 Planning Variable Speed Operation This section introduces how to trigger many segments of speed (variable speed) in a fixed route by using single-speed positioning mode.

  • Page 350: Design Example Program

    Application Examples 8.3.2 Design Example Program Ladder diagram of trigger condition 1: Operations: M1002 Set up bias speed of X axis (V K100 BIAS D1824 Set up acceleration time of X axis (T K100 D1836 Set up deceleration time of X axis (T K100 D1837 Clear the current position of X axis as 0...
  • Page 351 Application Examples Ladder diagram for trigger condition 2: Operations: M1002 K100 D1824 Set up the bias speed of X axis (V BIAS Set up the acceleration time of X axis (T K100 D1836 K100 D1837 Set up the deceleration time of X axis (T DMOV D1848 Clear the current position of X axis as 0...
  • Page 352 Application Examples Ladder diagram for trigger condition 3: Operations: M1002 Set up the bias speed of X axis (V BIAS K100 D1824 Set up the acceleration time of X axis (T K100 D1836 Set up the deceleration time of X axis (T K100 D1837 Clear the current position of X axis as 0...
  • Page 353 Application Examples 8.4 Connect DVP-PM (as Master) and DVP01PU-H2 (as Slave) for 3 Axis Control 1. Enable O100 and execute OX0. 2. When the execution encounters G01 Z-25000 F10000 in OX0 subroutine, the program will call P255. 3. In P255, when D1328 < 0, drive DVP01PU-H2 to control the 3 axis.

  • Page 354: Introduction To Electrical Cam (E-Cam)

    Electrical CAM 9.1 Introduction to Electrical CAM (E-CAM) Mechnical cam system consists of 3 parts including a cam, a cam follower, and a fixed linkage. Mechinacal cam is a rotating piece with irregular form, usually an input device with steady rotation rate, operates cam follower to produce a smooth reciprocating motion through the fixed linkage between the cam and the follower.

  • Page 355: E-Cam Application

    Electrical CAM 9.2 E-CAM Application In electrical cam system of DVP-PM, we have to set up the master shaft (Master) which simulates mechanical cam, and also the slave shaft (Slave) which simulates the cam follower. In this section we will introduce the methods to obtain Master position and relationship between Master and Slave (E-CAM data).
  • Page 356 Electrical CAM 2. START0/PG0: Input terminal for enabling acyclic E-CAM Ouput Terminals 1. FP0/RP0: Output terminal for pulse output of E-CAM. Max output frequency: 500kHz. 2. CLR0/CLR1: Output terminal for E-CAM synchronized output signal. When D1839, D1838 (PI) ≦ CP (Current Position) of Master (X axis) D1843, D1842 (PII), CLR0/CLR1 will be ON.
  • Page 357 Electrical CAM Pulse Input Type MPG Pulse Input Type Setting: D1864 Pulse input type (positive logic) Explanation FP fo rwa rd pu lse s Double-phase (FP/RP) RP r eve rse pu ls es FP p ul ses Single-phase (P/D) Fo rwa rd ru nn in g Re ver se r un ni ng RP d ir ecti on (DIR) FP A-phase pulses...
  • Page 358 Electrical CAM Slave =180( Slave unit Master =360( Master unit D1816 Slave =180 b1 b0 Unit (P ulses) Motor system Master =360 (Pulses) D1816 Slave × D1819.D1818 (Pulses per revolution) (P ulses) = Output magnification b1 b0 Unit D1821.D1820 (Displacement per r evolution) Motor system Combined...

  • Page 359: Obtain Master Position

    Electrical CAM 9.2.2 Obtain Master Position There are 3 methods to obtain Master position. Method 1: Apply internal virtual Master – simple settings and high accuracy. (Refer to 9.2.3 in P9-4) START0 STO P0 LSP0 E-CAM Slave servo LSN0 ASDA series DOG0 +24V S/S 0...
  • Page 360 Electrical CAM Method 2: Obtain Master position from the encoder of Master servo. Receive the signals from the encoder then convert the signals into Master position. START0 STOP0 LSP0 E-CAM Slave servo LSN0 ASDA series DOG0 +24V S/S0 COM+ START1 FP 0+ STOP1 FP 0-...
  • Page 361 Electrical CAM Method 3: Apply Virtual Master In virtual Master mode, you can catch the output signals from internal Y axis as the signal source of Master for X axis or Z axis. In this case, you don’t have to apply additional wirings. To apply virtual Master mode, set ON M1909 and A0 will be internally linked with FP of Y axis;...

  • Page 362: Start / Stop E-Cam

    Electrical CAM The source signal of X axis is from FP1, RP1 (Y The source signal of X, Z axis is from FP1, RP1 axis as virtual Master), and the source signal of Y, (Y axis as virtual Master), and the source signal of Z axis is from A1, B1 input of MPG1.
  • Page 363 Electrical CAM =180 Sl av e Slave unit Master =360 Master unit Start Cyclic E-CAM The timing diagram below indicates an operation process of cyclic E-CAM operation with synchronized output position between 60~300. In T1, D1846 bit 13 = ON, cyclic E-CAM is enabled. After the initialization interval of T2, M1812 = ON to indicate the completion of E-CAM initialization.
  • Page 364 Electrical CAM Slave Position n n+60 n+300 Master position D1846 b13=ON enables cyclic E-CAM M1812=ON, initialization completed CLR0 sync output M1813, E-CAM completion Reset by user When M1748 (indicate E-CAM completion) is ON during E-CAM execution, Slave of E-CAM will stop until the current E-CAM cycle is completed.
  • Page 365 Electrical CAM Control steps: Step 1: Initialization (1) Clear the content in registers D1848, D1849, D1862, D1863, D1868. (2) Set up input pulse type as A/B phase (D1864 = H200) (3) Set up pulse output type of Y axis as A/B phase (H30) (4) Set up D1799 (input terminal polarity setting) = 6.
  • Page 366 Electrical CAM 9.2.3.2 Start / Stop Acyclic E-CAM In cyclic E-CAM, Master and Slave operate according to the user-defined E-CAM Data only when E-CAM start signal (START0/PG0) is triggered. Unlike cyclic E-CAM, acyclic E-CAM operates only one cycle for each triggered signal, i.e. E-CAM Data operates only once for one triggered signal. Before selecting START0 as the start signal, M1035 has to be set ON for setting STOP0/START0 as the external input.
  • Page 367 Electrical CAM Slave n n+60 n+300 Position Reset Reset by system by system M aster position D1846 b14=ON Set by system Set by user enables acyclic E-CAM M1812=ON, initialization completed > 5ms E-CAM start signal PG0 / Start0 CLR0 sync output M1813, E-CAM completion Reset by user Stop Acyclic E-CAM...
  • Page 368 Electrical CAM Application Example Setup: Set up E-CAM Data as below: E-CAM cycle: Master position 0~100000; Control unit: motor system; Every time when START0 is triggered, execute 3 acyclic E-CAM Data (D1832 = 2) Set up E-CAM Data as the above curve. E-CAM Data can be set up by PMSoft or DTO instruction (Please refer to explanations in 9.4).

  • Page 369: Explanations On Special Flags And Registers

    Electrical CAM M1002 ZRST D1848 D1849 D1860 D1860 D1863 D1863 ZRST ZRST D1868 K200 D1864 Set up pulse input/output type D1816 as A/B phase D=H30 Set up D1799 (input terminal polarity setting)= 6. D1799 MPGA0/MPGB0 are NO contacts. Reset M1746. Acyclic E-CAM is triggered by M1746 START0 Enable STOP0/START0 as external input point...
  • Page 370 Electrical CAM D1846: Enabling cyclic E-CAM. Bit 13 = ON, cyclic E-CAM is enabled; bit 13 = OFF, cyclic E-CAM is disabled. M1813: Completion of cyclic E-CAM. M1813 will be ON when cyclic E-CAM is completed. To restart the cyclic E-CAM, the user needs to reset this flag. Enabling acyclic E-CAM: D1846 D1846: bit 14 = ON, acyclic E-CAM enabled;...
  • Page 371 Electrical CAM D1832 = 0 Slave position Master position Start0 / PG0 D1832 = 1 Slave position Master position Start0 / Pg0 Distribution of remaining acyclic E-CAM pulses: D1833 Assume that Master operates 202 pulses and a single E-CAM Data requires 50 pulses, the execution results will be 4 cycles of E-CAM Data and 2 pulses remaining.
  • Page 372 Electrical CAM D1834 = 10 Slave position Master position Start0 / Pg0 D1834 = 50 Slave position Master position Start0 / Pg0 Select the start signal of acyclic E-CAM: M1746 When M1746 is OFF, the start signal of acyclic E-CAM will be START0; when M1746 is ON, PG0 will be the start signal of acyclic E-CAM.
  • Page 373 Electrical CAM Acyclic E =CAM Stop at DOG signal Slave is ON Master D1863, D1862 CLR0 M1813 Set by system Rese t by use r DOG0 On Slave Master CLR0 M1813 Master Switch the source of Master of acyclic E-CAM For acyclic E-CAM, the source of Master can be switched to Y axis during the execution by setting up M1755.

  • Page 374: Set Up E-Cam Data

    Electrical CAM Original path: Slave speed Path when M1757 = ON: M1757 = ON Left/right Limit Master position 9.4 Set up E-CAM Data 9.4.1 Use PMsoft CAM Chart to Set up E-CAM Data The relatonionship defined by users between Master and Slave is called E-CAM Data. For describing E-CAM Data there are 2 methods: Method 1: Point-to-point relationship on X and Y axes.
  • Page 375 Electrical CAM There are 4 parts in CAM Chart: Displacement / Degree (relative position of Master/Slave), Velocity / Degree (relative speed of Master/Slave), Acc Speed / Degree (relative acceleration speed of Master/Slave), and Data Setting Area in the bottom. The first 3 charts indicate user-defined E-CAM Data with horizontal axis as Master position, and vertical axis as Slave position, speed ratio of Slave/Master, and acc speed ratio of Slave/Master.
  • Page 376 Electrical CAM Velocity:automatically calculated max/min speed value Acc: :automatically calculated max/min acc speed value Data Setting: describe the variation of displacement between Master and Slave by a function. Import: describe the variation of displacement between Master and Slave by point-to-point method. Export: export the point-to-point relationship between Master and Slave as a file Import Speed Data: describe the variation of speed between Master and Slave by point-to-point method.
  • Page 377 Electrical CAM Explanations on buttons: Save: save the setting of current section Load: load the data into temporary data buffer Clear: clear all sections Draw: compile the sections and draw CAM Curves on CAM Charts OK: compile the sections, draw CAM Curves on CAM Chart and close the window..
  • Page 378 Electrical CAM Design the Variation of Displacement by Point-to-point Data 9.4.1.2 You can input or modify the point-to-point data in the exported CAM data files and import the modified CAM data in PMSoft. In this way, the variation of displacement of the user-designed CAM curves will also be drawn in the CAM Chart page.
  • Page 379 Electrical CAM <PMSoft>\CAMData\Data_S.txt Displacement Velocity 4. Click “Import Speed Data”. PMSoft will read out the content in Data_S.txt and draw the data on Velocity chart. Also, PMSoft will convert the velocity data and draw the converted Displacement and Acc charts <PMSoft>\CAMData\Data_S.txt Velocity Displacement...

  • Page 380: Use Dto / Dfrom Instructions To Set Up E-Cam Data

    Electrical CAM 9.4.2 Use DTO / DFROM Instructions to Set up E-CAM Data DVP-20PM is designed with 3 virtual modules exclusively for E-CAM0~ECAM2, and the numbers of each E-CAM chart are K100, K101 and K102. Through DTO/DFROM instructions, you can set up or modify the E-CAM data in the user program.
  • Page 381 Electrical CAM E-CAM data of 10,000 points and is set up by CR#0~9999. One set of E-CAM data consists of 2 points including Master and Slave position, and the unit of every point is Dword. For example, 2 sets of E-CAM data include 4 Master/Slave points which requires 8 CRs as the below structure.
  • Page 382 Electrical CAM curve 0:const speed (Low word) 1:const Acc 2:SingleHypot 3:Cycloid CAM curve selection for different sections in sync area, e.g. start, end: 0: leftCAM: Sync area is on the left side of CAM curve 1: midCAMall: Sync area is in the middle 2: midCAMbegin 3: midCAMend: (When the curve is selected, E-CAM stops automatically when completed)
  • Page 383 Electrical CAM 2: SingleHypot 3: Cycloid CAM curves 0: leftCAM 1: midCAMall 2: midCAMbegin 3: midCAMend 5: right CAM For detailed explanation of creating rotary cut E-CAM curves, please refer to 9.4.2.3. The rotary cut E-CAM data can be used for general rotary cut applications. However, for think material cutting application, the cutting angle and the cutter speed should be additionally considered on setting E-CAM.
  • Page 384 Electrical CAM equally divided by the drop times of cutter) b[2]=1: Specify the number of data points in sync area b[3]=1: Borrow the data setting of previous E-CAM b[4]=1: Non-smooth acceleration/deceleration for fixing the resoulution. Pulses per round of Integer Unit: Pulse Master Length per round of...
  • Page 385 Electrical CAM E-CAM Chart Real-time Change CR#10002: Explanations There are 3 built-in E-CAM charts in PMSoft: E-CAM Chart-0~E-CAM Chart-2. If you need to conduct real-time change of E-CAM chart during program execution, set up this register to designate the E-CAM chart to be enable in the next cycle.
  • Page 386 Electrical CAM Parameteres Data Format Explanations Slave position 1 Integer Caught at DOG signal Slave position 2 Integer Caught at end of cycle Master position 1 Integer Caught at DOG signal Master position 2 Floating point Caught at end of cycle Master position 3 Caught at START0(M1746=OFF) or Floating point...
  • Page 387 Electrical CAM (a) Multiple-point E-CAM Data or no data (b) 3-point E-CAM Data Control Steps: Step 1: Set M80 to convert the 4-point E-CAM data (3-point data with an additional point 0) into binary floating point format, and store the results in D0~D15. Step 2: Set M81 to to write the data in D0~D15 into E-CAM chart-0 (K100).
  • Page 388 Electrical CAM Smooth curve interpolation conducts interpolation and magnification on data points of Master, so as to smoothen the modified curve with higher resolution. The interpolation results will elevate the stability and smoothness for machine operation. In the sample below, the original data points are 24 points, and the modified length of Master will be 10,000 points.
  • Page 389 Electrical CAM The below diagram illustrates the difference between the original curve and the curve with interpolation. With higher smoothing coefficient, the generated curve will be smoother as well. The below diagrams show the results of 3-times and 5-times interpolation respectively. DVP-PM Application Manual 9-36...
  • Page 390 Electrical CAM Application Example Conduct smooth curve interpolation on the original curve of E-CAM Chart-0: Original data points: 24; Length of Master: 10,000; Total points to be inserted: 200 points; Smoothing coefficient: 5 times; Cycloid type: Uniform B-Spline. The original curve is as below: Control Steps: Step 1: Create a 23-point E-CAM curve in E-CAM Chart-0.
  • Page 391 Electrical CAM as below. For the set up methods please refer to section 9.4. -68.332 -93.672 -22.86 -0.036 -70.44 -92.556 -0.396 -0.288 -70.98 -91.224 0.288 -47.196 -70.052 -91.152 0.072 -62.604 -70.756 -91.044 -65.16 -71.496 -46.08 0.036 Step 2: Set the resolution of E-CAM Chart-0. The resolution should be equal or bigger than “Original data points + Total points to be inserted.”...
  • Page 392 Electrical CAM 9.4.2.3 E-CAM Data for Rotary Cut Function E-CAM Data for rotary cut function is set up according to the parameters of connected devices and the control requirements. Users should input sufficient data into corresponding registers and DVP-PM will establish E-CAM Data for rotaty cut function.
  • Page 393 Electrical CAM Parameters Length of S lave: Length of Master 1000 Length of Slave Length of sync area -500 Magnification ratio 0 100 200 300 400 500 600 700 800 900 1,000 Max magnification Degree 10.0 ratio Length of sync area of Slave: Acceleration curve CAM curve F1 .0...
  • Page 394 Electrical CAM DMOV K10000 DMOV K1000 D100 DMOV K500 D102 DMOV K200 D104 DFLT D106 D108 DFLT D110 D111 H4000 M1035 D112 K100 D100 Application Example 2: Flying Saw Application Setup: Flying saw operation can be performed by applying 2 rotary cut E-CAM curves. First, we need to create the E-CAM curve for rotay cut.
  • Page 395 Electrical CAM Step 1: Add 2 sets of E-CAM charts and set the resolution as 600. Step 2: Download the below program in DVP-20PM and execute. Step 3: Set M0 to write the parameters for rotary cut E-CAM into D100~D112 and CR#10000 into D0. In addition, write the data in D100~D112 into special register CR#10000 to generate the 1 rotary cut E-CAM curve...
  • Page 396 Electrical CAM DMOV K10000 DMOV K1000 D100 DMOV K500 D102 DMOV K200 D104 DFLT D106 DFLT D108 D110 H4000 D111 D112 K100 D100 DMOV K-500 D102 DMOV K200 D104 HC000 D111 K100 D100 Application Example 3: Multi-cutter application Setup: In multi-cutter application, such as rotary cut with 3 cutters, the pulses per round of Slave can not be evenly distributed to each cutter and the error of Slave will increase as the execution times increase.
  • Page 397 Electrical CAM CAM curve Only single data Borrow the previous Borrow the previous CAM curve setting real-time modification E-CAM data setting E-CAM data setting is applicable Results Control Steps: Step 1: Add 2 sets of E-CAM charts and set the resolution as 900. Step 2: Download the below program in DVP-20PM and execute.
  • Page 398 Electrical CAM M100 DMOV K10000 Set up length of Master DMOV K1000 D100 DMOV K333 D102 Set up length of Slave DMOV K200 D104 Set up length of sync area DFLT D106 Set up magnification ratio DFLT D108 Set up max magnification of speed D110 Set up acceleration curve Set up CAM curve...
  • Page 399 Electrical CAM relationship can be described by the equation below: . According to the diagram below, α θ sin( the cutter rolls through non-sync area and syn area. In sync area, the horizontal moving distance (L) of the cutter should be the same as the moving distance of the material, and the horizontal moving distance can be θ...
  • Page 400 Electrical CAM α Sync angle Slave Sync start angle Slave ⎛ ⎞ ⎛ ⎞ Pulses round Pulses round θ ⎜ ⎜ ⎟ ⎟ ⎜ ⎜ α ⎟ ⎟ × ⋅ ÷ ⎝ ⎠ ⎝ ⎠ Pulses round Number cutters Start position 0 or 360 of the cutter θ...
  • Page 401 Electrical CAM Start position of cutter 0 or 360 θ1 α θ2 Sync start angle Sync end angle End position of cutter Application Example: Setup: The example is the application of using DTO instruction for creating thick matrrial cutting E-CAM. The required parameters are listed in the table below.
  • Page 402 Electrical CAM Step 3: Set M0 to write the parameters for think-material cutting E-CAM into D100~D116 and CR#10000 into D0. In addition, write the data in D100~D116 into special register CR#10000 to generate the thick-material cutting E-CAM curve Step 4: Stop the DVP-PM and upload the program. Step 5: Monitor the uploaded E-CAM Chart-0, which is the generated thick-material cutting E-CAM curves.
  • Page 403 Electrical CAM 9.4.2.5 Offset Compensation to Slave Error In field application, errors occur between the actual output position on device and the target output position on E-CAM curve. In addition, the error could be larger as the increase of execution times. Aiming at this problem we need to apply offset compensation according to the error value between DOG signal and the end point of Slave position (D108).
  • Page 404 Electrical CAM Step 1: Run the program and read the E-CAM status by DFROM instruction. Read the data in CR#10001 of special module K100 to D100~D108. Step 2: Set M3 to write the length of Slave into D126 and the initial Slave error into D128. Calculate the real error, i.e.
  • Page 405 Electrical CAM Se t u p M 4 t o ca lcula te th e actua l offset valu e an d the m o dif ied Sl ave le ng th Co nv ert the o ffset va lu e int o DFLT D138 D140...

  • Page 406: Multi-Axis E-Cam

    Electrical CAM Ladder Diagram: M 10 00 M 18 12 DM OV K1 00 05 Completion of E-CA M initialization DFROM D3 00 K1 00 Slave position D3 06 DSUB D1 86 2 D3 50 Accumulated M aster position Master position in cur rent cycle M 17 92 H2 00 0...
  • Page 407 Electrical CAM 2. Set up work modes (X-D1847 Y-D1927 Z-D2007) For multi-axis E-CAM, b12 and b11 of D1847 should be set as 01 (bit11=1). When Y, Z axis are applied, bit11 of D1927 and D2007 should also be set as 1. 3.
  • Page 408 Electrical CAM When M1908 = ON, the 3 axes X/Y/Z share the same high speed counter C200. The input signal of C200 is controlled by MPG A0/B0. C200 reset signal is controlled by PG0. Pulse Input pulse MPGA0 PV of C200 C200 Input pulse MPGB0...
  • Page 409 Electrical CAM Set value of Slave in No.100 and No.201 indicates the target number for next execution. Therefore, before the switching point is reached users can insert or modify the data in the next section. However, care should be taken on setting the starting value of the second section. For second section, if the starting value of Master (M101) is set as 0, Slave will continue the execution based on the ending value of previous section, i.e.

  • Page 410: Field Applications Of E-Cam

    Electrical CAM Sl ave 10,000 5,000 -5,000 -10,000 2,000 4,000 6,000 8,000 10,000 Degree M as te r In forward / reverse running pattern, master position 0 other than the start point should not exist. 9.6 Field Applications of E-CAM 9.6.1 E-CAM Application on Winding Machine In this application example we apply DVP-PM for controlling the auto bobbinless winding machine, which can be...
  • Page 411 Electrical CAM shaft and the coil shaft. Due to the possible delay of CPU operation, this kind of winding process has lower accuracy on speed synchronization. Therefore, the coil winding quality could be signicantly lowered because the uneven winding results. For example, generally PLC executes the reverse winding operation through interruption when the set up position from the winding shaft is reached.
  • Page 412 Winding device is the major part of windig operation. （4） Coil device Coil device mainly consists of Delta ASDA-B type servo motor (100W), precise ball screw, guide rail and pneumatic sliding forks and is the coil shaft (Slave) of E-CAM operation. Coil device follows the winding device and reciprocates to perform the coil spacing action.
  • Page 413 Electrical CAM The movement of winding shafts and coil shafts are explained as below. The coil shaft (Slave) follows the winding shaft (Master) and reciprocates within the range of single layer in certain proportion with winding shaft. At the beginning, Slave starts at the left end and moves one coil space as diagram (A). When Slave moves to the right end of the single layer range as indicated in disgram (B), the moving direction of Slave reverses as diagram (C).
  • Page 414 Electrical CAM 9.6.1.2 Hardware Wiring Diagram START0 STO P0 LSP0 Slave servo (coil shaft) LSN0 ASDA series DOG0 +24V S/S 0 COM+ START1 FP 0+ STO P1 /PLS FP 0- LSP1 SIGN RP 0+ LSN1 /SI GN RP 0- DOG0 +24V S/S 0 Master servo (winding shaf t)
  • Page 415 Electrical CAM To create E-CAM Data, import the file “Data_S.txt”. Firstly in this file we set the base unit of E-CAM by specifying SlaveMax=1 and MasterMax=1. Second, select motor unit for E-CAM operation by setting up b1/b0 of D1816. Third, specify the magnification of E-CAM Data according to the input parameters below.
  • Page 416 Electrical CAM Here are 2 examples of obtainng the settings of Master and Slave Example 1 Rounds per layer N1 = 10 Total rounds of winding N2 = 80 Coil spacing (mm) D = 0.2 There is no actual moving distance of Master because winding shaft is directly driven by signals.

  • Page 417: E-Cam Application On Rotary Cut And Flying Saw Devices

    Electrical CAM (mm/pulses) Winding shaft =N2 x B = 100 x 3600 = 360000 Master= Length of single speed (Master/Y positioning (pulses) axis) =2 x N1 x B = 2 x 20 x 3600 = 144000 Settings Master Master (pulses) Coil shaft “2”...
  • Page 418 Electrical CAM SER V O SER V O SER V O SER V O C ut Len gt h C ut Len gt h C ut Len gt h C ut Len gt h 20 PM 20 PM En co der o u tpu t En co der o u tpu t C AM C AM...
  • Page 419 Electrical CAM Click “Draw” and the displacement data can be obtained as below. 3. Click “Export” then “Import Speed Data” and the velocity relationship between Slave and Master can be obtained. DVP-PM Application Manual 9-66...
  • Page 420 Electrical CAM According to the above E-CAM Chart, we can calculate the pulses per round of Slave (Slavemax=200) by the square measure of velocity data. (1*100/2+1*(200-100)+1*(300-200)/2)=200 Pulses per round of Master equal to the cut length. You can apply input /output magnification setting at 9.3.1.7 in this chapter to obtain the proper set value.
  • Page 421 Electrical CAM Flying Saw 9.6.2.2 When the flying cutter performs cutting action, the feeding conveyor does not slow down and stop, and the moving speed of cutter should be the same as that of the feeding conveyor. In addition, the synchronizing time should be long enough for the cutter to finish the cutting process and return to the safe position.
  • Page 422 Electrical CAM 2. Input the velocity data in the displacement table. Position 2: 100 degrees, position 3: 200 degrees, position 4: 700 degrees. Click “Draw” and the displacement data can be obtained as below. 3. Click “Export” then “Import Speed Data” and the velocity relationship between Slave and Master can be obtained.
  • Page 423 Electrical CAM According to the above E-CAM Chart, we can calculate the pulses per round of Slave (Slavemax=400) by the square measure of velocity data. [(1*100/2+1*(200-100)+1*(300-200)/2)] * 2 = 400 In addition, for pulses per round of Master you can apply input /output magnification setting at 9.3.1.7 in this chapter to obtain the proper set value.
  • Page 424 Electrical CAM indicating doubling the reverse running speed. In this case, 100 pulses (700-600) can be reduced at operation speed 100kHz, i.e. approximately 1ms can be saved from the whole operation cycle. However, please note that the square measure of positive pulses should be the same as that of the negative pulses if the ready position (position 4) is required to match starting position (position 1).
  • Page 425 Electrical CAM 9.6.2.3 Flying Saw – Liquid Filling Machine The below diagram is another flying saw application: liquid filling machine. The E-CAM operation of the example is similar to the above case of flying saw. The only difference is that the cutter is replaced by the injector. See the simple wiring diagram as below: Raw Material SyncOut...
  • Page 426 Electrical CAM The property of B-Spline is to modify only partial curve rather than the whole curve, i.e. if additional points between 2 Master positions are inserted, only the curve in the section is modified, and the curve besides the section remains in the same shape.
  • Page 427 Electrical CAM DVP-PM Application Manual 9-74...
  • Page 428 Encrypting User Program 10.1 How to Set DVP-PM allows users to set up passwords to protect user program through PMSoft. Set up the password before downloading the program into DVP-PM so that the program is protected from being illegally intercepted or modified.
  • Page 429 Encrypting User Program a.) Click motion subroutine to unfold it. b.) Click subroutine to unfold it. Applying encryption to specific program: 1. Right click the motion subroutine or P subroutine number to be encrypted and select “Enable Protection” as shown in a.) below. 2.
  • Page 430 Encrypting User Program a.) Right click the program number and select b.) 5 refers to protection on P5 has been “Disable Protection”. removed. 10.1.2 Downloading Program When you download the program, you will see a window asking whether to apply PEP setting. Check “Apply PEP Setting, and PMSoft will ask you to set up the encryption password.
  • Page 431 Encrypting User Program a.) Check “Apply PEP Setting”. b.) Enter password and confirm password. c.) Start downloading the program if this is the first time for password setup. 3. During the program transmission process, if the program has been encrypted, PMSoft will ask you to enter the password, as a.).
  • Page 432 Encrypting User Program a.) Click on the toolbar b.) Decide whether to apply PEP setting. 2. Leave “Apply PEP Setting” box blank, as a.) If DVP-PM is currently set with a password and there are E-CAM data in the program to be downloaded, PMSoft will ask you to enter the password (to unlock the protection for storing E-CAM data).
  • Page 433 Encrypting User Program a.) Leave “Apply PEP Setting” box blank. b.) Start downloading the program (if DVP-PM is set with a password and the downloading program contains no E-CAM data). 4. During the program transmission process, if DVP-PM is not set with a password, the system will directly download the program to DVP-PM whether there are E-CAM data or not, as b.).
  • Page 434 Encrypting User Program a.) Click on the toolbar. b.) Decide whether to read the program in the protection area. 2. Whether you decide to read PEP protection area or not, once you click “OK”, as a.), the general program or E-CAM data will be directly read and uploaded to PC, as b.). a.) Decide whether to read PEP.
  • Page 435 Encrypting User Program a.) Check “PEP” to read the protected program. b.) Enter password and confirm it. Click “OK”. c.) Start downloading the program. 3. If “PEP” is not checked, click “OK”, as a.), and the system will upload the program directly to PC, as b.). a.) Leave “PEP”...
  • Page 436 Encrypting User Program a.) Check “PEP” to read it. Click “OK”. b.) Enter password and confirm it. c.) Start uploading the program. 3. Leave “PEP” bix blank and click “OK”, as a.). Next, enter the password and confirm it, as b.), to start uploading general program and E-CAM data to PC, as c.) a.) Leave “PEP”...
  • Page 437 Encrypting User Program MEMO DVP-PM Application Manual 10-10...

  • Page 438: Dvp-Pm00M Program Download With Pep Setting

    G-code Application Details about G-code instructions are explained in previous chapters. In this chapter, we will focus on G-code applications which improve the usability by various G-code download methods and enhance the operation stability by advanced G-code application (mainly used on dispensing machine). The CNC (Computer Numerical Control) machines applying G-codes have the same operation methods and functions, therefore the PLC program for CNC machine do not need to be modified for different CNC machines.

  • Page 439: Dvp-Pm00M G-Code Download Methods

    In this section, we will introduce G-code download methods by applying PMGDL software or HMI. 1. Use PMGDL to download G-codes to DVP-PM 2. Use Delta B-Type HMI to download G-Codes to DVP-PM 3. Use Delta HMI and convert G-codes through D registers 11.2.1 PMGDL Software...
  • Page 440 G-code Application up in O100 to communicate with PMGDL. Communication format: 115200, 8, N, 1(RTU). (A) Program for set up COM1 (B)Program for set up COM2 Step 2: Set up PEP settings in PMSoft to enable protection on O100 or other constant programs and download the program to 20PM00M as below.
  • Page 441 G-code Application Step 3: Execute PMGDL software and set up COM Port (between PC and 20PM00M COM port) as below. Communication format 115200, 8, N, 1 should not be changed. Step 4: Click “Open” to view the G-code file to be downloaded. In the bottom-left corner, File CRC will be displayed.
  • Page 442 G-code Application (3) Download completed Step 5: You can click “PMCRC” to calculate the CRC value and compare the CRC value with File CRC. The download is succeeded if the two CRC values are the same. Step 5 can be skipped if “Download OK” message was showed in step 4.
  • Page 443 G-code Application Step 6: PMGDL can download multiple G-code files to DVP-PM00M. Click “Send” and the file will be downloaded to OX0. Click “Send Next”, and the file will be downloaded to OXn (n increases 1 at a time). If only OX0 is required, the step can be skipped.
  • Page 444 G-code Application (3) Click “Send” to download the G-code file. Step 5: On PMSoft, you can monitor D1733 for number of rows of received G-code on DVP-PM, and D1701 for currently executed rows of G-code. Check if the content of the registers increases and OX0 executes automatically as below.

  • Page 445: Download By B Type Hmi

    G-code Application Step 7: When the G-code operation is completed, the executed rows will be the same as the received rows in monitor table. In addition, the number of received rows alos equals to the number of rows displayed in PMGDL.
  • Page 446 (a) Execute Screen Editor 2.00.12, open a new file (b) Set up the parameters of control block as below: “Option” >> ”Configuration” >> ”Control Block” (c) Set up communication parameters as below: “Option” >> ”Configuration” >> “Communication” Controller: Delta PM RTU COM: COM1/COM2/COM3 Interface: RS232/RS485...
  • Page 447 G-code Application (a) Use a value input object, set up Write Address as $0 and the address value as 65535. (b) Use a button object. Set up On Macro. When the button is pressesd, 65535 will be written into $0. Select a Momentary Button and set up the internal memory address Edit On Macro and use MOV instruction Set up variable 1 of MOV instruction...
  • Page 448 G-code Application Save and exit (6) Download the editied program to HMI (7) Update the firware version of HMI (can be skipped if updated): (a)Upgrade the firmware: Tools >>”Upgrade firmware” (b) Confirm that the firmware version is Ver-2.0122: Tools >> “Get Firmware Information” Step 2: Edit and copy the G-code file, and paste the file to a USB drive (The data format of USB should be FAT32).
  • Page 449 G-code Application Step 3: Edit O100 main program. M-code (G-code) processing and COM port (COM1/COM2) should be set up in O100 to communicate with HMI. Communication format: 115200(57600/38400/19200/9600), 8, N, 1(RTU). The communication format here should match the format set up in HMI. (A) Program for set up COM1 (B) Program for set up COM2 Step 4: Use PMSoft to enable PEP protection on O100 or other constant programs nad download the...

  • Page 450: Download By Hmi Other Than B Type Through D Registers

    G-code Application Step 6: Enter the G-code download window. The functions of each block are explained as below. Select the G-code file to be downloaded in block (1). When download is finished, press BACK to return to previous page. If the file is too big, CRC value error will be displayed on the screen. G-code file selection window: Select the G-code file to be downloaded in this window...
  • Page 451 G-code Application above process until all groups of G-code file are received, which is indicated by 20H(K32) in D3002, D3003. When all G-codes are downloaded, the conversion results will be checked again. Before the download begins, a blank motion subroutine should be created for storing the received G-codes. In addition, PEP protection should also be enabled on O100 main program, so that the original O100 on PC will not be cleared after uploading the program from DVP-PM.
  • Page 452 G-code Application to D65 will change the recipe group number. Design instructions in DVP-PM00M: DTO/DFROM instructions are used for downloading G-codes. The applied instructions are listed as below: Initialization: K255 File conversion K255 D3000 Check the completed conversion results K255 The below example explains the instructions for receiving G-codes.
  • Page 453 G-code Application Initialize the file K255 conversion process Specify length of recipe D3000 with 50 words Specify Group with 10 groups D3001 Step 2: HMI reads the value in D65 as the command to control the recipe. D65 = 1 indicates changing the recipe group number.

  • Page 454: G-Code Application In Dispensers

    The 4 operation steps are 1. parameter setting on servo, 2. Create a blank CAM chart, 3. Load data into CAM chart and 4. Enable the dispensing operation. 1. Parameter setting on servo: if a Delta’s servo is applied, set the parameter p1-08 as 5~8 according to the mechanism.
  • Page 455 G-code Application 3. Load data into CAM chart: Load the G/M codes in OXn (n: 0~2) into corresponding CAM charts. To load the data into CAM charts, work modes of 3 axes should be set up first then Call OXn. (1) Set up work modes of 3 axes: (2) Call OXn: Call OXn to load the G/M codes in corresponding CAM charts, without executing OXn.
  • Page 456 G-code Application a.Call OX0 subroutine b. Call OX1 subroutine c. Call OX2 subroutine Note: Do not set up M1036 (continuous interpolation) before this step, otherwise the loaded data will be G/M codes with continous interpolation. 4. Enable the dispensing operation: Execute the G/M codes in CAM chart. Work modes of 3 axes should be set up first and select the CAM chart to be executed.
  • Page 457 G-code Application a.Execute OX0 subroutine b Execute OX1 subroutine c. Execute OX2 subroutine Note: When the function is not used, make sure the work mode is set as 0 (D1847 = 0, D1927 = 0 and D2007 = 0), otherwise errors will occur when executing single speed positioning. Application example: Perform the positioning route as below by OX0.
  • Page 458 G-code Application (B)O100 main program DVP-PM Application Manual 11-21...

  • Page 459: Storage Of G/M Code

    G-code Application The program in O100 is listed as the diagram(B) Step 1: M1 = ON, set up work modes of 3 axes. (1) D1847=H1000 (2) D1927=H1000 (3) D2007=H1000 Step 2: M2 = ON, load the data in OX0 into CAM chart-0: (1) Select OX0 by setting D1868 = H4000.
  • Page 460 G-code Application The example program uses CAM chart-0 with max resolution 1500. The below program are applied for reading the data of 3 axes in CAM chart. Note: In the instruction DFROM (DTO) K100 K0 D4000 K40, set value K100 indicates access in CAM chart-0, set value K101 indicates access in CAM chart-1, set value K102 indicates access in CAM chart-2.
  • Page 461 G-code Application (2) G01: The upper data is speed; the lower data is position. “-1” will be set if the speed data is not specified. (3) G00: Speed data is fixed as 500K. The lower data is position. “-1” will be set if the speed data is not specified. (4) Stop G00/G01: Write -1 into the speed data of G00/G01 on specific axis, and the instruction on the axis will be stopped.

  • Page 462: Pou Ladder Editing Environment

    POU Editing Mode PMSoft version released after 1.03V (1.03V not included) supports POU (Program Organization Unit) editing mode, which is also applicable to the program edited by older versions. POU editing mode can only be operated under ladder editing environment and mainly performs two functions as below: Function 1: User-defined function blocks (FB).

  • Page 463: Function Of Symbols

    POU Editing Mode 12.1.1 Function of Symbols Users can declare and define the symbols by local symbol table and global symbol table. Local symbols are applicable for the current editing window and global symbols are applicable for all POUs in the program. Local Symbols: POU function operates in both Program and Function Blocks.
  • Page 464 POU Editing Mode Global Symbols: Unlike local symbols which exist in both program and function blocks, there is only one group of global symbols applicable for all POUs. Double click the icon under system information as Diagram (A), and the Global Symbol Table will pop up as Diagram (B).

  • Page 465: Editing Symbol Tables

    POU Editing Mode The last character cannot be an underline. Max length is 20 characters. Spaces are not allowed. Identifiers cannot be the same as device names. Identifiers cannot be constants. 10. Identifiers contain decimal values starting with “DD” are illegal. Rules for Using Symbol Table: Identifiers, Type and Initial of the same symbol should be specified in coordination with each other.
  • Page 466 POU Editing Mode Create New Symbols: Click the blank columns in symbol table to declare a symbol (Diagram A). If a new column is required, click the last column in the table and press “Enter” to create a new one (Diagram B), so that a new symbol can be created and declared.
  • Page 467 POU Editing Mode Identifiers: Click the column of Identifiers and input the proper names of identifiers. Address: The column of Address can be specified with devices by users or allocated by system. Type: Data type of a Symbol. Two types of symbols are available for this column: Simple Type and Function Block.
  • Page 468 POU Editing Mode BOOL: Declare the data type as Boolean logic (1-bit), and system will allocate M devices. WORD: Declare the data type as 16-bit, and system will allocate one D device. DWORD: Declare the data type as 32-bit, and system will allocate two D devices. LWORD: Declare the data type as 64-bit, and system will allocate four D devices.
  • Page 469 POU Editing Mode Step 1: Select ARRAY Step 2: Specify data type and size Step3: Results (b) Function Block: Declare the Type Class of a symbol as function block. The names of available function-block symbols will be listed as below. DVP-PM Application Manual 12-8...
  • Page 470 POU Editing Mode Function blocks have to be declared with a function-block symbol in the symbol list. Please follow the steps below to declare the function-block symbol. Step 1: Select Function Block as the type class Step 2: Select the symbol to be declared for the function block DVP-PM Application Manual 12-9...
  • Page 471 POU Editing Mode Step3: Results Initial: Initial value of the symbol. The value will be written into PLC with the program. Comment: The information or explanations of the symbol. Initial Setting of Symbols After data type is specified, click the column “Initial” in symbol table to configure the initial setting for symbols. If the symbol does not need to be initialized, clear the content in the column.
  • Page 472 POU Editing Mode Commas should be inserted between each position, e.g. [1,2,3,4] If there are repeated values, apply the following format “[value (times of repetitions)]”, e.g. 1(2) indicates the value 1 is repeated for 2 times. Modify Symbols in Symbol Table The methods to modify symbols are the same as specifying new symbols.
  • Page 473 POU Editing Mode Method 2: Click the icon on the toolbar. Method 3: Right click the mouse and select “Delete” from the pop up menu. Method 4: Press the key［Delete］on the keyboard. Deletion can be operated on single row or multiple rows. Single-row deletion: Click the row to be deleted and the selected row will be indicated by in the front.
  • Page 474 POU Editing Mode Export Symbols: Symbols can be exported to a file with an extension name ”*.cvs”. Move the cursor to the symbol table and right click to select Export Symbols from the pop-up list. Step 1: move the cursor to the symbol table Step 2: Right click to select ”Export Symbols”...
  • Page 475 POU Editing Mode Import Symbols The exported symbols can be imported by selecting the file with an extension name “*.cvs”. After the symbol file is imported, the symbols in the file will be displayed in the symbol table. Move the cursor to the symbol table and right click to select Import Symbols from the pop-up list. .

  • Page 476: Create Pou Function Block

    POU Editing Mode process. When “Ignore All” is selected, the repeated symbols will not be replaced. If “Ask Every Time” is selected, a confirming window will pop-up every time when conflict (repeated symbols) happens. 12.1.3 Create POU Function Block Function block can be used many times in a program, and it also benefits users by simplifying user program. The input symbol and output symbol of a function block are declared by local symbol table of the function block.
  • Page 477 POU Editing Mode Rules for Naming a POU: Symbols such as “~, !, @, #, $, %, ^, &, *, (, ), “ are not allowed. POU names should not be repeated in the same program. Case-insensitive. Max length is 20 characters. Protection: When password is set up, users need to enter correct password for accessing the POU.
  • Page 478 POU Editing Mode POU Comment: Edit the POU comment as a POU explanation in the blank area under the window of “Create a New POU” Click OK and the ladder editing window will pop up as below. DVP-PM Application Manual 12-17...

  • Page 479: Create Pou Folders

    POU Editing Mode 12.1.4 Create POU Folders Users can create new folders under Function Blocks for further classification. The methods to create and edit folders are explained as below: 1. Create new folder: Move the cursor to Function Blocks under System Information. Right click and select New Folder from the drop-down list and a New Folder will automatically be created under Function Blocks.
  • Page 480 POU Editing Mode The Rename Folder window will pop up. Enter the new name for this folder and click OK to finish. Results 3. Delete the folder: Move the cursor to the folder to be deleted. Right click and select Delete Folder. DVP-PM Application Manual 12-19...
  • Page 481 POU Editing Mode A warning window will pop up to confirm the deletion. Click OK and the selected folder will be deleted. 4. Create new POU in the folder: Move the cursor to the target folder and right click to select New POU. DVP-PM Application Manual 12-20...
  • Page 482 POU Editing Mode Create a New POU window will be displayed. For POU naming rules please refer to Rules for Naming a POU in 12.1.3. Enter the POU name and click OK. The new POU will be displayed under the target folder. Results DVP-PM Application Manual 12-21...
  • Page 483 POU Editing Mode 5. Move the folders: click on the folder to be moved or POU to be moved and drag it to the target folder. In this way, a folder or POU can be moved into other folders. Move a folder into another folder Results Move a POU into another folder Results...

  • Page 484: Export Pou

    POU Editing Mode target folder have the same folder name as the source folders, a warning message will be displayed to inform users of the existence of the folder name. 12.1.5 Export POU Users can export POUs in the program so that the POU will be available to be imported when editing other programs. There are two types of POU including program POU and function-block POU.
  • Page 485 POU Editing Mode Program information and all programs under program area will be displayed. If O100, Ox or P is selected, only programs under the selected program area will be displayed. You can click on the program POU to be exported in the program list.
  • Page 486 POU Editing Mode (3) Deselect. Clicking the selected program will deselect it. (4) Deselect All. Click the button “Deselect” and all programs will be deselected as below. DVP-PM Application Manual 12-25...

  • Page 487: Password Setting

    POU Editing Mode Protection Option: Password protection on POU. Click “Password setting” to set up and confirm password. When all options are set, click OK and the file saving window will pop up. Set up the path and the file name with the file extension “*.mpu”.
  • Page 488 POU Editing Mode Function block information and all function blocks under function block folder will be displayed. If a specific folder is selected, only function blocks under the selected folder will be displayed. You can click on the function block POU to be exported in the function block list.
  • Page 489 POU Editing Mode The methods for selecting function blocks are explained as below: (1) Select by clicking the function block to be exported. In below diagram, “CMP_FB” is selected. (2) Select All. Click the button and all function blocks will be selected as below. (3) Deselect.
  • Page 490 POU Editing Mode (5) Protection Option: Password protection on POU. Click “Password setting” to set up and confirm password. (6) When all options are set, click OK and the file saving window will pop up. Set up the path and the file name with the file extension “*.fbu”.

  • Page 491: Import Pou

    POU Editing Mode 12.1.6 Import POU POUs can be imported so that users can save time on editing POUs with the same function. The steps to import POUs are explained as below: Import program POU: Right click at the node of “Programs” under “System Information” and select “Import Program.” PMSoft will display program POU files with the extension “*.mpu”.
  • Page 492 POU Editing Mode Unlock password: If the POU is protected by password, users need to enter the correct password for importing the POU file. If the file is not protected by password, system will ignore this step. Confirm: Because importing POUs will modify current programs, a Confirm window will be displayed to ask for further confirmation.
  • Page 493 POU Editing Mode Import function block POU: Right click at the node of “Function Blocks” under “System Information” and select “Import Function Blocks.” PMSoft will display the function block files with the extension name “*.fbu”. Select a file and click Open to import this file.

  • Page 494: Symbols Allocation

    POU Editing Mode Results: the imported function blocks will be displayed as below. 12.1.7 Symbols Allocation In Symbols Allocation window, users can set up the usable range of devices including data registers(D), auxiliary relays(M), timers(T), counters(C) and pointers(P) for system symbols. The setting range of device will be allocated by system for symbol declaration in compiling.
  • Page 495 POU Editing Mode Symbols Allocation window will pop up as below. Set the usable range of the following devices: Data register(D): Default: D7000~D9999. Valid range: D0 ~ D9999. Care should be taken that special D registers should not be specified within the set range. Timers(T): Default: T100~T192.
  • Page 496 POU Editing Mode Auxiliary Relays(M): Default: M3000~M4095. Valid range: M0 ~ M4095 Care should be taken that special M relays should not be specified within the set range. Pointers(P): Default: P200~P254. Valid range for 20PM00M: P0 ~ P255. Valid range for 20PM00D: P0 ~ P254.

  • Page 497: Ladder Find

    POU Editing Mode In the table below, address values of test3 and test4 are cleared. 12.1.8 Ladder Find There are 2 types of ind function in PMSoft including “Ladder Find” and “IL Find.” Ladder Find function is similar to general IL find function which is explained in “IL Find” in chapter 4. To find instructions, devices or symbols in POU ladders or Symbol Tables, Ladder Find function is required.
  • Page 498 POU Editing Mode Beginning: The searching starts from the beginning of the window you are currently editing. Match Case: The instruction or device name you are looking for has to match exactly the capital or small letters you enter. Whole Word: The instruction or device name you are looking for has to match the whole string of words you enter.
  • Page 499 POU Editing Mode After search conditions are set, click “Find Next” to start the searching. The found item will be highlighted. Click “Find Next” again, and the searching will jump to the next found item. If there are no matched results, “Not found” window will appear, indicating there is no other item found.
  • Page 500 POU Editing Mode Method 2: Right click at current POU ladder diagram and select Find from the drop-down list. Method 3: Press Ctrl + F on the keyboard. How to conduct Find Next function: Find Next function is based on the last item found and looks downward for the next item in the ladder diagram. The searching is conducted according to the search options below.

  • Page 501: Ladder Replace

    POU Editing Mode Find Previous function is based on the last item found and looks upward for the next item in the ladder diagram. The searching is conducted according to search options. Method 1: Select “Find Previous” in the Edit menu. Method 2: Press Ctrl + F3 on the keyboard.

  • Page 502: Edit Pou Ladder Diagram

    POU Editing Mode How to open Replace window in POU ladders: Method 1: Select “Replace” in the Edit menu. Method 2: Right click the mouse and select “Replace” from the drop-down list. Method 3: Press Ctrl + F on the keyboard. 12.2 Edit POU Ladder Diagram POU ladder diagram is partly different from general ladder diagram in programming interface.
  • Page 503 POU Editing Mode RESULT2. DATA2. In this case, only 32-bit data type including DWORD, WORD[2], TIMER[2], COUNTER[2] can be specified for “data2” as below. This rule applies to other symbols and instructions. With correct combinations between symbols and instructions, PMSoft can allocate proper devices when compiling. For floating point instructions, the operand D should be specified with a symbol declaring data type as FLOAT.

  • Page 504: Applying Pou Function Blocks

    POU Editing Mode Users can also attach index registers V, Z together with the index number in brackets “[]” for applying the designated data in a data string. For example, if data type of the symbol “buffer” is set as WORD[10], indicating a data string of 10 data, “buffer[m]@Vn”...
  • Page 505 POU Editing Mode Applying Function Blocks: there are 3 steps for using function blocks: declare, assign and edit the pin of FBs. The operation results are the same no matter declaration or assignation is performed first. Step 1: To declare. 1: Click Type in symbol table and select Function Block 2: Select the function block to be declared for the as the Type Class.
  • Page 506 POU Editing Mode a. Enter DMOV_FB.MOV_32 b. Results (2) Enter FB name (DMOV_FB) first. Click “???” and enter the identifier (MOV_32). a. Enter DMOV_FB b. Click “???” then enter the identifier MOV_32 c. Results (3) Drag and drop. Click “???” and enter the identifier (MOV_32). b.
  • Page 507 POU Editing Mode Step 3 Edit the Pin of function block To enter the pin editing area, click the pin directly or click the function block then press Tab on the keyboard. Specify the value for the editing pin and press Enter. The editing area will move to next pin by the following order: input pins, individual name of current function block, output pins.
  • Page 508 POU Editing Mode (3) Press Enter again, the editing area will move to the (4) The editing area will move to the last output Pin individual name of current function block. Function blocks function as devices in ladder diagram. However, there are only two usages when applying function blocks in ladder diagram.
  • Page 509 POU Editing Mode 1. Click 2. Results Function blocks can be used repeatedly. Applying different symbols on the same function block generates different Pn subroutines and different instance diagrams after compiling. Function blocks and Pn subroutines should not be applied over the valid range of 256. Take below diagram as example, Function block DMUL_FB is applied in both O100 main program and OX1 motion subroutine while its symbol is declared in both global symbol table and OX1 local symbol table.
  • Page 510 POU Editing Mode The input/output data should be specified in coordination with input/output data type of the symbol, otherwise errors will occur after Compile or Check is clicked. However, when data type of input interface in function block is specified as WORD or DWORD, the input data allows constant K or H as below. Double click the function block directly and the editing window of the function block will be displayed.

  • Page 511: Monitor Pou Program

    POU Editing Mode Results: 12.3 Monitor POU program POU program can be directly modified in ladder diagram or monitor table under Monitoring mode. Monitor ladder diagrams: click and monitoring mode will be started to monitor O100 main program, P subroutines, OX subroutines and the instance ladder diagrams compiled by function blocks as below. DVP-PM Application Manual 12-50...
  • Page 512 POU Editing Mode Modify data in monitoring mode: Modify the DA value in O100 main program from 1000 to 2000 as below. 1: Click the input symbol (DA) of function block SHIFT and enter 2000. 2: The symbol DA displays DA = 2000. DVP-PM Application Manual 12-51...
  • Page 513 POU Editing Mode Monitor by MonitorTable: Users can monitor symbols by Monitor Table. Click the column “Device No.” and input the symbol to be monitored in the format: Name of symbol table (O100, OXn, Pn, Global) + “.” + Name of symbol. In the diagram below, MonitorTable10 monitors the symbol TIMES in O100 main program and other symbols as well.
  • Page 514 POU Editing Mode 2: Click the program to be monitored (O100 main program, P subroutine, OX subroutine or function blocks) and the related symbols will be displayed in the Symbols column. 3: Click the symbol to be monitored directly or click Select All to select all symbols. After symbols are selected, click OK to finish.

  • Page 515: Hint Function On Symbols And Function Blocks

    POU Editing Mode 4: The selected symbols will be listed in the monitor table 12.4 Hint Function on Symbols and Function Blocks Users can display the information of symbols and function blocks by setting up Hint function. Before enabling Hint function, users need to enter relative information into the comment areas of Symbol Table(A) and Create a New POU window(B).
  • Page 516 POU Editing Mode (A) Comment Area of Local Symbol Table (B) Comment Area of POU Display Info：Hint function can be enabled by clicking the icon on toolbar 「 Diagram (A)」 . Diagrams (B), (C), (D) indicate the information displayed on symbol, interface of function block and function block. (A) Icon for Enabling Hint Function DVP-PM Application Manual 12-55...
  • Page 517 POU Editing Mode (B) Information of Symbol (C) Information of Function Block Interface (D) Information of Function Block DVP-PM Application Manual 12-56...

  • Page 518: Introduction To Dvp-Fpmc: Canopen Communication Card

    CANopen Communication Card 13.1 Introduction to DVP-FPMC: CANopen Communication Card DVP-FPMC is a CANopen communication card for DVP-PM series PLC to conduct data exchange, featuring: Compliant with CANopen standard protocol, DS301 v4.02 Supports NMT protocol Supports SDO protocol Supports CANopen standard protocol DS402 v2.0: Max. 4 motion axes The motion axes support Profile Position mode 13.2...

  • Page 519: Product Profile & Installation

    CANopen Communication Card Power consumption 1.7W Insulation voltage 500V Weight (g) Environment ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge, 4kV Contact Discharge EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Digital I/O: 1kV Noise immunity Analog & Communication I/O: 1kV Damped-Oscillatory Wave: Power Line: 1kV, Digital I/O: 1kV RS (IEC 61131-2, IEC 61000-4-3): 80MHz ~ 1000MHz , 1.4GHz ~ 2.0GHz , 10V/m...

  • Page 520: Parameters For Control Register (Cr)

    CANopen Communication Card Ethernet CANopen 13.4 Parameters for Control Register (CR) Normal Mode Data Function Attribute Data type lengt Firmware version of DVP-FPMC Word CANopen synchronous packet sending setting Word CANopen node ID setting Word CANopen transmission speed setting Word CANopen SDO / NMT timeout waiting time Word DVP-FPMC error status...
  • Page 521 CANopen Communication Card Data Function Attribute Data type length CANopen bus scan Word CANopen bus communication status Word Error status of node Word CANopen bus control command Word Data written in DVP-FPMC QBuffer Word Address of data written in DVP-FPMC QBuffer Word Data read from DVP-FPMC QBuffer Word...
  • Page 522 CANopen Communication Card Data Function Attribute Data type length Deceleration time(ms) of profile position mode Word Profile position settings Word Homing method Word Home offset Word Homing speed Word Speed for Homing after hitting DOG Word Homing acceleration time Word Enable homing Word Target position of interpolation position mode...
  • Page 523 CANopen Communication Card Firmware version of DVP-FPMC CR#001 [Explanantions] The firmware version of DVP-FPMC is displayed in hex values, e.g. H’8161 indicates the firware version issue date as “Afternoon, August 16.” CANopen synchronous packet sending setting CR#052 [Explanantions] Low Byte of CR052 sets up the CANopen synchronous function. When the value of the low byte is 1, DVP-FPMC will send out synchronous packet.
  • Page 524 CANopen Communication Card Error status Content Actions CANopenconnection error Confirm the CANopen nodes of the current Slave. Confirm the connection between the communication module and Ethernetconnection error Ethernet Network IP and port setting for DVP-FPMC CR#059 [Explanations] Set up the network IP and the port number for DVP-FPMC. Data lenth: 3 words. Default IP: 192.168.0.100; port: 1024.

  • Page 525: Crn50: Sdo Access Command And Status

    CANopen Communication Card [Explanations] Set up the node ID of the SDO server within the range 1~127. SDO access command and status CR#071 [Explanations] Set up the SDO access commands and obtain the status. Please refer to the table below for the setting format. b15~b8 b7~b4 b2~b0...

  • Page 526: B15~B8

    129: reset node communication Parameters for A2 mode A2 mode is one of the applications of DVP-FPMC specifically for delta servo drive: ASDA-A2. In A2 mode, there are 4 CANopen nodes ID1~ID4 planned for ASDA-A2, and control registers CR#100~CR#499 corresponding to servo parameters.

  • Page 527: Servo On

    CANopen Communication Card CR#040: Error status of node [Explanations] Display the error status of servo drive. b0~b3 of CR#010 correnpond to node1~node4. When error occurs, the corresponding bit will be 1. When error reset command is executed, the content in this register will be cleared automatically.
  • Page 528 CANopen Communication Card CRn00: Node ID [Explanations] Display the Node ID of servo drive on CANopen. Node ID = 1: CR#100 = 1 Node ID = 2: CR#200 = 2 Node ID = 3: CR#300 = 3 Node ID = 4: CR#400 = 4 CRn01~CRn02: Manufacturer ID [Explanations] Display the manufacturer ID of the ASDA-A2 in DWORD format.
  • Page 529 CRn11~CRn12: Manufacturer’s error code [Explanations] Display the error code defined by the manufacturer when error occurs on certain servo drive. For error code details please refer to the manual of Delta ASDA-A2 servo drive. CRn20: Servo drive status [Explanations] Display the current status of ASDA-A2. For the status codes, please refer to the table below.

  • Page 530: Data

    CANopen Communication Card CRn40: Node control command [Explanations] Send out node control commands to the connected nodes. Set value = 1 indicates “Servo On”. Set value = 128 indicates “Servo Off.” Set value = 129 indicates “Error Reset.” For the setting format, please refer to the table below.
  • Page 531 CANopen Communication Card CRn51: SDO OD(Object Dictionary) index [Explanations] Specify the OD index of the node. Range: H’0000~H’FFFF. CRn52~CRn55: SDO OD sending/receiving data 1~4 [Explanations] The 4 registers store the data to be accessed (max 1024 bytes) through SDO protocol. When an error occurs during SDO data transmission, the error code will be stored in CRn52 and CRn53.
  • Page 532 CANopen Communication Card CRn72~CRn73: Target speed of profile position mode [Explanations] Set up the target speed in DWORD format. CRn74~CRn75: Acceleration time(ms) of profile position mode [Explanations] Set up the acceleration time in DWORD format. CRn76~CRn77: Deceleration time(ms) of profile position mode [Explanations] Set up the deceleration time in DWORD format.
  • Page 533 CANopen Communication Card CRn85~CRn86: Speed for Homing after hitting DOG [Explanations] Set up the speed for Homing after hitting DOG in DWORD format. Range: 0~2,147,483,647 CRn87~CRn88: Homing acceleration time [Explanations] Set up the the Homing acceleration time in DWORD format. Range: 0~2,147,483,647 CRn89: Enable Homing [Explanations] Enable Homing.
  • Page 534 CANopen Communication Card CR#505: Execution status of heartbeat protocol [Explanations] Display the execution status of heartbeat protocol on node ID1~16. Content = 0 indicates that execution is completed and 1 indicates that heartbeat protocol is executing. CR#506: Heartbeat status [Explanations] Display the heartbeat status of node ID1~16.
  • Page 535 CANopen Communication Card CR#H’1400 = H180 + DVP-FPMC node ID(CR#053) CR#H’1401 = H280 + DVP-FPMC node ID(CR#053) CR#H’1403 = H380 + DVP-FPMC node ID(CR#053) CR#H’1404 = H480 + DVP-FPMC node ID(CR#053) Tansmission method: Set vlalue 1~240: PDO synchronize with CANopen packet sending and executes after every interval (CR#H’1006).
  • Page 536 CANopen Communication Card Set value 241~255: no action. Default: 241 CR#H’1A00~CR#H’1A3F: Parameter settings for TPDO data mapping [Explanations] Set up parameters for TPDO data mapping in normal mode. The data format of TPDO parameter is DWORD. The Word sets up OD Index, the high byte of the 2 Word sets up subindex and low byte sets up the data length(unit: bit).

  • Page 537: Dvp-Fpmc Mode Settings

    CANopen Communication Card RPDO mapping 163F ARRAY UNSIGNED32 parameter 1800 ARRAY TPDO parameter UNSIGNED32 183F ARRAY TPDO parameter UNSIGNED32 TPDO mapping 1A00 ARRAY UNSIGNED32 parameter TPDO mapping 1A3F ARRAY UNSIGNED32 parameter 2000 ARRAY PDO data register UNSIGNED32 207F ARRAY PDO data register UNSIGNED32 6000 ARRAY...
  • Page 538 CANopen Communication Card Master 20PM FPMC Node: 127 Canopen Network Node: 2 Node: 4 Node: 3 Node: 1 Slave Slave Slave Slave In A2 mode, there are 6 sets of PDOs for setting servo parameters. The user can monitor servo status directly by accessing the control registers through CANopen network.
  • Page 539 CANopen Communication Card 2. Set A2 Keypad P3-00 as 0x01~0x04 (Node ID of servo drives) 3. Set up A2 Keypad P3-01 as 0x0403(1M bps) for baud rate setting. (2: 500 kbps; 4: 1Mbps) DVP-FPMC currently supports communication speed up to 1M (default) and 500k. DVP-FPMC settings When all parameter settings for CANopen in connected drives are completed, create a CANopen network by DVP-FPMC as below:...
  • Page 540 CANopen Communication Card Normal mode In normal mode, the user has to set up PDO parameters between DVP-FPMC (Master) and the Slave. In addition, use FROM/TO instructions to set up the control registers of DVP-FPMC and apply SDO protocol to write in the PDO parameters of servo.

  • Page 541: Dvp-Fpmc Ethernet Applications

    CANopen Communication Card i.e. 4 subindexes in PDO data buffer can be occupied at one time. For example, set up the TPDO mapping parameter of DVP-FPMC as H200A, H2, H30, indicating the 2 subindex of H200A with data length 48 bits. In this case, the subindex 2 ~4 in PDO data buffer will be occupied. FPMC PDO Data Bu ffer T PDO Map pin g...
  • Page 542 CANopen Communication Card DOP- B10E615 I P: 192. 168 .0 .7 0 F PMC F PMC 20PM 20PM IP:192.168 .0 .1 01 I P: 192. 168 .0 .1 00 DVP- FPMC Setting In this example, DVP-FPMC functions as Slave, therefore IP address setting is required. The user does not need to set up the IP address of the device to be connected and the Ethernet settings.
  • Page 543 4. Add the connections for the devices to be connected. Click “Add” and enter the Link Name for the device. Select “Delta VP TCP/IP” in the list of Controller and click OK, the device will be created with the Link Name.

  • Page 544: Communication Between Dvp-Fpmc And Pmsoft

    CANopen Communication Card 5. Set up the IP of the created device. Click the created device and enter its IP in “Communication Parameter” column to configure the IP address of one DVP-FPMC. The setting procedure of the other DVP-FPMC is the same. Create Link4 and specify its IP as well. 6.
  • Page 545 CANopen Communication Card PC Setting 1. In “Local Area Connection Properties” window, select “Internet Protocol [TCP/IP]” and click Properties to open the IP setting window. 2. In “Properties” window, check “Use the following IP address” and enter 192.168.0.55 in IP address, where the last value of IP address can be replaced by values 1~255 other than 100.
  • Page 546 CANopen Communication Card PMSoft Setting 1. Select “Communication Setting” from “Communication” in menu bar to enter the communication setting window. 2. Seelct FPMC in “Communication Type” and click OK. Connection setting is completed Connection setting error When connection setting is completedm, program download/upload or monitoring can be performed through Ethernet.

  • Page 547: Led Indicator & Troubleshooting

    CANopen Communication Card Monitoring from “Communications” in the menu bar. The monitoring process through Ethernet interface is the same as the process through other COM ports. 13.8 LED Indicator & Troubleshooting CANopen LED LED status Indication How to correct Check if the connection is correctly Green light off Not connected to CAN bus cable connected.

  • Page 548: High Speed Compare And Capture Function

    High Speed Compare and Capture 14.1 High Speed Compare and Capture Function DVP-PM supports 8 sets of registers for high-speed Compare and Capture function. Through FROM/TO instructions we can access CR253 for setting the control status or reading the data for high speed Compare or Capture function.
  • Page 549 High Speed Compare and Capture Reset C200 Reset C200 Reset C204 Reset C204 Finish Lead state of CAM Reset C208 Engage CAM Reset C212 (2) Setting format of control registers (CRn) for high-speed Capture function Output ter mi nals C apture O utput D ata so urc e of Tr igger sw itc h of...
  • Page 550 High Speed Compare and Capture X axis STOP X axis START Y axis PG0 Y axis MPGB Y axis MPGA Y axis LSN Y axis LSP － Y axis DOG － Y axis STOP － Y axis START － Setting initial status K253 D1=1.

  • Page 551: High Speed Compare Function

    High Speed Compare and Capture 14.2 High Speed Compare Function High speed Compare applies FROM/TO instructions for accessing the comparison method and comparison data. The comparison function is illustrated as the below diagram. (B)F ROM K25 3 K1 D0 D50 (A)TO K25 3 K1 D0 D50 (D)Data register DRn(n=0~7) (C) Control register CRn(n=0~7)
  • Page 552 High Speed Compare and Capture Program example: In this example high speed counter C204 is used. When count value exceeds K100, CLR1 will be ON; when count value exceeds K300, CLR1 will be reset. Therefore, 2 sets of comparison is designed in this example, one set triggers CLR1 and another resets CLR1.
  • Page 553 High Speed Compare and Capture Sequential control process: Step 1: Initial setting for high speed Compare when O100 is activated: (1) D0 = 0 Specify the number of the starting set. n = 0 indicates the first set. (2) D1 = 0 (3) D20 = 10 Set up data length for TO instruction: 10 words, including 2 sets of comparison data (4) D60 = 10...
  • Page 554 High Speed Compare and Capture Step 7: Keep rotating the MPG. When the value of C204 exceeds K100, monitor the LED of X7 to check if CLR1 is triggered. Step 8: Keep rotating the MPG. When the value of C204 exceeds K300, monitor the LED of X7 to check if CLR1 is reset.

  • Page 555: Capture Function

    High Speed Compare and Capture 14.3 Capture Function Reading current position of X/Y/Z axis or count value of C200/C204 in program scan results in error due to the program scan time. To avoid the error, we can use Capture function to read data immediately through external input signal.
  • Page 556 High Speed Compare and Capture Capture initial setting: apply 1 set of Capture (n=0). FROM/TO 6 pieces of data. Capture setting: n=0, Source: C204(b[3:0]=4); Enable Capture function(b[5:4]=0); Trigger switch of Capture function: X_DOG(b[15:12]=5. M1002 H5004 K100 K253 F RO M K253 K1M1204 C204...
  • Page 557 High Speed Compare and Capture (1) Control registers: D3, D2 = H5004 Data source: C204(Bit3-0=4); Enable Capture function (Bit5-4=0); Trigger switch: X axis _DOG0(Bit15-12=5). (2) Data registers: D5, D4 = K100 can be specified with a random value. Step 3: Set M2. Active Capture function by TO instruction Step 4: Set M3.

  • Page 558: Appendix A: Error Codes

    Appendix 15.1 Appendix A: Error Codes If error occurs in O100 or OX program area in DVP-PM, the error flag will be ON and ERROR indicator will flash. The causes of errors could be illegal use of instruction operand (device), program syntax error, or improper setting of motion subroutine patameters.

  • Page 559: Appendix B: Manual Revision History

    Appendix 15.2 Appendix B: Manual Revision History Item Revision Chapter Added Z axis into hardware wiring diagram. Added maximum input current and output current in electrical specifications. Added and modified explanations on special D registers: D1798, D1864, D1846, D1832 ~ D1834, D1945, D1948 ~ D1949, D1952 ~ D1954, D2025, D2028 ~ D2029, D2032 ~ D2035 Added and modified explanations on special M registers: M1035, M1036, M1811, M1905, M1956, M2000, M2036, M2048 ~ M2051...
  • Page 560 Appendix 2 axes 3 axes 4 axes 3.11 Zero return 2 axes 3 axes 4 axes 3.11 Variable speed 2 axes 3 axes 4 axes 3.11 Single speed positioning 2 axes 3 axes 4 axes 3.11 Single-speed positioning 2 axes 3 axes 4 axes 3.11...
  • Page 561 Appendix MEMO DVP-PM Application Manual 14-4...

This manual is also suitable for:

Dvp-20pmDvp-10pm

Table of Contents