Page 1 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, 153-704 DVP-15MC Series TEL: 82-2-515-5303 / FAX: 82-2-515-5302 Delta Electronics Int’l (S) Pte Ltd. Motion Controller 4 Kaki Bukit Ave 1, #05-05, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228 Delta Electronics (India) Pvt. Ltd.
Page 2: Table Of Contents
DVP-15MC Series Motion Controller Operation Manual Table of Contents Chapter 1 Preface Explanation of Symbols in This Manual ............1-2 Revision History ..................1-2 Chapter 2 Overview Product Description ..................2-2 Functions ....................2-2 Profile and Components ................2-3 Chapter 3 Specifications Function Specifications ................
Page 3 4.4.1 Connectable Right-side Extension Modules..........4-3 4.4.2 Allocation of Right-side Extension Module Addresses ........4-4 Connectable Servo Drives ................4-5 SD Memory Card ..................4-7 4.6.1 Model and Specification ................4-7 Chapter 5 Installation Dimensions ....................5-2 5.1.1 Profile and Dimensions ................5-2 5.1.2 Dimensions of Left-side and Right-side Extension Modules ......
Page 4 6.4.1 Function that RS-232 Port Supports ............6-11 6.4.2 Definitions of RS-232 Port Pins ............... 6-11 6.4.3 RS-232 Hardware Connection ..............6-12 6.4.4 Supported Function Codes and Exception Codes ........6-12 SSI Absolute Encoder Port ............... 6-13 6.5.1 Function of SSI Absolute Encoder ............6-13 6.5.2 Definitions of SSI Port Pins ..............
Page 5 7.1.4 Motion Instructions for Each Task Type ............. 7-7 The Impact of PLC RUN or STOP on Variables and Devices......7-8 Relationship between Motion Program and Motion Bus......7-8 Synchronization Cycle Period Setting ............7-9 Chapter 8 Logic Instructions Table of Logic Instructions ................. 8-6 Explanation of Logic Instructions .............
Page 6 8.7.1 TON ....................... 8-44 8.7.2 TOF ......................8-46 8.7.3 TP 8-48 8.7.4 Sys_ReadTime ..................8-50 8.7.5 Sys_ReadTotalWorkTime ................8-51 8.7.6 Sys_ReadPowerOnTime ................8-52 8.7.7 Sys_WdgStatus ..................8-53 Counter Instructions ................8-55 8.8.1 CTU ....................... 8-55 8.8.2 CTD ....................... 8-57 8.8.3 CTUD ..................... 8-59 Math Instructions ..................
Page 7 8.9.24 TRUNC ....................8-112 8.9.25 FLOOR ....................8-114 8.9.26 FRACTION ..................8-116 Bit String Instructions ................8-118 8.10.1 AND ....................8-118 8.10.2 OR ..................... 8-121 8.10.3 NOT ....................8-124 8.10.4 XOR ....................8-126 8.10.5 XORN ....................8-129 Shift Instructions ................... 8-132 8.11.1 SHL ....................
Page 8 8.14.2.1 ETH_Link_Config ................8-193 8.14.2.2 ETH_Link_Manage ................8-198 8.14.2.3 ETH_Link_Status ................8-199 8.14.2.4 MODBUS TCP Data Exchange Example ..........8-202 8.14.2.5 ETH_Link_Config_Ext ................ 8-209 8.14.2.6 ETH_ SetServerlinkkeeptime.............. 8-211 8.14.2.7 ETH_Socket_Manage ................ 8-212 8.14.2.8 ETH_Socket_Config ................8-214 8.14.2.9 ETH_Socket_Open ................8-217 8.14.2.10 ETH_Socket_Send .................
Page 9 8.15.5 MID ....................8-292 8.15.6 REPLACE .................... 8-294 8.15.7 LEN ....................8-296 8.15.8 FIND ....................8-297 Immediate Refresh Instructions ............8-299 8.16.1 FROM ....................8-299 8.16.2 TO ..................... 8-303 8.16.3 ImmediateInput .................. 8-307 8.16.4 ImmediateOutput ................8-309 8.16.5 Left_Manage ..................8-311 PID-related Instructions ................
Page 10 10.1 EN and ENO ....................10-2 10.2 Relation among Velocity, Acceleration and Jerk ........10-3 10.3 Introduction of BufferMode ..............10-6 10.4 The State Machine .................. 10-32 Chapter 11 Motion Control Instructions 11.1 Table of Motion Control Instructions ............11-4 11.2 About Motion Control Instructions ............
Page 11 DMC_Jog ..................11-135 DMC_MoveVelocityStopByPos ............. 11-137 DMC_MoveVelocityStopByLinePos ............11-141 DMC_ReadPositionLagStatus ............... 11-145 DMC_WritePositionLagSetting ............. 11-148 DMC_ChangeMechanismGearRatio ............11-150 DMC_TorqueControl ................11-152 DMC_MoveVelocity ................11-157 DMC_SwitchSoftLimit ................. 11-158 11.4 Multi-axis Instructions ................. 11-160 MC_GearIn ..................11-160 MC_GearOut ..................11-166 MC_CombineAxes ................11-170 Introduction of Electronic Cam ............
Page 12 11.6 G Code Instructions ................11-253 CNC Introduction ................11-253 G Code Input Format ................. 11-253 Explanation of G Code Formats ............11-254 G Code Functions ................11-256 11.6.4.1 G90 (Absolute Mode) ..............11-256 11.6.4.2 G91 (Relative Mode) ............... 11-256 11.6.4.3 G0 (Rapid Positioning) ..............
Page 13 DMC_MoveLinearRelative ..............11-350 DMC_MoveCircularAbsolute ..............11-363 DMC_MoveCircularRelative ..............11-374 DMC_GroupSetOverride ..............11-385 DMC_GroupReadActualPosition ............11-390 11.8 Coordination Instructions ..............11-392 DMC_ControlAxisByPos ..............11-392 DMC_NC ..................11-397 Chapter12 Troubleshooting 12.1 Explanation of LED Indicators ..............12-2 12.2 Table of Error IDs in Motion Instructions ..........12-8 12.3 System Trouble Diagnosis through System Error Codes ......
Page 14 Network Management (NMT) ..............C-6 PDO (Process Data Object) ................ C-6 SDO (Service Data Object) ................. C-8 Appendix D Explanation of Homing Modes Explanation of Homing Modes ..............D-2 Appendix E List of Accessories Accessories for CANopen Communication ..........E-2 Accessories for PROFIBUS DP Communication ...........
Page 15  This manual provides an introduction to product functions, specifications, installation, basic operations and settings.  This product is an OPEN TYPE device and therefore should be installed in an enclosure free of airborne dust, humidity, electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the device (e.g.
Page 16: Preface
Preface Table of Contents Explanation of Symbols in This Manual ........1-2 Revision History ............... 1-3...
Page 17: Explanation Of Symbols In This Manual
DVP-15MC Series Motion Controller Operation Manual Thank you for purchasing DVP-15MC series motion controller which is created on the basis of motion control and we are providing you with a high-end motion control system. This manual describes the product specifications, functions, system architecture, installation, wiring, execution principle, logic instructions and motion control instructions, trouble-shooting, communication protocols, homing modes and other relevant information.
Page 18: Revision History
DVP-15MC Series Operation Manual Revision History DVP-15MC series operation manual revision history: Version Revision Release Date The first version was published. Jun. 15, 2018 1. The contents about DVP15MC11T-06 is added. 2. Function that Ethernet Communication port Supports in Section 6.7.1 is added.
Page 19 DVP-15MC Series Motion Controller Operation Manual MEMO...
Page 20: Overview
Overview Table of Contents Product Description ..............2-2 Functions .................. 2-2 Profile and Components ............2-3...
Page 21: Product Description
DVP-15MC series motion controllers are multi-axis motion controllers researched and produced by Delta autonomously on the basis of CANopen field bus. It complies with CANopen DS301 basic communication protocol and DSP402 motion control protocol. In addition, it also supports standard instruction libraries defined by international organizations for motion control.
Page 22: Profile And Components
Chapter 2 Specifications Profile and Components C AN R U N ER R 1 R U N ER R ○ ○ Model name SD card slot ○ ○ State indicators Right-side extension module port ○ ○ IO indicators 24V power port ○...
Page 23 DVP-15MC Series Operation Manual MEMO...
Page 24: Specifications
Chapter 3 Specifications Table of Contents Functional Specifications ............3-2 3.1.1 Specifications ................. 3-2 3.1.2 Devices and Data Types ............3-3 3.1.2.1 Devices ................3-3 3.1.2.2 Valid Ranges of Devices ............. 3-4 3.1.2.3 Latched Devices ..............3-5 3.1.2.4 Data Types and Valid Ranges Supported ....... 3-5 Electrical Specifications ............
Page 25 DVP-15MC Series Motion Controller Operation Manual 3.1 Functional Specifications 3.1.1 Specifications Item Specification Size Program Number capacity Quantity of POU 1024 definitions Memory Retained Size 128K capacity Programming Non-retained Size variables One single G code Size 256K program G code...
Page 26: 3.1.2 Devices And Data Types
% I X 0 0 Digital point number P refix 2 s ymbo l P refix 1 s ymbo l A fixed chara ct er  Relevant Devices of DVP-15MC Series Motion Controller Used in the Software Item Content Prefix 1 symbol Input Output...
Page 27: Valid Ranges Of Devices
%MB14 %MB15 %MW4 %MW5 %MW6 %MW7 %MD2 %MD3 %ML1 3.1.2.2 Valid Ranges of Devices  The table of valid ranges of the devices in DVP-15MC series motion controller Device name Expression Range %IX0.0~%IX0.7 %IX0.0~%IX127.7 %QX0.0~%QX0.7 %QX0.0~%QX127.7 %MX0.0 %MX0.0~%MX131071.7 %IB0 %IB0~%IB127...
Page 28: Latched Devices
Retain as its property. The capacity of latched devices is 128K bytes. 3.1.2.4 Data Types and Valid Ranges Supported The data types and valid ranges of the variables in the software that DVP-15MC series motion controller uses are shown in the following table. Data type Valid range...
Page 29: 3.2 Electrical Specifications
DVP-15MC Series Motion Controller Operation Manual 3.2 Electrical Specifications  Electrical specification Item Content Power voltage 24 VDC（-15% ~ +20%） Fuse capacity 3 A/30 VDC, Polyswitch Isolation voltage 500 VDC（Secondary-PE） Consumption 8W Max power Standard: IEC61131-2,IEC 68-2-6 （TEST Fc）/IEC61131-2 & IEC 68-2-27 （TEST...
Page 30 Chapter 3 Specifications Item Content Resistance: 0.5A/1point （2A/ZP） Max. loading Inductance: 13W（24VDC） Bulb: 2.5W（24VDC） The shielded cable: 500m Max. cable length The unshielded cable: 300m #1: UP and ZP must connect the auxiliary power 24VDC (-15%~20%).
Page 31 DVP-15MC Series Motion Controller Operation Manual MEMO...
Page 32 System Architecture Table of Contents System Constitution .............. 4-2 Power Supply ................. 4-2 Left-side Extension ..............4-2 4.3.1 Connectable Left-side Extension Module ........4-2 4.3.2 Allocation of Left-side Network Module Addresses ..... 4-3 4.3.3 Method of Reading/Writing of Left-side Modules ....... 4-3 Right-side Extension ..............
Page 33: System Constitution
Refer to chapter 6 for details on the functions of communication ports. Power Supply Delta power modules are recommended as the power supply for the motion controller. The information of Delta power modules is shown in the following table.
Page 34: Connectable Right-Side Extension Modules
Chapter 4 System Architecture Module name Module type Description DVP04DA-SL Analog module Analog output Network module Profibus communication DVPPF02-SL 4.3.2 Allocation of Left-side Network Module Addresses  About Input and Output Mapping Areas of Left-side Network Modules The input and output mapping areas of different positions of the left side of PLC CPU are listed as follows when the network modules connected to the left side of the motion controller serve as a slave.
Page 35: Allocation Of Right-Side Extension Module Addresses
DVP-15MC Series Motion Controller Operation Manual Input data Output data Module name Extension type length length DVP08SN11R/T 8 bits DVP16SN11T 16 bits DVP08SP11R/T 4 bits 4 bits DVP16SP11R/T 8 bits 8 bits Input extension and output extension DVP16SP11TS (PNP) 8 bits...
Page 36: Connectable Servo Drives
Chapter 4 System Architecture Connectable Servo Drives There are many models for ASDA-A2, ASDA-B3 and ASDA-A3-series servo drives. ASDA-A2-XXXX-M, ASDA-A2-XXXX-MN, ASDA-B3-XXXX-M and ASDA-A3-XXXX-M models support CANopen communication. Only these models of servo drives can be used to build CANopen motion control network through the connection to the Motion port of the motion controller.
Page 37 DVP-15MC Series Motion Controller Operation Manual ：The output directions of the torque are illustrated as below when the value of X is 0 and 1 respectively. Positive direction （）（） P CCW N CW Negative direction （）...
Page 38: Sd Memory Card
Chapter 4 System Architecture SD Memory Card 4.6.1 Model and Specification  Model and Appearance SD memory cards can be classified into SD, Mini SD and Micro SD according to its size. The motion controller only supports the first type of SD as below. ...
Page 39 DVP-15MC Series Motion Controller Operation Manual  Before use of SD card  Write-protection function of the memory card There is a write-protection switch for general SD cards. The data can not be written into SD card if the switch is moved to the Lock position. Hence, please ensure that the write-protection switch of SD card has been released correctly before SD card is used and then the write-into function can be executed in motion controllers.
Page 40 Installation Table of Contents Dimensions ................5-2 5.1.1 Profile and Dimensions ............... 5-2 5.1.2 Dimensions of Left-side and Right-side Extension Modules ....5-2 5.1.3 Connecting to the Left-side Extension Module ........ 5-3 5.1.4 Connecting to the Right-side Extension Module ......5-5 5.1.5 Installing and Removing the SD Card ...........
Page 41: Dimensions
DVP-15MC Series Motion Controller Operation Manual Dimensions 5.1.1 Profile and Dimensions 12 8 6 8 .4 C AN R U N ER R 1 R U N ER R 2 Unit: mm 5.1.2 Dimensions of Left-side and Right-side Extension Modules ...
Page 42: Connecting To The Left-Side Extension Module
Connection of DVP-15MC series motion controller and DVPDNET-SL  Pull open the extension module clips on the top left and bottom left of DVP-15MC series motion controller and install DVPDNET-SL along four mounting holes in the four angles of DVP-15MC series motion controller as step 1 in figure 5.1.3.1.
Page 43 Pull open DIN rail clips of DVP-15MC series motion controller and DVPDNET-SL and then insert the two modules into DIN rail.  Press the DIN rail clips into DVP-15MC series motion controller and DVPDNET-SL to fix the two modules in DIN rail as figure 5.1.3.2. C A N...
Page 44: Connecting To The Right-Side Extension Module
1 in figure 5.1.4.1.  Press the clips on the upper right and bottom right of DVP-15MC series motion controller to fix the module tightly and ensure that their contact is normal as step 2 in figure 5.1.4.1...
Page 45: Installing And Removing The Sd Card
Installing and Removing the SD Card  The memory card slot of DVP-15MC series motion controller The memory card slot is seated in the right side of the front of DVP-15MC series motion controller as illustrated below. C A N...
Page 46 Chapter 5 Installation  Installing SD card Insert an SD card to the memory card slot directly and push it to the end of the slot until hearing a click. After the installation is finished, the SD card should be fixed tightly. If the SD card inserted to the slot is loose, the installation is unsuccessful.
Page 47: Installing The Module In The Control Cabinet
DVP-15MC Series Motion Controller Operation Manual Installing the Module in the Control Cabinet 5.2.1 Installing the Module to DIN rail Pull out the clips at the rear of the motion controller. Then stick the horizontal slots at the rear of the module on the DIN rail.
Page 48: Environmental Temperature In The Control Cabinet
Chapter 5 Installation 5.2.3 Environmental Temperature in the Control Cabinet  Requirements  The ambient temperature of the motion controller inside the control cabinet is 0~55°C and the humidity is 5 ~ 95%.  Please avoid making the installation near the high-temperature equipment. ...
Page 49: Dimension Requirement In The Control Cabinet
DVP-15MC Series Motion Controller Operation Manual 5.2.5 Dimension Requirement in the Control Cabinet Installation Figure  DVP-15MC series motion controller has to be installed in an enclosure. In order to ensure that the controller radiates heat Motion Controller normally, space...
Page 50: Chapter 6 Wiring, Communication Setting And Network Construction
Chapter 6 Wiring, Communication Setting and Network Construction Table of Contents Wiring ..................6-3 6.1.1 Power Supply ..............6-3 6.1.2 Safety Circuit Wiring ............. 6-4 Input Point and Output Point Wiring ........6-6 6.2.1 Function that Input Points Support ......... 6-6 6.2.2 Input Point Wiring ..............
Page 51 DVP-15MC Series Motion Controller Operation Manual Motion Communication Port ............ 6-22 6.8.1 Function that Motion Communication Port Supports ....6-22 6.8.2 Pins of Motion Communication Port ........6-22 6.8.3 Motion Network Connection ..........6-22 6.8.4 Communication Speed and Communication Distance ....6-22 CANopen Communication Port ..........
Page 52: Wiring
Chapter 6 Wiring, Communication Setting and Network Construction Wiring 6.1.1 Power Supply The power input of the motion controller is 24V DC. Please notice the following points during use.  Connect the supply power to the two terminals, 24V and 0V and the grounding terminal to the earth. Be cautious that the motion controller may be damaged if the positive and negative polarities of the supply power are connected reversely.
Page 53: Safety Circuit Wiring
DVP-15MC Series Motion Controller Operation Manual Main circ uit Noise Is ola tion Powe r supply filter trans former for Controller P ower s upply for Controller’s input po int s Power s upply for Controller’s outpu t points Power supply for other loads 6.1.2...
Page 54  Power indicator  Emergency stop button: The button cuts off the system power supply when an accidental emergency takes place.  Delta power module DVPPS05/24VDC (DVPPS05 is recommended for the motion controller)  The motion controller  Ground  Safety circuit...
Page 55: Input Point And Output Point Wiring
DVP-15MC Series Motion Controller Operation Manual Input Point and Output Point Wiring 6.2.1 Function that Input Points Support There are 16 input points which support external interrupt and filter functions in the motion controller. In addition, the input points can be used to capture the encoder position.
Page 56: Input Point Wiring
Chapter 6 Wiring, Communication Setting and Network Construction 6.2.2 Input Point Wiring There are two types of DC inputs, SINK and SOURCE. See the details for the wiring in the following two modes.  Sink Mode Under Sink mode, the simplified model is shown below and the current flows into the common ports S0 and S1.
Page 57 DVP-15MC Series Motion Controller Operation Manual  Source Mode Under Source mode, the simplified model is illustrated below and the current flows into the common ports S0 and S1. Motion Contr oller Motio n Contro ller So urc ing So urcing Figure 6.2.2.4...
Page 58: Output Point Wiring
Chapter 6 Wiring, Communication Setting and Network Construction 6.2.3 Output Point Wiring All local output points of the motion controller are of transistor output. The wiring circuit is shown as below. M otion C ontro lle r Loa d 5~30V DC 0 .5A...
Page 59: Rs-485 Communication Port
6.3.3 RS-485 Hardware Connection  Example on Connection of DVP-15MC Series Motion Controller into Modbus Network The controller is connected to Modbus network via RS-485. D V P 1 5 M C 1 1 T D V P 1 5 M C 1 1 T...
Page 60: Supported Function Codes And Exception Codes
Chapter 6 Wiring, Communication Setting and Network Construction  RS-485 Wiring: D+ D- SG D+ D- SG SG D+ D- Figure 19 Explanation of numbers     Master Slave Terminal resistor Shielded cable Notes: 1. Terminal resistors with the value of 120Ω are recommended to connect to both ends of the bus. 2.
Page 61 DVP-15MC Series Motion Controller Operation Manual 2. The exception codes that RS-485 port of the motion controller supports are listed in the following table. Exception response Indication code 16#01 Unsupportive function code 16#02 Unsupportive Modbus address 16#03 The data length is out of the valid range.
Page 62: Communication Port
Chapter 6 Wiring, Communication Setting and Network Construction RS-232 Communication Port 6.4.1 Function that RS-232 Port Supports The RS-232 communication port of the motion controller can function as Modbus master or slave. HMI, PLC or other Modbus device can read and write data in the devices inside the motion controller. The progrom can not be downloaded through RS-232 port.
Page 63: Supported Function Codes And Exception Codes
DVP-15MC Series Motion Controller Operation Manual  The communication format that RS-232 supports Baud rate 9600, 19200, 38400, 57600, 115200 Mode ASCII 7,E,1 7,E,2 7,N,1 7,N,2 8,E,1 8,E,2 Communication 7,O,1 7,O,2 8,E,1 8,E,2 8,N,1 8,N,2 format 8,N,1 8,N,2 8,O,1 8,O,2...
Page 64: Ssi Absolute Encoder Port
Chapter 6 Wiring, Communication Setting and Network Construction SSI Absolute Encoder Port 6.5.1 Function of SSI Absolute Encoder The motion controller’s COM/SSI port is a 15-pin D-SUB interface which can be used to connect SSI encoder. In addition, the port also includes the 5V (400mA) power output which provides the power supply to the encoder.
Page 65: Ssi Absolute Encoder Hardware Connection
DVP-15MC Series Motion Controller Operation Manual 6.5.3 SSI Absolute Encoder Hardware Connection  Illustration of SSI Absolute Encoder Wiring  Specification for SSI Absolute Encoder Interface Wiring SSI encoder interface of the motion controller and the wiring method are shown below.
Page 66: Incremental Encoders
Chapter 6 Wiring, Communication Setting and Network Construction Incremental Encoders 6.6.1 Function of Incremental Encoder The motion controller’s incremental encoder port is a 15-pin D-SUB interface which can connect two independent incremental encoders. Both of the two encoder ports support differential signal input with maximum work frequency of 1MHz (250Kx 4 = 1MHz) per one.
Page 67: Incremental Encoder Hardware Connection
DVP-15MC Series Motion Controller Operation Manual 6.6.3 Incremental Encoder Hardware Connection  Illustration of Incremental Encoder Wiring  Specification for Incremental Encoder Port Wiring The incremental encoder interface of the motion controller and the wiring method are shown below. Note: The power supply for Encoder port of the motion controller is 5V power.
Page 68: Ethernet Communication Port
Chapter 6 Wiring, Communication Setting and Network Construction Ethernet Communication Port 6.7.1 Function that Ethernet Communication Port Supports There are two independent Ethernet communication ports: LAN1 and LAN2 in the motion controller, and their IP addresses need be set individually. Both of the two Ethernet ports can be used to download configuration files, execution files and CAM files.
Page 69: Pins Of Ethernet Communication Port
DVP-15MC Series Motion Controller Operation Manual Start device Default start device for receiving Default start device for sending data data from the master to the master IO Connection Connection 1 %MW11000 %MW12000 Connection 2 %MW11100 %MW12100 Connection 3 %MW11200 %MW12200...
Page 70 Chapter 6 Wiring, Communication Setting and Network Construction Max. number of Available Function code Indication writable/readable register registers 16#01 Read output bit register values. Bit register 16#02 Read bit register values. Bit register Read one single or multiple word register 16#03 Word register values.
Page 71: Motion Communication Port
6.8.3 Motion Network Connection The motion controller has one 120 Ohm terminal resistor embedded in its Motion interface. Please use Delta cables as CANopen cables. For specifications of Delta cables, refer to Appendix E 6.8.4 Communication Speed and Communication Distance The transmission distance of the bus network depends on the transmission speed of Motion bus.
Page 72: Canopen Communication Port
SYNC producer, range 0-65535ms Multiple devices perform an action synchronously through SYNC message.  As the connection interface between Delta CANopen Builder configuration software and CANopen network, the configuration software can be directly used to configure the network through DVPCOPM-SL module ...
Page 73: Pins Of Canopen Communication Port
DVP-15MC Series Motion Controller Operation Manual Supporting standard expedited SDO transmission mode. 6.9.2 Pins of CANopen Communication Port The motion controller’s CANopen communication port is used in the standard CANopen communication and its pin descriptions are listed in the following table.
Page 74: Canopen Communication Rate And Communication Distance
Chapter 6 Wiring, Communication Setting and Network Construction 1> Delta’s standard cables such as UC-DN01Z-01A thick cable, UC-DN01Z-02A thin cable and UC- CMC010-01A thin cable are recommended to use in construction of a CANopen network. The communication cable must keep away from the power cable.
Page 75 DVP-15MC Series Motion Controller Operation Manual MEMO 6-26...
Page 76 Execution Principle Table of Contents Tasks ..................7-2 7.1.1 Task Types ................7-2 7.1.2 Priority levels of Tasks ..............7-4 7.1.3 Watchdog for a Task ..............7-6 7.1.4 Motion and Communication Instructions for Each Task Type .... 7-7 The Impact of PLC RUN or STOP on Variables and Devices ..7-10 Relationship between Motion Program and Motion Bus ..
Page 77: Tasks
Three task types that DVP-15MC series motion controller supports 1. Cyclic 2. Freewheeling 3. Triggered by event  Maximum 24 tasks that DVP-15MC series motion controller supports are respectively described below.  Cyclic task The cyclic task will be executed cyclically according to the set time interval.
Page 78 Chapter 7 Introduction of Axis Parameters able to perform system processing and the problems such as communication timeout will take place.  Freewheeling task Freewheeling task： The task will be handled as soon as the program running starts. The task will be restarted automatically in the next cycle after one execution cycle ends.
Page 79: Priority Levels Of Tasks
DVP-15MC Series Motion Controller Operation Manual Motion port of the controller sends out SYNC signal and the task is triggered. Note: The motion task is set to priority 1 by default. The priority level can be modified. However, make sure that there is enough time for execution of the motion task within CANopen SYNC period.
Page 80 Chapter 7 Introduction of Axis Parameters ① The execution conditions for the cyclic task and freewheeling task are met at the same time. The cyclic task is executed first because of its higher priority. ② When the cyclic task execution is finished, the freewheeling task execution starts. ③...
Page 81: Watchdog For A Task
DVP-15MC Series Motion Controller Operation Manual ⑩ The freewheeling task execution is completed. The controller executes the cyclic task since the cyclic task request in ⑦ is not responded yet. ⑪ The cyclic task execution is completed. The controller executes the system processing due to no other task request.
Page 82: Motion And Communication Instructions For Each Task Type
Chapter 7 Introduction of Axis Parameters 7.1.4 Motion and Communication Instructions for Each Task Type Here is the table of motion instructions for different task types. “V” means the motion instruction can be executed for the task type and “–” means the motion instruction can not be executed for the task type. Task type Event-triggered Classification...
Page 83 DVP-15MC Series Motion Controller Operation Manual Task type Event-triggered Classification Instruction name task Cyclic Freewheeling task task Motion Motion task task MC_GearIn MC_GearOut MC_CombineAxes MC_CamIn MC_CamOut DMC_CamAddTappet Multi-axis DMC_CamDeleteTappet instructions DMC_CamReadPoint DMC_CamWritePoint DMC_CamSet DMC_CamReadTappetStatus DMC_CamReadTappetValue DMC_CamWriteTappetValue APF_RotaryCut_Init Application APF_RotaryCut_In instructions...
Page 84 Chapter 7 Introduction of Axis Parameters Task type Event-triggered Classification Instruction name task Cyclic Freewheeling task task Motion Motion task task DMC_GroupSetOverride DMC_GroupReadActualPosition DMC_ControlAxisByPos Coordination Instructions DMC_NC DMC_ReadParameter_CANopen DMC_WriteParameter_CANopen ETH_Link_Config ETH_Link_Manage ETH_Link_Status ETH_Link_Config_Ext ETH_ SetServerlinkkeeptime ETH_Socket_Manage ETH_Socket_Config ETH_Socket_Open ETH_Socket_Send ETH_Socket_Receive Communication instructions ETH_Socket_Close...
Page 85: The Impact Of Plc Run Or Stop On Variables And Devices
In the following figure, DVP-15MC series motion controller is connected with 4 servo drives and T is the synchronization period. The four servo drives receive control data at different time (t1, t2, t3 and t4) but the control data received are not effective at once.
Page 86: Synchronization Cycle Period Setting
2567μs=2.5ms, in this case, we can regard 3ms as the time for program execution. It is about 0.5ms for the communication between DVP-15MC series motion controller and a servo. We recommend that the value is rounded up to an integer in application. For example, 5 servos are configured in an application.
Page 87 DVP-15MC Series Motion Controller Operation Manual MEMO 7-12...
Page 88 Logic Instructions Table of Contents 8.2.1 EN and ENO ................8-9 8.3.1 R_TRIG ..................8-9 8.3.2 F_TRIG ................... 8-11 8.3.3 RS ..................8-13 8.3.4 SR ..................8-15 8.3.5 SEMA ..................8-17 8.4.1 JMP ..................8-19 8.5.1 MOVE ..................8-20 8.5.2 MoveBit .................. 8-21 8.5.3 TransBit ..................
Page 89 DVP-15MC Series Motion Controller Operation Manual 8.9.1 ADD ..................8-61 8.9.2 SUB ..................8-64 8.9.3 MUL ..................8-67 8.9.4 DIV ..................8-70 8.9.5 MOD ..................8-73 8.9.6 MODREAL ................8-75 8.9.7 MODTURNS ................8-77 8.9.8 MODABS ................8-79 8.9.9 ABS ..................8-81 8.9.10 DegToRad ................
Page 90 Chapter 8 Logic Instructions 8.13.1 BOOL_TO_*** ..............8-155 8.13.2 Bit strings_TO_*** ............. 8-158 8.13.3 Integers_TO_*** ..............8-165 8.13.4 Real numbers_TO_*** ............8-174 8.13.5 Times,dates_TO_*** ............8-177 8.13.6 Strings_TO_*** ..............8-179 8.14.1 CANopen Communication Instructions ........8-182 8.14.1.1 DMC_ReadParameter_CANopen 8-182 8.14.1.2 DMC_WriteParameter_CANopen 8-187 8.14.2 Ethernet Instructions ............
Page 91 DVP-15MC Series Motion Controller Operation Manual 8.15.6 REPLACE ................8-291 8.15.7 LEN .................. 8-293 8.15.8 FIND ................. 8-294 8.16.1 FROM ................8-296 8.16.2 TO ..................8-300 8.16.3 ImmediateInput ..............8-304 8.16.4 ImmediateOutput ............... 8-306 8.16.5 Left_Manage ..............8-308 8.17.1 PID ................... 8-312 8.17.2 GPWM ................
Page 92: Table Of Logic Instructions
Chapter 8 Logic Instructions Table of Logic Instructions Instruction set Instruction code Function R_TRIG Rising Edge Trigger F_TRIG Falling Edge Trigger Sequence Input/Output Reset–Priority Instruction Instructions SET–Priority Instruction SEMA Claim-Priority Instruction Sequence Control Jump Instructions MOVE Move MoveBit Move One Bit TransBit Move Bits Data Movement...
Page 93 DVP-15MC Series Motion Controller Operation Manual Instruction set Instruction code Function Division Integer Modulo Division to Get the Remainder Real-Number Modulo Division to Get the MODREAL Remainder Real-Number Modulo Division to Get MODTURNS Signed Integral Part Real-Number Modulo Division to Get the...
Page 94 Chapter 8 Logic Instructions Instruction set Instruction code Function Maximum Minimum Selection Selection Instructions Multiplexer LIMIT Limiter BAND Deadband Control ZONE Dead Zone Control BOOL_TO_*** Bool Conversion Group Bit strings_TO_*** Bit String Conversion Group Integers_TO_*** Integer Conversion Group Data Type Conversion Instructions Real numbers_TO_*** Real Number Conversion Group...
Page 95 DVP-15MC Series Motion Controller Operation Manual Instruction set Instruction code Function Set RS485 communication response delay RS485_SetDelayTime time Manage RS232 communication RS232_Link_Manage Configure RS232 communication RS232_Link_Config parameters Watch RS232 communication status RS232_Link_Status Configure RS232 free protocol parameters RS232_RS Set RS232 communication response delay...
Page 96: Explanation Of Logic Instructions
Chapter 8 Logic Instructions Explanation of Logic Instructions If the used instruction has EN and ENO input parameters and the value of EN is FALSE (0), the function of the instruction will not be performed and the output of the instruction will not be updated. However, if the value of EN of the instruction is TRUE (1), the function of the instruction will be performed and the output will be updated.
Page 97 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The variable table and program Variable name Data type Initial value R_TRG R_TRIG R_TRG_EN BOOL FALSE R_TRG_CLK BOOL FALSE R_TRG_Q BOOL R_TRG R_ TRIG R_TRG_ EN R_TRG_CLK R_TRG _Q ...
Page 98 Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T F_TRIG is used for the falling edge trigger. DVP15MC11T-06 F_TRIG _inst ance F_TRI G E NO CL K  Parameters Parameter Input/ Meaning Description Valid range name Output Input Input Falling edge trigger signal TRUE or FALSE signal Output...
Page 99: F_Trig
DVP-15MC Series Motion Controller Operation Manual F_TRG F_TRI G F_TRG_EN E NO F_TRG_CLK F_TRG_Q  Timing Chart: F_TRG_CLK F_TRG_Q 8-12...
Page 100 Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T RS is used for giving priority to the Reset input. DVP15MC11T-06 RS _in st anc e E NO Rese t  Parameters Parameter Input/ Meaning Description Valid range name Output Input Input SET signal TRUE or FALSE...
Page 101 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The variable table and program Variable name Data type Initial value RS1_EN BOOL FALSE RS1_SET BOOL FALSE RS1_Reset BOOL FALSE RS1_Q BOOL RS1 _EN SE T RS1_ SET RS 1_Q...
Page 102 Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T SR is used for giving priority to the Set input. DVP15MC11T-06 S R_in st anc e E NO Rese t  Parameters Parameter Input/ Meaning Description Valid range name Output Input Input SET signal TRUE or FALSE...
Page 103 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The variable table and program Variable name Data type Initial value SR1_EN BOOL FALSE SR1_SET BOOL FALSE SR1_Reset BOOL FALSE SR1_Q BOOL S R1 _EN SE T SR1_Q S R1_SET...
Page 104: Sema
Chapter 8 Logic Instructions Explanation Applicable model FB/FC SEMA is used for giving priority to CLAIM. (The output will be valid in the DVP15MC11T second period.) DVP15MC11T-06 SEMA_ in sta nce SE MA E NO CL AIM RELEA SE  Parameters Parameter Input/...
Page 105 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The variable table and program Variable name Data type Initial value SEMA1 SEMA SEMA1_EN BOOL FALSE SEMA1_CLAIM BOOL FALSE SEMA1_RELEASE BOOL FALSE SEMA1_Q BOOL S EMA1 SEMA SEMA 1_EN CLA IM...
Page 106: Sequence Control Instructions
Chapter 8 Logic Instructions Sequence Control Instructions Explanation Applicable model FB/FC JMP is used for jumping to any position specified by a label in the LD DVP15MC11T program. DVP15MC11T-06 LA BEL  Function Explanation  JMP is used for jumping to any position specified by a label in the LD program. ...
Page 107: Data Movement Instructions
DVP-15MC Series Motion Controller Operation Manual Data Movement Instructions Explanation Applicable model FB/FC DVP15MC11T Move is used for moving data. DVP15MC11T-06 MO VE Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Input Depends on the data type of the variable...
Page 108 Chapter 8 Logic Instructions MOVE MOV E_EN MO VE_In Out 1 FB/FC Explanation Applicable model DVP15MC11T MoveBit is used for sending one bit in a string. DVP15MC11T-06 MoveB it InPos InOutPos InOut  Parameters Parameter Input/ Meaning Description Valid range name Output Input...
Page 109 DVP-15MC Series Motion Controller Operation Manual  If the value of InPos exceeds the range of the data type of In, the movement of one bit is not performed.  If the value of InOutPos exceeds the range of the data type of InOut, the movement of one bit is not performed.
Page 110 Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T TransBit is used for sending one or more bits in a bit string. DVP15MC11T-06 TransBit InPos InOutPos Size InOut  Parameters Parameter Input/ Meaning Description Valid range name Output Input Depends on the data type of the variable Input Move source signal...
Page 111 DVP-15MC Series Motion Controller Operation Manual  If the value of InPos exceeds the range of the data type of In, the movement is not performed.  If the value of InOutPos exceeds the range of the data type of InOut, the movement is not performed.
Page 112: Move
Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T MoveDigit is used for moving digits. DVP15MC11T-06 MoveDigit In Pos InOu tPos Size InO ut  Parameters Parameter Input/ Meaning Description Valid range name Output Input Depends on the data type of the variable Move source Input signal...
Page 113: Movedigit
DVP-15MC Series Motion Controller Operation Manual  If the value of InOutPos exceeds the range of the data type of InOut, the movement is not performed.  If the value of Size exceeds the range, the movement is not performed.
Page 114: Exchange
Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T Exchange is used for the data exchange. DVP15MC11T-06 Ex change  Parameters Parameter Input/ Meaning Description Valid range name Output Input Depends on the data type of the variable Input Data to exchange signal that the input parameter is connected to.
Page 115 DVP-15MC Series Motion Controller Operation Manual  Exchange Figure Ex c hange In pu t pa ra mete r In pu t va lu e In pu t val ue In pu t pa ra mete r Ex c hg_I n1...
Page 116: Swap
Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T Swap is used for swapping the high byte and low byte of a 16-bit value. DVP15MC11T-06 Swap Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Input Input Data to swap 0~65535 for word data type signal...
Page 117 DVP-15MC Series Motion Controller Operation Manual  Swap Figure Hi gh byte L ow byte Swap_I n bit15 bit0 bit15 bit0 Out 1 Hig h b yte Lo w byte 8-30...
Page 118: Comparison Instructions
Chapter 8 Logic Instructions Comparison Instructions FB/FC Explanation Applicable model DVP15MC11T LT is used for a less-than comparison of two or more variables or constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output The number of comparison data can be Depends on the data type increased or decreased through the Comparison...
Page 119 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variables are not allowed to omit. An error will occur during the compiling of the software if any input variable is omitted. But the output variable is allowed to omit.
Page 120 Chapter 8 Logic Instructions FB/FC Explanation Applicable model LE is used for a less- than or equal comparison of two or more variables or DVP15MC11T constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output The number of comparison data can be Depends on the data type increased or decreased through the Comparison...
Page 121 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variables are not allowed to omit. An error will occur during the compiling of the software if any input variable is omitted. But the output variable is allowed to omit.
Page 122 Chapter 8 Logic Instructions FB/FC Explanation Applicable model GT is used for a greater-than comparison of two or more variables or DVP15MC11T constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output The number of comparison data can be Depends on the data type increased or decreased through the Comparison...
Page 123 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variables are not allowed to omit. An error will occur during the compiling of the software if any input variable is omitted. But the output variable is allowed to omit.
Page 124 Chapter 8 Logic Instructions FB/FC Explanation Applicable model GE is used for a greater- than or equal comparison of two or more variables DVP15MC11T or constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output The number of comparison data can be Depends on the data type increased or decreased through the Comparison...
Page 125 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variables are not allowed to omit. An error will occur during the compiling of the software if any input variable is omitted. But the output variable is allowed to omit.
Page 126 Chapter 8 Logic Instructions FB/FC Explanation Applicable model EQ is used for an equal comparison of two or more variables and DVP15MC11T constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output The number of comparison data can be Depends on the data type increased or decreased through the Comparison...
Page 127 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variables are not allowed to omit. An error will occur during the compiling of the software if any input variable is omitted. But the output variable is allowed to omit.
Page 128 Chapter 8 Logic Instructions FB/FC Explanation Applicable model DVP15MC11T NE is used for a not-equal comparison of two variables or constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Comparison Depends on the data type of the variable Input A value to compare data...
Page 129 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The data types of NE_In1 and NE_In2 are INT and DINT respectively and the data type of Out1 is BOOL. Out1 changes to TRUE when the values of NE_In1 and NE_In2 are 100 and 50 respectively and NE _EN changes to TRUE as shown in Variable 1.
Page 130: Timer Instructions
Chapter 8 Logic Instructions Timer Instructions FB/FC Explanation Applicable model DVP15MC11T TON is used for the ON delay. DVP15MC11T-06 TO N_in st ance E NO  Parameters Parameter Input/ Meaning Description Valid range name Output Timer input Input Controls the timer to start or reset TRUE or FALSE Time from when the timer starts until Q Set time...
Page 131 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The variable table and program Variable name Data type Initial value TON1 TON1_EN BOOL FALSE TON1_In BOOL FALSE TON1_PT TIME TON1_Q BOOL TON1_ET TIME TON1 TO N TO N1_EN TON1_Q...
Page 132 Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T TOF is used for the off delay. DVP15MC11T-06 TOF_instance E NO  Parameters Parameter Input/ Meaning Description Valid range name Output Timer input Input Controls the timer to start or reset TRUE or FALSE Set the time from when the timer starts Set time...
Page 133 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The variable table and program Variable name Data type Initial value TOF1 TOF1_EN BOOL FALSE TOF1_In BOOL FALSE TOF1_PT TIME TOF1_Q BOOL TOF1_ET TIME TO F1 TO F1 _EN TOF1_Q...
Page 134 Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T TP is used for the off delay after the input In is TRUE. DVP15MC11T-06 TP_ins tan ce E NO  Parameters Parameter Input/ Meaning Description Valid range name Output Timer input Controls the timer to start or reset Input TRUE or FALSE...
Page 135 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The variable table and program Variable name Data type Initial value TP1_EN BOOL FALSE TP1_In BOOL FALSE TP1_PT TIME TP1_Q BOOL TP1_ET TIME TP1_EN E NO TP 1_Q TP1 _In...
Page 136 Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T Sys_ReadTime reads the time of the real-time clock of the controller. DVP15MC11T-06 S ys_ReadTime_instance S ys_ReadTime Ena ble Done Year Mo nth Week Hour Minut e Second  Input Parameter Valid range Parameter name Function Data type...
Page 137 DVP-15MC Series Motion Controller Operation Manual Explanation Applicable model FB/FC DVP15MC11T Sys_ReadTotalWorkTime reads total work time of the controller. DVP15MC11T-06 Sys _ReadTotalWork Time_ins tance Sys _ReadTotalWorkTime Enable Done Tota lWorkTime  Input Parameter Valid range Parameter name Function Data type...
Page 138 Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T Sys_ReadPowerOnTime reads power-on time of the controller. DVP15MC11T-06 Sys _ReadP owerOnTime_insta nce Sys _ReadPowerO nTime Enable Done PowerOnTime  Input Parameter Valid range Parameter name Function Data type Validation timing (Default) The instruction is executed when Enable TRUE or FALSE...
Page 139 DVP-15MC Series Motion Controller Operation Manual FB/FC Explanation Applicable model The Sys_WdgStatus instruction is used to read whether or not the DVP15MC11T execution time of the specified task exceeds the allowed setting time DVP15MC11T-06 (watchdog time). Sys_WdgStat us_instance Sys_WdgStat us...
Page 140 Chapter 8 Logic Instructions Case 1 Case 2 Case 3 Enable Valid Error E rrorID Status Case 1： Valid changes from FALSE to TRUE when Enable changes from FALSE to TRUE. Case 2： Valid changes from FALSE to TRUE when Enable changes from FALSE to TRUE. When the task execution time exceeds the watchdog time, Status changes to TRUE.
Page 141 DVP-15MC Series Motion Controller Operation Manual Counter Instructions Explanation Applicable model FB/FC DVP15MC11T CTU is used as an up counter. DVP15MC11T-06 CTU_insta nce E NO Rese t  Parameters Parameter Input/ Meaning Description Valid range name Output Up-counter Control the up-counter to start counting...
Page 142 Chapter 8 Logic Instructions  Precautions for Correct Use  While Reset is TRUE, the counter will not count up.  When CV equals PV, the counter stops counting.  Programming Example  The variable table and program Variable name Data type Initial value CTU1...
Page 143 DVP-15MC Series Motion Controller Operation Manual Explanation Applicable model FB/FC DVP15MC11T CTD is used as a down counter. DVP15MC11T-06 CTD_insta nce E NO Load  Parameters Parameter Input/ Meaning Description Valid range name Output Down-counter Input Control the counter to start counting down TRUE or FALSE...
Page 144 Chapter 8 Logic Instructions  Programming Example  The variable table and program Variable name Data type Initial value CTD1 CTD1_EN BOOL FALSE CTD1_CD BOOL FALSE CTD1_Load BOOL FALSE CTD1_PV UDINT CTD1_Q BOOL CTD1_CV UDINT CTD1 CTD1 _EN CTD1_CD CTD1_ Q Lo ad CTD1_ CV CTD1_Lo ad...
Page 145 DVP-15MC Series Motion Controller Operation Manual Explanation Applicable model FB/FC DVP15MC11T CTUD is used as an up-down counter. DVP15MC11T-06 CTUD_inst ance CTUD E NO Rese t Load  Parameters Parameter Input/ Meaning Description Valid range name Output Up-counter Input Control the counter to count up...
Page 146 Chapter 8 Logic Instructions The symbol ● indicates that the parameter is allowed to connect to the variable or constant of the data type.  Function Explanation CTUD is used as an up counter for counting up and a down counter for counting down. ...
Page 147 DVP-15MC Series Motion Controller Operation Manual  Timing Chart: Cas e 3 Cas e 4 Cas e 1 Cas e 2 CTUD1_CU CTUD1_ CD CTUD1_Res et CTUD1_ Load CTUD1_ PV CTUD1 _CV CTUD1_QU CTUD1_QD Case 1： If CTUD counts up normally, the value of CTUD1_CV is increased by 1 whenever CTUD1_CU is triggered once.
Page 148 Chapter 8 Logic Instructions Math Instructions Applicable FB/FC Explanation model DVP15MC11T ADD is used for the addition operation of two or more variables or constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Augend Input Augend...
Page 149 DVP-15MC Series Motion Controller Operation Manual  The instruction is used for the addition of two or more variables or constants. The result is output to Out, that is, Out= In1 + In2 +…+ InN.  The input parameters In1~InN in this instruction are allowed to be the variables of different types among bits, integers and real numbers.
Page 150 Chapter 8 Logic Instructions  Programming Example1  The data types of variables ADD_In1, ADD_In2 and Out1 are all INT. The values of ADD_In1 and ADD_In2 are 10 and 50 respectively. The value of Out1 is 60 when ADD_EN changes to TRUE as shown in Variable 1.
Page 151 DVP-15MC Series Motion Controller Operation Manual Applicable Explanation FB/FC model DVP15MC11T SUB is used for the subtraction operation of two variables or constants. DVP15MC11T-06 S UB O ut  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of...
Page 152 Chapter 8 Logic Instructions  The input and output variables are allowed to be of different data types among bits, integers and real numbers. When the data types of input and output variables are different, the data type of the output variable must include the valid ranges of data types of all input variables.
Page 153 DVP-15MC Series Motion Controller Operation Manual  The data types of variables SUB_In1, SUB _In2 and Out1 are DATE, DATE and TIME and the values of SUB _In1 and SUB _In2 are DATE#2016-10-1 and DATE#2016-9-1 respectively. The value of Out1 is TIME#30D when SUB_EN changes to TRUE as shown in Variable 3.
Page 154 Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T MUL is used for the multiplication of two or more variables or constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Multiplicand Input Multiplicand...
Page 155 DVP-15MC Series Motion Controller Operation Manual  The input parameters In1 ~ InN are allowed to be the variables of different data types in this instruction. When In1 ~ InN are the variables of different data types, the multiplication will be performed based on the data type which can contain valid ranges of In1 ~ InN values.
Page 156 Chapter 8 Logic Instructions The variable table and program Variable name Data type Initial value MUL_EN BOOL TRUE MUL _In1 MUL _In2 Out1 MUL_E N MUL_I n1 Ou t O ut1 MUL_I n2 8-69...
Page 157 DVP-15MC Series Motion Controller Operation Manual FB/FC Explanation Applicable model DVP15MC11T DIV is used for the division operation of two variables or constants. DVP15MC11T-06 O ut  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of...
Page 158 Chapter 8 Logic Instructions  The input and output variables are allowed to be of different data types in this instruction. When the data types of input and output variables are different, the range of the data type of the output variable must include the valid ranges of data types of all input variables.
Page 159 DVP-15MC Series Motion Controller Operation Manual The data type of Out is a real number for the division of an integer and a real number or the division of two real numbers. The value of Out is shown as below including its fractional part when there is a remainder for this type of division.
Page 160 Chapter 8 Logic Instructions FB/FC Explanation Applicable model DVP15MC11T MOD finds the remainder for division of two integer variables or constants. DVP15MC11T-06 O ut  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Dividend Input Dividend...
Page 161 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variables are not allowed to omit. An error will occur during the compiling of the software if any input variable is omitted. But the output variable is allowed to omit.
Page 162 Chapter 8 Logic Instructions FB/FC Explanation Applicable model MODREAL finds the remainder for division of two floating- point variables or DVP15MC11T DVP15MC11T-06 constants. MODREA L O ut  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Dividend Input Dividend...
Page 163 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The data types of variables MODREAL _In1, MODREAL _In2 and Out1 are REAL, REAL and LREAL respectively. The values of MODREAL _In1 and MOD _In2 are 10.5 and 2.5 respectively.
Page 164 Chapter 8 Logic Instructions FB/FC Explanation Applicable model MODTURN finds the signed integral part for modulo division of two floating- DVP15MC11T DVP15MC11T-06 point variables or constants. MO DTURNS E NO  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Input value Input...
Page 165 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variables are not allowed to omit. An error will occur during the compiling of the software if any input variable is omitted. But the output variable is allowed to omit.
Page 166 Chapter 8 Logic Instructions FB/FC Explanation Applicable model MODABS finds the unsigned modulo value for modulo division of two DVP15MC11T DVP15MC11T-06 floating-point variables or constants. MO DABS Ou t  Parameters Parameter Meaning Input/ Output Description Valid range name Depends on the data type of Input value Input Input value...
Page 167 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variables are not allowed to omit. An error will occur during the compiling of the software if any input variable is omitted. But the output variable is allowed to omit.
Page 168 Chapter 8 Logic Instructions FB/FC Explanation Applicable model DVP15MC11T ABS finds the absolute value of an integer or a real number. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Number to Input Number to process...
Page 169 DVP-15MC Series Motion Controller Operation Manual  Variable 1 Variable name Data type Current value ABS_EN BOOL TRUE ABS _In Out1  Variable 2 Variable name Data type Current value ABS_EN BOOL TRUE ABS _In Out1  The program A BS...
Page 170 Chapter 8 Logic Instructions FB/FC Explanation Applicable model DVP15MC11T DegToRad is used to convert degrees to radians. DVP15MC11T-06 Deg ToRad Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Degrees Input Degrees to convert the variable that the input parameter is connected to.
Page 171 DVP-15MC Series Motion Controller Operation Manual  Variable 1 Variable name Data type Current value DegToRad_EN BOOL TRUE DegToRad _In Out1 LREAL 0.174532925199433  Variable 2 Variable name Data type Current value DegToRad_EN BOOL TRUE DegToRad _In Out1 LREAL -0.174532925199433 ...
Page 172 Chapter 8 Logic Instructions FB/FC Explanation Applicable model DVP15MC11T DegToRad is used to convert radians to degrees. DVP15MC11T-06 Rad ToDeg Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Radians Input Radians to convert the variable that the input parameter is connected to.
Page 173 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The data types of variables RadToDeg _In and Out1 are INT and LREAL respectively. The value of Out1 is 572. 957795130824 if the value of RadToDeg _In is 10 when RadToDeg _EN changes to TRUE.
Page 174 Chapter 8 Logic Instructions FB/FC Explanation Applicable model SIN is used to find the sine of a number and the result is output to Out. The DVP15MC11T DVP15MC11T-06 unit of In is radian. Ou t  Parameters Parameter Input/ Meaning Description Valid range name...
Page 175 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variable setting is not allowed to omit. An error will occur during the compiling of the software if any input variable setting is omitted. But the output variable setting is allowed to omit.
Page 176 Chapter 8 Logic Instructions FB/FC Explanation Applicable model COS is used to get the cosine of a number and the result is output to Out. DVP15MC11T DVP15MC11T-06 The unit of In is radian. Ou t  Parameters Parameter Input/ Meaning Description Valid range name...
Page 177 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variable is not allowed to omit. An error will occur during the compiling of the software if the input variable is omitted. But the output variable is allowed to omit.
Page 178 Chapter 8 Logic Instructions FB/FC Explanation Applicable model TAN is used to get the tangent of a number and the result is output to Out. DVP15MC11T DVP15MC11T-06 The unit of In is radian. Ou t  Parameters Parameter Input/ Meaning Description Valid range name...
Page 179 DVP-15MC Series Motion Controller Operation Manual  Users can choose different data types for the input parameter in this instruction. But the data type of the output parameter is restricted to LREAL. An error will occur during the compiling of the software if the data type of the output parameter is not LREAL.
Page 180 Chapter 8 Logic Instructions FB/FC Explanation Applicable model ASIN is used to get the arc sine of a number and the result is output to Out. DVP15MC11T DVP15MC11T-06 The unit of Out is radian. AS IN Ou t  Parameters Parameter Input/ Meaning...
Page 181 DVP-15MC Series Motion Controller Operation Manual  Users can choose different data types for the input parameter in this instruction. But the data type of the output parameter is restricted to LREAL. An error will occur during the compiling of the software if the data type of the output parameter is not LREAL.
Page 182 Chapter 8 Logic Instructions FB/FC Explanation Applicable model ACOS is used to get the arc cosine of a number and the result is output to DVP15MC11T DVP15MC11T-06 Out. The unit of Out is radian. A CO S Ou t  Parameters Parameter Input/...
Page 183 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variable is not allowed to omit. An error will occur during the compiling of the software if the input variable is omitted. But the output variable is allowed to omit.
Page 184 Chapter 8 Logic Instructions FB/FC Explanation Applicable model ATAN is used to find the arc tangent of a number and the result is output to DVP15MC11T DVP15MC11T-06 Out. The unit of Out is radian. ATA N Ou t  Parameters Parameter Input/ Meaning...
Page 185 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use  The input variable is not allowed to omit. An error will occur during the compiling of the software if the input variable is omitted. But the output variable is allowed to omit.
Page 186 Chapter 8 Logic Instructions FB/FC Explanation Applicable model LN is used to find the natural logarithm of a number and the result is output DVP15MC11T DVP15MC11T-06 to Out. Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Number to Input...
Page 187 DVP-15MC Series Motion Controller Operation Manual  Users can choose different data types for the input parameter in this instruction. But the data type of the output parameter is restricted to LREAL. An error will occur during the compiling of the software if the data type of the output parameter is not LREAL.
Page 188 Chapter 8 Logic Instructions FB/FC Explanation Applicable model LOG is used to find the base-10 logarithm of a number and the result is DVP15MC11T DVP15MC11T-06 output to Out. LO G Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of...
Page 189 DVP-15MC Series Motion Controller Operation Manual  Users can choose different data types for the input parameter in this instruction. But the data type of the output parameter is restricted to LREAL. An error will occur during the compiling of the software if the data type of the output parameter is not LREAL.
Page 190 Chapter 8 Logic Instructions FB/FC Explanation Applicable model SQRT is used to calculate the square root of a number and the result is DVP15MC11T DVP15MC11T-06 output to Out. S QRT Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of...
Page 191 DVP-15MC Series Motion Controller Operation Manual  Users can choose different data types for the input parameter in this instruction. But the data type of the output parameter is restricted to LREAL. An error will occur during the compiling of the software if the data type of the output parameter is not LREAL.
Page 192 Chapter 8 Logic Instructions FB/FC Explanation Applicable model EXP is used to perform the operation with e as the base number and In as DVP15MC11T DVP15MC11T-06 the exponent. The result is output to Out. E XP Ou t  Parameters Parameter Input/ Meaning...
Page 193 DVP-15MC Series Motion Controller Operation Manual  Users can choose different data types for the input parameter in this instruction. But the data type of the output parameter is restricted to LREAL. An error will occur during the compiling of the software if the data type of the output parameter is not LREAL.
Page 194 Chapter 8 Logic Instructions FB/FC Explanation Applicable model EXPT is used to perform the exponentiation operation with In as the base DVP15MC11T DVP15MC11T-06 number and Pwr as the exponent. The result is output to Out. EXPT Ou t P wr ...
Page 195 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The data types of variables EXPT _In and EXPT_Pwr are both INT with their respective values 10 and 2. The data type of Out1 is LREAL. Then the value of Out1 is 100.0 when EXPT _EN changes to TRUE.
Page 196 Chapter 8 Logic Instructions FB/FC Explanation Applicable model DVP15MC11T RAND is used to generate a random number. DVP15MC11T-06 RA ND Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Reserved Input Reserved the variable that the input parameter is connected to.
Page 197 DVP-15MC Series Motion Controller Operation Manual  Programming Example  A random number is generated by writing RAND(0) as below. The variable table and program Variable name Data type Current value RAND_EN BOOL TRUE RAND_In Out1 DINT RAND RAND_E N...
Page 198: Trunc
Chapter 8 Logic Instructions FB/FC Explanation Applicable model DVP15MC11T TRUNC is used to get the integral part of a real number. DVP15MC11T-06 TRUNC Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Real number to Real number whose integer Input...
Page 199 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The data type of TRUNC _In is REAL with the value -5.6. The data type of Out1 is LINT. Then the value of Out1 is -5 when TRUNC _EN changes to TRUE. And the value of Out1 is 10 as the values of TRUNC _In 10.8.
Page 200: Floor
Chapter 8 Logic Instructions Applicable FB/FC Explanation model FLOOR is used to get the integral part of a real number. The output value is the DVP15MC11T DVP15MC11T- integral part of the real number subtracted by 1 if the input real number is a negative number.
Page 201 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The data type of variable FLOOR _In is REAL with the value 5.6. The data type of Out1 is LINT. Then the value of Out1 is 5 when FLOOR _EN changes to TRUE. And the value of Out1 is -11 as the values of FLOOR _In -10.2.
Page 202: Fraction
Chapter 8 Logic Instructions FB/FC Explanation Applicable model DVP15MC11T FRACTION is used to get the fraction part of a real number. DVP15MC11T-06 FRACTI ON Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of Real number to Real number whose fraction Input...
Page 203 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The data type of variable FRACTION _In is REAL with the value -5.6. The data type of Out1 is LREAL. Then the value of Out1 is -0.6 when FRACTION _EN changes to TRUE. And the value of Out1 is 0.8 as the values of FRACTION _In 10.8.
Page 204: Bit String Instructions
Chapter 8 Logic Instructions Bit String Instructions Explanation Applicable model FB/FC AND is used for performing a logical AND operation of two or more DVP15MC11T variables or constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output The number of operands can be Depends on the data type...
Page 205 DVP-15MC Series Motion Controller Operation Manual The operational rule: The corresponding bit of the output variable is TRUE when corresponding bits of input variables are all TRUE as shown below. Otherwise, the corresponding bit of the output variable is FALSE.
Page 206 Chapter 8 Logic Instructions  The data types of AND_In1, AND_In2 and Out1 are BYTE, WORD and WORD respectively. The values of AND_In1 and AND_In2 are 255 and 256 respectively and the value of Out1 is 0 when AND_EN is TRUE. ...
Page 207 DVP-15MC Series Motion Controller Operation Manual Explanation Applicable model FB/FC OR is used for performing a logical OR operation of two or more variables DVP15MC11T or constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output...
Page 208 Chapter 8 Logic Instructions The operational rule: When corresponding bits of all input variables are all FALSE, the corresponding bit of the output variable is FALSE. Otherwise, the corresponding bit of the output variable is TRUE. Bit7 B it 0 ...
Page 209 DVP-15MC Series Motion Controller Operation Manual  The data types of OR_In1, OR_In2 and Out1 are BYTE, WORD and WORD respectively. The values of OR_In1 and OR_In2 are 255 and 256 respectively and the value of Out1 is 511 when OR_EN is TRUE.
Page 210: No T
Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T NOT is used for the NOT operation taking the inverse of a variable or DVP15MC11T-06 constant. NO T Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the Input parameter to take the Operand Input...
Page 211 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The data types of NOT _In and Out1 are both BYTE. The value of In1 is 10 and the value of Out1 is 245 when NOT_EN is TRUE.  The variable table and program...
Page 212: Xor
Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T XOR is used for the XOR operation of two or more variables or constants. DVP15MC11T-06 XO R Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output The number of operands can be Depends on the data type increased or decreased through the of the variable that the...
Page 213 DVP-15MC Series Motion Controller Operation Manual The XOR result of In1 and In2 is got first; then the XOR operation of the previous result and In3 is conducted and so on. Finally, the XOR operation of the previous XOR result and InN is processed.
Page 214 Chapter 8 Logic Instructions  Variable 1 Variable name Data type Current value XOR_EN BOOL TRUE XOR _In1 BYTE XOR _In2 BYTE Out1 BYTE  Variable 2 Variable name Data type Current value XOR_EN BOOL TRUE XOR_In1 BYTE XOR_In2 WORD Out1 WORD ...
Page 215: Xorn
DVP-15MC Series Motion Controller Operation Manual Explanation Applicable model FB/FC DVP15MC11T XORN is used for an XORN operation of two or more variables or constants. DVP15MC11T-06 XO RN Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output...
Page 216 Chapter 8 Logic Instructions The XORN result of In1 and In2 is got first; then the XORN of the previous result and In3 is conducted and so on. Finally, the XORN of the previous XORN result and InN is processed. The XORN result of In1 and In2 is Out_Temp and the XORN result of Out_Temp and In3 is Out as shown below.
Page 217 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Current value XORN_EN BOOL TRUE XORN _In1 BYTE XORN _In2 BYTE Out1 BYTE  Variable 2 Variable name Data type Current value XORN _EN BOOL TRUE XORN _In1 BYTE XORN _In2...
Page 218: Shift Instructions
Chapter 8 Logic Instructions Shift Instructions Explanation Applicable model FB/FC SHL is used to shift all bits of a variable or constant by the specified number DVP15MC11T of bits to the left and the result is output to Out. DVP15MC11T-06 O ut Nu m ...
Page 219 DVP-15MC Series Motion Controller Operation Manual When Num=2, all bits of the value of In are shifted by two bits to the left and the values of Bit0~Bit1 are supplemented with 0 and Bit6~Bit7 are discarded as shown in the following figure.
Page 220: Shr
Chapter 8 Logic Instructions Explanation Applicable model FB/FC SHR is used to shift all bits of a variable or constant by the specified DVP15MC11T number of bits to the right and the result is output to Out. DVP15MC11T-06 O ut Nu m ...
Page 221 DVP-15MC Series Motion Controller Operation Manual When Num=2, all bits of the value of In are shifted by two bits to the right and Bit0~Bit1 of In are discarded and the value of Bit6~Bit7 are supplemented with 0 as shown in the following figure.
Page 222: Rol
Chapter 8 Logic Instructions Explanation Applicable model FB/FC ROL is used to rotate left all bits of a variable or constant by the specified DVP15MC11T number of bits and the result is output to Out. DVP15MC11T-06 O ut Nu m ...
Page 223 DVP-15MC Series Motion Controller Operation Manual Via ROL, the bits shifted out of the left will shift to the null bits in the right one by one. When Num=2, all bits of the value of In rotates by two bits to the left. The rotation method is that Bit0~Bit5 are shifted to Bit2~Bit7 respectively, Bit 7 is shifted to Bit1 and Bit 6 is shifted to Bit0.
Page 224: Ro R
Chapter 8 Logic Instructions Explanation Applicable model FB/FC ROR is used to rotate all bits of a variable or constant by the specified DVP15MC11T number of bits to the right and the result is output to Out. DVP15MC11T-06 RO R O ut Nu m ...
Page 225 DVP-15MC Series Motion Controller Operation Manual Via ROR, the bits shifted out of the right will shift to the null bits in the left one by one. When Num=2, all bits of the value of In rotates by two bits to the right. The rotation method is that Bit2~Bit7 are shifted to Bit0~Bit5 respectively, Bit0 is shifted to Bit6 and Bit1 is shifted to Bit7.
Page 226: Selection Instructions
Chapter 8 Logic Instructions Selection Instructions Explanation Applicable model FB/FC Max is used for finding the largest value of two or more variables or DVP15MC11T constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output The comparison data can be added or removed while the program is Depends on the data type of the...
Page 227 DVP-15MC Series Motion Controller Operation Manual  When the data types of input variables are not BOOL, TIME, DATE, TOD or STRING, the input parameters In1~InN are allowed to be the variables of different data types.  When the data types of input variables are one of BOOL, TIME, DATE, TOD and STRING, all the input variables and output variable should be of the data type.
Page 228: Min
Chapter 8 Logic Instructions Applicable Explanation FB/FC model MIN is used for finding the smallest value of two or more variables or DVP15MC11T constants. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output The comparison data can be added or removed while the program is Depends on the data type of the...
Page 229 DVP-15MC Series Motion Controller Operation Manual  When the data types of input variables are one of BOOL, TIME, DATE, TOD and STRING, all the input variables and output variable should be of the data type. For example, if the data type of In1 is TIME, the data type of In2~InN must be TIME.
Page 230 Chapter 8 Logic Instructions Explanation Applicable model FB/FC SEL is used for selecting one of two variables or constants and the DVP15MC11T selected value is output to Out. DVP15MC11T-06 SE L Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output In0 is selected when G is...
Page 231: Sel
DVP-15MC Series Motion Controller Operation Manual  When the data types of input variables are not BOOL, TIME, DATE, TOD or STRING, the input parameters In0~In1 are allowed to connect the variables of different data types.  When the data types of input variables are one of BOOL, TIME, DATE, TOD and STRING, all the input variables and output variable should be of the data type.
Page 232: Mux
Chapter 8 Logic Instructions Explanation Applicable model FB/FC MUX is used for selecting one of two or more variables or constants and the DVP15MC11T result is output to Out. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the...
Page 233 DVP-15MC Series Motion Controller Operation Manual The value of K The value of Out  When the data types of input variables are not BOOL, TIME, DATE, TOD or STRING, the input parameters In0~InN are allowed to connect the variables of different data types.
Page 234: Limit
Chapter 8 Logic Instructions Explanation Applicable model FB/FC LIMIT is used for limiting the output value within the zone between the DVP15MC11T specified minimum and maximum values. DVP15MC11T-06 L IMIT Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the...
Page 235 DVP-15MC Series Motion Controller Operation Manual  The instruction allows input parameters MN, In and MX to connect the variables of different data types. When MN, In and MX are the variables of different data types, the calculation is performed with the data type which can contain the range of the values of MN, In and MX.
Page 236: Band
Chapter 8 Logic Instructions Explanation Applicable model FB/FC BAND performs the deadband control and the processing result is output to DVP15MC11T Out. DVP15MC11T-06 B AND Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the Minimum Input Minimum value...
Page 237 DVP-15MC Series Motion Controller Operation Manual  Function Explanation  The BAND instruction performs the dead band control of the value of In according to the maximum value, MX and the minimum value, MN and the processing result is output to Out.
Page 238 Chapter 8 Logic Instructions Variable name Data type Current value BAND_In REAL BAND_MX REAL Out1 LREAL  The program BAND B AND_EN B AND_MN O ut Out 1 BAND_In BAND_MX 8-151...
Page 239: Zone
DVP-15MC Series Motion Controller Operation Manual Explanation Applicable model FB/FC ZONE is used for adding a bias value to the input value and the processing DVP15MC11T result is output to Out. DVP15MC11T-06 ZO NE BiasN Ou t BiasP  Parameters...
Page 240 Chapter 8 Logic Instructions  Function Explanation  The ZONE instruction adds the set bias value to the value of In and the processing result is output to Out. When the value of In is a negative value, BiasN is the bias value. When the value of In is a positive value, BiasP is the bias value.
Page 241 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Current value ZONE_In - 10 ZONE_BiasP DINT Out1 DINT  The program ZO NE ZONE_E N ZONE_B iN Bias N Ou t O ut1 ZONE_ In ZO NE _BiP Bias P...
Page 242: Data Type Conversion Instructions
Chapter 8 Logic Instructions Data Type Conversion Instructions Explanation Applicable model FB/FC BOOL_TO_*** instructions convert boolean data into the data of basic data DVP15MC11T types. “***” can be any basic data type. DVP15MC11T-06 BOO L_TO_* ** E NO  Parameters Parameter Meaning Input/ Output...
Page 243 DVP-15MC Series Motion Controller Operation Manual  The rule for the conversion from Boolean to Bit-String is shown in the following table. (The format of the bit-string value and the hexadecimal expression are to be confirmed.) Bit String Boolean BYTE...
Page 244 Chapter 8 Logic Instructions  BOOL to Time and Date  Relevant instructions: BO OL_ TO_ TI ME BO OL_ TO _DATE E NO E NO BO OL_TO_TOD BOO L_TO_DT E NO E NO  The rule that Boolean data are converted into Time or Date data is as the following table shows.
Page 245: Bit Strings_To_
DVP-15MC Series Motion Controller Operation Manual Explanation Applicable model FB/FC Bit strings_TO_*** instructions convert bit-string data into the data of basic DVP15MC11T data types. “***” can be any basic data type. DVP15MC11T-06 Bit S trings _TO _** * O ut ...
Page 246 Chapter 8 Logic Instructions  The rule that Bit-string data are converted into Boolean data is as the following table shows. Data type The value of In corresponds to the value of Out 16#00 FALSE BYTE BOOL 16#01~16#FF TRUE 16#0000 FALSE WORD BOOL...
Page 247 DVP-15MC Series Motion Controller Operation Manual See the following example that the Word data In is converted to the Byte data Out. The values of Bit0~Bit7 of In are copied and pasted to Bit0~Bit7 of Out. And the values of Bit8~Bit15 of In are not converted and have no impact on the conversion.
Page 248 Chapter 8 Logic Instructions the less-length data to corresponding bits of the greater-length data and setting the values of the remaining bits of the greater-length data to 0. The greater-length data is converted to the less-length data by revising the values of all bits of the less-length data into the values of the corresponding bits of the greater-length data and the values of the remaining bits of the greater-length data are not converted and have no impact on the conversion.
Page 249 DVP-15MC Series Motion Controller Operation Manual Data type The value of In corresponds to the value of Out 16#****_****_0000_0000~ UDINT 0~4294967295 16#****_****_FFFF_FFFF 16#0000_0000_0000_0000~ ULINT 0~18446744073709551645 16# FFFF_FFFF_FFFF_FFFF 16#****_****_****_**00~ 0~127 16#****_****_****_**7F SINT 16#****_****_****_**80~ -128~-1 16#****_****_****_**FF 16#****_****_****_0000~ 0~32767 16#****_****_****_7FFF 16#****_****_****_8000~ -32768~-1 16#****_****_****_FFFF...
Page 250 Chapter 8 Logic Instructions B YTE_TO_TIME B YTE_TO_DATE LWO RD_TO_ TOD LWO RD_TO_DT The rule for the conversion of Bit-string data into Time or Date data is the same as that for the conversion of the Bit-string data into unsigned integer data. ...
Page 251 DVP-15MC Series Motion Controller Operation Manual BY TE _TO _STRING WORD_TO_STRING Ou t O ut DWO RD_ TO _STRING LWO RD_TO_ STRI NG O ut O ut  The Bit-string data are converted into the String data as the following table shows.
Page 252 Chapter 8 Logic Instructions Explanation Applicable model FB/FC Integers_TO_*** instructions convert integers into the data of basic data DVP15MC11T types. “***” can be any basic data type. DVP15MC11T-06 In tegers _TO_* ** O ut  Parameters Parameter Meaning Input/ Output Description Valid range name...
Page 253 DVP-15MC Series Motion Controller Operation Manual  The Integer data are converted into the Boolean data as the following table shows. If the Integer value is 0, the conversion result is FALSE. If not 0, the result is TRUE. For details on the conversion rule, see the table as follows.
Page 254 Chapter 8 Logic Instructions Data type The value of In corresponds to the value of Out WORD 16#****_0000~16#****_FFFF 16#0000~16#FFFF DWORD 16#0000_0000~16#FFFF_FFFF 16#0000_0000~16#FFFF_FFFF 16#0000_0000_0000_0000~ LWORD 16#0000_0000~16#FFFF_FFFF 16#0000_0000_FFFF_FFFF 16#****_****_****_**00~ BYTE 16#00~16#FF 16#****_****_****_**FF 16#****_****_****_0000~ WORD 16#0000~16#FFFF 16#****_****_****_FFFF ULINT 16#****_****_0000_0000~ DWORD 16#0000_0000~16#FFFF_FFFF 16#****_****_FFFF_FFFF 16#0000_0000_0000_0000~ 16#0000_0000_0000_0000~ LWORD 16#FFFF_FFFF_FFFF_FFFF...
Page 255 DVP-15MC Series Motion Controller Operation Manual The less-length data are converted to the greater-length data by writing the values of all bits of the less-length data to corresponding bits of the greater-length data and setting the values of the remaining bits of the greater-length data to 0.
Page 256 Chapter 8 Logic Instructions Data type The value of In corresponds to the value of Out 16# FFFF_FFFF_FFFF_FFFF 16#****_****_****_**00~ 0~127 16#****_****_****_**7F SINT 16#****_****_****_**80~ -128~-1 16#****_****_****_**FF 16#****_****_****_0000~ 0~32767 16#****_****_****_7FFF 16#****_****_****_8000~ -32768~-1 16#****_****_****_FFFF 16#****_****_0000_0000~ 0~2147483647 16#****_****_7FFF_FFFF DINT 16#****_****_8000_0000~ -2147483648~-1 16#****_****_FFFF_FFFF 16#0000_0000_0000_0000~ 0~9223372036854775807 16#7FFF_FFFF_FFFF_FFFF LINT 16#8000_0000_0000_0000~...
Page 257 DVP-15MC Series Motion Controller Operation Manual Data type The value of In corresponds to the value of Out 16#****_****_****_**00~ USINT 0~255 16#****_****_****_**FF 16#****_****_****_0000~ UINT 0~65535 16#****_****_****_FFFF 16#****_****_0000_0000~ UDINT 0~4294967295 16#****_****_FFFF_FFFF 16#0000_0000_0000_0000~ ULINT 0~18446744073709551645 16# FFFF_FFFF_FFFF_FFFF 16#****_****_****_**00~ 0~127 16#****_****_****_**7F SINT 16#****_****_****_**80~...
Page 258 Chapter 8 Logic Instructions  The Integer data are converted into the Real-number data as the following table shows. Data type The value of In corresponds to the value of Out REAL 0~255 0~2.55e+2 USINT LREAL 0~255 0~2.55e+2 REAL 0~65535 0~6.5535e+4 UINT LREAL...
Page 259 DVP-15MC Series Motion Controller Operation Manual Data type The value of In corresponds to the value of Out T#4s294ms967us295ns DATE 16#00000000~16#FFFFFFFF D#1970-1-1~D#2016-2-7 16#00000000~16#05265BFF 16#05265C00~16#0A4CB7FF TOD#0:0:0~ TOD#23:59:59.999 ……. 16#FC579C00~16#FFFFFFFF TOD#0:0:0~ TOD#17:2:47.295 DT#1970-1-1-0:0:0~ DT#2016- 16#00000000~16#FFFFFFFF 2-7-6:28:15 16#0000000000000000~ T#213503d23h34m33s709ms5 TIME 16# FFFFFFFFFFFFFFFF 51us615ns...
Page 260 Chapter 8 Logic Instructions Data type The value of In corresponds to the value of Out 16#********00000000~ DT#1970-1-1-0:0:0~ DT#2016- 16#********FFFFFFFF 2-7-6:28:15  Integer to String  The Integer data can be converted to the String data and some instructions are shown as below.
Page 261 DVP-15MC Series Motion Controller Operation Manual Explanation Applicable model FB/FC Real numbers_TO_*** instructions convert real numbers into the data of DVP15MC11T basic data types. “***” can be any basic data type. DVP15MC11T-06 Re al numbe rs _TO_* ** O ut ...
Page 262 Chapter 8 Logic Instructions  Real Number to Integer  Real numbers can be converted to integers. And some instructions are shown below. REAL_ TO _SINT REA L_TO _USI NT O ut O ut L RE AL_TO_L INT LREA L_TO_DINT O ut O ut ...
Page 263 DVP-15MC Series Motion Controller Operation Manual  Real Number to Real Number  Real numbers can be converted to real numbers. And some instructions are shown below. L RE AL_TO_RE AL REA L_TO _LREA L O ut O ut ...
Page 264: Times,Dates_To_
Chapter 8 Logic Instructions Explanation Applicable model FB/FC Times, dates_TO_*** instructions convert Time or date data into the data of DVP15MC11T basic data types. “***” can be any basic data type. DVP15MC11T-06 Time s dates _TO_* ** O ut  Parameters Parameter Meaning...
Page 265 DVP-15MC Series Motion Controller Operation Manual ms (millisecond).  Precautions for Correct Use The input variable is not allowed to omit. An error will occur during the compiling of the software if the input variable is omitted. But the output variable is allowed to omit.
Page 266: Strings_To_
Chapter 8 Logic Instructions Explanation Applicable model FB/FC Strings_TO_*** instructions convert String data into the data of basic data DVP15MC11T types. “***” can be any basic data type. DVP15MC11T-06 St ring_TO_* ** O ut  Parameters Parameter Meaning Input/ Output Description Valid range name...
Page 267 DVP-15MC Series Motion Controller Operation Manual  For the string-to-integer conversion, the string is required to be the integer value such as ’123’, ’- 123’ and ’+123’. The string like ’M123’ is not allowed to convert to the integer. The conversion examples are shown in the following table.
Page 268 Chapter 8 Logic Instructions  Strings can be converted to bit strings. And some instructions are shown below. STRING _TO _BYTE S TRING _TO _WORD O ut O ut S TRI NG _TO _DWORD STRING_TO_LWORD O ut O ut The rule for the string-to-bit string conversion is the same as that for the string-to integer conversion.
Page 269: Communication Instructions
DVP-15MC Series Motion Controller Operation Manual Communication Instructions 8.14.1.1 DMC_ReadParameter_CANopen Explanation Applicable model FB/FC DMC_ReadParameter_CANopen is used to read a parameter value of a DVP15MC11T slave. DVP15MC11T-06 DMC_ReadP arameter_CANopen_instanc e DMC_ReadParameter_CANopen Ax is Done Ex ecut e Busy Index Ac tive...
Page 270: Dmc_Readparameter_Canopen
Chapter 8 Logic Instructions  The index and subindex of the slave parameter to be read: The user-defined parameter is a servo drive parameter to be read. The data length is specified by users according to the data type of the read parameter. The data length of the byte parameter is 1, the data length of the word parameter is 2 and the data length of the double-word parameter is 4.
Page 271 DVP-15MC Series Motion Controller Operation Manual Parameter Name Timing for changing to TRUE Timing for changing to FALSE  When an error occurs in the  When Execute changes from instruction execution or the input Error TRUE to FALSE parameters for the instruction are illegal.
Page 272 Chapter 8 Logic Instructions Variable name Data type Current value FALSE WritePm_C_Act BOOL WritePm_C_Err BOOL FALSE WritePm_C_ErrID WORD FALSE ReadPm_C2 DMC_ReadParameter_CANopen ReadPm_C2_Done BOOL TRUE ReadPm_C2_Bsy BOOL FALSE ReadPm_C2_Act BOOL FALSE ReadPm_C2_Err BOOL FALSE FALSE ReadPm_C2_ErrID WORD ReadPm_C2_DaTy USINT ReadPm_C2_Dat UDINT 1000 ReadPm_C1 DMC_ReadParameter_CANopen...
Page 273 DVP-15MC Series Motion Controller Operation Manual Timing Chart  ReadPm _C1 ReadPm_C1_Ex ReadPm_C1_Done ReadPm_C1_ Bsy ReadPm_C1_Act ReadPm_C1_DaTy ReadPm_C1_Dat Wri teP m_C ReadPm_C1_Done WritePm_C_Done WritePm_C_Bsy WritePm_C_Act ReadPm _C2 WritePm_C_Don e ReadPm_C2_Don e ReadPm_C2_Bsy ReadPm_C2_Act ReadPm_C2_DaTy ReadPm_C2_Dat  The first DMC_ReadParameter_CANopen starts being executed as ReadPm_C1_Ex changes from FALSE to TRUE.
Page 274: Dmc_Writeparameter_Canopen
Chapter 8 Logic Instructions 8.14.1.2 DMC_WriteParameter_CANopen Explanation Applicable model FB/FC DMC_WriteParameter_CANopen is used to set a parameter value of a DVP15MC11T slave. DVP15MC11T-06 DMC_WriteParameter_CANopen_ins tanc e DMC_WriteParameter_CANopen Ax is Done Ex ecut e Busy Index Ac tive SubIndex Error DataTy pe ErrorI D Data ...
Page 275 DVP-15MC Series Motion Controller Operation Manual Parameter Name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from  When the writing of the Done TRUE to FALSE after the parameter content is completed instruction execution is completed ...
Page 276 Chapter 8 Logic Instructions Variable name Data type Initial value FALSE ReadPm_C1_Err BOOL ReadPm_C1_ErrID WORD FALSE ReadPm_C1_DaTy USINT ReadPm_C1_Dat UDINT 5000 WritePm_C DMC_WriteParameter_CANopen WritePm_C_Done BOOL TRUE WritePm_C_Bsy BOOL FALSE WritePm_C_Act BOOL FALSE FALSE WritePm_C_Err BOOL FALSE WritePm_C_ErrID WORD ReadPm_C2 DMC_ReadParameter_CANopen ReadPm_C2_Done BOOL TRUE...
Page 277 DVP-15MC Series Motion Controller Operation Manual ReadPm _C1 ReadPm_C1_Ex ReadPm_C1_Done ReadPm_C1_ Bsy ReadPm_C1_Act ReadPm_C1_DaTy ReadPm_C1_Dat Wri teP m_C ReadPm_C1_Done WritePm_C_Done WritePm_C_Bsy WritePm_C_Act ReadPm _C2 WritePm_C_Don e ReadPm_C2_Don e ReadPm_C2_Bsy ReadPm_C2_Act ReadPm_C2_DaTy ReadPm_C2_Dat  When ReadPm_C1_Ex changes from FALSE to TRUE, the first DMC_ReadParameter_CANopen starts being executed.
Page 278: Eth_Link_Config
Chapter 8 Logic Instructions 8.14.2.1 ETH_Link_Config FB/FC Explanation Applicable model ETH_Link_Config is used for configuring parameters for MODBUS TCP DVP15MC11T data exchange at the LAN2 port of the motion controller. DVP15MC11T-06 E T H_Link_Config_instance E TH_Link_Config Execute Done LinkNum Error EnableLink ErrorID SlaveIP _segment1...
Page 279 DVP-15MC Series Motion Controller Operation Manual Valid range Parameter name Function Data type Validation timing (Default) When Execute 0~255 Set the third segment of SlaveIP_segment3 USINT changes from （0） the target IP address FALSE to TRUE When Execute 0~255 Set the fourth segment of...
Page 280 Chapter 8 Logic Instructions Valid range Parameter name Function Data type Validation timing (Default) register of the master changes from where data received are FALSE to TRUE %QW0~%QW63 stored. Set the offset of the starting register of the master receiving data. The setting value 1 When Execute means the offset is 1 word...
Page 281 DVP-15MC Series Motion Controller Operation Manual When you read the bit registers of the slave, the value of Read_FunCode must be set to 01 or 02. You can choose the right function code according to the type of the Bit register through referring to corresponding module manual.
Page 282 Chapter 8 Logic Instructions When word registers in the slave are read and written, the %MW registers of local device can be chosen as the registers for storing the read and written data. The storage registers range from %MW0~%MW32767. If registers exceed the range or other register is used, an error will occur in the instruction.
Page 283 DVP-15MC Series Motion Controller Operation Manual 8.14.2.2 ETH_Link_Manage FB/FC Explanation Applicable model ETH_Link_Manage is used to enable and disable the MODBUS TCP DVP15MC11T data exchange. DVP15MC11T-06 E TH_Link_Manage_instance ET H_Link_M anage Enable Valid Open LinkOpened PhysicalLinkError  Input Parameters Parameter...
Page 284 Chapter 8 Logic Instructions Output Update Timing Chart  Cas e2 Cas e3 Ca se4 Ca se5 Cas e1 E nable Ope n Va lid L in kO pened P hys ica lL in kE rro r Case 1 When Enable changes from FALSE to TRUE, Valid changes to TRUE. When Open changes from FALSE to TRUE, LinkOpened changes to TRUE.
Page 285 DVP-15MC Series Motion Controller Operation Manual 8.14.2.3 ETH_Link_Status FB/FC Explanation Applicable model ETH_Link_Status is used to watch if an error occurs in the MODBUS DVP15MC11T TCP link which the number corresponds to or if the slave replies with DVP15MC11T-06 error codes.
Page 286 Chapter 8 Logic Instructions Parameter Timing for changing to TRUE Timing for changing to FALSE Name  When the MODBUS TCP data exchange is restored to normal.  When Enable changes from TRUE to  When an error occurs in the instruction FALSE.
Page 287 DVP-15MC Series Motion Controller Operation Manual Error code Description How to deal with 1. Check if the Ethernet connection is normal. 2. Increase the timeout period by MODBUS TCP message response timeout modifying the value of Timeout parameter of ETH_Link_Config instruction.
Page 288: Eth_Link_Manage
Chapter 8 Logic Instructions Variable name Address Data type Initial value Config0_RBF_ADD %MW100 UINT Config0_RBF_OFF USINT Config0_RDES_ADD UINT 16#1064 Config0_RLTH UINT Config0_R_Code USINT Config0_T UINT 1000 Config0_Done BOOL Config0_Err BOOL Config0_ErrID WORD ETH_Link_Manage0 ETH_Link_Manage MA_En BOOL MA_Open BOOL MA_Valid BOOL MA_LinkOpen BOOL MA_PhyErr...
Page 289 DVP-15MC Series Motion Controller Operation Manual ET H_Link_Config0 ET H_Link_Config Config0_Ex Execute Done Config0_Done LinkNum Error Config0_Err Config0_En Config0_ErrID EnableLink ErrorID Config0_S IP1 SlaveIP_segment1 Config0_S IP2 SlaveIP_segment2 Config0_S IP3 SlaveIP_segment3 Config0_S IP4 SlaveIP_segment4 Config0_S NodeID SlaveNodeID Config0_OT ObjType Config0 En_F unCode17...
Page 290 Chapter 8 Logic Instructions %MW registers in the motion D registers in DVP12SE controller %MW18 %MW19 %MW110 D100 %MW111 D101 %MW112 D102 …… …… %MW118 D108 %MW119 D109  Programming Example 2  Example of reading and writing bit registers in the slave ...
Page 291 DVP-15MC Series Motion Controller Operation Manual Variable name Address Data type Initial value Config1_Done BOOL Config1_Err BOOL Config1_ErrID WORD ETH_Link_Manage1 ETH_Link_Manage MA1_En BOOL MA1_Open BOOL MA1_Valid BOOL MA1_LinkOpen BOOL MA1_PhyErr BOOL ETH_Link_Status1 ETH_Link_Status STA1_En BOOL STA1_ Valid BOOL STA1_ETH_Err BOOL...
Page 292 Chapter 8 Logic Instructions ET H_Link_Config1 ET H_Link_Config Config1_Ex Execute Done Config1_Done LinkNum Error Config1_Err Config1_En Config1_ErrID EnableLink ErrorID Config1_S IP1 SlaveIP_segment1 Config1_S IP2 SlaveIP_segment2 Config1_S IP3 SlaveIP_segment3 Config1_S IP4 SlaveIP_segment4 Config1_S NodeID SlaveNodeID Config1_OT ObjType Config1 En_F unCode17 En_FunCode17 Config1_WB f_Add Write_Buffer_Address Config1_W Bf_Off...
Page 293 DVP-15MC Series Motion Controller Operation Manual Via the ETH_Link_Status instruction, current communication status can be watched. The corresponding relationships between the motion controller and DVP12SE are shown in the following table. Devices in the motion controller Bit devices Y in DVP12SE %MX0.0...
Page 294: Eth_Link_Config_Ext
Chapter 8 Logic Instructions 8.14.2.5 ETH_Link_Config_Ext FB/FC Explanation Applicable model ETH_Link_Config_Ext is used to configure the cycle time and link DVP15MC11T duration for MODBUS TCP data exchange. DVP15MC11T-06 E T H_Link_Config_Ext_instance E T H_Link_Config_Ext Execute Done CycleTime LinkKeeptime  Input Parameters Valid range Parameter name Function...
Page 295 DVP-15MC Series Motion Controller Operation Manual 30s by default. 2. The parameter value which is modified during the instruction execution will not be written. The new parameter value of the instruction will be written only after Execute of the instruction is retriggered.
Page 296: Eth_ Setserverlinkkeeptime
Chapter 8 Logic Instructions 8.14.2.6 ETH_ SetServerlinkkeeptime FB/FC Explanation Applicable model ETH_ SetServerlinkkeeptime is used to set the link duration as the DVP15MC11T controller serves as the MODBUS TCP slave. DVP15MC11T-06 ET H_SetServerlinkkeeptime_instance ET H_SetServerlinkkeeptime Execute Done ServerLinkKeeptime  Input Parameters Valid range Parameter name Function...
Page 297: Eth_Socket_Manage
DVP-15MC Series Motion Controller Operation Manual 8.14.2.7 ETH_Socket_Manage FB/FC Explanation Applicable model ETH_Socket_Manage is used for managing Socket TCP/UDP. DVP15MC11T DVP15MC11T-06 E TH_Socket_Manage_instance E TH_Socket_Manage Enable Valid EnableSocket SocketReady PhysicalLinkError  Input Parameters Valid range Parameter name Function Data type...
Page 298 Chapter 8 Logic Instructions  Output Update Timing Chart Case2 Case3 Ca se4 Ca se5 Ca se1 E nable Ena ble Socket Va lid S ocketRea dy P hysica lL in kE rro r Case 1 When Enable changes from FALSE to TRUE, Valid changes to TRUE. When EnableSocket changes from FALSE to TRUE, SocketReady changes to TRUE.
Page 299: Eth_Socket_Config
DVP-15MC Series Motion Controller Operation Manual 8.14.2.8 ETH_Socket_Config FB/FC Explanation Applicable model ETH_Socket_Config is used for configuring Socket parameters. DVP15MC11T DVP15MC11T-06 E TH_Socket_Config_instance ET H_Socket_Config Execute Done SocketNum Busy Protocol_Type Error RemoteIP _segment1 ErrorID RemoteIP_segment2 RemoteIP_segment3 RemoteIP_segment4 Remote_port Local_port LinkKeeptime ...
Page 300 Chapter 8 Logic Instructions Valid range Parameter name Function Data type Validation timing (Default) FALSE to TRUE. When Execute Set the period of time for 65535 LinkKeeptime UINT changes from （0） the connection（s）. FALSE to TRUE. Note: 1. The input parameters RemoteIP_segment1, RemoteIP_segment2,...
Page 301 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Chart Cas e1 Cas e2 E xec ute Done Bu sy E rror E rrorI D Case 1 When Execute changes from FALSE to TRUE, Busy changes to TRUE and the parameter writing succeeds.
Page 302: Eth_Socket_Open
Chapter 8 Logic Instructions 8.14.2.9 ETH_Socket_Open FB/FC Explanation Applicable model ETH_Socket_Open is used for enabling Socket TCP/UDP protocol. DVP15MC11T DVP15MC11T-06 ET H_Socket_Open_instance E T H_Socket_Open Execute Done SocketNum Busy OpenMode Error ErrorID  Input Parameters Valid range Parameter name Function Data type Validation timing (Default)
Page 303 DVP-15MC Series Motion Controller Operation Manual Parameter Timing for changing to TRUE Timing for changing to FALSE Name  TRUE when the instruction  When Execute changes from TRUE Done execution is completed. to FALSE.  When  When Done changes from FALSE to...
Page 304: Eth_Socket_Send
Chapter 8 Logic Instructions 8.14.2.10 ETH_Socket_Send FB/FC Explanation Applicable model ETH_Socket_Send is used for sending Socket data. DVP15MC11T DVP15MC11T-06 ET H_Socket_Send_instance ET H_Socket_Send Execute Done Abort Sent SocketNum Sending CyclicRun Busy CycleTime Active Send_Buffer_Address Aborted Send_Length Error ErrorID  Input Parameters Valid range Parameter name Function...
Page 305 DVP-15MC Series Motion Controller Operation Manual  Output Parameters Parameter name Function Data type Valid range TRUE when the one-time Socket data sending is Done BOOL TRUE/FALSE completed in non-cyclic sending mode. Sent TRUE when Socket data sending is completed.
Page 306 Chapter 8 Logic Instructions  Output Update Timing Chart Cas e2 Cas e3 Cas e4 Cas e1 Ex ec ute A bort Cy c lic Run Done Bus y Ac tiv e Aborte d Error E rro rID Case 1 When Execute changes from FALSE to TRUE, Busy and Active change to TRUE if you choose the mode to send only one piece of data.
Page 307 DVP-15MC Series Motion Controller Operation Manual execution, the new input parameter value will not be effective. You have to use the input parameter Abort to abort the instruction first, then re-execute the instruction and then the new input parameter value will take effect.
Page 308: Eth_Socket_Receive
Chapter 8 Logic Instructions 8.14.2.11 ETH_Socket_Receive FB/FC Explanation Applicable model DVP15MC11T ETH_Socket_Receive is used for receiving Socket data. DVP15MC11T-06 E T H_Socket_Receive_instance E TH _Socket_Receive Execute Done Abort Received SocketNum Receiving ReceiveMode Received_Length DataSaveMode Busy Receive_Buffer_Address Active Receive_Length Aborted Error ErrorID ...
Page 309 DVP-15MC Series Motion Controller Operation Manual Note: The input parameter Receive_Buffer_Address represents the first register address where the data the controller receives are stored, and the parameter Receive_Length is the length of the data received by the controller. The two input values must be set.
Page 310 Chapter 8 Logic Instructions Parameter Timing for changing to TRUE Timing for changing to FALSE Name  When Error changes from FALSE to TRUE.  When the instruction execution is  When Execute changes from TRUE Aborted aborted. to FALSE. ...
Page 311 DVP-15MC Series Motion Controller Operation Manual  Function ETH_Socket_Receive is used for receiving Socket data. The firmware of V1.02 and above supports the function. 1. When the value of ReceiveMode is set to 0, the controller can constantly receive Socket data. When the value of DataSaveMode is set to 0, the instruction has the received data stored in the registers starting from the start register specified by Receive_Buffer_Address in the mode of splicing.
Page 312: Eth_Socket_Close
Chapter 8 Logic Instructions 8.14.2.12 ETH_Socket_Close FB/FC Explanation Applicable model DVP15MC11T ETH_Socket_Close is used for disabling Socket. DVP15MC11T-06 ET H_Socket_Close_instance E T H_Socket_Close Execute Done SocketNum Busy Error ErrorID  Input Parameters Valid range Parameter name Function Data type Validation timing (Default) The instruction is TRUE or FALSE...
Page 313 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Case 1 Case 2 E xecute Done Busy Error ErrorID Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE and parameter values writing succeeds. One cycle later, Done changes to TRUE and meanwhile Busy changes to FALSE.
Page 314: Eth_Socket_Status
Chapter 8 Logic Instructions 8.14.2.13 ETH_Socket_Status FB/FC Explanation Applicable model ETH_Socket_Status is used for reading current state of the specified DVP15MC11T Socket. DVP15MC11T-06 E T H_Socket _Status _instance ET H_Socket_Status Enable Valid SocketNum Conected Received Closed Send Opening Receiving Closing Sending Error ErrorID...
Page 315 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Parameter Timing for changing to TRUE Timing for changing to FALSE Name  When Enable changes from FALSE to  When Enable changes from TRUE to Valid TRUE. FALSE.  When Enable changes from TRUE to FALSE.
Page 316 Chapter 8 Logic Instructions  Output Update Timing Case 1 Case 2 Enable Valid Error E rrorID Case 1：When Enable changes from FALSE to TRUE, Valid changes to TRUE. When Enable changes from TRUE to FALSE, Valid changes to FALSE. Case 2：When Enable changes from FALSE to TRUE, Valid changes to TRUE.
Page 317: Ehternet Free Protocol Example
DVP-15MC Series Motion Controller Operation Manual 8.14.2.14 Ehternet Free Protocol Example  Programming Example  Example of how to use ETH_Socket_Config instruction:  Variable table and the program Variable name Address Data type Initial value TEST_BEGIN BOOL ETH_Socket_Manage0 ETH_Socket_Manage M_En...
Page 318 Chapter 8 Logic Instructions Variable name Address Data type Initial value S_BFA %MB200 USINT S_LTH UINT S_Done BOOL S_Sent BOOL S_Sending BOOL S_Bsy BOOL S_Act BOOL S_Abt BOOL S_Err BOOL S_ErrID WORD ETH_Socket_Receive0 ETH_Socket_Receive R_Ex BOOL R_Abort BOOL R_Mode USINT R_SMode USINT R_BFA...
Page 319 DVP-15MC Series Motion Controller Operation Manual Variable name Address Data type Initial value STA_Send BOOL STA_OING BOOL STA_RING BOOL STA_CING BOOL STA_SING BOOL STA_Err BOOL STA_ErrID WORD ET H_Socket_Manage0 ET H_Socket_Manage M_En Enable Valid M_Valid M_SE N M_SR EnableSocket SocketReady...
Page 320 Chapter 8 Logic Instructions ET H_Socket_Receive0 ET H_Socket_Receive Execute Done R_Ex R_Done R_Abort Abort Received R_REC D R_RING SocketNum Receiving R_Mode ReceiveMode Received_Length R_RLT H DataSaveMode Busy R_Bsy R_SMode R_BFA Receive_Buffer_Address Active R_Act R LTH R_Abt Receive_Length Aborted Error R_ rr ErrorID R_ rrID ET H_Socket_Close0...
Page 321 DVP-15MC Series Motion Controller Operation Manual 4. After the controller builds the link to the target successfully, the output Connected of ETH_Socket_Status changes to TRUE. Then execute ETH_Socket_Send by setting S_Ex to TRUE. The controller will cyclically send 17 bytes of data in the registers starting from %MB200 to the target host.
Page 322: Rs485_Link_Manage
Chapter 8 Logic Instructions 8.14.3.1 RS485_Link_Manage FB/FC Explanation Applicable model RS485_Link_Manage is used for switching on or off RS485 DVP15MC11T communication. DVP15MC11T-06 R S485_Link_Manage_instance RS485_Link_Manage Enable Valid Open LinkOpened  Input Parameters Valid range Validation Parameter name Function Data type (Default) timing The instruction is executed when...
Page 323 DVP-15MC Series Motion Controller Operation Manual changes to TRUE as Open changes from FALSE to TRUE. When Enable changes from TRUE to FALSE, Valid and LinkOpened change to FALSE. Case 3： As Open is TRUE and Enable changes from FALSE to TRUE, Valid and LinkOpened change to TRUE.
Page 324: Rs485_Link_Config
Chapter 8 Logic Instructions 8.14.3.2 RS485_Link_Config FB/FC Explanation Applicable model RS485_Link_Config is used for configuration of 485 communication DVP15MC11T parameters of the motion controller. DVP15MC11T-06 RS485_Link_Config_instance R S485_Link_Config Execute Done LinkNum Error EnableLink ErrorID Noncyclic SlaveNodeID ObjType En_F unCode17 Write_B uffer_Address Write_Buffer_Address_Offset Write_Destination_Address Write_Length...
Page 325 DVP-15MC Series Motion Controller Operation Manual Parameter Valid range Function Data type Validation timing name (Default) ddress_Offset register of the master sending changes from （0） data. FALSE to TRUE The setting value 1 means the offset is 1 word if data are written to the word address of the slave.
Page 326 Chapter 8 Logic Instructions Parameter Name Timing for changing to TRUE Timing for changing to FALSE  When the configuration of  When Execute changes from TRUE to parameters is correct and Done Execute changes from FALSE FALE. to TRUE. ...
Page 327 DVP-15MC Series Motion Controller Operation Manual If you choose to read and write the bit register of the slave, the %MW and %QW registers of the local device can be regarded as the storage registers for reading and writing data. The ranges of the storage register are %MW0~%MW32767 and %QW0~%QW63.
Page 328: Rs485_Link_Status
Chapter 8 Logic Instructions 8.14.3.3 RS485_Link_Status FB/FC Explanation Applicable model RS485_Link_Status is used to watch if an error occurs in the 485 link DVP15MC11T which the number corresponds to or if the slave replies with error codes. DVP15MC11T-06 RS485_Link_Status_instance R S485_Link_Status Enable Valid LinkNum...
Page 329 DVP-15MC Series Motion Controller Operation Manual Parameter Name Timing for changing to TRUE Timing for changing to FALSE  When Enable changes from FALSE  When Enable changes from TRUE to Valid to TRUE. FALSE  The communication is restored to normal.
Page 330 Chapter 8 Logic Instructions  Precaution The state of RS485_Link_Error will not be refreshed and will be invalid when Enable is TRUE and Error is TRUE. The input value of LinkNum can be a number or variable. 8-243...
Page 331: Rs485 Data Exchange Example
DVP-15MC Series Motion Controller Operation Manual 8.14.3.4 RS485 Data Exchange Example  Programming Example  The node address of the slave DVP32ES2 is 1. The values in 10 word registers %MW100~%MW109 of the master are written to D0~D9 in the slave. Then the values in 20 word registers D100~D119of the slave are read and stored in %MW0~%MW19 in the master as shown in the following variable table 1.
Page 332 Chapter 8 Logic Instructions Variable name Address Data type Initial value WORD LStatus_ErrID After these parameter settings are done, set Confg _Ex to TRUE and then Mng_Open to TRUE. If the configuration need be modified during the communication, the input Confg_Ex should be triggered on the rising edge, Mng_Open should be set to FALSE and then to TRUE after the new configuration data are set up.
Page 333 DVP-15MC Series Motion Controller Operation Manual Name Address Data type Initial value UINT LStatus_LN LStatus_Valid LStatus_RLE LStatus_RLEID LStatus_Err LStatus_ErrID  Program Confg RS485_Link_Config Confg_Ex Execute Done Confg_Done Confg_LN LinkNum Error Confg_Err Confg_E L Confg_ErrID EnableLink ErrorID Confg_Ncyc Noncyclic Confg_SN I...
Page 334: Rs485_Rs
Chapter 8 Logic Instructions 8.14.3.5 RS485_RS FB/FC Explanation Applicable model RS485_RS is used to configure RS485 free protocol communication DVP15MC11T parameters for the motion controller. DVP15MC11T-06 RS485_R S_instance RS485_R S Execute Done Abort Busy CyclicRun Active Send_Buffer_Address Aborted Send_Length NewCycle Receive_Buffer_Address Received Receive_Length...
Page 335 DVP-15MC Series Motion Controller Operation Manual Valid range Parameter name Function Data type Validation timing (Default) When Execute 0-16#7F Set the start of changes from FALSE USINT messages. (16#3A) to TRUE When Execute Set the first end of 0-16#7F changes from FALSE...
Page 336 Chapter 8 Logic Instructions  Output Update Timing Parameter Name Timing for changing to TRUE Timing for changing to FALSE  After Execute changes from  When Execute changes from TRUE to FALSE to TRUE and Busy Done changes to TURE in the one FALSE in the single cycle work state.
Page 337 DVP-15MC Series Motion Controller Operation Manual Output Update Timing Chart  Case1 Case2 Case3 Case4 Case5 Case6 Execute Abort CyclicRun Done Aborted Active Busy NewCycle Received Received_Timeout Error ErrorID Case 1： In the one-single-cycle work state, Busy changes to TRUE when Execute changes from FALSE to TRUE.
Page 338 Chapter 8 Logic Instructions Ca se 8 Cas e 9 Cas e 7 E xec ut e A bort Cy clic Ru n Don e Abort ed Ac tiv e Bu sy NewCyc le Rec eiv ed Rec eive d_Timeou t Error E rrorID Case 6：...
Page 339 DVP-15MC Series Motion Controller Operation Manual When RS485_RS and RS_485_Link_Config exist together, When Execute of RS485_RS instruction changes from FALSE to TRUE, the 485Link function of the PLC will take effect. When Abort of RS485_RS instruction changes from FALSE to TRUE, the 485Link function which is being performed will take effect again.
Page 340: Rs485 Free Protocol Example
Chapter 8 Logic Instructions 8.14.3.6 RS485 Free Protocol Example  Programming Example 1  Enabling the function of the start and end of messages The free protocol is applied to send a standard Modbus message in ASCll mode with the starting address %MB4000 where sent data are stored and %MB5000 where received data are stored and receive the response data from the slave.
Page 341 DVP-15MC Series Motion Controller Operation Manual Message content: 01 10 15 00 00 01 02 00 08， The checksum CF is calculated first. Then the message is converted into ASCll code. Message content after conversion: 3A 30 31 31 30 31 35 30 30 30 30 30 31 30 32 30 30 30 38...
Page 342 Chapter 8 Logic Instructions  Program R S485_RS RS_Ex Execute Done R S_Done RS_Abor t Abort Busy R S_Bsy RS _CyRun R S_Act CyclicRun Active RS_S BA Send_Buffer _Address Abor ted R S_Abt RS_S L Send_Length NewCycle R S_NCyc RS _R BA Receive_Buffer_Address Received R S_Rec...
Page 343: Rs485_Setdelaytime
DVP-15MC Series Motion Controller Operation Manual 8.14.3.7 RS485_SetDelayTime FB/FC Explanation Applicable model RS485_SetDelayTime sets the response-delay time at the RS485 DVP15MC11T communication port of the controller. DVP15MC11T-06 RS485_Set De lay Time_Inst ance RS485_ SetDelayTime Ex ecut e Done DelayTime Error ErrorI D ...
Page 344 Chapter 8 Logic Instructions  Output Update Timing Chart Case 1 Case 2 Execute Done Er ror Er ror ID Case 1： When Execute changes from FALSE to TRUE, DONE changes from FALSE to TRUE. Case 2： When an error occurs as Execute changes from FALSE to TRUE, Error changes to TRUE and ErrorID shows corresponding error codes.
Page 345: Rs232_Link_Manage
DVP-15MC Series Motion Controller Operation Manual 8.14.4.1 RS232_Link_Manage FB/FC Explanation Applicable model RS232_Link_Manage is used for switching on or off RS232 DVP15MC11T communication. DVP15MC11T-06 R S232_Link_Manage_instance RS232_Link_Manage Enable Valid Open LinkOpened  Input Parameters Valid range Validation Parameter name Function...
Page 346 Chapter 8 Logic Instructions Case 1： When Enable changes from FALSE to TRUE, Open changes to FALSE, Valid changes to TRUE and LinkOpened changes to FALSE. Case 2： As Enable changes from FALSE to TRUE, Valid changes to TRUE. In this case, LinkOpened changes to TRUE as Open changes from FALSE to TRUE.
Page 347: Rs232_Link_Config
DVP-15MC Series Motion Controller Operation Manual 8.14.4.2 RS232_Link_Config FB/FC Explanation Applicable model RS232_Link_Config is used for configuration of RS232 communication DVP15MC11T parameters of the motion controller. DVP15MC11T-06 RS232_Link_Config_instance R S232_Link_Config Execute Done LinkNum Error EnableLink ErrorID Noncyclic SlaveNodeID ObjType En_F unCode17...
Page 348 Chapter 8 Logic Instructions Valid range Parameter name Function Data type Validation timing (Default) Set the offset of the starting register of the master sending data. The setting value 1 means the offset is 1 0~255 When Execute Write_Buffer_Address word if the word （0）...
Page 349 DVP-15MC Series Motion Controller Operation Manual Parameter Function Data type Valid range name TRUE When the configuration of Link parameters is BOOL Done TRUE / FALSE successful. TRUE when an error occurs in execution of the BOOL TRUE / FALSE Error instruction.
Page 350 Chapter 8 Logic Instructions For the register address of the slave, you can directly fill the MODBUS address and variable. For the offset in the word operation, the actual address is calculated by word. For the offset in the bit operation, the actual address is calculated by bit.
Page 351: Rs232_Link_Status
DVP-15MC Series Motion Controller Operation Manual 8.14.4.3 RS232_Link_Status FB/FC Explanation Applicable model RS232_Link_Status is used to watch if an error occurs in the 232 link DVP15MC11T which the number corresponds to or the slave replies with error codes. DVP15MC11T-06 RS232_Link_Status_instance...
Page 352 Chapter 8 Logic Instructions  Output Update Timing Parameter Name Timing for changing to TRUE Timing for changing to FALSE  When Enable changes from  When Enable changes from Valid FALSE to TRUE TRUE to FALSE.  The communication is restored to normal.
Page 353 DVP-15MC Series Motion Controller Operation Manual  Function RS232_Link_Status is used for watching the communication state of the corresponding link. The firmware of V1.01 and above supports the function.  Precaution The state of RS232_Link_Error will not be refreshed and will be invalid when Enable is TRUE and Error is TRUE.
Page 354: Rs232 Data Exchange Example
Chapter 8 Logic Instructions 8.14.4.4 RS232 Data Exchange Example  Programming Example  The node address of the slave DVP32ES2 is 1. The values in 10 word registers %MW100~%MW109 of the master are written to D0~D9 in the slave. Then the values in 20 word registers D100~D119 of the slave are read and stored in %MW0~%MW19 in the master as shown in the following variable table 1.
Page 355 DVP-15MC Series Motion Controller Operation Manual Name Address Data type Initial value LStatus_Err BOOL WORD LStatus_ErrID After these parameter settings are done, set Confg _Ex to TRUE and then Mng_Open to TRUE. If the configuration need be modified during the communication, the input Confg_Ex should be triggered on the rising edge, Mng_Open should be set to FALSE and then to TRUE after the new configuration data are set up.
Page 356 Chapter 8 Logic Instructions Name Address Data type Initial value UINT LStatus_LN LStatus_Valid LStatus_RLE LStatus_RLEID LStatus_Err LStatus_ErrID  Program Confg RS232_Link_Config Confg_Ex Execute Done Confg_Done Confg_LN LinkNum Error Confg_Err Confg_E L Confg_ErrID EnableLink ErrorID Confg_Ncyc Noncyclic Confg_SN I SlaveNodeID Confg_OT ObjType Confg_E FC17 En_FunCode17...
Page 357: Rs232_Rs
DVP-15MC Series Motion Controller Operation Manual 8.14.4.5 RS232_RS FB/FC Explanation Applicable model RS232_RS is used to configure RS232 free protocol communication DVP15MC11T parameters for the motion controller. DVP15MC11T-06 RS232_R S_instance RS232_R S Execute Done Abort Busy CyclicRun Active Send_Buffer_Address Aborted...
Page 358 Chapter 8 Logic Instructions Valid range Parameter name Function Data type Validation timing (Default) Set if the start and end codes are added or not in sent messages. When Execute TRUE or FALSE FALSE: Not add the changes from FALSE Add_STX_ETX BOOL （FALSE）...
Page 359 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Parameter Name Timing for changing to TRUE Timing for changing to FALSE  After Execute changes from  When Execute changes from TRUE to FALSE to TRUE and Busy Done changes to TURE in the one FALSE in the single cycle work state.
Page 360 Chapter 8 Logic Instructions Output Update Timing Chart  Case1 Case2 Case3 Case4 Case5 Case6 Execute Abort CyclicRun Done Aborted Active Busy NewCycle Received Received_Timeout Error ErrorID Case 1： In the one-single-cycle work state, Busy changes to TRUE when Execute changes from FALSE to TRUE.
Page 361 DVP-15MC Series Motion Controller Operation Manual Ca se 8 Cas e 9 Cas e 7 E xec ut e A bort Cy clic Ru n Don e Abort ed Ac tiv e Bu sy NewCyc le Rec eiv ed Rec eive d_Timeou t...
Page 362 Chapter 8 Logic Instructions When Execute of RS232_RS instruction changes from FALSE to TRUE, Enable of RS232_Link_Manage changes to TRUE, Open of the instruction can control the functions of 232 link and free protocol communication. If there are several RS232_RS instructions in the program, only one of them, which is triggered the last time will take effect.
Page 363: Rs232 Free Protocol Example
DVP-15MC Series Motion Controller Operation Manual 8.14.4.6 RS232 Free Protocol Example  Programming Example 1  Enabling the function of the start and end of messages The free protocol is applied to send a standard Modbus message in ASCll mode with the starting address %MB4000 where sent data are stored and %MB5000 where received data are stored and receive the response data from the slave.
Page 364 Chapter 8 Logic Instructions Message content: 01 10 15 00 00 01 02 00 08. The checksum CF is calculated first. Then the message is converted into ASCll code. Message content after conversion: 3A 30 31 31 30 31 35 30 30 30 30 30 31 30 32 30 30 30 38 43 46 0D 0A If the parameters of RS232_RS instruction are configured based on variable table 2, the data in %MB4000~%MB4022 are 3A 30 31 31 30 31 35 30 30 30 30 30 31 30 32 30 30 30 38 43 46 0D...
Page 365 DVP-15MC Series Motion Controller Operation Manual  Program R S232_RS RS_Ex Execute Done R S_Done RS_Abort Abort Busy R S_Bsy RS _CyRun R S_Act CyclicRun Active RS_S BA Send_Buffer_Address Aborted R S_Abt RS_S L Send_Length NewCycle R S_NCyc RS _R BA...
Page 366: Rs232_Setdelaytime
Chapter 8 Logic Instructions 8.14.4.7 RS232_SetDelayTime FB/FC Explanation Applicable model RS232_SetDelayTime sets the response-delay time at the RS485 DVP15MC11T communication port of the controller. DVP15MC11T-06 RS232_Set De layTime_Inst ance RS232_ SetDelayTime Done Execut e DelayTime Error ErrorI D  Input Parameters Valid range Validation Parameter name...
Page 367 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Chart Case 1 Case 2 Execute Done Er ror Er ror ID Case 1： When Execute changes from FALSE to TRUE, DONE changes from FALSE to TRUE. Case 2： When an error occurs as Execute changes from FALSE to TRUE, Error changes to TRUE and ErrorID shows corresponding error codes.
Page 368: String Processing Instructions
Chapter 8 Logic Instructions String Processing Instructions Applicable FB/FC Explanation model CONCAT joins two or more string variables or constants together to form a DVP15MC11T new string. DVP15MC11T-06 CO NCAT Ou t  Parameters Parameter Meaning Input/ Output Description Valid range name The joined parameter can be...
Page 369: Concat
DVP-15MC Series Motion Controller Operation Manual  Function Explanation The CONCAT instruction joins two or more strings to form a new string and the new string is output to Out. The parameters from In1 to InN are joined in order as shown in the following figure.
Page 370: Delete
Chapter 8 Logic Instructions Explanation Applicable model FB/FC DELETE deletes the specified-length string from the specified position from DVP15MC11T the string variable or constant. DVP15MC11T-06 DELE TE Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the String for deletion Input String for deletion...
Page 371 DVP-15MC Series Motion Controller Operation Manual  Function Explanation  The DELETE instruction deletes L characters starting from the position specified by P of the In string and the characters after deletion will be output to Out. The deletion way is illustrated as below.
Page 372 Chapter 8 Logic Instructions Explanation Applicable model FB/FC INSERT inserts a string to the specified position in the string variable or DVP15MC11T constant. DVP15MC11T-06 Ins ert Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the Original string Input Original string...
Page 373: Insert
DVP-15MC Series Motion Controller Operation Manual  Function Explanation  The INSERT instruction inserts the In2 string into the In1 string and the new string is output to Out. The insertion position is between the position specified by P and the position specified by P+1 of the characters in In1.
Page 374: Left / Right
Chapter 8 Logic Instructions Explanation Applicable model FB/FC LEFT/RIGHT extracts a specified-length string from the string variable or DVP15MC11T constant. DVP15MC11T-06 LEFT RIG HT Ou t Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the Original string Input Original string...
Page 375 DVP-15MC Series Motion Controller Operation Manual  Function Explanation  The LEFT/RIGHT instruction extracts a specified-length string from the string In and the extracted string is output to Out. The LEFT instruction extracts characters from the left of the string In and the RIGHT instruction extracts characters from the right of the string.
Page 376 Chapter 8 Logic Instructions Applicable Explanation FB/FC model MID extracts a specified-length string from the specified character position of DVP15MC11T a string variable or constant. DVP15MC11T-06 MI D Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the Original string Input...
Page 377: Mid
DVP-15MC Series Motion Controller Operation Manual  Function Explanation  The MID instruction extracts L characters starting from the number-P character of the In string. The extracted string is output to Out. The extraction way is illustrated as below. In =A BCDE FG H...
Page 378: Replace
Chapter 8 Logic Instructions Explanation Applicable model FB/FC The REPLACE instruction replaces the specified-length string starting from DVP15MC11T the specified position with another string. DVP15MC11T-06 REPLA CE Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the Original string Input Original string...
Page 379 But the output variable is allowed to omit.  Programming Example  The REPLACE_In1 string is ’AaBbCcDd’, the REPLACE_In2 string is ’DELTA’, REPLACE_L=2 and REPLACE_LP=3. When REPLACE_EN is TRUE, Out1 is ’AaDELTACcDd’.  The variable table and program...
Page 380: Len
Chapter 8 Logic Instructions Explanation Applicable model FB/FC DVP15MC11T LEN calculates the number of characters in a string. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the String Input String variable that the input parameter is connected to.
Page 381: Fi Nd
DVP-15MC Series Motion Controller Operation Manual Applicable Explanation FB/FC model DVP15MC11T FIND searches for the position of a specified string in another string. DVP15MC11T- FI ND Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type of the...
Page 382 Chapter 8 Logic Instructions  Precautions for Correct Use The input variables are not allowed to omit. An error will occur during the compiling of the software if the input variables are omitted. But the output variable is allowed to omit. ...
Page 383: Immediate Refresh Instructions
DVP-15MC Series Motion Controller Operation Manual Immediate Refresh Instructions FB/FC Explanation Applicable model The FROM instruction reads the values in CR registers of the left-side and DVP15MC11T righ-side extension modules. DVP15MC11T-06 FRO M in stan ce FROM St ationID Done...
Page 384 Chapter 8 Logic Instructions  Output Parameters Parameter name Function Data type Valid range Done TRUE when the instruction execution is completed. BOOL TRUE / FALSE Busy TRUE when the instruction is being executed. BOOL TRUE / FALSE Active TRUE when the instruction is being executed. BOOL TRUE / FALSE Error...
Page 385: From
DVP-15MC Series Motion Controller Operation Manual extension analog module at the right side. The Station ID range of left-side modules is 100~107. 100 represents the first extension module at the left side and 107 means the eight extension module at the left side.
Page 386 Chapter 8 Logic Instructions Variable name Data type Current value FRM1_Act BOOL FRM1_Err BOOL FRM1_ErrID WORD FRM1 FROM FRM1_ID St ationID Done FRM1_Done FRM1_Ex FRM1_B sy E xecute Busy FRM1_CR FRM1_A ct Active FRM1_Num Error FRM1_E rr FRM1_DP[1] DesPt r ErrorID FRM1_E rrID DVP-04AD is connected to the right side of the motion controller.
Page 387 DVP-15MC Series Motion Controller Operation Manual FB/FC Explanation Applicable model The TO instruction writes data to the specified CR registers of the left-side DVP15MC11T module and right-side module. DVP15MC11T-06 TO instance St ationID Done Execute Busy Active Nu m Error...
Page 388 Chapter 8 Logic Instructions  Output Parameters Parameter name Function Data type Valid range Done TRUE when the instruction execution is completed. BOOL TRUE / FALSE Busy TRUE when the instruction is being executed. BOOL TRUE / FALSE Active TRUE when the instruction is being executed. BOOL TRUE / FALSE Error...
Page 389 DVP-15MC Series Motion Controller Operation Manual of the array. Then multiple values will be written to multiple CR registers by writing the N element value to the first CR, the N+1 element value to the second CR and so on after execution of the instruction.
Page 390 Chapter 8 Logic Instructions Variable name Data type Current value TO2_Act BOOL TO2_Err BOOL TO2_ErrID WORD TO2_ID St ationID Done TO2_Done TO2_Bsy TO2_Ex Execute Busy TO2_CR TO2_Act Active TO2_Num TO2_Err Error TO2 _DP[ 1] DesPt r ErrorID TO2_ErrID DVP-04AD is connected to the right side of the motion controller. When TO2_Ex changes from FALSE to TRUE, TO2_Bsy and TO2_Act change to TRUE simultaneously and the TO instruction execution starts.
Page 391: Immediateinput
DVP-15MC Series Motion Controller Operation Manual FB/FC Explanation Applicable model DVP15MC11T ImmediateInput is used for the immediate refresh of input points. DVP15MC11T-06 ImmediateInput E NO In put  Parameters Input/ Parameter name Meaning Description Valid range Output Input Start input point...
Page 392 Chapter 8 Logic Instructions  Programming Example  The variable table and program Variable name Data type Current value ImdInput_EN BOOL FALSE ImdInput_Input ImdInput_NM USINT ImdInput_ENO BOOL ImmediateInput ImdInput_E N E NO ImdInput_ENO ImdInput_Input Input ImdInput_NM  Program explanation When the input variable ImdInput_EN is TRUE, the external hardware input points status will be refreshed to %IX0.2 and %IX0.3.
Page 393: Immediateoutput
DVP-15MC Series Motion Controller Operation Manual FB/FC Explanation Applicable model DVP15MC11T ImmediateOutput is used for the immediate refresh of output points. DVP15MC11T-06 Immediat eOutput E NO O utput  Parameters Input/ Parameter name Meaning Description Valid range Output Start output...
Page 394 Chapter 8 Logic Instructions  The variable table and program Variable name Data type Current value ImdOput_EN BOOL FALSE ImdOput_Oput ImdOput_NM USINT ImdOput_ENO BOOL I mmediateOut put ImdOput_E N ImdOput_ENO ImdOpu t_Oput Output ImdOpu t_NM  Program Explanation When the input variable ImdOput_EN is TRUE, the status of %QX0.2 and %QX0.3 will be refreshed to the external hardware output point.
Page 395: Left_Manage
DVP-15MC Series Motion Controller Operation Manual FB/FC Explanation Applicable model DVP15MC11T The Left_Manage instruction is used to enable or disable the function of DVP15MC11T-06 the left-side module device mapping. Left_Manage _ins tanc e Lef t_Manage Va lid Enable O pen Left Opened ...
Page 396 Chapter 8 Logic Instructions  Output Update Timing Chart Case 1 Case 2 Case 3 Enable Open Valid LinkOpened Case 1： When Enable changes from FALSE to TRUE and Open is FALSE, Valid changes to TRUE and LinkOpened is FALSE. Case 2：...
Page 397 DVP-15MC Series Motion Controller Operation Manual Mapping area Output mapping area Input mapping area Position %MW7750~%MW7877 %MW7500~%MW7627 %MW8250~%MW8377 %MW8000~%MW8127 %MW8750~%MW8877 %MW8500~%MW8627 %MW9250~%MW9377 %MW9000~%MW9127 %MW9750~%MW9877 %MW9500~%MW9627 When the device mapping function is enabled by the instruction, the corresponding CR registers of DVP04AD-SL and DVP04DA-SL modules are mapped to the input or output mapping area of the PLC.
Page 398 Chapter 8 Logic Instructions the device mapping relationship can be calculated orderly in the same way. Mapping device in the DA module CR name CR No. Channel 1 output value CR16 %MW6250 Channel 2 output value CR17 %MW6251 Channel 3 output value CR18 %MW6252 Channel 4 output value...
Page 399: Pid-Related Instructions
DVP-15MC Series Motion Controller Operation Manual PID-related Instructions FB/FC Explanation Applicable model DVP15MC11T The PID instruction is applicable for the PID operation. DVP15MC11T-06 PID_inst ance PID_RUN PI D_MODE PI D_MAN MOUT_A UTO CYCLE Kc _Kp Ti_Ki Td_Kd PI D_EQ PI D_DE...
Page 400: Pid
Chapter 8 Logic Instructions Parameter Input/ Meaning Description Valid range name Output Calculated proportional 0， Proportional Coefficient coefficient. If the P coefficient is Kc_Kp Input +1.175495e-38 ~ less than 0, the Kc_Kp will be 0. +3.402823e+38 0， +1.175495e-38 ~ If the calculated coefficient I is Integral coefficient Ti_Ki Input...
Page 401 DVP-15MC Series Motion Controller Operation Manual Real Bit string Integer Time, date number PID_RUN ● ● ● PID_MO ● PID_MAN ● MOUT_A ● ● CYCLE ● Kc_Kp ● Ti_Ki ● Td_Kd ● ● PID_EQ ● PID_DE ● PID_DIR ERR_DB ●...
Page 402 Chapter 8 Logic Instructions whether the scan time reaches the sampling time specified by CYCLE so as to output.  The present value (PV) of PID must be a steady value before PID operation is performed. If the input values of special modules are to be captured for PID operation, users should notice the A/D conversion time of modules.
Page 403 DVP-15MC Series Motion Controller Operation Manual  PID Block Diagram: PID Block Diagram (Independent) PID_D IR DEAD BAND REVERSE X(-1) ERR_DBW Kc_Kp PID-P >0 PID_MAN BIAS <=0 Kc_Kp MV_LIMIT Ti_Ki PID-I >0 MV_MAX, MV_MIN <=0 Ti_Ki MOUT_AUTO MOUT Td_Kd MOUT...
Page 404 Chapter 8 Logic Instructions PID Block Diagram (Dependent) PID_D IR PID-P DEAD BAND REVERSE X(-1) Kc_Kp Kc_Kp ERR_DBW >0 <=0 PID_MAN BIAS MV_LIMIT Ti_Ki PID-I >0 MV_MAX, M V_MIN <=0 Ti_Ki MOUT_AUTO MOUT MOUT Td_Kd PID_MAN PID-D >0 <=0 Td_Kd, Tf MOUT ...
Page 405 DVP-15MC Series Motion Controller Operation Manual Step 1: First, set the K and theK to 0. Next, set the KP to 5, 10, 20 and 40 successively, and record the target values and the process values. The results are shown in the diagram below.
Page 406 Chapter 8 Logic Instructions which is controlled for the first time, they can use the automatic tuning function to make an initial adjustment (PID_MODE is set to 1). After the tuning of the parameter is complete, PID_MODE is set to 0. The controlled environment in this sample is an oven. The program example is as below ...
Page 407 DVP-15MC Series Motion Controller Operation Manual The program a. POU1（Cyclic Task）： PID0 PI D D_RUN PI D_RUN D_MV D_SV D_PV D_MODE P ID_MO DE D_MAN PID_MA N MOUT_AUTO D_CYC CYCLE D_Kc K c_Kp D_Ki Ti_Ki D_Kd Td_Kd D_Tf P ID_EQ...
Page 408 Chapter 8 Logic Instructions Auto Tuning Area PID Control Area PID_MODE= 0 PI D_MODE=1 d. The experimental result of using the parameters which have been tuned to control the temperature is shown below. e. As the diagam above shows, after the parameters are tuned automatically, users can get a good temperature control result.
Page 409 DVP-15MC Series Motion Controller Operation Manual As the diagam above shows, when the target temperature changes from 80°C to 100°C, the parameters tuned previously still can be used to control the temperature. Besides, it does not take much time to control the temperature.
Page 410 Chapter 8 Logic Instructions FB/FC Explanation Applicable model DVP15MC11T The GPWM instruction is used in the pulse output. DVP15MC11T-06 GPWM instance GPWM Ena ble I n2  Parameters Parameter Input/ Meaning Description Valid range name Output The instruction execution starts when Enable Enable Input...
Page 411: Gpwm
DVP-15MC Series Motion Controller Operation Manual  Programming Example  The variable table and program Variable name Data type Initial value GPWM0 GPWM GPWM0_En BOOL FALSE GPWM0_In1 1000 GPWM0_In2 2000 GPWM0 GP WM GPWM0_En E nable %QX0. 0 GPWM0_In1 GPWM0_In2 ...
Page 412: Address Instruction
Chapter 8 Logic Instructions Address Instruction FB/FC Explanation Applicable model DVP15MC11T ADR is used to get the address of a variable. DVP15MC11T-06 Ou t  Parameters Parameter Input/ Meaning Description Valid range name Output Depends on the data type The variable of which the address is to be of the variable that the Input vlaue Input...
Page 413 DVP-15MC Series Motion Controller Operation Manual  The variable table and program Variable name Address Data type ADR_EN BOOL ADR_In %MW0 ADR1 POINTER TO INT OUT1 A DR_E N A DR E N O A DR_I N AD R1 AD D_E N...
Page 414: Network Diagnosis
Chapter 8 Logic Instructions Network Diagnosis 8.19.1.1 CANmotion_SysDiag FB/FC Explanation Applicable model CANmotion_SysDiag is used for the diagnosis of states of all slaves DVP15MC11T connected to Motion port. DVP15MC11T-06 CANmotion _SysDiag_instance CANmotion_S ysDiag Enable Done DiagType Error E rrorID Node ...
Page 415 DVP-15MC Series Motion Controller Operation Manual different meaning when the value of the input DiagType varies. When the value of the input DiagType is 1, the value of Node means whether axes are configured in the software. TRUE means that axes are configured in the software. FALSE means axes are not configured in the software.
Page 416: Canmotion_Nodediag (Motion Axis Diagnosis)
Chapter 8 Logic Instructions 8.19.1.2 CANmotion_NodeDiag FB/FC Explanation Applicable model CANmotion_NodeDiag is used for the diagnosis of the state of the DVP15MC11T specified axis connected to Motion port. DVP15MC11T-06 CANmotion_No deDiag_instanc e CANmot ion_NodeDiag Enab le Done Slav eNode Error ErrorI D InitDone P araError...
Page 417 DVP-15MC Series Motion Controller Operation Manual Name Timing for changing to TRUE Timing for changing to FALSE  When an error occurs in the instruction execution or the input  When the error is cleared. Error parameters for the instruction are illegal.
Page 418: Canopen_Sysdiag (Canopen System Diagnosis)
Chapter 8 Logic Instructions 8.19.2.1 CANopen_SysDiag FB/FC Explanation Applicable model CANopen_SysDiag is used for the diagnosis of the states of all slaves DVP15MC11T connected to CANopen port. DVP15MC11T-06 CANopen_SysDiag_instance CANopen_SysDiag Enable Done DiagType Error E rrorID Node  Input Parameters Valid range Parameter name Function...
Page 419 DVP-15MC Series Motion Controller Operation Manual different meaning when the value of the input DiagType varies. When the value of the input DiagType is 1, the value of Node means whether slaves are configured in the software. TRUE means that slaves are configured in the software. FALSE means slaves are not configured in the software.
Page 420: Canopen_Nodediag (Canopen Slave Diagnosis)
Chapter 8 Logic Instructions 8.19.2.2 CANopen_NodeDiag FB/FC Explanation Applicable model CANopen_NodeDiag is used for the diagnosis of the state of the specified DVP15MC11T slave connected to CANopen port. DVP15MC11T-06 CANopen_NodeDiag_ins tanc e CANopen_NodeDiag Enab le Done Slav eNode Error ErrorI D InitSuc ces s InitFailure DeviceNotRight...
Page 421 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When the instruction execution  When Error changes to TRUE. Done  When Enable changes to FALSE. succeeds.
Page 422: Canopen_State (Canopen Master Diagnosis)
Chapter 8 Logic Instructions 8.19.2.3 CANopen_State FB/FC Explanation Applicable model DVP15MC11T CANopen_State is used for the diagnosis of the state of CANopen port. DVP15MC11T-06 CANopen_State_inst ance CA Nopen_St ate Enab le Done Error ErrorI D O perat ional St opped PreOperational Bus Off Bus Error...
Page 423 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When the instruction execution  When Error changes to TRUE. Done  When Enable changes to FALSE. succeeds.
Page 424: Read And Write Offset Bit Value
Chapter 8 Logic Instructions Read and Write Offset Bit Value Explanation Applicable model FB/FC SetBitOffsetValue is used to set the value of the specific bit of the DVP15MC11T specified address to TRUE or FALSE. DVP15MC11T-06 SetBitOffsetValue E NO StartRegister Offset Value ...
Page 425 DVP-15MC Series Motion Controller Operation Manual  Function Explanation The SetBitOffsetValue instruction is used to set the value of the specific bit of the specified address to TRUE or FALSE. The StartRegister parameter is a Pointer-type variable. The Offset parameter specifies the offset value which regards the bit0 of the variable the StartRegister parameter points to as the reference.
Page 426: Getbitoffsetvalue
Chapter 8 Logic Instructions Explanation Applicable model FB/FC GetBitOffsetValue is used to read the value of the specific bit of the DVP15MC11T specified address and display it in the output parameter. DVP15MC11T-06 GetBitOffsetValue E NO StartRegister GetBitOffsetValue Offset  Parameters Parameter name Meaning Input/ Output...
Page 427 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use The StartRegister parameter of the GetBitOffsetValue instruction is a Pointer-type variable and needs to use the ADR instruction to gain the address.  Programming Example  The variable table and program...
Page 428: Fcs Instructions
Chapter 8 Logic Instructions FCS Instructions FB/FC Explanation Applicable model CRC16 instruction is used to calculate the CRC value of the DVP15MC11T specified data. DVP15MC11T-06 C RC16 Dat a CR C16 Length OutOrder  Input Parameters Parameter Input/ Meaning Description Valid range name Output...
Page 429: Crc
DVP-15MC Series Motion Controller Operation Manual Real Bit string Integer Time, date number ● Data ● Length ● OutOrder ● CRC16 Note: The symbol ● indicates that the parameter is allowed to connect to the variable or constant of the data type.
Page 430: Lrc
Chapter 8 Logic Instructions FB/FC Explanation Applicable model DVP15MC11T LRC instruction is used to find the LRC value of the specified data. DVP15MC11T-06 Data LR C Length  Input Parameters Parameter Input/ Meaning Description Valid range name Output The starting The starting address of the data for address of the ——...
Page 431 DVP-15MC Series Motion Controller Operation Manual  Precautions for Correct Use The input variables are not allowed to omit. An error will occur during the compiling of the software if any input variable is omitted.  Programming Example  The variable table and program...
Page 432 Chapter 8 Logic Instructions MEMO 8-345...
Page 433: Chapter 9 Introductions Of Axis Parameters
Chapter 9 Introductions of Axis Parameters Table of Contents Description of Axis Parameters ..........9-2...
Page 434: Description Of Axis Parameters
DVP-15MC Series Motion Controller Operation Manual Description of Axis Parameters Default Serial No Parameter Name Function Data Type Value Name Axis name STRING "Name" is a remark word only used for naming the servo drive without actual meaning. USINT Node ID CANopen node ID of an axis;...
Page 435 Chapter 9 Introduction of Axis Parameters Default Serial No Parameter Name Function Data Type Value The cycle used for equally dividing the LREAL Modulo actual position of the terminal actuator. Enables software limitation; If the item is not selected, the maximum/ minimum position of the axis which Software Limitation software limits is invalid.
Page 436 DVP-15MC Series Motion Controller Operation Manual Default Serial No Parameter Name Function Data Type Value Screw Cou p li ng Cou pl in g Se rvo mot or shaft Screw pa rt Ou tpu t 1 :2 In p ut...
Page 437 Motion Control Function Table of Contents 10.1 EN and ENO ................10-2 10.2 Relation among Velocity, Acceleration and Jerk ..... 10-3 10.3 Introduction of BufferMode ............ 10-6 10.4 The State Machine ..............10-32 10-1...
Page 438: And Eno
DVP-15MC Series Motion Controller Operation Manual DVP-15MC series motion controller is a motion controller which is developed in compliance with CANopen DSP402 motion control protocol and the motion control instructions defined as function blocks are needed for it. The motion control instructions for the MC module are based on the technical specifications of motion control function blocks in the PLCopen.
Page 439: Chapter 10 Motion Control Function
10.2 Relation among Velocity, Acceleration and Jerk DVP-15MC series motion controller adopts the method of the quadratic-curve acceleration and deceleration. By means of the method, the S-type velocity waveform which is generated can reduce the mechanical shock effectively. In addition, at least the velocity (v), acceleration (Acc) or deceleration (Dec) and change rate of the acceleration (Jerk) need be specified while the motion control instructions are used.
Page 440 DVP-15MC Series Motion Controller Operation Manual Velo ci ty (Uni t se co nd) 10 00 00 8 00 00 6 00 00 4 00 00 2 00 00 Ti me Se co nd Acce lera tion (Un it se co nd...
Page 441 Chapter 10 Motion Control Function Acceleration/ Jerk Velocity Stage Time Deceleration Motion type (second) (Unit/second (Unit/second) (Unit/second The deceleration Deceleration is increased motion with an 13~15 Decreasing -10000 to 20000unit/second increasing units/second deceleration Deceleration has been increased to The deceleration 20000units/second motion with a 15~18...
Page 442: Introduction Of Buffermode
DVP-15MC Series Motion Controller Operation Manual 10.3 Introduction of BufferMode For the same axis, another motion instruction can be started while one motion instruction is controlling the axis motion. There are 6 buffer modes for selection to switch from one motion instruction being executed to another motion instruction.
Page 443 Chapter 10 Motion Control Function execution of MC_MoveSuperimposed or MC_HaltSuperimposed.  Example: Using two MC_MoveRelative instructions for explanation. The maximum velocity of the first MC_MoveRelative instruction is V and distance is S . The maximum velocity of the second MC_MoveRelative instruction is V and distance is S .
Page 444 DVP-15MC Series Motion Controller Operation Manual T he buffer ed instruc tion is s tarted When c ur rent ins truction ex ec ution When current i ns truc tion ex ecution is c ompl eted, t he buffer ed i nstructio...
Page 445 Chapter 10 Motion Control Function T he buffered i nstruction starts to c ontrol the axi s The buffered when cur rent ins tr uction exec uti on is c ompleted and T he buffer ed ins truction starts to c ontr ol the axis ins tr uction the axi s vel ocity i s that of the pr evious i nstruction.
Page 446 DVP-15MC Series Motion Controller Operation Manual T he buffered i nstruction is s tarted T he buffer ed instruction s tarts to control th ax is w hen the moti on dir ections of buffere instruc ti on and curr ent instruc tion are...
Page 447 Chapter 10 Motion Control Function For example: The BufferMode of MC_MoveRelative supports mcAborting, mcBuffered, mcBlendingLow, mcBlendingPrevious, mcBlendingNext and mcBlendingHigh. The BufferMode of MC_MoveVelocity supports mcAborting and mcBuffered. Case 1： If MC_MoveRelative is the current instruction and MC_MoveVelocity is the buffered instruction. The BufferMode parameter of MC_MoveVelocity can select one of mcAborting, mcBuffered, mcBlendingLow, mcBlendingPrevious, mcBlendingNext and mcBlendingHigh.
Page 448 DVP-15MC Series Motion Controller Operation Manual Can it be followed Is it a buffered Completion output by a buffered Instruction name instruction? parameter of an instruction? (Yes or No) instruction (Yes or No) MC_Home Done MC_Stop Done MC_Halt Done MC_MoveAbsolute...
Page 449 Chapter 10 Motion Control Function Variable name Data type Initial value Rel2_Done BOOL Rel2_Bsy BOOL Rel2_Act BOOL Rel2_Abt BOOL Rel2_Err BOOL Rel2_ErrID WORD MC_Power Ax is 1 Axis S tatus P wr_Sta True Enable Busy Pwr_Bsy EnablePos itiv e Activ e Pwr_Act True True...
Page 450 DVP-15MC Series Motion Controller Operation Manual  Rel2_BM=mcAborting Vel ocity Time Pos ition 13500 4500 2000 Time Rel 1 Rel1_Ex Rel1_ Do ne Rel1_B sy Rel1_ Act Rel1_Abt Rel 2 Rel2_Ex Rel2_Don e Rel2_B sy Rel2 A ct  As Rel1_Ex changes from FALSE to TRUE, Rel1_Bsy changes to TRUE. One period later, Rel1_Act changes to TRUE and the first MC_MoveRelative instruction execution starts.
Page 451 Chapter 10 Motion Control Function  Rel2_BM =mcMcBuffered Vel ocity Time Pos ition 16000 7000 4500 2000 Time Rel 1 Rel1_Ex Rel1_ Do ne Rel1_B sy Rel1_ Act Rel1_Abt Rel 2 Rel2_Ex Rel2_Don e Rel2_B sy Rel2_A ct  As Rel1_Ex changes from FALSE to TRUE, Rel1_Bsy changes to TRUE. One period later, Rel1_Act changes to TRUE and the first MC_MoveRelative instruction execution starts.
Page 452 DVP-15MC Series Motion Controller Operation Manual  Rel2_BM =mcBlendingLow Vel ocity Time Pos ition 16000 7000 4500 2000 Time Rel 1 Rel1_Ex Rel1_ Do ne Rel1_B sy Rel1_ Act Rel1_Abt Rel 2 Rel2_Ex Rel2_Don e Rel2_B sy Rel2_A ct ...
Page 453 Chapter 10 Motion Control Function  Rel2_BM =mcBlending _Previous Vel ocity Time Pos ition 16000 7000 4500 2000 Time Rel 1 Rel1_Ex Rel1_ Do ne Rel1_B sy Rel1_ Act Rel1_Abt Rel 2 Rel2_Ex Rel2_Don e Rel2_B sy Rel2_A ct  As Rel1_Ex changes from FALSE to TRUE, Rel1_Bsy changes to TRUE.
Page 454 DVP-15MC Series Motion Controller Operation Manual  Rel2_BM =mcBlending _Next Vel ocity Time Pos ition 16000 7000 4500 2000 Time Rel 1 Rel1_Ex Rel1_ Do ne Rel1_B sy Rel1_ Act Rel1_Abt Rel 2 Rel2_Ex Rel2_Don e Rel2_B sy Rel2_A ct ...
Page 455 Chapter 10 Motion Control Function  Rel2_BM =mcBlending _High Vel ocity Time Pos ition 16000 7000 4500 2000 Time Rel 1 Rel1_Ex Rel1_ Do ne Rel1_B sy Rel1_ Act Rel1_Abt Rel 2 Rel2_Ex Rel2_Don e Rel2_B sy Rel2_A ct  As Rel1_Ex changes from FALSE to TRUE, Rel1_Bsy changes to TRUE.
Page 456 DVP-15MC Series Motion Controller Operation Manual  Example 2 The following example explains the axis states for different BufferMode values with a MC_MoveVelocity instruction and a MC_MoveReltave instruction which is the buffered instruction. The variable table and program Variable name...
Page 457 Chapter 10 Motion Control Function Pwr1 MC_P ower Axis1 Axis St atus Pwr_Sta Pwr_E n Enable Busy Pwr_Bsy A ctive Pwr_Act True EnablePositive True EnableNegat ive Error Pwr_Err Pwr_B M BufferMode ErrorID Pwr_ErrI D MC_MoveVelocity Axis1 Axis Invelocit y Vel_Invel Vel_E x Execute Busy...
Page 458 DVP-15MC Series Motion Controller Operation Manual  Rel_BM =mcAborting Veloci ty Rel _Vel Vel_Vel Time Position Rel_D ist Ti me Vel _Ex Vel_Inv el Vel_Bsy Vel_Act Vel _Abt Rel _Ex R el_Done Rel_Bsy Rel Act  As Vel_Ex changes from FALSE to TRUE, Vel_Bsy changes to TRUE. One period later, Vel_Act changes to TRUE.
Page 459 Chapter 10 Motion Control Function  Rel_BM =mcBuffered Veloci ty Rel _Vel Vel_Vel Time Position Rel_D ist Ti me Vel _Ex Vel_Inv el Vel_Bsy Vel_Act Vel _Abt Rel _Ex R el_Done Rel_Bsy Rel Act  As Vel_Ex changes from FALSE to TRUE, Vel_Bsy changes to TRUE. One period later, Vel_Act changes to TRUE.
Page 460 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value Pwr_ErrID WORD MC_MoveRelative Rel_Ex BOOL FALSE Rel_Dist LREAL 100000.0 Rel_Vel LREAL 10000.0 Rel_Acc LREAL 10000.0 Rel_Dec LREAL 10000.0 Rel_Jerk LREAL 10000.0 Rel_BM MC_Buffer_Mode Rel_Done BOOL Rel_Bsy BOOL Rel_Act...
Page 461 Chapter 10 Motion Control Function Pwr1 MC_P ower Axis1 Axis St atus Pwr_Sta Pwr_E n Enable Busy Pwr_Bsy A ctive Pwr_Act True EnablePositive True EnableNegat ive Error Pwr_Err Pwr_B M BufferMode ErrorID Pwr_ErrI D MC_MoveRelative Axis1 Axis Done Re l_Done Rel_E x Execute Busy...
Page 462 DVP-15MC Series Motion Controller Operation Manual  Vel _BM =mcAborting Veloc ity Vel_Vel Rel_Vel T ime Pos ition Time Re l_ Ex Rel_Done Rel_Bs y Rel_A ct Rel_Abt Ve l_ Ex Vel_I nv el Vel_Bs y Vel A ct ...
Page 463 Chapter 10 Motion Control Function  Vel _BM =mcBuffered Veloc ity Vel_Vel R el_Vel T ime Pos ition R el_Dis t Tim e Re l_ Ex Rel_Done Rel_Bs y Rel_A ct Rel_Abt Ve l_ Ex Vel_I nv el Vel_Bs y Vel_A ct ...
Page 464 DVP-15MC Series Motion Controller Operation Manual  Vel _BM =mcBlendingLow Veloci ty Vel_Vel Rel_Vel Time Position Rel_Dist Time Rel_Ex Rel_Done Rel_Bsy Rel_Act Rel_Abt Vel_Ex Vel_Inv el Vel_Bsy Vel _Act  As Rel_Ex changes from FALSE to TRUE, Rel_Bsy changes to TRUE. One period later, Rel_Act changes to TRUE.
Page 465 Chapter 10 Motion Control Function  Vel _BM =mcBlendingPrevious Veloc ity Vel_Vel Rel_Vel T ime Pos ition R el_Dis t Time Rel_Ex Rel_Done Rel_Bs y Rel_A ct Rel_Abt Ve l_ Ex Vel_I nv el Vel_Bs y Vel_A ct  As Rel_Ex changes from FALSE to TRUE, Rel_Bsy changes to TRUE. One period later, Rel_Act changes to TRUE.
Page 466 DVP-15MC Series Motion Controller Operation Manual  Vel _BM =mcBlendingNext Veloc ity Vel_Vel Rel_Vel T ime Pos ition R el_Dis t Time Rel_Ex Rel_Done Rel_Bs y Rel_A ct Rel_Abt Ve l_ Ex Vel_I nv el Vel_Bs y Vel_A ct ...
Page 467 Chapter 10 Motion Control Function  Vel _BM =mcBlendingHigh Veloc ity Vel_Vel Rel_Vel T ime Pos ition R el_Dis t Time Rel_Ex Rel_Done Rel_Bs y Rel_A ct Rel_Abt Ve l_ Ex Vel_I nv el Vel_Bs y Vel_A ct  As Rel_Ex changes from FALSE to TRUE, Rel_Bsy changes to TRUE. One period later, Rel_Act changes to TRUE.
Page 468: The State Machine
Using the motion instructions, users could judge if a certain instruction could be used in current state through the state machine. The state machine of DVP-15MC series motion controller is illustrated as below and the arrow points to the axis status.
Page 469 Chapter 10 Motion Control Function Note3： When Status of MC_Power is FALSE, the MC_Reset instruction is used to reset the axis to the Disabled state. Note4： When Enable and Status of MC_Power are TRUE, the MC_Reset instruction is used to reset the axis to the Standstill state.
Page 470 DVP-15MC Series Motion Controller Operation Manual MEMO 10-34...
Page 471 Chapter 11 Motion Control Instructions Table of Contents 11.1 Table of Motion Control Instructions ........11-4 11.2 About Motion Control Instructions ........11-6 Composition of A Motion Control Instruction ......11-6 Program Languages that Motion Control Instructions Support .. 11-6 Configuration of Motion Control Instructions ......
Page 472 DVP-15MC Series Motion Controller Operation Manual 11.4 Multi-axis Instructions ............. 11-161 MC_GearIn ..............11-161 MC_GearOut ..............11-167 MC_CombineAxes ............11-171 Introduction of Electronic Cam ......... 11-179 MC_CamIn ..............11-180 MC_CamOut ..............11-201 DMC_CamReadPoint ............11-207 DMC_CamWritePoint ............11-211 DMC_CamSet ..............11-213 DMC_CamReadTappetStatus ..........
Page 473 Chapter 11 Motion Control Instructions 11.6.5.5 DMC_SetG1Para ............11-303 11.6.5.6 DMC_SetStartPosition ..........11-306 11.7 Axes Group Instructions ..........11-309 DMC_AddAxisToGroup............. 11-309 DMC_RemoveAxisFromGroup ........... 11-311 DMC_UngroupAllAxes ............. 11-313 DMC_GroupEnable ............11-315 DMC_ GroupStop ............11-318 DMC_GroupInterrupt ............11-324 DMC_GroupContinue ............11-329 DMC_MoveDirectAbsolute ..........
Page 474: 11.1 Table Of Motion Control Instructions
DVP-15MC Series Motion Controller Operation Manual 11.1 Table of Motion Control Instructions Instruction set Instruction code Function MC_Power Power Servo MC_Home Homing MC_MoveVelocity Velocity MC_Halt Temporary Stop MC_Stop Stop MC_MoveRelative Relative Positioning MC_MoveAdditive Additive Positioning MC_MoveAbsolute Absolute Positioning MC_MoveSuperimposed Superimposed Positioning...
Page 475 Chapter 11 Motion Control Instructions Instruction set Instruction code Function Make the modified cam point info DMC_CamSet effective DMC_CamReadTappetStatus Read tappet status DMC_CamReadTappetValue Read tappet parameters DMC_CamWriteTappetValue Set tappet parameters DMC_CamAddTappet Add a tappet point DMC_CamDeleteTappet Delete a tappet point APF_RotaryCut_Init Initialize Rotary Cut Application instructions...
Page 476: 11.2 About Motion Control Instructions
DVP-15MC Series Motion Controller Operation Manual 11.2 About Motion Control Instructions Composition of A Motion Control Instruction The instructions starting with “MC_” or “DMC” belong to motion instructions. Program Languages that Motion Control Instructions Support The motion instructions support the following two types of program languages.
Page 477: 11.3 Single-Axis Instructions
Chapter 11 Motion Control Instructions 11.3 Single-axis Instructions MC_Power FB/FC Explanation Applicable model DVP15MC11T MC_Power is used to enable or disable the corresponding servo axis. DVP15MC11T-06 MC_Power_ins tance MC_Power Ax is Status Enable Busy EnablePos it iv e Act iv e EnableNegative Erro r Bu fferMode...
Page 478 DVP-15MC Series Motion Controller Operation Manual Parameter Function Data type Valid range name Contains the error code when an error occurs. Please ErrorID WORD refer to section 12.2 for the corresponding error ID.  Output Update Timing Parameter Name Timing for changing to TRUE Timing for changing to FALSE ...
Page 479 Chapter 11 Motion Control Instructions When Enable is TRUE and EnableNegative is FALSE, the axis specified by a motion instruction is prohibited to move in the negative direction. In this case, there will be an error in existence if some motion instruction is used to move the axis backward.
Page 480 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value Vel _Ex BOOL FALSE Vel _Dir MC_DIRECTION Vel _BM MC_Buffer_Mode Vel _Invel BOOL Vel _Bsy BOOL Vel _Act BOOL Vel _Abt BOOL Vel _Err BOOL Vel _ErrID WORD...
Page 481 Chapter 11 Motion Control Instructions  When Pwr_EnPs is TRUE and Vel _Ex changes to TRUE for the second time, Vel _Bsy changes to TRUE; one cycle later, Vel _Act changes to TRUE and the servo motor starts moving in the positive direction.
Page 482 DVP-15MC Series Motion Controller Operation Manual P wr MC_Power Pwr_Sta Axis1 Ax is Stat us Pwr_En Pwr_Bsy E nable Busy Pwr_E nPs Pwr_Act Ac tive E nableP ositive Pwr_E rr True E nableNegative Error Pwr_E rrID P wr_BM BufferMode ErrorI D...
Page 483 Chapter 11 Motion Control Instructions  Programming Example 3 The example of Vel_BM =1 When the value of Buffermode is set to 1 and Enable changes from TRUE to FALSE, there will be no change in Status of MC_Power unless the axis stops moving. When the axis stops moving, the axis will enter the Standstill state first and one cycle later, it will go to the Disabled state.
Page 484 DVP-15MC Series Motion Controller Operation Manual P wr MC_Power Pwr_Sta Axis1 Axis Stat us Pwr_En Pwr_Bsy E nable Busy Pwr_E nPs Pwr_Act E nableP ositive Active Pwr_E rr True E nableNegative Error Pwr_E rrID P wr_BM BufferMode ErrorI D MC_MoveVelocity...
Page 485 Chapter 11 Motion Control Instructions 0, Stp _Done changes to TRUE. Meanwhile, the axis enters the Standstill state and Pwr_Sta changes to FALSE. One cycle later, the axis goes to the Disabled state.  When Vel _Ex changes to FALSE, Vel _Abt changes to FALSE. ...
Page 486: Mc_Home
DVP-15MC Series Motion Controller Operation Manual MC_Home FB/FC Explanation Applicable model MC_Home controls the servo motor to perform the homing action DVP15MC11T according to the set mode and velocity. DVP15MC11T-06 MC_Home_instanc e MC_Home Ax is Done Ex ecut e Busy...
Page 487 Chapter 11 Motion Control Instructions Parameter Name Timing for changing to TRUE Timing for changing to FALSE execution. One cycle later, Done changes to FALSE.  When Done changes to TRUE.  When Execute changes to  When Error changes to TRUE. Busy TRUE.
Page 488 DVP-15MC Series Motion Controller Operation Manual Case 4： Done changes to TRUE when the instruction execution is completed after Execute changes from TRUE to FALSE in the course of execution of the instruction. Meanwhile, Busy and Active change to FALSE and one cycle later, Done changes to FALSE.
Page 489 Chapter 11 Motion Control Instructions  Hardware wiring Note:  During wiring, COM+ and VDD must be shorted.  Of the photoelectric switch, the brown terminal (24V+) is connected to COM+, the blue terminal (0V) is connected to COM- and the black terminal (Signal cable) is connected to DI7. ...
Page 490 DVP-15MC Series Motion Controller Operation Manual  The variable table and program Variable name Data type Initial value MC_Home Axis1 USINT Hom_Ex BOOL FALSE Hom_Done BOOL Hom_Bsy BOOL Hom_Act BOOL Hom_Abt BOOL Hom_Err BOOL Hom_ErrID WORD MC_Home Axis1 Ax is...
Page 491: Mc_Movevelocity
Chapter 11 Motion Control Instructions MC_MoveVelocity FB/FC Explanation Applicable model MC_MoveVelocity controls the axis motion based on the set acceleration DVP15MC11T and deceleration till the set target velocity is reached and then the axis DVP15MC11T-06 moves at the set speed. MC_MoveVelocity_instance MC_MoveVelocity Axis...
Page 492 DVP-15MC Series Motion Controller Operation Manual Valid range Parameter name Function Data type Validation timing (Default) Specify the behavior when 0: mcAborting executing two instructions. 1: mcBuffered 2: mcBlendingLow 0: Aborting When Execute 1: Buffered MC_Buffe 3: mcBlendingPrevious BufferMode changes from...
Page 493 Chapter 11 Motion Control Instructions Timing for changing to Parameter Name Timing for changing to FALSE TRUE  When Execute changes to  When Error changes to TRUE. Busy TRUE.  When CommandAborted changes to TRUE.  When the instruction ...
Page 494 DVP-15MC Series Motion Controller Operation Manual  Programming Example 1 The programming example is as follows when one MC_ MoveVelocity instruction is used. The variable table and program Variable name Data type Initial value MC_Power Axis1 USINT Pwr_BM MC_Buffer_Mode Pwr_Sta...
Page 495 Chapter 11 Motion Control Instructions Motion Curve and Timing Chart Velocity Time Vel_Ex Vel_I nvel Vel_Bsy Vel_Act Vel_Abt Vel_Err  When Vel_Ex changes from FALSE to TRUE, Vel_Bsy changes to TRUE. One cycle later, Vel_Act changes to TRUE and the execution of the velocity instruction starts. When the target velocity is reached, Vel_Invel changes to TRUE and Vel_Bsy and Vel_Act remain TRUE.
Page 496 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value Vel2_Invel BOOL Vel2_Bsy BOOL Vel2_Act BOOL Vel2_Abt BOOL Vel2_Err BOOL Vel2_ErrID WORD MC_Power Axis1 Axis Stat us Pwr_Sta True Enable Busy Pwr_B sy EnableP ositive Active Pwr_A ct...
Page 497 Chapter 11 Motion Control Instructions Motion Curve and Timing Chart Velocity Time Vel1 Vel1_Ex Vel1_I nvel Vel1_Bsy Vel1_Act Vel1_Ab t Vel1_Err Vel2 Vel2_Ex Vel2_I nvel Vel2_Bsy Vel2_Act Vel2_Ab t Vel2_Err  When Vel1_Ex changes from FALSE to TRUE, Vel1_Bsy changes to TRUE. One cycle later, Vel1_Act changes to TRUE and the first MC_MoveVelocity instruction starts being executed.
Page 498: Mc_Halt
DVP-15MC Series Motion Controller Operation Manual MC_Halt FB/FC Explanation Applicable model MC_Halt is used to make the axis decelerate at a given deceleration rate DVP15MC11T till it stops. DVP15MC11T-06 MC_Ha lt_ins tance MC_Halt Ax is Done Ex ecut e Busy...
Page 499 Chapter 11 Motion Control Instructions  Output Parameters Parameter Function Data type Valid range name Done TRUE when the instruction execution is completed. BOOL TRUE/FALSE Busy TRUE when the instruction is being executed. BOOL TRUE/FALSE Active TRUE when the axis is being controlled. BOOL TRUE/FALSE CommandAbort...
Page 500 DVP-15MC Series Motion Controller Operation Manual Output Update Timing Chart  Cas e1 Cas e2 Case3 Cas e4 Ex ec ute Done B usy Ac tive Co mma ndAbo rt ed Error Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE and one period later, Active changes to TRUE.
Page 501 Chapter 11 Motion Control Instructions Variable name Data type Initial value Pwr_Err BOOL Pwr_ErrID WORD MC_MoveVelocity Vel_Ex BOOL FALSE Vel_Dir MC_DIRECTION Vel_BM MC_Buffer_Mode Vel_Invel BOOL Vel_Bsy BOOL Vel_Act BOOL Vel_Abt BOOL Vel_Err BOOL Vel_ErrID WORD MC_Halt Hlt_Ex BOOL FALSE Hlt_BM MC_Buffer_Mode Hlt_Done BOOL...
Page 502 DVP-15MC Series Motion Controller Operation Manual Motion Curve and Timing Charts: Velocity 10000 Time MC_Ve loci ty Vel_Ex Vel_Inve l Vel_Bs y Vel_Ac t Vel_Abt Vel_Err MC_Hal t Hlt _Ex Hlt_Done Hlt_Bsy Hlt _Act Hlt_Abt Hlt_Err  When Vel_Ex changes to TRUE, Vel_Bsy changes to TRUE and one period later, Vel_Act changes to TRUE and the servo motor starts to move forward.
Page 503: Mc_Stop
Chapter 11 Motion Control Instructions MC_Stop FB/FC Explanation Applicable model MC_Stop is used to make the axis decrease its speed at a given DVP15MC11T deceleration rate till it stops and then the axis goes into the Stopping state. DVP15MC11T-06 MC_Stop_instan ce MC_Stop Ax is Done...
Page 504 DVP-15MC Series Motion Controller Operation Manual Parameter name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from TRUE to FALSE after the instruction execution is completed.  When the deceleration ends and the  Done changes to TRUE when the Done axis speed is decreased to 0.
Page 505 Chapter 11 Motion Control Instructions Output Update Timing Chart  Cas e 2 Cas e 4 Case 1 Case 3 Ex ec ute Done B usy Ac tive Co mma ndAbo rt ed Error Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE and one period later, Active changes to TRUE.
Page 506 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value Pwr_Bsy BOOL Pwr_Act BOOL Pwr_Err BOOL Pwr_ErrID WORD MC_MoveVelocity Vel_Ex BOOL FALSE Vel_Dir MC_DIRECTION Vel_BM MC_Buffer_Mode Vel_Invel BOOL Vel_Bsy BOOL Vel_Act BOOL Vel_Abt BOOL Vel_Err BOOL Vel_ErrID WORD...
Page 507 Chapter 11 Motion Control Instructions Veloc ity 10000 Time Vel_Ex Vel_Inv el Vel_Bs y Vel_Ac t Vel_A bt Vel_Err St p_Ex Stp_Done Stp_Bs y St p_Act Stp_Abt S tp_Err  As Vel_Ex changes to TRUE, Vel_Bsy changes to TRUE. One period later, Vel_Act changes to TRUE and the servo motor starts to move forward.
Page 508: Mc_Moverelative
DVP-15MC Series Motion Controller Operation Manual MC_MoveRelative FB/FC Explanation Applicable model MC_MoveRelative is used to make the axis move a given distance by DVP15MC11T starting from the command current position at a given speed, DVP15MC11T-06 acceleration and deceleration and Jerk.
Page 509 Chapter 11 Motion Control Instructions Valid range Parameter name Function Data type Validation timing (Default) 5： mcBlendingHigh （0） Notes: MC_MoveRelative instruction is executed when Execute changes from FALSE to TRUE. There is no impact on the instruction execution when Execute of the instruction changes from TRUE to FALSE in the course of execution.
Page 510 DVP-15MC Series Motion Controller Operation Manual Parameter Timing for changing to TRUE Timing for changing to FALSE Name changes from TRUE to FALSE during the instruction execution. One cycle later, CommandAborted changes to FALSE.  When an error occurs in the instruction ...
Page 511 Chapter 11 Motion Control Instructions Dista nce>0 D istance <0 Pos ition P osit io n Dis tanc e= 10000 Dist ance =-1000 0 20000 200 00 Tar g et P osi tio n Star t Po sitio n 10000 100 00 S ta rt P osi ti on Ta rg et Po siti on...
Page 512 DVP-15MC Series Motion Controller Operation Manual MC_Power Axis1 Axis S tatus P wr_Sta Pwr_En Enable Busy Pwr_Bsy EnablePositive Active Pwr_Act True True EnableNegative Error Pwr_Err Pwr_BM Buffe rMode E rrorID Pwr_ErrID MC_MoveRelative Axis1 Axis Done Rel_Done Rel_Ex Execute Busy Rel_Bsy...
Page 513 Chapter 11 Motion Control Instructions  Programming Example 2 The example is shown below when MC_MoveRelative which is being executed is aborted. The variables and program Variable name Data type Initial value MC_Power Axis1 USINT Pwr_En BOOL FALSE Pwr_BM MC_Buffer_Mode Pwr_Sta BOOL Pwr_Bsy...
Page 514 DVP-15MC Series Motion Controller Operation Manual MC_Power Axis1 Axis S tatus P wr_Sta Pwr_En Enable Busy Pwr_Bsy EnablePositive Active Pwr_Act True True EnableNegative Error Pwr_Err Buff erMode E rrorID Pwr_ErrID Rel1 MC_MoveRelative Axis1 Axis Done Rel1_Done Rel1_Ex Execute Busy Rel1_Bsy...
Page 515 Chapter 11 Motion Control Instructions Motion Curve and Timing Chart Velocity Time Position 13500 4500 2000 Time Rel 1 Rel1_Ex Rel1_Done Rel1_ Bsy Rel1_Act Rel1_Abt Rel1_Err Rel 2 Rel2_Ex Rel2_Done Rel2_B sy Rel2_Act Rel2_Abt Rel2 Err  The first MC_MoveRelative instruction starts being executed when Rel1_Ex changes from FALSE to TRUE.
Page 516: Mc_Moveadditive
DVP-15MC Series Motion Controller Operation Manual MC_MoveAdditive FB/FC Explanation Applicable model MC_MoveAdditive is used to make the axis move an additive distance at DVP15MC11T a given speed, acceleration and deceleration. DVP15MC11T-06 MC_MoveAdditive_instance MC_MoveAdditive Axis Done Execut e Busy Cont inuousUpda te...
Page 517 Chapter 11 Motion Control Instructions MC_MoveAdditive instruction is executed when Execute changes from FALSE to TRUE. There is no impact on the instruction execution when Execute of the instruction in the course of execution changes from TRUE to FALSE. When Execute of the being executed instruction changes from FALSE to TRUE again, there is no impact on the instruction execution and the instruction will go on being executed in the previous way.
Page 518 DVP-15MC Series Motion Controller Operation Manual Case1 Case2 Case3 Case4 Ex ec ute Done B usy Ac tive Co mma ndAbo rt ed Error Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE and one period later, Active changes to TRUE.
Page 519 Chapter 11 Motion Control Instructions left by MC_MoveSuperimposed while MC_MoveAdditive is executed. MC_MoveAdditive instruction will be executed after the execution of the positioning instruction which is used in conjunction with MC_MoveSuperimposed is completed if the value of BufferMode of MC_MoveAdditive is 1~5. ...
Page 520 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value Pwr_Err BOOL Pwr_ErrID WORD Addt MC_MoveAdditive Addt_Ex BOOL FALSE Addt_BM MC_Buffer_Mode Addt_Done BOOL Addt_Bsy BOOL Addt_Act BOOL Addt_Abt BOOL Addt_Err BOOL Addt_ErrID WORD MC_ Power Axis1 Axis St atus...
Page 521 Chapter 11 Motion Control Instructions  When Addt_Ex changes from FALSE to TRUE, the motion controller controls the motion of the servo motor by taking current position as the reference point. Meanwhile, Addt_Bsy changes to TRUE and one period later, Addt_Act changes to TRUE. After the set distance is reached by the servo motor, Addt_Done changes from FALSE to TRUE and meanwhile Addt_Bsy and Addt_Act change from TRUE to FALSE.
Page 522 DVP-15MC Series Motion Controller Operation Manual MC_Power Ax is 1 Axis St atus Pwr_Sta Pwr_E n Enable Bus y Pwr_Bsy EnablePositive A ctive Pwr_Act True True EnableNegat iv e Error Pwr_Err Pwr_B M BufferMode ErrorID Pwr_ErrI D Addt1 MC_Mov eAdditive...
Page 523 Chapter 11 Motion Control Instructions Motion Curve and Timing Charts: Velocity Time P osition 17000 3500 2000 Time Addt1 Addt 1_Ex Addt 1_Done Addt1_Bsy Addt1_A ct A ddt1_Abt A ddt1_Abt Addt2 Addt 2_Ex Addt2 _Done Addt2_Bsy Addt2_A ct A ddt2_Abt Addt 2 Err ...
Page 524: Mc_Moveabsolute
DVP-15MC Series Motion Controller Operation Manual MC_MoveAbsolute FB/FC Explanation FB/FC MC_MoveAbsolute is used to make the axis move to the specified DVP15MC11T absolute target position at the given speed, acceleration and DVP15MC11T-06 deceleration. MC_MoveAbs olut e_ins tanc e MC_Mov eAbsolute...
Page 525 Chapter 11 Motion Control Instructions Valid range Validation Parameter name Function Data type (Default) timing 1: Positive direction axis is in the （1） 2: Shortest way mode of rotary 3: Negative direction axis 4: Current direction Specify the behavior when executing two 0：...
Page 526 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Parameter Name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from TRUE to FALSE after the instruction execution is done.  Done changes to TRUE when the instruction ...
Page 527 Chapter 11 Motion Control Instructions Case 4： In the course of execution of the instruction, Done changes to TRUE when the instruction execution is completed after Execute changes from TRUE to FALSE. Meanwhile, Busy and Active change to FALSE and one period later, Done changes to FALSE. ...
Page 528 DVP-15MC Series Motion Controller Operation Manual Direction: 1 (Positive direction) Direction: 3 (Negative direction) Current position: 315° Current position: 315° Target position: 90° Target position: 90° Movement angle: 135° Movement angle: 225° Direction: 2 (Shortest way) Direction: 2 (Shortest way) Current position: 315°...
Page 529 Chapter 11 Motion Control Instructions  Programming Example 1 One MC_MoveAbsolute is executed as follows. The variables and program Variable name Data type Initial value MC_Power Axis1 USINT Pwr_En BOOL FALSE Pwr_BM MC_Buffer_Mode Pwr_Sta BOOL Pwr_Bsy BOOL Pwr_Act BOOL Pwr_Err BOOL Pwr_ErrID WORD...
Page 530 DVP-15MC Series Motion Controller Operation Manual Motion Curve and Timing Charts Veloc it y Time P osition 7000 2000 Time Abs_Ex Abs_Done Abs _Bsy Abs _Ac t Abs_Abt Abs _Err  When Abs_Ex changes from FALSE to TRUE, MC_MoveAbsolute instruction starts being executed and at the moment, the current position of the axis is 2000 and target position is 7000.
Page 531 Chapter 11 Motion Control Instructions Variable name Data type Initial value Abs1_ErrID WORD Abs2 MC_Move Absolute Abs2_Ex BOOL FALSE Abs2_Dir MC_DIRECTION Abs2_BM MC_Buffer_Mode Abs2_Done BOOL Abs2_Bsy BOOL Abs2_Act BOOL Abs2_Abt BOOL Abs2_Err BOOL Abs2_ErrID WORD MC_Power Ax is 1 Axis S tatus P wr_Sta Pwr_En...
Page 532 DVP-15MC Series Motion Controller Operation Manual Motion Curve and Timing Charts Velocity Time Position 13500 4500 2000 Time Abs1 Ab s1_Ex Abs 1_Done Abs 1_Bsy Abs 1_Act Abs1_Abt Abs 1_Err Abs2 Abs 2_Ex Abs 2_Don e Abs2_B sy Abs 2_Act...
Page 533: Mc_Movesuperimposed
Chapter 11 Motion Control Instructions MC_MoveSuperimposed FB/FC Explanation Applicable model MC_MoveSuperimposed controls the axis to superimpose the set DVP15MC11T distance on the current motion state according to the set velocity, DVP15MC11T-06 acceleration and deceleration. MC_MoveSu perimposed_ins tance MC_MoveSuperimpo sed Ax is Done Ex ecut e Busy...
Page 534 DVP-15MC Series Motion Controller Operation Manual  Output Parameters Parameter name Function Data type Valid range Done TRUE when the instruction execution is completed. BOOL TRUE / FALSE Busy TRUE when the instruction is being executed. BOOL TRUE/FALSE Active TRUE when the axis is being controlled.
Page 535 Chapter 11 Motion Control Instructions Case 1 Case 2 Case 3 Case 4 Ex ec ute Done B usy Ac tive Co mma ndAbo rt ed Error Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE. One cycle later, Active changes to TRUE.
Page 536 DVP-15MC Series Motion Controller Operation Manual If another MC_MoveSuperimposed instruction is executed when one MC_MoveSuperimposed instruction controls the axis independently, the previous MC_MoveSuperimposed instruction will be aborted. If the MC_HaltSuperimposed instruction is executed in the course of execution of MC_MoveSuperimposed instruction, the MC_MoveSuperimposed instruction will be aborted.
Page 537 Chapter 11 Motion Control Instructions Motion Curve and Timing Chart: Veloc it y Time Pos it ion 12000 7000 2000 Time Sup_Ex Sup_Done Sup_B sy Sup_Ac t Sup_Abt Sup_ Err  When Sup_Ex changes to TRUE, Sup_Bsy changes to TRUE. One cycle later, Sup_Act changes to TRUE and the motion controller controls the servo motor to run by using current position as the reference point.
Page 538 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value MC_MoveSuperimposed Sup_Ex BOOL FALSE Sup_Done BOOL Sup_Bsy BOOL Sup_Act BOOL Sup_Abt BOOL Sup_Err BOOL Sup_ErrID WORD Sup_Distan LREAL MC_P ower Axis1 Axis St atus Pwr_Sta Pwr_E n Enable...
Page 539 Chapter 11 Motion Control Instructions Motion Curve and Timing Chart: Velocity 1100 Time Position 17 000 2 000 Time Rel_Ex Rel_Done Rel_Bsy Rel_Act Rel_Abt Sup_Ex Sup_Done Sup _Bsy Sup_A ct Sup Abt  When Rel_Ex changes to TRUE, Rel_Bsy changes to TRUE. One period later, Rel_Act changes to TRUE and the motion controller controls the servo motor rotation by using the current position as the reference point.
Page 540: Mc_Haltsuperimposed
DVP-15MC Series Motion Controller Operation Manual MC_HaltSuperimposed FB/FC Explanation Applicable model MC_HaltSuperimposed halts the execution of the DVP15MC11T MC_MoveSuperimposed instruction. DVP15MC11T-06 MC_HaltSuperimpos ed_instanc e MC_Halt Superimpos ed Ax is Done Ex ecut e Busy Deceleration Ac tiv e Jerk CommandAborted...
Page 541 Chapter 11 Motion Control Instructions  Output Update Timing Parameter Name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from TRUE to FALSE after the instruction execution is completed.  Done changes to TRUE when the ...
Page 542 DVP-15MC Series Motion Controller Operation Manual Case 2： When Execute changes to TRUE and the instruction is aborted by other instruction, CommandAborted changes to TRUE and meanwhile, Busy and Active change to FALSE. CommandAborted changes to FALSE when Execute changes from TRUE to FALSE.
Page 543 Chapter 11 Motion Control Instructions Variable name Data type Initial value Sup_ErrID WORD Sup_Distan LREAL HltSup MC_HaltSuperimposed HltSup_Ex BOOL FALSE HltSup_Done BOOL HltSup_Bsy BOOL HltSup_Act BOOL HltSup_Abt BOOL HltSup_Err BOOL HltSup_ErrID WORD MC_Power Axis1 Ax is Status Pwr_S ta P wr_En En able Busy Pwr_Bs y...
Page 544 DVP-15MC Series Motion Controller Operation Manual 2. Motion Curve and Timing Chart Velocit y 1100 Time Rel_Ex Rel_Done Rel_Bsy Rel_ Act Rel_A bt S up Sup_Ex Sup_Done Sup_Bsy Sup_A ct Sup_Abt HltSup HltSup_Ex HltSup_Done Hlt Sup_Bsy HltSup _Act Hlt Sup_Abt ...
Page 545: Mc_Setposition
Chapter 11 Motion Control Instructions MC_SetPosition FB/FC Explanation Applicable model MC_SetPosition is used to set the position of the axis to a given value DVP15MC11T and no actual axis motion is brought accordingly. DVP15MC11T-06 MC_S etPosition_instance MC_SetP osition Axis Done Execut e Busy Position...
Page 546 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Parameter Timing for changing to TRUE Timing for changing to FALSE Name  When Execute changes from TRUE to FALSE after the instruction execution is finished.  Done changes to TRUE when the ...
Page 547 Chapter 11 Motion Control Instructions Po sition 8000 C om mand Pos ition 6000 5000 Actual Motion Curve 3000 2000 1000 Time Ex ecute Perform Absol ute Perform Abs olute Posi tioni ng o f Posi ti oni ng of Set Pos ition 500 0 50 00...
Page 548 DVP-15MC Series Motion Controller Operation Manual and actual position remains unchanged at the time when the instruction is executed and the instruction execution ends. The solution for the actual position which is taken as the reference position is the same as that for the command position which is taken as the reference position.
Page 549 Chapter 11 Motion Control Instructions  Explanation of Instruction Application Situation When MC_SetPosition is executed on the master axis which is in the built multi-axis relationship, the master axis position change incurred by the instruction does not affect the slave axis. That is, the slave axis will make any motion accordingly when the master axis position change incurred by MC_SetPosition.
Page 550 DVP-15MC Series Motion Controller Operation Manual MC_MoveRelative Axis1 Axis Done Rel_Done Rel_Ex Execute Busy Rel_Bsy ContinuousUpdate Active Rel_Act 10000.0 Distance CommandAborted Rel_Abt 3000.0 Velocity Error Rel_Err 3000.0 Rel_ErrID Acceleration ErrorID 3000.0 Deceleration 3000.0 Jerk BufferMode S Re T ON True...
Page 551 Chapter 11 Motion Control Instructions Motion Curve and Timing Charts: Velocity 3000 Time Position 15000 11000 6000 Time Rel_Ex Rel_Done Rel_B sy Rel_Act Rel_A bt Rel_Err SetP os SetPos _Ex SetPos _Done SetPos _Bs y S etPos E rr  As Rel_Ex changes from FALSE to TRUE, the execution of MC_MoveRelative instruction is started and MC_SetPosition is executed 3 seconds later after MC_MoveRelative is executed.
Page 552 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value Rel_ErrID WORD Tn_In BOOL FALSE SRe_Q BOOL SetPos SetPosition SetPos_Ex BOOL FALSE SetPos_RefTp MC_REFERECNETYPE SetPos_Done BOOL SetPos_Bsy BOOL SetPos_Err BOOL SetPos_ErrID WORD MC_MoveRelative Axis1 Axis Done Rel_Done Rel_Ex...
Page 553 Chapter 11 Motion Control Instructions Motion Curve and Timing Charts: Velocity 3000 Time P osition 8000 6000 4000 Time Rel_Ex Rel_Done Rel_Bsy Rel_Act Rel_Abt Rel_Err SetPos SetPos_Ex SetPos_Done SetPos_Bsy S etPos E rr  As Rel_Ex changes from FALSE to TRUE, MC_MoveRelative instruction execution starts and MC_SetPosition is executed 3 seconds later after MC_MoveRelative is executed.
Page 554 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value Abs_Abt BOOL Abs_Err BOOL Abs_ErrID WORD Tn_In BOOL FALSE SRe_Q BOOL SetPos SetPosition SetPos_Ex BOOL FALSE SetPos_RefTp MC_REFERECNETYPE SetPos_Done BOOL SetPos_Bsy BOOL SetPos_Err BOOL SetPos_ErrID WORD MC_MoveAbsolute Axis1...
Page 555 Chapter 11 Motion Control Instructions Motion Curve and Timing Charts: Velocity 3000 Time Position 15000 11000 6000 Time Abs_Ex Abs_Done Abs_B sy Abs_Act Abs_Abt Abs_Err SetP os SetPos_Ex SetPos_Done SetPos_Bsy S etPos E rr  As Abs_Ex changes from FALSE to TRUE, the execution of MC_MoveAbsolute instruction is started and MC_SetPosition is executed 3 seconds later after MC_MoveAbsolute is executed.
Page 556: Mc_Setoverride
DVP-15MC Series Motion Controller Operation Manual MC_SetOverride FB/FC Explanation Applicable model DVP15MC11T MC_SetOverride changes the target velocity for an axis. DVP15MC11T-06 MC_SetO verride_ins tance MC_SetOv erride Ax is Enabled Enable Busy VelFact or Erro r Ac cFactor ErrorID Jerk Fac tor ...
Page 557 Chapter 11 Motion Control Instructions  Output Update Timing Chart Cas e 3 Ca se 1 Cas e 2 E nable E nabled Bu sy Error E rror ID Case 1： When Enable changes from FALSE to TRUE, Busy changes to TRUE. Enabled changes to TRUE when the instruction execution is completed.
Page 558 DVP-15MC Series Motion Controller Operation Manual 10. If VelFactor value is modified when Enable is TRUE and VelFactor value exceeds the valid range, an error will occur in MC_SetOverride and the target velocity will return to that as VelFactor value is 100%.
Page 559 Chapter 11 Motion Control Instructions Velocit y 20000 15000 10000 5000 Time Vel_Ex Vel_Invel Vel_Bsy Vel_A ct Vel_Abt Vel_Err SetOv SetOv_En SetOv_Velf SetOv_Ena SetOv_Bsy SetO v Err  When Vel_Ex changes to TRUE, Vel_Bsy changes to TRUE. One cycle later, Vel_Act changes to TRUE and the axis starts to run forward.
Page 560: Mc_Reset
DVP-15MC Series Motion Controller Operation Manual MC_Reset FB/FC Explanation Applicable model MC_Reset clears the error states and axis alarm information inside the DVP15MC11T motion controller. DVP15MC11T-06 MC_Reset_inst ance MC_Reset Ax is Done Ex ecut e Busy Erro r ErrorID ...
Page 561 Chapter 11 Motion Control Instructions  Output Update Timing Chart Case 1 Ca se 2 E xec ute Done Bus y E rror Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE. When the instruction execution is completed, Done changes to TRUE and Busy changes to FALSE.
Page 562 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value ReadSt_Sym BOOL AND1_In1 BOOL FALSE Rset MC_Reset Rset_Done BOOL Rset_Bsy BOOL Rset_Err BOOL Rset_ErrID WORD ReadSt MC_ReadStat us Rset Axis1 A xis Valid ReadS t_Vald ReadSt_E n Enable...
Page 563: Dmc_Settorque
Chapter 11 Motion Control Instructions DMC_SetTorque FB/FC Explanation Applicable model DMC_SetTorque sets the torque of the servo axis. The servo axis will DVP15MC11T work under the torque mode when the instruction is executed. DVP15MC11T-06 DMC_S etTorque_instan ce DMC_Set Torque Axis InTorque Enable Busy...
Page 564 DVP-15MC Series Motion Controller Operation Manual Parameter name Function Data type Valid range Please refer to section 12.2 for the corresponding error ID.  Output Update Timing Parameter Name Timing for changing to TRUE Timing for changing to FALSE  When Error changes to TRUE.
Page 565 Chapter 11 Motion Control Instructions corresponding error codes. When Enable changes from TRUE to FALSE, Error changes from TRUE to FALSE and the content of ErrorID is cleared to 0. Function  DMC_SetTorque sets the torque of the servo axis. The servo axis will work under the torque mode when the instruction is executed.
Page 566 DVP-15MC Series Motion Controller Operation Manual Motion Curve and Timing Chart Torque Time S etTq SetTq_En SetTq_InTorque Set Tq_Bs y S etTq_A ct S etTq_ Err SetTq_ErrID  When SetTq_En changes from FALSE to TRUE after the servo axis is enabled, SetTq_Bsy changes to TRUE.
Page 567: Mc_Readaxiserror
Chapter 11 Motion Control Instructions MC_ReadAxisError FB/FC Explanation Applicable model DVP15MC11T MC_ReadAxisError is used to read the error information of a servo axis. DVP15MC11T-06 MC_ReadAxisError_instance MC_ReadAxisError Axis Valid Enable Busy Error E rrorID AxisE rrorID  Input Parameters Valid range Parameter name Function Data type...
Page 568 DVP-15MC Series Motion Controller Operation Manual Cas e 1 Case 2 En able Valid Bus y Error E rro r ID Case 1： When Enable changes from FALSE to TRUE, Valid and Busy change to TRUE. When Enable changes to FALSE, Valid and Busy change to FALSE.
Page 569: Mc_Readactualposition
Chapter 11 Motion Control Instructions MC_ReadActualPosition FB/FC Explanation Applicable model MC_ReadActualPosition is used to read the actual position of an axis DVP15MC11T including real axes, virtual axes and encoder axes. DVP15MC11T-06 MC_ReadA ctualPosition_inst ance MC_ReadActualPosition Axis Valid Enable Busy Error ErrorID Posit ion ...
Page 570 DVP-15MC Series Motion Controller Operation Manual Output Update Timing Chart  Cas e1 Case 2 En able Valid Bus y Error E rro r ID Case 1： When Enable changes from FALSE to TRUE, Valid and Busy change to TRUE simultaneously.
Page 571 Chapter 11 Motion Control Instructions The actual position that MC_ReadActualPosition reads should also include the position offset caused by MC_SetPosition after MC_SetPosition is executed. The conversion formula is shown as below. Pos it ion off set Units per ou tput rot ation The number of se rv o pos it ion A ct ualPos ition = caus ed by...
Page 572 DVP-15MC Series Motion Controller Operation Manual MC_MoveRelative Ax is 1 Axis Done Rel_Done Rel_Ex Exec ute Bus y Rel_Bs y Ac tive Rel_Act ContinuousUpdate 10000.0 Dis tance CommandA bort ed Rel_Abt 3000.0 Velocity Error Rel_Err 3000.0 Acc eleration ErrorI D Rel_ErrID 3000.0...
Page 573 Chapter 11 Motion Control Instructions Motion Curve and Timing Charts: Velocity 3000 Time P osition 15000 11 000 ActualPosition （） 6000 Time Rel_Ex Rel_Done Rel_Bsy Rel_ Act Rel_Abt Rel_E rr SetPos SetPos_Ex Se tPos_Done SetPos_Bsy Set Pos_Err ReadAtPos ReadAtPo s_En ReadAtP os_Vald ReadAtPos_Bsy ReadAt Pos Err...
Page 574: Mc_Readstatus
DVP-15MC Series Motion Controller Operation Manual MC_ReadStatus FB/FC Explanation Applicable model DVP15MC11T MC_ReadStatus is used to read the servo axis state in the controller. DVP15MC11T-06 MC_ReadS tatus _inst anc e MC_ReadSt atus Ax is Valid En able Busy E rro r...
Page 575 Chapter 11 Motion Control Instructions 2. When Enable changes from TRUE to FALSE, Valid, Busy and Error change to FALSE, meanwhile ErrorID changes to 0 and the outputs of ErrorStop, Disabled, Stopping, Homing, Standstill, DiscreteMotion, ContinuousMotion and SyncMotion keep the status as Enable is TRUE. ...
Page 576 DVP-15MC Series Motion Controller Operation Manual Case 1： When Enable changes from FALSE to TRUE, Valid and Busy change to TRUE simultaneously and ErrorStop, Disabled, Stopping, Homing, Standstill, DiscreteMotion, ContinuousMotion and SyncMotion will change to TRUE or FALSE according to the axis status.
Page 577 Chapter 11 Motion Control Instructions Variable name Data type Initial value ReadSt_Homi BOOL ReadSt_Stans BOOL ReadSt_Dism BOOL ReadSt_Conm BOOL ReadSt_Sym BOOL MC_Power Ax is 1 Axis S tatus P wr_Sta Pwr_En Enable Bus y Pwr_Bsy EnablePositive Active Pwr_Act True True EnableNegativ e E rror Pwr_Err...
Page 578 DVP-15MC Series Motion Controller Operation Manual Motion Curve and Timing Charts: Veloc ity Time Position 7000 2000 Time Pw r Pwr_En Pwr_S ta Pwr_B sy Pwr_Ac t Rel_Ex Rel_Done Rel_B sy Rel_Act ReadSt ReadSt_En ReadSt_Vald ReadSt_Bs y ReadSt_Err ReadSt_Dis bl...
Page 579: Mc_Readmotionstate
Chapter 11 Motion Control Instructions MC_ReadMotionState FB/FC Explanation Applicable model MC_ReadMotionState is used to read current motion state of the servo DVP15MC11T axis. DVP15MC11T-06 MC_ReadMotionS tate_ins tanc e MC_ReadMotionSt ate Ax is Valid En able Busy Source Error E rrorI D Const antVelocity Ac celerat ing Decelerat ing...
Page 580 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When Enable changes from  When the actual velocity of the TRUE to FALSE Valid  When Error changes from FALSE...
Page 581 Chapter 11 Motion Control Instructions Case 2： When Enable changes from TRUE to FALSE, Valid and Busy change to FALSE and ConstantVelocity, Accelerating, Decelerating, DirectionPositive and DirectionNegative remain the state for when Enable is TRUE. Case 3： When the value of Axis is out of the valid range and Enable changes from FALSE to TRUE, Busy changes from FALSE to TRUE, one period later, Error changes from FALSE to TRUE and ErrorID shows corresponding error codes.
Page 582 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value ReadMoSt_ErrID WORD ReadMoSt_ConstVel BOOL ReadMoSt_Accet BOOL ReadMoSt_Decet BOOL ReadMoSt_DirtPos BOOL ReadMoSt_DirtNg BOOL MC_Power A xis1 Axis Status Pwr_St a Pwr_En Enable Busy Pwr_Bsy EnablePosit ive Act ive Pwr_Act...
Page 583 Chapter 11 Motion Control Instructions Motion Curve and Timing Charts: Vel oci ty Ti me -300 Pos it ion 5500 T ime Rel 1 Rel 1_Ex R el1_ Bsy R el 1_Act Rel 1_Abt Rel 2 Rel 2_Ex R el 2_D one R el 2_Bsy R el 2_Act R ead Mo St...
Page 584: Dmc_Readparameter_Motion
DVP-15MC Series Motion Controller Operation Manual DMC_ReadParameter_Motion FB/FC Explanation Applicable model DVP15MC11T DMC_ReadParameter_Motion reads a slave parameter value. DVP15MC11T-06 DMC_ReadP arameter_Motion_instance DMC_ReadParameter_Motion Axis Done Execut e Busy Index Active SubIndex Error ErrorI D Dat aType Data  Input Parameters Valid range...
Page 585 Chapter 11 Motion Control Instructions Index = Servo drive parameter (Hex) + 2000 (Hex) Subindex = 0. Example: Calculation of the index of the servo parameter P6-10: 2000 + 060A (the hex. expression of P6-10) = 260A, subindex = 0. ReadPm_M DMC_ReadParameter_Motion A xis1...
Page 586 DVP-15MC Series Motion Controller Operation Manual Case 1： When Execute changes from FALSE to TRUE, Busy and Active change to TRUE. One cycle later, Done changes to TRUE and DataType and Data show corresponding data values. After Done changes to TRUE, Busy and Active change to FALSE in the same cycle. When Execute changes from TRUE to FALSE, Done changes from TRUE to FALSE and DataType and Data retain original values.
Page 587: Dmc_Writeparameter_Motion
Chapter 11 Motion Control Instructions ReadPm_M1 DMC_ReadParameter_Motion Axis1 Axis Done ReadPm_M1_Done ReadPm_M1_Ex Execute Busy ReadPm_M1_Bsy 16#2137 ReadPm_M1_Act I ndex A ctive SubIndex E rror ReadPm_M1_Err ErrorID ReadPm_M1_ErrID DataType ReadPm_M1_DaTy Data ReadPm_M1_Dat WritePm_M DMC_WriteParameter_Motion Axis1 Axis Done WritePm_M_Done ReadPm_M1_Done Execute Busy WritePm_M_Bsy 16#2137 I ndex...
Page 588 DVP-15MC Series Motion Controller Operation Manual  When WritePm_M_Done changes from FALSE to TRUE, executing the second DMC_ReadParameter_Motion instruction starts. When the instruction execution is completed, ReadPm_M2_Done changes to TRUE, ReadPm_M2_DaTy is 2 and ReadPm_M2_Dat is 1000. That is, the content of the servo slave parameter P1-55 which is read is 1000. (The maximum velocity of the servo is limited to 1000rpm.)
Page 589: Dmc_Writeparameter_Motion
Chapter 11 Motion Control Instructions DMC_WriteParameter_Motion FB/FC Explanation Applicable model DVP15MC11T DMC_WriteParameter_Motion sets a slave parameter value. DVP15MC11T-06 DMC_WriteParameter_Motion_in stanc e DMC_WriteParameter_Motion Ax is Done Ex ecut e Busy Index Ac tive SubIndex Error DataTy pe ErrorI D Data  Input Parameters Parameter Valid range...
Page 590 DVP-15MC Series Motion Controller Operation Manual Parameter Name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from TRUE to  When the writing is completed. Done FALSE after the instruction execution is completed.  When Error changes to TRUE.
Page 591 Chapter 11 Motion Control Instructions  Programming Example The example of executing the DMC_WriteParameter_ Motion instruction is described as follows. The variable table and program Variable name Data type Initial value ReadPm_M1 DMC_ReadParameter_Motion Axis1 USINT ReadPm_M1_Ex BOOL TRUE ReadPm_M1_Done BOOL TRUE ReadPm_M1_Bsy BOOL...
Page 592 DVP-15MC Series Motion Controller Operation Manual Timing Chart ReadPm _M1 ReadPm_M1_Ex ReadPm_M1_Done ReadPm_M1_Bsy ReadPm_M1_Act ReadPm_M1_DaTy ReadPm_M1_Dat Wr itePm_M ReadPm_M1_Done WritePm_M_Done WritePm_M_Bsy WritePm_M_Act ReadPm _M2 WritePm_M_Done ReadPm_M2_Done ReadPm_M2_Bsy ReadPm_M2_Act ReadPm_M2_DaTy ReadPm_M2_Dat  When ReadPm_M1_Ex changes from FALSE to TRUE, executing the first DMC_ReadParameter_Motion instruction starts.
Page 593: Dmc_Touchprobe
Chapter 11 Motion Control Instructions DMC_TouchProbe FB/FC Explanation Applicable model DVP15MC11T DMC_TouchProbe is used for capturing the position of an axis. DVP15MC11T-06 DMC_Touc hProbe_in stanc e DMC_TouchProbe Ax is Done Ex ecut e Busy Trigg erI nput Ac tiv e Windowonly CommandAborted Firs tpos...
Page 594 DVP-15MC Series Motion Controller Operation Manual Parameter Valid range Validation Function Data type name (Default) timing captured position is converted from the number of pulses that the external encoder port of the controller receives through axis parameters. Mode 2: The trigger signal comes from the rising edge of the input point of the servo drive.
Page 595 Chapter 11 Motion Control Instructions Parameter name Function Data type Valid range The captured position after the completion of the RecordedPosition instruction execution. Refer to the following Function LREAL for details.  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE ...
Page 596 DVP-15MC Series Motion Controller Operation Manual Case 3： During execution of the instruction, Done changes to TRUE when the instruction execution is completed after Execute changes from TRUE to FALSE. Meanwhile, Busy and Active change to FALSE and one period later, Done changes to FALSE.
Page 597 Chapter 11 Motion Control Instructions position is converted from the number of pulses the external encoder port of the controller receives through axis parameters. Mode 1: The external signal triggers I point of the motion controller and the position capture is conducted through the falling edge of the input point specified by TriggerInput.
Page 598 DVP-15MC Series Motion Controller Operation Manual  Mode 3 The external signal triggers the high-speed input point: DI7 of the servo drive. The captured position is converted from the number of pulses CN1 port of the servo drive receives through axis parameters.
Page 599 Chapter 11 Motion Control Instructions  Programming Example 1 Capture the position of the external encoder axis by using the rising edge of I0 under mode 0. The variable table and program Variable name Data type Initial value NOT_EN BOOL FALSE NOT_ENO BOOL...
Page 600 DVP-15MC Series Motion Controller Operation Manual NO T NOT_EN NOT_E NO Touc h_Done Ou t Touc h_Ex Touc h DMC_TouchProbe A xis1 Ax is Done Touch_Done Touc h_Bsy Touch_ Ex Ex ecut e Busy Touch_Tri Trigge rIn put Act iv e...
Page 601 Chapter 11 Motion Control Instructions NO T NOT_EN NOT_E NO Touc h1_Done Ou t Touc h1_Ex Touc h1 DMC_TouchProbe A xis2 Ax is Done Touch1_Done Touc h1_Ex Touc h1_Bsy Ex ecut e Busy Touch1_Tri Trigg erI nput Act iv e Touc h1_Act Windowonly CommandAborted...
Page 602: Dmc_Touchprobecyclically
DVP-15MC Series Motion Controller Operation Manual DMC_TouchProbeCyclically FB/FC Explanation Applicable model DMC_TouchProbeCyclically is used for capturing the position of an DVP15MC11T axis cyclically. DVP15MC11T-06 DMC_TouchProbeCyclically instance DMC_Tou chProb eCyclically Axis Valid En able Busy Trigg erInput Active Win dowonly CommandA borted...
Page 603 Chapter 11 Motion Control Instructions Parameter Valid range Validation Function Data type name (Default) timing is specified by TriggerInput. captured position converted from the number of pulses that external encoder port of the controller receives through axis parameters. Mode 2: The trigger signal comes from the rising edge of the input point of the servo drive.
Page 604 DVP-15MC Series Motion Controller Operation Manual Parameter name Function Data type Valid range TRUE when there is an error in the execution of the Error BOOL TRUE / FALSE instruction. Contains error codes when an error occurs. Please ErrorID WORD refer to section 12.2 for the corresponding error code.
Page 605 Chapter 11 Motion Control Instructions Valid change to TRUE. One period later, Error changes to TRUE and ErrorID shows corresponding error codes and meanwhile Busy and Valid change to FALSE. When Enable changes from TRUE to FALSE, Error changes to FALSE and the value of ErrorID will be cleared. ...
Page 606: Dmc_Jog
DVP-15MC Series Motion Controller Operation Manual DMC_Jog Applicable FB/FC Explanation model DVP15MC11T DMC_Jog jogs an axis. DVP15MC11T- DMC_ Jog instance DMC_Jog Axis Done JogForward Busy JogBackward CommandAborted Velocity Error Acceleration ErrorID Deceleration Jerk  Input Parameters Valid range Parameter name...
Page 607 Chapter 11 Motion Control Instructions Parameter name Function Data type Valid range TRUE when there is an error in the execution of the Error BOOL TRUE/FALSE instruction. Contains the error code when an error occurs. Please ErrorID WORD refer to section 12.2. ...
Page 608: Dmc_Movevelocitystopbypos
DVP-15MC Series Motion Controller Operation Manual DMC_MoveVelocityStopByPos Applicable FB/FC Explanation model DVP15MC11T DMC_MoveVelocityStopByPos is used for making an axis stop at the specified DVP15MC11T- phase. D M C_MoveVelocityStopByPos instance DM C_M oveVelocityS topByPos Axis InVelocity Ex_Move Stop_Done Ex_Stop Busy Velocity...
Page 609 Chapter 11 Motion Control Instructions Parameter Valid range Validation Function Data type name (Default) timing the pitch (The variable value changes (UnitsPerRotation) must be set) TRUE. corresponds to. When Ex_Move 0~the setting value of Specify a phase in the changes StopPhase LREAL RoundPhase...
Page 610 DVP-15MC Series Motion Controller Operation Manual Name Timing for changing to TRUE Timing for changing to FALSE  When the axis is being  When CommandAborted changes to TRUE. Active controlled by the  When Error changes to TRUE. instruction.
Page 611 Chapter 11 Motion Control Instructions shown in the figure below. And the axis can be controlled to stop at the phase specified by StopPhase via the DMC_MoveVelocityStopByPos instruction. The terminal actuator may stop at the position of 12500 units, 22500 units, 32500 units or 42500 units. 0°...
Page 612: Dmc_Movevelocitystopbylinepos
DVP-15MC Series Motion Controller Operation Manual DMC_MoveVelocityStopByLinePos Applicable FB/FC Explanation model DVP15MC11T DMC_MoveVelocityStopByLinePos is used for making an axis stop at the DVP15MC11T- specified position. DMC_MoveVelocityStopByLinePos instance DMC_MoveVelocitySt opByLinePos Axis InVelocity Ex_Mo ve S top_Done Ex_Stop Busy Velocity Active A cceleration...
Page 613 Chapter 11 Motion Control Instructions Parameter Valid range Validation Function Data type name (Default) timing Positive number When Ex_Move RoundPhase Specify the modulo. LREAL (The variable value changes must be set) TRUE. When Ex_Move 0~the setting value of Specify a position in the changes StopPhase LREAL...
Page 614 DVP-15MC Series Motion Controller Operation Manual Name Timing for changing to TRUE Timing for changing to FALSE  When the axis is being  When CommandAborted changes to TRUE. Active controlled by the  When Error changes to TRUE. instruction.
Page 615 Chapter 11 Motion Control Instructions RoundPhase is set to 10000 and StopPhase is set to 4000 as shown in the figure below. And the terminal actuator can be controlled to stop at the position specified by StopPhase via the DMC_MoveVelocityStopByLinePos instruction. The terminal actuator may stop at the position of 4000 units, 14000 units, 24000 units or 34000 units.
Page 616: Dmc_Readpositionlagstatus
DVP-15MC Series Motion Controller Operation Manual DMC_ReadPositionLagStatus Applicable FB/FC Explanation model DVP15MC11T DMC_ReadPositionLagStatus is used for the detection of the position lag. DVP15MC11T- DMC_ReadPositionLagStat us_instanc e DMC_Re adPositionLagStatus Ax is Out OfRange Enable Busy E rror ErrorID  Input Parameters...
Page 617 Chapter 11 Motion Control Instructions DMC_ReadPositionLagStatus is used to detect if the absolute value of actual position difference of the specified axis (which is the difference between the command position and feedback position) exceeds the setting value. The allowed position difference value is set in the DMC_WritePositionLagSetting instruction.
Page 618 DVP-15MC Series Motion Controller Operation Manual DWP LS DMC_WritePositionLagSetting Axis Done DW PLS _Done D WP LS_Ex Execute Busy DW PLS _Bsy DWP LS_Lag DW PLS _Err Error DW PLS _HTime HoldTime ErrorID DW PLS _ErrID D RP LS DMC_ReadPositionLagStatus...
Page 619: Dmc_Writepositionlagsetting
Chapter 11 Motion Control Instructions DMC_WritePositionLagSetting Applicable FB/FC Explanation model DVP15MC11T DMC_WritePositionLagSetting is used for setting the position lag. DVP15MC11T- DMC_WriteP ositionLagSetting_instance DMC_WriteP ositionLagSetting Axis Done Execut e Busy Error HoldTime ErrorID  Input Parameters Parameter Valid range Function Data type Validation timing name (Default)
Page 620 DVP-15MC Series Motion Controller Operation Manual Function  DMC_WritePositionLagSetting is used to set the allowed position lag value (which is the difference between the command position and feedback position) and the allowed length of time specified by HoldTime during which the setting value of Lag is exceeded. Whether the actual position difference of a specified axis exceeds the setting value of Lag or not is detected by the DMC_ReadPositionLagStatus instruction.
Page 621: Dmc_Changemechanismgearratio
Chapter 11 Motion Control Instructions DMC_ChangeMechanismGearRatio Applicable FB/FC Explanation model DVP15MC11T DMC_ChangeMechanismGearRatio is used for modifying axis parameter DVP15MC11T- values. DMC_ChangeMechanis mG earRatio inst anc e DMC_Chan geMec hanismGearRatio Ax is Done Ex ecut e Busy I nputRotation Error Output Rotat ion ErrorID Units PerRot ation AxisTy pe...
Page 622 DVP-15MC Series Motion Controller Operation Manual Parameter Function Data type Valid range name Contains the error code when an error occurs. Please ErrorID WORD refer to section 12.2.  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE ...
Page 623: Dmc_Torquecontrol
Chapter 11 Motion Control Instructions DMC_TorqueControl FB/FC Explanation Applicable model DMC_TorqueControl controls an axis to work under torque mode and DVP15MC11T DVP15MC11T-06 carry out the torque output. DMC_TorqueControl_inst ance DMC_TorqueControl Ax is InTorqu e Enable Busy Ac tiv e Cont inuous Upda te Torque CommandAborted TorqueRamp...
Page 624 DVP-15MC Series Motion Controller Operation Manual Valid range Validation Parameter name Function Data type (Default) timing Acceleration Reserved Deceleration Reserved Jerk Reserved 1: mcPositiveDirec- Specify the rotation tion, When Enable direction for the axis. 3: mcNegativeDirec- Direction MC_Direction changes from...
Page 625 Chapter 11 Motion Control Instructions Output Update Timing Chart  Ca se 1 Case 2 Case 3 E nable I nTorque Busy A ct ive Co mma ndAbo rt ed Error Error ID Case 1： When Enable changes from FALSE to TRUE, Busy changes to TRUE. When the instruction starts to control the axis, Active changes to TRUE.
Page 626 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value Pwr_ErrID WORD DMC_TorqueControl TC_En BOOL FALSE TC_Tor TC_TorRa LREAL TC_Vel LREAL 100000.0 TC_Dir MC_Direction TC_InTor BOOL TC_Bsy BOOL TC_Act BOOL TC_Abt BOOL TC_Err BOOL TC_ErrID WORD MC_Power Pwr_S ta...
Page 627 Chapter 11 Motion Control Instructions Motion Curve and Timing Chart Torqu e Time DMC_ TorqueControl TC_En TC_InTor TC_Bu TC_Ac TC_Err TC_ErrID  When TC_En changes from FALSE to TRUE, DMC_TorqueControl is executed. Meanwhile TC_Bsy changes from FALSE to TRUE. When TC_Act changes to TRUE, the instruction starts to control the axis and the torque value will be increased according to the set change rate of the torque.
Page 628: Dmc_Movevelocity
DVP-15MC Series Motion Controller Operation Manual DMC_MoveVelocity FB/FC Explanation Applicable model DMC_MoveVelocity changes the parameter values of the velocity DVP15MC11T instruction to make the controlled axis valid immediately during execution DVP15MC11T-06 of the velocity instruction. DMC_ Mo veVelocity inst ance...
Page 629: Dmc_Switchsoftlimit
Chapter 11 Motion Control Instructions DMC_SwitchSoftLimit FB/FC Explanation Applicable model DVP15MC11T DMC_SwitchSoftLimit controls the software limit switch. DVP15MC11T-06 DMC_ Switch SoftL imit_ ins tanc e DMC_ Swit chS oftLimit Ax is Done Enable Error S witc h E rrorI D ...
Page 630 DVP-15MC Series Motion Controller Operation Manual  Programming Example  The variable table and program Variable name Data type Initial value DMC_SwitchSoftLimit Axis1 USINT SSL_En BOOL FALSE SSL_Swh BOOL FALSE SSL_Done BOOL SSL_Err BOOL SSL_ErrID WORD S SL DMC_Swit chS oftLimit...
Page 631: 11.4 Multi-Axis Instructions
Chapter 11 Motion Control Instructions 11.4 Multi-axis Instructions MC_GearIn FB/FC Explanation Applicable model MC_GearIn is used for establishing the electronic gear relationship DVP15MC11T between two axes. DVP15MC11T-06 MC_G earIn_ins tanc e MC_GearIn Mas ter InGear Slav e Busy Exec ute Act iv e Cont inuous Upd ate CommandAborted...
Page 632 DVP-15MC Series Motion Controller Operation Manual Valid range Parameter name Function Data type Validation timing (Default) deceleration. (The variable value changes from (Unit: Unit/s must be set) FALSE to TRUE Specify the change rate of Positive number When Execute target acceleration and...
Page 633 Chapter 11 Motion Control Instructions Name Timing for changing to TRUE Timing for changing to FALSE  When CommandAborted changes to TRUE  When the axis starts being Active  When Error changes to TRUE controlled by the instruction  When Execute changes from TRUE to FALSE ...
Page 634 DVP-15MC Series Motion Controller Operation Manual If the MC_GearIn instruction is executed when the e-gear relationship between two axes has not been built yet, the velocity of the slave axis will reach the target velocity according to the values of RatioNumerator, RatioDenomenator, Acceleration, Deceleration and Jerk specified by the instruction.
Page 635 Chapter 11 Motion Control Instructions Variable name Data type Initial value GearIn2_Bsy BOOL GearIn2_Act BOOL GearIn2_Abt BOOL GearIn2_Err BOOL GearIn2_ErrID WORD MC_MoveVelocity Axis1 Axis Inve locit y Vel_Invel Vel_Bsy Vel_E x Execute Busy A ctive Vel_Act ContinuousUpdate 40000.0 Velocity CommandA bort ed Vel_Abt 10000.0 Acceleration...
Page 636 DVP-15MC Series Motion Controller Operation Manual Motion Curve and Timing Charts: Ve loc it y （） M aster a xis Axis1 400 00 Time Ve loc it y （） S lav e axis Ax is 2 80000 400 00...
Page 637: Mc_Gearout
Chapter 11 Motion Control Instructions MC_GearOut FB/FC Explanation Applicable model MC_GearOut is used for ending the established electronic gear DVP15MC11T relationship between the master axis and slave axis. DVP15MC11T-06 MC_Gea rO ut_ins tanc e MC_G earOut Slav e Done Ex ecut e Busy CommandAborted Erro r...
Page 638 DVP-15MC Series Motion Controller Operation Manual Name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from TRUE to FALSE  CommandAborted is set to TRUE when the CommandAborted  When the instruction execution is...
Page 639 Chapter 11 Motion Control Instructions Variable name Data type Initial value Vel_Bsy BOOL Vel_Act BOOL Vel_Abt BOOL Vel_Err BOOL Vel_ErrID WORD GearIn MC_ GearIn GearIn_Ex BOOL FALSE GearIn_BM MC_Buffer_Mode GearIn_InGear BOOL GearIn_Bsy BOOL GearIn_Act BOOL GearIn_Abt BOOL GearIn_Err BOOL GearIn_ErrID WORD GearOut MC_ GearOut...
Page 640 DVP-15MC Series Motion Controller Operation Manual Curve and Timing Charts: Velocity Velocity of Ma st er axis 40000 Time Velocity Ve locity of Slave axis 30000 Time GearI n GearIn_Ex G earI n_InGear GearIn_Bsy GearIn_Act GearIn _Abt GearIn_Err GearO ut...
Page 641: Mc_Combineaxes
Chapter 11 Motion Control Instructions MC_CombineAxes FB/FC Explanation Applicable model MC_CombineAxes outputs the sum or difference of the position DVP15MC11T variations of two master axes as the slave position variation. DVP15MC11T-06 MC_CombineAxes_instance MC_Combin eAxe s Master1 InSync Master2 Busy Slave Active Execute CommandA borted...
Page 642 DVP-15MC Series Motion Controller Operation Manual Valid range Parameter name Function Data type Validation timing (Default) numerator. (The variable value to TRUE must be set) Positive number or Specify the master When Execute negative number GearRatioDenom axis1 gear ratio LREAL...
Page 643 Chapter 11 Motion Control Instructions Parameter name Function Data type Valid range Busy TRUE when the instruction is being executed. BOOL TRUE / FALSE Active TRUE when the axis is being controlled. BOOL TRUE / FALSE CommandAborted TRUE when the instruction is aborted. BOOL TRUE / FALSE TRUE when there is an error in the execution of the...
Page 644 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Chart Cas e 2 Case 1 Cas e 3 Cas e 4 E xec ute InS ync Bus y Ac tiv e Abort E rror E rro rI D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE. One cycle later, Active changes to TRUE.
Page 645 Chapter 11 Motion Control Instructions Velocit y Slav e ax is Mas ter a xis 1 Mas ter a xis 2 Time  CombineMode is set to 1 �� = = Position variation of Master axis1 ×...
Page 646 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value Pwr1_Bsy BOOL Pwr1_Act BOOL Pwr1_Err BOOL Pwr1_ErrID WORD Pwr2 MC_Power Axis2 USINT Pwr2_BM MC_Buffer_Mode Pwr2_Sta BOOL Pwr2_Bsy BOOL Pwr2_Act BOOL Pwr2_Err BOOL Pwr2_ErrID WORD Pwr3 MC_Power Axis3 USINT...
Page 647 Chapter 11 Motion Control Instructions Variable name Data type Initial value Rel2_Act BOOL Rel2_Abt BOOL Rel2_Err BOOL Rel2_ErrID WORD CombinA Pwr1 MC_Power MC_CombineA xes Axis1 Ax is Status Pwr1_S ta Ax is 1 Mast er1 In Sync CombinA_ InSync P wr1_En Ena ble Busy Pwr1_Bsy...
Page 648 DVP-15MC Series Motion Controller Operation Manual Motion Curve and Timing Chart Veloc ity Slav e ax is Mas ter ax is 1 Mas ter a xis 2 Time Com bi nA Comb in A_Ex CombinA_I nSy nc CombinA_B sy CombinA _Ac t...
Page 649: Introduction Of Electronic Cam
Chapter 11 Motion Control Instructions Introduction of Electronic Cam The cam is the component with the curve profile or grooves. It transmits the motion to the follower near its edge and the rack will turn periodically following the follower. The cam mechanism consists of a cam, follower and rack.
Page 650: Mc_Camin
DVP-15MC Series Motion Controller Operation Manual MC_CamIn FB/FC Explanation Applicable model MC_CamIn is used to build the cam relationship between two axes DVP15MC11T according to the set parameters. DVP15MC11T-06 MC_CamIn_instance MC_CamIn Master InSync Slave EndOfProfile Execute Busy ContinuousUpdate Active CamTable...
Page 651 Chapter 11 Motion Control Instructions Valid range Parameter name Function Data type Validation timing (Default) Specify the position mode of When Execute the slave axis. SlaveAbsolute BOOL TRUE or FALSE (FALSE) changes from TRUE: Absolute position FALSE to TRUE FALSE: Relative position Specify how many units the Negative number, positive When Execute...
Page 652 DVP-15MC Series Motion Controller Operation Manual Valid range Parameter name Function Data type Validation timing (Default) Specify the maximum deceleration of the slave Positive number When Execute axis during the period when Deceleration LREAL (The variable value must changes from...
Page 653 Chapter 11 Motion Control Instructions Name Timing for changing to TRUE Timing for changing to FALSE  When the acyclic cam motion is performed (Periodic=FALSE) and EndOfProfile changes to TRUE  When Execute changes to TRUE Busy  When Error changes to TRUE ...
Page 654 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Chart Case 1： Busy changes to TRUE as Execute changes from FALSE to TRUE. And one period later, Active changes to TRUE. When the slave axis and master axis are in the synchronous motion, InSync changes from FALSE to TRUE.
Page 655 Chapter 11 Motion Control Instructions  About MC_CamIn Instruction  MC_CamIn Execution Process The MC_CamIn execution process figure: MC_CamIn Exe cut ion Process S la ve axis position Master axis po sition Stage 1: Trigger and execute the MC_CamIn instruction. Stage 2: Wait for the start of the engagement.
Page 656 DVP-15MC Series Motion Controller Operation Manual The engagement is completed and the slave axis and master axis achieve the cam synchronization if the cam phase that the master axis and slave axis correspond to meets the planned cam relationship after the slave axis starts to perform the engagement action.
Page 657 Chapter 11 Motion Control Instructions MC_CamI n Execut ion Process A ct ivat io nPosition Absolut e axis position Slave a xis p osit io n 10 0 1000 Master axis p osition Stage 1: Trigger and execute the MC_CamIn instruction. The master axis absolute position is 100 at the moment.
Page 658 DVP-15MC Series Motion Controller Operation Manual Ca se 2 S lave a xis p osition 10 00 Master axis p osition Stage 1: Trigger and execute the MC_CamIn instruction. The master axis absolute position is 1000 at the moment. (The absolute axis phase is 200) Stage 2: Wait for the start of the engagement.
Page 659 Chapter 11 Motion Control Instructions MC_CamI n Ex ecut ion Proc es s Ac tivat ionPos ition Abs olute ca m p has e Ca se 1 S la ve ax is po sition 100 0 1180 Mas te r a xis posit io n Case 2 Slav e axis pos it ion 1000...
Page 660 DVP-15MC Series Motion Controller Operation Manual MC_CamIn instruction. In the synchronous cam motion, the corresponding relationship between the master axis position and slave axis position is based on the pre-planned cam relationship (the cam curve or cam table). The process in which the slave axis position is calculated through the master axis position is illustrated as follows.
Page 661 Chapter 11 Motion Control Instructions Cas e 1 Pl an ned Ca m Cu r ve Sl ave ax is cam p hase Slav e ax is phas e Master Slav e ax is p osi ti on - 620 - 260 axis phase C ase 2...
Page 662 DVP-15MC Series Motion Controller Operation Manual Sl ave ax is c am p h as e Mas ter ax is ca m p has e When the master axis and slave axis are both in absolute mode and the engagement begins, the master axis position and slave axis position are both 0.
Page 663 Chapter 11 Motion Control Instructions C ase 5 Sl av e ax is p o sit i on M aster Scal ing= 2 Sl aveS cal ing=1 Master axi s po si ti on Case 1： The actual cam relationship is consistent with the preplanned one as the values of MasterScaling and SlaveScaling are 1 and their offsets are 0.
Page 664 DVP-15MC Series Motion Controller Operation Manual corresponding slave axis position is 180 (180=120+60). Case 2： The master axis position corresponding to the slave axis position will shift (add) by 90 based on the planned position as MasterScaling and SlaveScaling are 1, MasterOffset is 90 and SlaveOffset is 0.
Page 665 Chapter 11 Motion Control Instructions Slav e axis position ( Slav e ax is phas e 66 0(300) Plann ed Cam C urv e Slave ax is phase 40 0(40) 360 (0) 180 (180) 40(40) 0 (0) M aster ax is pos ition Mas ter (80) (360)
Page 666 DVP-15MC Series Motion Controller Operation Manual StartMode=- 1 S lav e axi s po si ti on (Sl av e ax is ph ase ) 660 (30 0) 400 (40) 360(0) 18 0(180) 40(40) 0( 0) Mast er ax is p os it io n...
Page 667 Chapter 11 Motion Control Instructions Thus, during cam operation, the execution of MC_SetPosition instruction for the master axis and slave axis will not affect the cam operation. If the cam operation is triggered after the MC_SetPosition instruction is executed, the cam will be affected by the axis position change which is incurred by using the MC_SetPosition instruction.
Page 668 DVP-15MC Series Motion Controller Operation Manual Axis type As cam master axis As cam slave axis Servo real axis Encoder Virtual axis  Programming Example  The execution effect of the MC_CamIn instruction is described in the following example. ...
Page 669 Chapter 11 Motion Control Instructions  The variable table and program Variable name Data type Initial value CamIn MC_CamIn CamIn_Ex BOOL CamIn_InSync BOOL CamIn_EndOP BOOL CamIn_Bsy BOOL CamIn_Act BOOL CamIn_Abt BOOL CamIn_Err BOOL CamIn_ErrID WORD MC_MoveVelocity Vel _Ex BOOL Vel _InVel BOOL Vel _Bsy BOOL...
Page 670 DVP-15MC Series Motion Controller Operation Manual  Motion curve and timing chart Maste r a xis p osition T im e a xis p osit io n lav e t 3 t4 Ti m e Vel_Ex CamI n CamI n_Ex...
Page 671: Mc_Camout
Chapter 11 Motion Control Instructions MC_CamOut FB/FC Explanation Applicable model DVP15MC11T MC_CamOut can disconnect the established electronic cam relationship. DVP15MC11T-06 MC_CamOut_ins tance MC_CamOut Slave Done Ex ecut e Busy CommandAborted Erro r ErrorI D  Input Parameters Valid range Parameter name Function Data type Validation timing...
Page 672 DVP-15MC Series Motion Controller Operation Manual Name Timing for changing to TRUE Timing for changing to FALSE  When an error occurs in the  When Execute changes from TRUE to instruction execution or the input Error FALSE. parameters for the instruction are illegal.
Page 673 Chapter 11 Motion Control Instructions  The key points of the cam curve Master axis Slave axis Velocity Acceleration position position  Explanation: Cam period of the master axis and slave axis MasterScaling and SlaveScaling MasterOffset and SlaveOffset MasterAbsolute Relative SlaveAbsolute Relative Periodic...
Page 674 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value Vel_Abt BOOL Vel_Err BOOL Vel_ErrID WORD CamOut MC_CamOut CamOut_Ex BOOL CamOut_Done BOOL CamOut_Bsy BOOL CamOut_Abt BOOL CamOut_Err BOOL CamOut_ErrID WORD CamIn MC_CamIn MC_Mov eVeloc ity Axis1 Mas ter...
Page 675 Chapter 11 Motion Control Instructions  Motion curve and timing chart Master axis pos ition Time Sl ave axis pos ition t3 t4 Time Vel_Ex Cam In CamIn_E x Ca mIn_I nSync CamIn_E ndOP CamIn_B sy CamIn_A ct CamI n_Abt Ca mI n_Err CamIn_ ErrID CamO ut...
Page 676 DVP-15MC Series Motion Controller Operation Manual  The position where the engagement starts is reached as the master axis passes 100 at t3. The slave axis starts to perform the engagement action according to StartMode at t3. The synchronization is achieved at t4 and the InSync output parameter (CamIn1_InSync) changes from FALSE to TRUE.
Page 677: Dmc_Camreadpoint
Chapter 11 Motion Control Instructions DMC_CamReadPoint Applicable FB/FC Explanation model DVP15MC11T DMC_CamReadPoint reads the information of a cam point. DVP15MC11T- DMC_CamRe adPoint_ins tanc e DMC_Ca mRead Point Ex ec ute Done CamTable Busy CamChange dPoint E rro r Ca mP ointNum ErrorID Mas terPos SlaveP os...
Page 678 DVP-15MC Series Motion Controller Operation Manual Parameter Function Data type Valid range name The position of the slave axis of the selected electronic 0, positive SlavePos LREAL cam point. number The velocity of the slave axis of the selected electronic...
Page 679 Chapter 11 Motion Control Instructions Variable name Data type Initial value CamWr_Done BOOL CamWr_Bsy BOOL CamWr_Err BOOL CamWr_ErrID WORD CamRe DMC_CamReadPoint CamRe_Ex BOOL FALSE CamRe_CT USINT CamRe_CHP BOOL TRUE CamRe_CPN UINT CamRe_Done BOOL CamRe_Bsy BOOL CamRe_Err BOOL CamRe_ErrID WORD CamRe_MP LREAL CamRe_SP LREAL...
Page 680 DVP-15MC Series Motion Controller Operation Manual 2. The cam curve The cam curve C1 is changed to C1’.  There are three cam points in the cam curve. When CamWr_Ex changes to TRUE, DMC_CamWritePoint is executed. When CamWr_Done changes to TRUE, it indicates that writing cam point information is finished.
Page 681: Dmc_Camwritepoint
Chapter 11 Motion Control Instructions DMC_CamWritePoint Applicable FB/FC Explanation model DVP15MC11T DMC_CamWritePoint is used for setting parameters of one cam point. DVP15MC11T- DMC_CamWritePoint ins tance DMC_CamWriteP oint Exec ut e Done CamTable Busy CamPointNum Error Mas terPos E rrorID Slav ePos SlaveVel Slav eAcc ...
Page 682 DVP-15MC Series Motion Controller Operation Manual Parameter Function Data type Valid range name Contains the error code when an error occurs. Please ErrorID WORD refer to section 12.2.  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE ...
Page 683 Chapter 11 Motion Control Instructions DMC_CamSet Applicable FB/FC Explanation model DVP15MC11T DMC_CamSet is used for making the modified cam point information effective. DVP15MC11T- DMC_CamSet _ins tanc e DMC_CamSet Ex ecute Done CamTable Busy Error ErrorI D  Input Parameters Valid range Parameter name Function Data type...
Page 684 DVP-15MC Series Motion Controller Operation Manual Output Update Timing Chart  Case 1 Ca se 2 E xec ute Done Bus y E rror Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE. When the instruction execution is completed, Done changes to TRUE and Busy changes to FALSE.
Page 685: Dmc_Camset
Chapter 11 Motion Control Instructions Variable name Data type Initial value CamSe_Bsy BOOL CamSe_Err BOOL CamSe_ErrID WORD CamWr DMC_CamWritePoint CamWr_E x Execute Done CamWr_Done CamWr_CT CamTable Bus y CamWr_Bs y CamPointNum CamWr_CP E rror CamWr_Err CamWr_MP Mast erPos ErrorID CamWr_ErrID CamWr_SP SlavePos CamWr_SV...
Page 686 DVP-15MC Series Motion Controller Operation Manual  The cam point information after modification: Master axis Slave axis Velocity Acceleration position position 180.0 540.0 360.0 Sequence Chart: S lave ax is pos ition 540. 0 360. 0 Mas te r ax is...
Page 687: Dmc_Camreadtappetstatus
Chapter 11 Motion Control Instructions DMC_CamReadTappetStatus FB/FC Explanation Applicable model DMC_CamReadTappetStatus is used for reading the status of DVP15MC11T multiple tappet points. DVP15MC11T-06 DMC_CamReadTappet Status_instance DMC_CamReadTappet Status Enab le Vaild CamTable Busy TappetNum1 Error Tappet Num2 ErrorID TappetNum3 Status1 TappetNum4 Status2 TappetNum5 St atus3...
Page 688 DVP-15MC Series Motion Controller Operation Manual Valid range Parameter name Function Data type Validation timing (Default) The number of the 1~128 When Enable is TappetNum7 UINT (The variable seventh tappet point. TRUE. value must be set) The number of the eighth...
Page 689 Chapter 11 Motion Control Instructions Case 2： When an error occurs, Error changes to TRUE and ErrorID shows corresponding error code. Meanwhile Busy changes to FALSE. Error changes to FALSE when Enable changes from TRUE to FALSE and then the value of ErrorID is cleared to 0. ...
Page 690 DVP-15MC Series Motion Controller Operation Manual DMC_CamReadTappet Status RTS_En E nable Vaild RTS _Va RTS_CT CamTable Busy RTS _Bsy RTS _TN1 TappetNum1 Error RTS _Err RTS_TN2 Tappet Num2 RTS _ErrID ErrorID RTS_TN3 TappetNum3 Stat us1 RTS _Sta1 RTS_TN4 TappetNum4 Stat us2...
Page 691 Chapter 11 Motion Control Instructions direction. Tappet point 4 is set to PositiveInvert when it is passed in the positive direction.  When the axis runs forward and RTS_En changes from FALSE to TRUE, DMC_CamReadTappetStaus is executed. (Because the first tappet point selects PositiveOn,) RTS_Sta1 changes from FALSE to TRUE when the axis passes the first tappet point in the cam curve.
Page 692: Dmc_Camreadtappetvalue
DVP-15MC Series Motion Controller Operation Manual DMC_CamReadTappetValue FB/FC Explanation Applicable model DMC_CamReadTappetValue reads the parameters of one tappet DVP15MC11T point. DVP15MC11T-06 DMC_CamReadTappet Value_instance DMC_CamReadTappet Value Enab le Vaild CamTable Busy TappetNum Error ErrorID Mast erPo s P ositiveMode NegativeMode ...
Page 693 Chapter 11 Motion Control Instructions Name Timing for changing to TRUE Timing for changing to FALSE  When the instruction  When Enable changes to FALSE. Valid execution is completed.  When Done changes to TRUE.  When Enable is TRUE. Busy ...
Page 694 DVP-15MC Series Motion Controller Operation Manual Mode Function Explanation ON if the status of the tappet point is OFF before the tappet point is passed in the negative direction.  Programming Example The variable table and program Variable name Data type...
Page 695: Dmc_Camwritetappetvalue
Chapter 11 Motion Control Instructions DMC_CamWriteTappetValue FB/FC Explanation Applicable model DMC_CamWriteTappetValue is used for setting the parameters for a DVP15MC11T tappet point. DVP15MC11T-06 DMC_CamWrit eTappetValue_instance DMC_CamWrit eTappetValue Execut e Done CamTable Busy TappetNum Error MasterPos ErrorID PositiveMode Negat iveMode  Input Parameters Valid range Parameter name...
Page 696 DVP-15MC Series Motion Controller Operation Manual Name Timing for changing to TRUE Timing for changing to FALSE  When the instruction  When Execute changes to FALSE. Done execution is completed.  When Done changes to TRUE.  When Execute is TRUE.
Page 697 Chapter 11 Motion Control Instructions Mode Function Explanation the status of the tappet point is ON before the tappet point is passed in the negative direction. Otherwise, the status of the tappet point which is read will be ON if the status of the tappet point is OFF before the tappet point is passed in the negative direction.
Page 698 DVP-15MC Series Motion Controller Operation Manual DMC_CamWriteTappetValue WTV _Ex Ex ecute Done WTV_ Done WTV_CT CamTable Bus y WTV_ Bsy WTV_TN TappetNum Error WTV_ Err WTV_MP Mas terPos E rrorID WTV_ ErrID WTV_PM Po sitiv eMode WTV _NM NegativeMode DMC_CamRead TappetValue...
Page 699 Chapter 11 Motion Control Instructions DMC_CamAddTappet FB/FC Explanation Applicable model DVP15MC11T DMC_CamAddTappet is used for adding a tappet point. DVP15MC11T-06 DMC_CamAddTap pet_instance DMC_CamAddTappet Execut e Done CamTable Busy MasterPos Error PositiveMode ErrorID Negat iveMode TappetNum  Input Parameters Valid range Parameter name Function Data type...
Page 700 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When instruction  When Execute changes to FALSE. Done execution is completed.  When Done changes to TRUE.
Page 701 Chapter 11 Motion Control Instructions Mode Function Explanation the status of the tappet point which is read will be OFF if the status of the tappet point is ON before the tappet point is passed in the negative direction. Otherwise, the status of the tappet point which is read will be ON if the status of the tappet point is OFF before the tappet point is passed in the negative direction.
Page 702 DVP-15MC Series Motion Controller Operation Manual DMC_Ca mAdd Tappet CAT_Ex Exec ute Done CAT_Done CAT_CT CamTable Bus y CAT_B sy CAT_MP MasterPos E rror CAT_E rr CAT_PM Pos it iv eMode CAT_E rrID ErrorID CAT_NM NegativeMode TappetNum CAT_TN DMC_CamReadTappetValue Enable...
Page 703: Dmc_Camdeletetappet
Chapter 11 Motion Control Instructions DMC_CamDeleteTappet FB/FC Explanation Applicable model DVP15MC11T DMC_CamDeleteTappet is used for deleting a tappet point. DVP15MC11T-06 DMC_CamDeleteTappet_instanc e DMC_CamDeleteTappet Ex ecut e Done CamTable Busy Error ErrorID  Input Parameters Valid range Parameter name Function Data type Validation timing (Default) The instruction is...
Page 704 DVP-15MC Series Motion Controller Operation Manual Output Update Timing Chart  Case 1 Ca se 2 E xec ute Done Bus y E rror Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE. When the instruction execution is completed, Done changes to TRUE and Busy changes to FALSE.
Page 705 Chapter 11 Motion Control Instructions DMC_CamDeleteTappet CDT_E x Ex ecute Done CDT_Done CDT_CT CamTable Bus y CDT_Bsy Error CDT_Err CDT_ErrID ErrorID DMC_CamReadTappetValue RTV_En Enable Vaild RTV_Va RTV _CT CamTable Bus y RTV_Bs y RTV_TN Tappet Num Error RTV_Err ErrorID RTV_ErrID Mas terPos RTV_MP Pos it iv eMo de...
Page 706: 11.5 Application Instructions
DVP-15MC Series Motion Controller Operation Manual 11.5 Application Instructions Rotary Cut Technology Rotary cut is the technology to cut the material in transmission vertically. The knife conducts cutting on the cut surface periodically with the rotation of the rotary cut axis.
Page 707: Rotary Cut Parameters
Chapter 11 Motion Control Instructions Rotary Cut Parameters Cuttin Cutting Cutting gposit position position Parameter Corresponding parameter name of Explanation in the figure the instruction APF_RotaryCut_Init.CutLength The cutting length of the processed material The radius of the feed axis, i.e. the radius APF_RotaryCut_Init.FeedRadius length of the feed roller.
Page 708: Control Feature Of Rotary Cut Function
DVP-15MC Series Motion Controller Operation Manual Control Feature of Rotary Cut Function Rotary cut function is a type of special electronic cam function. The figure of cam curve is shown below for continuous cutting. Position of rotary cut axis Position of feed axis ...
Page 709: Introduction To Cam Curve With Rotary Cut Function
Chapter 11 Motion Control Instructions Introduction to Cam Curve with Rotary Cut Function The cam curve with the rotary cut function could be divided into the SYNC area and adjustment area. SYNC area: Feed axis and rotary-cut axis make the motion at a fixed speed ratio (Linear speed of the knife is usually equal to that of the cut surface), and material cutting takes place in SYNC area.
Page 710 DVP-15MC Series Motion Controller Operation Manual Rotary cut axis SYNC area Adjustment area SYNC area Cutting length equals the Feed axis knife roller circumference End of SYNC area Start of SYNC area C u t t i n g l e n g t h In this situation, the feed axis and rotary cut axis in SYNC area and non-SYNC area keep synchronous in speed.
Page 711 Chapter 11 Motion Control Instructions may decelerate to 0 and stay still for a while; and then accelerate up to the synchronous speed. The greater the cutting length is, the longer the roller stays. Additionally, when rotary cut function is started or broken off, the cam curves used are different. The entry curve It is the rotary cut curve when rotary cut function is started.
Page 712 DVP-15MC Series Motion Controller Operation Manual When the rotary roller is mounted with multiple knives, the distances between knives should be the same and the cutting position is at the center of the distance between knives. See the two-knife figure below.
Page 713: Rotary-Cut Instructions
Chapter 11 Motion Control Instructions Rotary-cut Instructions 11.5.5.1 APF_RotaryCut_Init FB/FC Explanation Applicable model APF_RotaryCut_Init is used for initializing the radius of the rotary-cut DVP15MC11T axis and feed axis, the cutting length, synchronous area and etc. DVP15MC11T-06 APF_RotaryCu t_Init_ instance AP F_Rot aryCut_I nit E xecute Done Rota ryAxisRadius...
Page 714 DVP-15MC Series Motion Controller Operation Manual Valid range Parameter name Function Data type Validation timing (Default) RotStartPos Reserved FedStartPos Reserved The number for a group of rotary cut When Execute instructions; a group of (The variable RotaryCutID USINT changes from FALSE...
Page 715 Chapter 11 Motion Control Instructions Name Timing for changing to TRUE Timing for changing to FALSE  When an error occurs in the  When Execute changes from instruction execution or the input Error TRUE to FALSE. parameters for the instruction are illegal.
Page 716: Apf_Rotarycut_In
DVP-15MC Series Motion Controller Operation Manual 11.5.5.2 APF_RotaryCut_In Explanation Applicable model FB/FC APF_RotaryCut_In is used for establishing the rotary-cut relationship DVP15MC11T and specifying the axis No. of the rotary-cut axis and feed axis DVP15MC11T-06 according to the application requirement. APF_Rotary Cut _In_ins tanc e...
Page 717 Chapter 11 Motion Control Instructions  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from TRUE to FALSE after the instruction execution is completed.  When the coupling between the ...
Page 718 DVP-15MC Series Motion Controller Operation Manual 11.5.5.3 APF_RotaryCut_Out Explanation Applicable model FB/FC APF_RotaryCut_Out is used for disconnecting the already established DVP15MC11T rotary-cut relationship between the rotary-cut axis and feed axis. DVP15MC11T-06 APF_RotaryCut _Out _in stan ce AP F_Rot aryCut_O ut...
Page 719 Chapter 11 Motion Control Instructions  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from TRUE to FALSE after the instruction execution is completed.  Done changes to TRUE when the ...
Page 720: Application Example Of Rotary Cut Instructions
DVP-15MC Series Motion Controller Operation Manual Application Example of Rotary Cut Instructions The section explains the setting of rotary cut parameters, establishment and disconnection of rotary cut relationship. The following is the programing example. See the key parameters in the example as shown in the table below...
Page 721 Chapter 11 Motion Control Instructions Pwr1 MC_Power Axis1 Ax is Status Pwr1_S ta P wr1_En Ena ble Busy Pwr1_Bsy Ac tiv e Pwr1_Ac t True Ena blePos itiv e True Ena bleNegative Error Pwr1_Err Pwr1_BM B ufferMode ErrorID Pwr1_ErrID Pwr2 MC_Power Axis2 Ax is...
Page 722 DVP-15MC Series Motion Controller Operation Manual When RotyCut_In_Ex is TRUE, the rotary-cut relationship starts being established. When RotyCut_In _Done is TRUE, it indicates the rotary-cut relationship between the rotary-cut axis and feed axis is made successfully. Servo 1 is the feed axis and servo 2 is the rotary- cut axis.
Page 723 Chapter 11 Motion Control Instructions When RotyCut_Out_Ex is TRUE, the rotary-cut axis starts to break away from the feed axis. When RotyCut_Out_Done is TRUE, it indicates that the rotary-cut axis breaks away successfully. After the rotary-cut axis breaks away from the feed axis, it will return to the entry point and the motion of the feed axis will not impact the rotary-cut axis any more.
Page 724: 11.6 G Code Instructions
DVP-15MC Series Motion Controller Operation Manual 11.6 G Code Instructions CNC Introduction As a multi-axis motion controller, the motion controller supports the standard CNC function and can execute G codes statically to achieve the simple numerical control of machine tools and robot control. Beyond that, it could also be applied to the occasions where G codes are used for positioning and path planning.
Page 725 Chapter 11 Motion Control Instructions Note: The location with an underline is the value of the parameter to be set. When one G code need be input in the CNC program in the CANopen Builder, N_ must be put to the left of G code.
Page 726: Explanation Of G Code Formats
DVP-15MC Series Motion Controller Operation Manual Explanation of G Code Formats  G code Unit The position unit of axis X_, Y_, Z_, A_, B_, C_, P_, Q_ in G code is consistent with that of axis parameter. Please set the same physical unit for each axis.
Page 727 Chapter 11 Motion Control Instructions G1/G2/G3 defaults: The velocity, acceleration, deceleration and jerk are the velocity, acceleration, deceleration and jerk of terminal actuator. They can be set via DMC_SetG1Para instruction and modified via E, F parameter. E+ and E- can be input in G code to set the different acceleration and deceleration rate.
Page 728: G Code Functions
DVP-15MC Series Motion Controller Operation Manual G Code Functions 11.6.4.1 G90 (Absolute Mode)  Function: After G90 is executed, the terminal position of each axis in G code is based on 0 unit and G91 can be used to switch into the relative mode in the process. It is absolute mode for NC program by default.
Page 729: G91 (Relative Mode)
Chapter 11 Motion Control Instructions 11.6.4.2 G91 (Relative Mode)  Function: After G91 is executed, the terminal position of each axis in G code is counted in incremental method beginning from the current position and G90 can be used to switch into the absolute mode in the process.
Page 730: G0 (Rapid Positioning)
DVP-15MC Series Motion Controller Operation Manual 11.6.4.3 G0 (Rapid Positioning)  Function: Each axis moves from current position to the terminal position at the given speed. Maximum 8 axes can be controlled and each axis is independent with each other in motion.
Page 731 Chapter 11 Motion Control Instructions from the current position.  Absolute mode example: The initial positions of axis X, Y are both 10000 units and their axis parameters are both default values. The G codes to be executed are: N0 G90 N1 G0 X50000 Y100000 ...
Page 732 DVP-15MC Series Motion Controller Operation Manual  Relative mode example: The initial positions of axis X, Y are both 10000 units and their axis parameters are both default values. The G codes to be executed are: N0 G91 N1 G0 X50000 Y100000 ...
Page 733: G1 (Linear Interpolation)
Chapter 11 Motion Control Instructions 11.6.4.4 G1 (Linear Interpolation)  Function: The cutter starts off from one point and moves straight to the target position at a given speed. The instruction can control up to 8 axes and all axes start up or stop simultaneously. Three axes control the position of the cutter together as the figure shows below.
Page 734 DVP-15MC Series Motion Controller Operation Manual N_：The row number of G code in NC program X_：Specify the terminal position of axis X, Unit: unit, data type: LREAL. Y_：Specify the terminal position of axis Y, Unit: unit, data type: LREAL. Z_：Specify the terminal position of axis Z, Unit: unit, data type: LREAL.
Page 735 Chapter 11 Motion Control Instructions 70000 20000 20000 20000 60000 50000  After G codes are executed, the Position/Time curve for the whole movement process is shown below: Position 70000 60000 50000 20000  Relative mode example: The initial positions of axis X, Y, Z are all 20000 units and their axis parameters are all default value.
Page 736 DVP-15MC Series Motion Controller Operation Manual 90000 20000 20000 20000 80000 70000  After G codes are executed, the Position/Time curve for the whole movement process is shown below: Position 90000 80000 70000 20000 11-266...
Page 737: G2 (Clockwise Circular/ Helical Interpolation)
Chapter 11 Motion Control Instructions 11.6.4.5 G2 (Clockwise Circular/ Helical Interpolation)  Function: Circular interpolation: The cutter conducts the cutting of the processed object in the clockwise direction at the feed speed given by parameter F on the circular arc with the fixed radius or the fixed center of a circle of the specified plane.
Page 738 DVP-15MC Series Motion Controller Operation Manual “maximum velocity”, “maximum acceleration” and “maximum deceleration” among axis group parameters will prevail. In absolute mode for G90, the terminal point of circular arc is the absolute coordinate value regarding 0 unit in their own directions as reference. In relative mode for G91, the terminal point of circular arc is the incremental value relative to the start point of circular arc.
Page 739 Chapter 11 Motion Control Instructions G code Function Path figure Terminal point(X,Y,Z) XY plane: When there is no variation for the start point and terminal point corresponding to Z axis coordinates, the motion path is circular Terminal point interpolation. Radius R Otherwise, it is Radius R helical...
Page 740 DVP-15MC Series Motion Controller Operation Manual  Example 1  Specify the center of a circle and conduct a circular interpolation in absolute mode  Current position (1000, 3000), axis parameters: default values, the G codes to be executed: N00 G90...
Page 741 Chapter 11 Motion Control Instructions  Example 3:  Specify the center of a circle and conduct a circular interpolation with T in relative mode  Current position (2000, 0), axis parameters: default values, the G codes to be executed: N00 G91 N01 G17 N02 G2 X-2000 Y2000 I0 J2000 T3...
Page 742 DVP-15MC Series Motion Controller Operation Manual  Example 5:  Omission format The G codes to be executed are: N00 G0 X0 Y0 Z0 N01 G1 X100 Y100 Z100 N02 G2 I100 J100 N03 G91 N04 G2 I50 J50 （...
Page 743 Chapter 11 Motion Control Instructions （） 200,200  Example 7:  The helical interpolation with T and the center specified on XY plane (Current position: 0) The G codes to be executed are: N00 G2 X100 Y100 Z100 I50 J50 T2 ...
Page 744: G3 (Anticlockwise Circular /Helical Interpolation)
DVP-15MC Series Motion Controller Operation Manual 11.6.4.6 G3 (Anticlockwise Circular /Helical Interpolation)  Function explanation: Circular interpolation: The cutter conducts the arc cutting of the processed object in the anticlockwise direction at the feed speed given by parameter F on the circular arc with the fixed radius or the fixed center on the specified plane.
Page 745 Chapter 11 Motion Control Instructions reference.  T is the number of full circles; the path is a length of arc when T=0; the path is the corresponding full circles plus the arc length when T is a constant.  Different from format 1, format 2 determines a length of circular arc via the start point, terminal point and radius.
Page 746 DVP-15MC Series Motion Controller Operation Manual Function Path figure code XY plane: When there is some Terminal point(X,Y,Z) variation for the start point and terminal point corresponding to Z axis coordinates, the motion is helical interpolation. Otherwise, it is Terminal point(X,Y)
Page 747 Chapter 11 Motion Control Instructions  Example 1  Specify the center of a circle and circular interpolation in absolute mode Current position (4000, 2000), axis parameters: default values, the G codes to be executed are: N0 G90 N1 G17 N2 G3 X1000 Y3000 I-2000 J-1000 After G codes are executed, the Y/X curve for the whole movement process is shown below: End point...
Page 748 DVP-15MC Series Motion Controller Operation Manual 3000 1000 Start point 2000 J=-1000 1000 I=-2000 Center -3000 (0,0) 4000 2000 1000  Example 3  Specify the center of a circle and circular interpolation with T in relative mode Current position (2000, 0), axis parameters: default values, the G codes to be executed are:...
Page 749 Chapter 11 Motion Control Instructions  Example 4  The helical interpolation with the center of a circle specified Current position (0, 0), axis parameters: default values, the G codes to be executed are: N0 G17 N1 G3 X100 Y100 Z100 I50 J50 T2 ...
Page 750: G17/G18/G19 (Specify Circular Interpolation Plane)
DVP-15MC Series Motion Controller Operation Manual 11.6.4.7 G17/G18/G19 (Specify Circular Interpolation Plane)  Function: The three instructions are used for deciding the selection of circular interpolation or helical interpolation plane and have no impact on the linear interpolation. While the program is being executed, the three work planes can be switched with each other. If no plane option is set, the initial state of system is XY plane (G17).
Page 751: G4 (Dwell Instruction)
Chapter 11 Motion Control Instructions 11.6.4.8 G4 (Dwell Instruction)  Function: Dwell instruction  Format: N_G4 K_  Parameter explanation: N_: The row number of G code in NC program K_: Specify the delay time, unit: second. Range: 0.001 second ~100000 seconds ...
Page 752: G50 (Precise Stop)
DVP-15MC Series Motion Controller Operation Manual 11.6.4.9 G50 (Precise Stop)  Function: Change the transition mode into precise stop. And the following transition modes are always precise stop. G51/G52 can be used for the switch in the execution process. The terminal actuator will reduce its speed to 0 between G codes.
Page 753: G51 (Round Path Transition)
Chapter 11 Motion Control Instructions 11.6.4.10 G51 (Round path transition)  Function: To change the transition mode into arc transition. The following transition modes are always arc transition. G50/G52 can be used for the switch of transition modes in the execution process. The terminal actuator will not reduce its speed between G codes and the transition curve is an arc.
Page 754: G52 (Smooth Path Transition)
DVP-15MC Series Motion Controller Operation Manual 11.6.4.11 G52 (Smooth path transition)  Function: To change the transition mode into smooth path transition. The following transition modes are always smooth path transition. G50/G51 can be used for the switch of transition modes in the execution process.
Page 755 Chapter 11 Motion Control Instructions N70 G1 X6.9 Y1.654161149 N71 G1 X7 Y1.618033989 N72 G1 X7.1 Y1.580310025 N73 G1 X7.2 Y1.541026486 N74 G1 X7.3 Y1.500222139 N75 G1 X7.4 Y1.457937255 N76 G1 X7.5 Y1.414213562 N77 G1 X7.6 Y1.369094212 N78 G1 X7.7 Y1.322623731 N79 G1 X7.8 Y1.274847979 N80 G1 X7.9 Y1.225814107 N81 G1 X8 Y1.175570505...
Page 756: M Code
DVP-15MC Series Motion Controller Operation Manual 11.6.4.12 M Code  Function: Interacts with general programs.  Format: N_ M_ D_  Parameter Explanation: N_：The row number of M code in NC program M_：The number of M code, range: 0~99 D_：Output parameter, data type: LREAL.
Page 757 Chapter 11 Motion Control Instructions When the two variables “Read M20” and “Read M21” are TRUE, G code execution starts and the terminal actuator stops at the position (100，50). At the moment, the variable “State of M20” is TRUE. After the execution of other actions is finished, the variable “Reset M20”...
Page 758: G Code Instruction
DVP-15MC Series Motion Controller Operation Manual G Code Instruction 11.6.5.1 DMC_CartesianCoordinate FB/FC Explanation Applicable model DMC_CartesianCoordinate is used for controlling the Cartesian- DVP15MC11T coordinate robotic arm to make the interpolation in accordance with G DVP15MC11T-06 code. DMC_CartesianCoordinat e_instance DMC_CartesianCoordinat e...
Page 759 Chapter 11 Motion Control Instructions  Output Parameters Parameter name Function Data type Valid range TRUE when the instruction execution is Done BOOL TRUE / FALSE completed. Busy TRUE when the instruction is being executed. BOOL TRUE / FALSE TRUE when the axis is under control of the Active BOOL TRUE / FALSE...
Page 760 DVP-15MC Series Motion Controller Operation Manual Output Update Timing Chart  Case 1 Case 2 Case 3 Case 4 Execute Done B usy Active Co mma ndAbo rt ed Error Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE and one cycle later, Active changes to TRUE.
Page 761 Chapter 11 Motion Control Instructions 7. Before the instruction controls axes motion, axes should be adjusted with single-axis instructions to the position where G code execution starts first. Then DMC_ AddAxisToGroup is used to add individual axes to the axes group. Afterwards, DMC_SetG0Para and DMC_SetG1Para are used to set relevant parameters of G0 and G1/G2/G3.
Page 762 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value SG1_Bsy BOOL SG1_Err BOOL SG1_ErrID WORD DMC_CartesianCoordinate CC_Ex BOOL FALSE CC_Pa BOOL FALSE CC_St BOOL FALSE CC_Done BOOL CC_Bsy BOOL CC_Act BOOL CC_Abt BOOL CC_Err BOOL CC_ErrID WORD...
Page 763 Chapter 11 Motion Control Instructions Motion Curve Y axi s 3500 1000 1000 5200 X a xis C C_Ex CC_Done CC_Bs y CC_Ac t CC_Err  When Pwr_En is set to TRUE, MC_Power instruction is executed to enable two axes. Then ATG_Ex and ATG1_Ex are set to TRUE and DMC_AddAxisToGroup instruction is executed to add Axis1 and Axis2 to the axes group Axes1.
Page 764: Dmc_Readmfunction
DVP-15MC Series Motion Controller Operation Manual 11.6.5.2 DMC_ReadMFunction FB/FC Explanation Applicable model DVP15MC11T DMC_ReadMFunction is used for ResetMFunction DVP15MC11T-06 DMC_ReadMFunc tio n_ins tance DMC_ReadMFunc tion Ax esGroup Valid Enable Busy MFunctionID Error ErrorI D unction MFunctionValue  Input Parameters Valid range...
Page 765 Chapter 11 Motion Control Instructions Cas e1 Case 2 En able Valid Bus y Error E rro r ID Case 1： When Enable changes from FALSE to TRUE, Valid and Busy change to TRUE simultaneously. When Enable changes to FALSE, Valid and Busy both change to FALSE. Case 2：...
Page 766 DVP-15MC Series Motion Controller Operation Manual Timing Chart Case1 Case 2 RMF_En RMF_ Va RMF_ Bsy RMF_Err RMF_ErrID RMF_ MF RMF_MFV  When RMF_En changes from FALSE to TRUE and DMC_ReadMFunction instruction is executed, RMF_Va and RMF_Bsy change from FALSE to TRUE in the first cycle. When G code execution reaches where the set M code is, RMF_MF changes from FALSE to TRUE and meanwhile RMF_MFV outputs M code parameter value.
Page 767: Dmc_Resetmfunction
Chapter 11 Motion Control Instructions 11.6.5.3 DMC_ResetMFunction FB/FC Explanation Applicable model DVP15MC11T DMC_ResetMFunction instruction resets the state of M code. DVP15MC11T-06 DMC_ResetMFunction_instance DMC_ResetMFunction AxesGroup Done Execut e Busy MFunctionID Error ErrorI D  Input Parameters Valid range Parameter name Function Data type Validation timing (Default)
Page 768 DVP-15MC Series Motion Controller Operation Manual Output Update Timing Chart  Case 1 Ca se2 E xecute Done Busy E rror Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE and one cycle later, Done changes to TRUE and Busy changes to FALSE.
Page 769 Chapter 11 Motion Control Instructions DMC_ResetMFunction Axe s1 AxesGroup Do ne REM_Done REM_Ex REM_Bsy Execute Busy REM_MID MFunctionID Error REM_Err ErrorID REM_ErrID DMC_ReadMFunct ion Axe s1 AxesGroup Valid RMF_Va RMF_En Enable Busy RMF_Bsy RMF_MID MFunctionID Error RMF_Err ErrorID RMF_ErrI D unction RMF_MF MFunctionValue...
Page 770: Dmc_Setg0Para
DVP-15MC Series Motion Controller Operation Manual 11.6.5.4 DMC_SetG0Para FB/FC Explanation Applicable model DMC_SetG0Para is used for setting the velocity, acceleration, DVP15MC11T deceleration and jerk of G0. DVP15MC11T-06 DMC_S etG0Para_instanc e DMC_S etG0Para Ax esGroup Done Ex ecut e Busy Velocity...
Page 771 Chapter 11 Motion Control Instructions Name Timing for changing to TRUE Timing for changing to FALSE  When an input parameter is illegal or an error occurs  When Execute changes from TRUE to FALSE Error during instruction execution. Output Update Timing Chart ...
Page 772 DVP-15MC Series Motion Controller Operation Manual SG 0 DMC_SetG0P ara A xes1 A xesG roup Done SG0_Done SG 0_Ex Execute Busy SG0_Bsy SG0_Vel Velocity Error SG0_Err SG0_ErrID SG0_Acc A cceleration ErrorID SG0_Dec Deceleration SG0_Jer Jerk Timing Chart Case SG 0_Ex...
Page 773: Dmc_Setg1Para
Chapter 11 Motion Control Instructions 11.6.5.5 DMC_SetG1Para FB/FC Explanation Applicable model DMC_SetG1Para instruction sets the default velocity, acceleration, DVP15MC11T deceleration and jerk for G1/G2/G3. DVP15MC11T-06 DMC_S etG1Para_instanc e DMC_S etG1Para Ax esGroup Done Ex ecut e Busy Velocity Error Ac celeration ErrorI D Deceleration J erk...
Page 774 DVP-15MC Series Motion Controller Operation Manual Name Timing for changing to TRUE Timing for changing to FALSE  When an input parameter is illegal or an error occurs  When Execute changes from TRUE to FALSE Error during instruction execution.
Page 775 Chapter 11 Motion Control Instructions SG 1 DMC_SetG1P ara A xes1 A xesG roup Done SG1_Done SG 1_Ex Exec ute Busy SG1_Bs y SG1_Vel Velocity Error SG1_Err SG1_ErrID SG1_Ac c A cceleration ErrorID SG1_Dec Dec eleration SG1_Jer Jerk Timing Chart Case SG 1_Ex SG1_ Do ne...
Page 776: Dmc_Setstartposition
DVP-15MC Series Motion Controller Operation Manual 11.6.5.6 DMC_SetStartPosition FB/FC Explanation Applicable model DMC_SetStartPosition instruction sets the start positions of axes of G DVP15MC11T code. DVP15MC11T-06 DMC_SetSta rt Position_instance DMC_SetSta rt Position AxesGroup Done Execut e Busy X_S tartPos Error Y_St art Pos...
Page 777 Chapter 11 Motion Control Instructions Valid range Parameter name Function Data type Validation timing (Default) FALSE to TRUE. （0）  Output Parameters Parameter name Function Data type Valid range TRUE when the instruction execution is Done BOOL TRUE / FALSE completed.
Page 778 DVP-15MC Series Motion Controller Operation Manual  Programming Example The variable table and program Variable name Data type Initial value DMC_SetStartPosition Axes1 USINT SSP_Ex BOOL FALSE SSP_X LREAL 1000 SSP_Y LREAL 1000 SSP_Z LREAL 1000 SSP_A LREAL 1000 SSP_B LREAL...
Page 779: 11.7 Axes Group Instructions
Chapter 11 Motion Control Instructions 11.7 Axes Group Instructions DMC_AddAxisToGroup FB/FC Explanation Applicable model DMC_AddAxisToGroup is used to add an axis to an axes group. DVP15MC11T DVP15MC11T-06 D MC_AddA xisToGroup_instance DMC_AddAxisToGroup AxesGroup Done Axis Busy Execute Error ErrorID IdentInGroup  Input Parameters Parameter Valid range...
Page 780 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When adding the axis to the axes  When Execute changes from TRUE to Done group is finished.
Page 781: Dmc_Removeaxisfromgroup
Chapter 11 Motion Control Instructions DMC_RemoveAxisFromGroup FB/FC Explanation Applicable model DMC_RemoveAxisFromGroup is used to remove an axis from an DVP15MC11T axes group. DVP15MC11T-06 DMC_RemoveA xisFromG roup_instance DMC_RemoveA xisFromG roup AxesGroup Done Execut e Busy Id entInGroup Error ErrorID  Input Parameters Valid range Parameter name Function...
Page 782 DVP-15MC Series Motion Controller Operation Manual Output Update Timing Chart  Case 1 Ca se 2 E xec ute Done Bus y E rror Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE and one cycle later, Done changes to TRUE and Busy changes to FALSE.
Page 783: Dmc_Ungroupallaxes
Chapter 11 Motion Control Instructions DMC_UngroupAllAxes FB/FC Explanation Applicable model DMC_UngroupAllAxes is used to remove all axes in an axes DVP15MC11T group. DVP15MC11T-06 DMC_UngroupAllAxes_instance DMC_UngroupAllAxes AxesGroup Done Execut e Busy Error ErrorI D  Input Parameters Valid range Parameter name Function Data type Validation timing...
Page 784 DVP-15MC Series Motion Controller Operation Manual Output Update Timing Chart  Case 1 Ca se 2 E xecute Done Busy E rror Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE and one cycle later, Done changes to TRUE and Busy changes to FALSE.
Page 785 Chapter 11 Motion Control Instructions DMC_GroupEnable FB/FC Explanation Applicable model DMC_GroupEnable is used to enable an axes group. DVP15MC11T DVP15MC11T-06 DMC_GroupEnable_instance DMC_GroupEnable AxesGroup Status Enable Busy MoveDirectVelocity CommandAborted MoveDirectAcceleration Error MoveDirectDeceleration ErrorID MoveDirectJerk  Input Parameters Parameter Valid range Function Data type Validation timing name...
Page 786 DVP-15MC Series Motion Controller Operation Manual Parameter Data Function Valid range name type Contains the error code when an error occurs. Please refer ErrorID WORD to section 12.2.  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE ...
Page 787 Chapter 11 Motion Control Instructions After Enable changes from TRUE to FALSE, the axes group is disabled and axes are in the StandStill state. If Enable changes from TRUE to FALSE as an axes group instruction such as DMC_MoveDirectAbsolute is being executed, the axes group instruction will report an error, all axes in the axes group will stop running and axes will be in the StandStill state.
Page 788 DVP-15MC Series Motion Controller Operation Manual DMC_ GroupStop FB/FC Explanation Applicable model DMC_GroupStop is used to stop the motion of the current axes group. DVP15MC11T DVP15MC11T-06 DM C_GroupStop_instance D MC_Gr oupStop AxesGroup Done Execute Busy Deceleration Active Jerk Comm andAborted...
Page 789 Chapter 11 Motion Control Instructions  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from TRUE  When the axes group motion to FALSE. Done  When Error changes from TRUE to is stopped.
Page 790 DVP-15MC Series Motion Controller Operation Manual Error changes to FALSE and the value in ErrorID is cleared to 0 when Execute changes to FALSE.  Function DMC_GroupStop is used to stop the motion of the current axes group. 1. The input parameters Deceleration and Jerk of the DMC_GroupStop instruction are reserved and the input values for them are invalid.
Page 791: Dmc_Groupenable
Chapter 11 Motion Control Instructions Variable name Data type Initial value LA_Abt BOOL LA_Err BOOL LA_Eid WORD DMC_GroupStop0 DMC_GroupStop GS_Ex BOOL GS_Done BOOL GE_Bsy BOOL GE_Act BOOL GE_Abt BOOL GS_Err BOOL GS_Eid WORD DMC_AddA xisToGroup0 D MC_AddAxisToGroup AxesGroup Done AD DAX IS_Done Axis Busy AD DAX IS_Bsy...
Page 792 DVP-15MC Series Motion Controller Operation Manual DMC_MoveLinearAbsolute0 DMC_MoveLinearAbsolute AxesGroup Done LA _Done LA_Ex LA _Bsy Execute Busy LA_Pos LA _Act Position Active 20000 Velocity CommandAborted LA _Abt 10000 Acceleration Error LA _Err 10000 LA _ErrID Deceleration ErrorID 10000 Jerk CoordSystem...
Page 793 Chapter 11 Motion Control Instructions Motion Curve and Timing Chart: Velocity 20000 Time DMC_MoveLinear Absolute LA _E x LA_Done LA_Bs y LA_Act LA_Abt LA_Er r DMC_Gr oupS top0 GS _E x GS_Done GS_Bs y G S_Act  DMC_AddAxisToGroup is executed and then DMC_GroupEnable is executed to enable the axes group.
Page 794: Dmc_Groupinterrupt
DVP-15MC Series Motion Controller Operation Manual DMC_GroupInterrupt FB/FC Explanation Applicable model DMC_GroupInterrupt is used to pause the motion of the current DVP15MC11T axes group for a period of time. DVP15MC11T-06 DMC_GroupInterrupt_instance DMC_GroupInterrupt AxesGroup Done Execute Busy Deceleration CommandAborted Jerk Error ErrorID ...
Page 795 Chapter 11 Motion Control Instructions Name Timing for changing to TRUE Timing for changing to FALSE  When the instruction execution is  When Execute changes from TRUE to CommandAborted FALSE. aborted.  When error occurs  When Execute changes from TRUE to instruction execution or the input Error FALSE.
Page 796 DVP-15MC Series Motion Controller Operation Manual  Programming Example The example of using DMC_GroupInterrupt with DMC_GroupContinue together is described as follows. 1. The variable table and program Variable name Data type Initial value BOOL TRUE DMC_AddAxisToGroup0 DMC_AddAxisToGroup ADDAXIS_Ex BOOL ADDAXIS_Done...
Page 797 Chapter 11 Motion Control Instructions Variable name Data type Initial value GC_Bsy BOOL GC_Abt BOOL GC_Err BOOL GC_ErrID WORD DMC_AddA xisToGroup0 D MC_AddAxisToGroup AxesGroup Done AD DAX IS_Done Axis Busy AD DAX IS_Bsy A DDA XIS _Ex Execute Error AD DAX IS_Err AD DAX IS_ErrID IdenthGroup ErrorID...
Page 798 DVP-15MC Series Motion Controller Operation Manual DMC_GroupContinue0 DMC_GroupContinue AxesGroup Done GC_Done GC_Ex Execute Busy GC_Bsy CommandAborted GC_Abt Error GC_Err ErrorID GC_ErrID 2. Motion Curve and Timing Chart: Velocity 20000 Time DMC_MoveL inearAbsolu te0 LINABS_Ex LINABS_Done LINABS_Bsy LINABS_Act LINABS_Abt LINABS_Err DMC_Gro upInterrupt0...
Page 799: Dmc_Groupcontinue
Chapter 11 Motion Control Instructions DMC_GroupContinue FB/FC Explanation Applicable model DMC_GroupContinue is used to make the paused axes group DVP15MC11T continue to run. DVP15MC11T-06 DMC_GroupContinue_instance D MC_GroupContinue AxesGroup Done Execute Busy CommandAborted Error ErrorID  Input Parameters Valid range Parameter name Function Data type Validation timing...
Page 800 DVP-15MC Series Motion Controller Operation Manual Name Timing for changing to TRUE Timing for changing to FALSE  When an error occurs in the  When Execute changes from TRUE to instruction execution or the input Error FALSE. parameters for the instruction are illegal.
Page 801: Dmc_Movedirectabsolute
Chapter 11 Motion Control Instructions DMC_MoveDirectAbsolute FB/FC Explanation Applicable model DMC_MoveDirectAbsolute is used to control all axes in the axes DVP15MC11T group to move from current position to end position at the specified DVP15MC11T-06 velocity. DMC_ MoveDirect Absolute_inst ance DMC_ MoveDirect Absolute AxesGroup Done Execut e...
Page 802 DVP-15MC Series Motion Controller Operation Manual 3. The input BufferMode of DMC_MoveDirectAbsolute only supports mcBuffered mode. If other mode is selected, an error will occur when the instruction is executed. For details on BufferMode, refer to section 10.3. 4. The input TransitionMode of DMC_MoveDirectAbsolute only supports mcTMNone mode. If other mode is selected, an error will occur when the instruction is executed.
Page 803 Chapter 11 Motion Control Instructions Output Update Timing Chart  Ca se1 Case 2 Case 3 Execu te Done Bu sy A ct ive Co mma ndAbo rt E rro r Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE. Two cycles later, Active changes to TRUE.
Page 804 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value GE_Jerk ARRAY [1..8] OF LREAL GE_Status BOOL GE_Bsy BOOL GE_Abt BOOL GE_Err BOOL GE_ErrID WORD DIRABS DMC_MoveDirectAbsolute DIRABS_Ex BOOL DIRABS_Pos ARRAY [1..8] OF LREAL DIRABS_Done BOOL DIRABS_Bsy BOOL...
Page 805 Chapter 11 Motion Control Instructions 2. X axis-Y axis Motion Curve and Timing Chart Pos ition 100000 50000 10000 DIRABS DIRABS_Ex D IR ABS_Done DIRABS_Bs y DIR ABS_Act DIRABS_Abt D IR ABS_Err  The start positions of X axis and Y axis are both 10,000. The inputs DIRABS_Pos[1] and DIRABS_Pos[2] of DMC_MoveDirectAbsolute are set to 50,000 and 100,000 respectively.
Page 806: Dmc_Movedirectrelative
DVP-15MC Series Motion Controller Operation Manual DMC_MoveDirectRelative FB/FC Explanation Applicable model DMC_MoveDirectRelative is used to control the axes in an axes DVP15MC11T group to move corresponding distances from current positions at DVP15MC11T-06 specified velocities. DMC_MoveDirec tRelat iv e_instanc e DMC_MoveDirec tRelat iv e...
Page 807 Chapter 11 Motion Control Instructions positions to end positions for axes. 3. The input BufferMode of DMC_MoveDirectRelative only supports mcBuffered mode. If other mode is selected, an error will occur when the instruction is executed. For details on BufferMode, refer to section 10.3.
Page 808 DVP-15MC Series Motion Controller Operation Manual Output Update Timing Chart  Ca se1 Case 2 Case 3 Execu te Done Bu sy A ct ive Co mma ndAbo rt E rro r Error I D Case 1： When Execute changes from FALSE to TRUE, Busy changes to TRUE. Two cycles later, Active changes to TRUE.
Page 809 Chapter 11 Motion Control Instructions Variable name Data type Initial value GE_Vel ARRAY [1..8] OF LREAL GE_Acc ARRAY [1..8] OF LREAL GE_Dec ARRAY [1..8] OF LREAL GE_Jerk ARRAY [1..8] OF LREAL GE_Status BOOL GE_Bsy BOOL GE_Abt BOOL GE_Err BOOL GE_ErrID WORD DIRREL DMC_MoveDirectRelative...
Page 810 DVP-15MC Series Motion Controller Operation Manual 2. X axis-Y axis Motion Curve and Timing Chart Pos iti on 110000 60000 10000 D MC_Mov eDirec t Rel ativ e0 DIRREL_Exe DIRREL_Done DIRREL_Bsy DIRREL_Act D IR REL_Abt DIRREL_Err  The start positions of X axis and Y axis are both 10,000. The inputs DIRREL_Dis[1] and DIRREL_Dis[2] of DMC_MoveDirectRelative are set to 50,000 and 100,000 respectively.
Page 811: Dmc_Movelinearabsolute
Chapter 11 Motion Control Instructions DMC_MoveLinearAbsolute FB/FC Explanation Applicable model DMC_MoveLinearAbsolute controls axes to perform the linear DVP15MC11T interpolation motion. The end positions of axes are absolute DVP15MC11T-06 positions. DMC_Mov eLinearAbsolute_instan ce DMC_Mov eLinearAbsolute Ax esGroup Done Ex ecut e Busy Pos ition Ac tive...
Page 812 DVP-15MC Series Motion Controller Operation Manual Valid range Parameter name Function Data type Validation timing (Default) axes group 3: mcBlending- FALSE to TRUE. instructions Previous 1: Buffered 3: Blended with the speed of previous instruction Specify the transiton mode between two...
Page 813 Chapter 11 Motion Control Instructions  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from TRUE to FALSE after the instruction execution is completed  Done changes to TRUE when the ...
Page 814 DVP-15MC Series Motion Controller Operation Manual The input Velocity of DMC_MoveLinearAbsolute is the target velocity of the terminal actuator. The velocity of the terminal actuator and velocities of axes have the following relationship. Square of terminal actuator’s velocity= Sum of squares of velocities of axes The inputs Acceleration and Deceleration of DMC_ MoveLinearAbsolute are the target acceleration and target deceleration of the terminal actuator.
Page 815 Chapter 11 Motion Control Instructions Variable name Data type Initial value ADDAXIS2_Done BOOL ADDAXIS2_Bsy BOOL ADDAXIS2_Err BOOL ADDAXIS2_ErrID WORD ADDAXIS3 DMC_AddAxisToGroup ADDAXIS3_Done BOOL ADDAXIS3_Bsy BOOL ADDAXIS3_Err BOOL ADDAXIS3_ErrID WORD DMC_GroupEnable0 DMC_GroupEnable GE_En BOOL GE_Vel ARRAY [1..8] OF LREAL GE_Acc ARRAY [1..8] OF LREAL GE_Dec ARRAY [1..8] OF LREAL GE_Jerk...
Page 816 DVP-15MC Series Motion Controller Operation Manual A DD AX IS 1 D MC_AddAxisToGroup AxesGroup Done AD DAX IS1_Done Axis Busy AD DAX IS1_Bsy ADD AX IS1_Ex Execute Error AD DAX IS1_Err ErrorID AD DAX IS1_ErrID IdenthGroup A DD AX IS 2...
Page 817 Chapter 11 Motion Control Instructions 2. See the entire motion process after the instruction is executed. 70000 20000 20000 20000 60000 50000 3. X axis-Y axis-Z axis Motion Curve and Timing Chart Position 70000 60000 50000 20000 D MC_Mov eLinearAbs olute0 LINABS_Ex e LINABS_Done LINABS_Bsy...
Page 818 DVP-15MC Series Motion Controller Operation Manual DMC_MoveLinearAbsolute instruction is completed.  Programming Example 2 The example in which there are two DMC_MoveLinearAbsolute instructions and the transition mode between them is mcTMConstantVelocity is as follows. 1. The variable table and program...
Page 819 Chapter 11 Motion Control Instructions Variable name Data type Initial value LINABS2_Done BOOL LINABS2_Bsy BOOL LINABS2_Act BOOL LINABS2_Abt BOOL LINABS2_Err BOOL LINABS2_ErrID WORD AD DA X IS1 DMC_AddAxisToGroup AxesGroup Done ADD AX IS1_Done Axis Busy ADD AX IS1_Bsy A DDA XIS 1_Ex Execute Error ADD AX IS1_Err...
Page 820 DVP-15MC Series Motion Controller Operation Manual 2. See the motion curve and timing chart of the terminal actuator. Y axis （，） 250000 100000 （，） 100000 100000 X ax is LINABS1 LINAB S1_Ex LINABS 1_Done LINABS1_Bs y...
Page 821 Chapter 11 Motion Control Instructions 1. The variable table and program Variable name Data type Initial value ADDAXIS1 DMC_AddAxisToGroup ADDAXIS1_Ex BOOL ADDAXIS1_Done BOOL ADDAXIS1_Bsy BOOL ADDAXIS1_Err BOOL ADDAXIS1_ErrID WORD ADDAXIS2 DMC_AddAxisToGroup ADDAXIS2_Done BOOL ADDAXIS2_Bsy BOOL ADDAXIS2_Err BOOL ADDAXIS2_ErrID WORD DMC_GroupEnable0 DMC_GroupEnable GE_En BOOL...
Page 822 DVP-15MC Series Motion Controller Operation Manual ADD AXIS 1 DMC _Ad dAx isToGroup Ax esG rou p D one ADDAX IS1_D one Axi s Busy ADDAX IS1_Bsy AD DAXIS1 _Ex Exe cute Error ADDAX IS1_Err ADDAX IS1_ErrID I denthGroup Erro rID...
Page 823 Chapter 11 Motion Control Instructions 2. See the motion curve and timing chart of the terminal actuator. Y axis 100000 （，） 100000 250000 L INABS1 X ax is LINAB S1_Ex LINABS 1_Done LINABS1_Bs y LINA BS1_Act LINABS1_Abt LINABS1_Er r L INABS2 LINABS 2_Done LINABS2_Bs y...
Page 824: Dmc_Movelinearrelative
DVP-15MC Series Motion Controller Operation Manual DMC_MoveLinearRelative FB/FC Explanation Applicable model DMC_MoveLinearRelative controls axes to perform the linear DVP15MC11T interpolation motion. The end positions of axes are relative DVP15MC11T-06 positions. DMC_MoveLinearRelat ive_instance DMC_MoveLinearRelat ive AxesGroup Done Execut e Busy Distance...
Page 825 Chapter 11 Motion Control Instructions Valid range Parameter name Function Data type Validation timing (Default) between two axes group Mode 3: mcBlending- changes from instructions FALSE to TRUE. Previous 1: Buffered 3: Blended with the speed of previous instruction Specify the transiton mode between two axes group instructions 0: No transition curve...
Page 826 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When Execute changes from TRUE to FALSE after the instruction execution is completed  Done changes to TRUE when the ...
Page 827 Chapter 11 Motion Control Instructions Square of terminal actuator’s velocity= Sum of squares of velocities of axes The inputs Acceleration and Deceleration of DMC_MoveLinearRelative are the target acceleration and target deceleration of the terminal actuator. The acceleration and deceleration of the terminal actuator and accelerations and decelerations of axes have the following relationship.
Page 828 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value ADDAXIS2_Done BOOL ADDAXIS2_Bsy BOOL ADDAXIS2_Err BOOL ADDAXIS2_ErrID WORD ADDAXIS3 DMC_AddAxisToGroup ADDAXIS3_Done BOOL ADDAXIS3_Bsy BOOL ADDAXIS3_Err BOOL ADDAXIS3_ErrID WORD DMC_GroupEnable DMC_GroupEnable GE_En BOOL GE_Vel ARRAY [1..8] OF LREAL GE_Acc ARRAY [1..8] OF LREAL...
Page 829 Chapter 11 Motion Control Instructions A DD A X I S 1 D MC _Ad dA xis ToG roup A xes Gr ou p Done AD DA X I S 1_Done A xis B us y AD DA X I S 1_Bs y AD DA X I S1 _Ex E xec ut e E rror...
Page 830 DVP-15MC Series Motion Controller Operation Manual 2. See the entire motion process after the instruction is executed. 70000 20000 20000 20000 60000 50000 3. X axis-Y axis-Z axis Motion Curve and Timing Chart Pos ition 70000 60000 50000 20000 D MC_Mov eLinearRelative0...
Page 831 Chapter 11 Motion Control Instructions  Programming Example 2 See the following example in which there are two DMC_MoveLinearRelative instructions and the transition mode between them is mcTMConstantVelocity. 1. The variable table and program Variable name Data type Initial value ADDAXIS1 DMC_AddAxisToGroup ADDAXIS1_Ex...
Page 832 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value LINREL2_Bsy BOOL LINREL2_Act BOOL LINREL2_Abt BOOL LINREL2_Err BOOL LINREL2_ErrID WORD ADD AXI S1 DMC_AddAxis ToGr oup Ax esG roup Done ADDAXIS1_Done A xis Busy ADDAXIS1_Bsy ADDAXIS1_E x E xecu te...
Page 833 Chapter 11 Motion Control Instructions Y a xis （，） 250000 100000 （，） 100000 100000 X axis LINREL1 LINREL1_Ex LINREL1_Done LINREL1_Bsy LINREL1_Ac t LINREL1_Abt LINREL1_E rr L INREL 2 LINREL2_Done LINREL2_Bsy LINREL2_Ac t LINREL2_Abt LINREL2_E rr  Set BufferMode to mcBlendingPrevious and TransitionMode to mcTMConstantVelocityand for LINREL2.
Page 834 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value ADDAXIS1_Bsy BOOL ADDAXIS1_Err BOOL ADDAXIS1_ErrID WORD ADDAXIS2 DMC_AddAxisToGroup ADDAXIS2_Done BOOL ADDAXIS2_Bsy BOOL ADDAXIS2_Err BOOL ADDAXIS2_ErrID WORD DMC_GroupEnable0 DMC_GroupEnable GE_En BOOL GE_Vel ARRAY [1..8] OF LREAL GE_Acc ARRAY [1..8] OF LREAL GE_Dec ARRAY [1..8] OF LREAL...
Page 835 Chapter 11 Motion Control Instructions ADDAXIS1 DMC_AddAxisToGr oup Ax esG roup Done ADDAX IS1_Done Axis Busy ADDAX IS1_Bs y ADDAXIS 1_Ex Exec ute Er ror ADDAX IS1_Er r ADDAX IS1_Er rID I denthGroup Err orID ADDAX IS2 DMC_AddAxisToGr oup Ax esG roup Done ADDAX IS2_Done Axis...
Page 836 DVP-15MC Series Motion Controller Operation Manual 2. Motion Curve and Timing Chart of the terminal actuator Y a xis 100000 （，） 100000 250000 X axis LINREL1 LINREL1_Ex LINREL1_Done LINREL1_Bsy LINREL1_Ac t LINREL1_Abt LINREL1_E rr L INREL 2 LINREL2_Done...
Page 837: Dmc_Movecircularabsolute
Chapter 11 Motion Control Instructions DMC_MoveCircularAbsolute FB/FC Explanation Applicable model DMC_MoveCircularAbsolute controls axes to perform the circular DVP15MC11T interpolation. The end positions of axes are absolute positions. DVP15MC11T-06 DMC_MoveCircula rAbsolute_instance DMC_MoveCircularAbsolute AxesGroup Done Execut e Busy CircMode Active AuxPoint CommandAb ort ed EndPoint Error MultiTurn...
Page 838 DVP-15MC Series Motion Controller Operation Manual Parameter Valid range Function Data type Validation timing name (Default) is drawn via a center. LREAL FALSE to TRUE. （0） Auxpoint[1] means the radius and AuxPoint[2] is meaningless when an arc is drawn via a radius.
Page 839 Chapter 11 Motion Control Instructions Parameter Valid range Function Data type Validation timing name (Default) transition mode Note: 1. DMC_MoveCircularAbsolute instruction starts being executed when Execute changes from FALSE to TRUE. Changing Execute from TRUE to FALSE during the instruction execution will have no impact on the instruction execution.
Page 840 DVP-15MC Series Motion Controller Operation Manual Timing for changing to Name Timing for changing to FALSE TRUE in the instruction execution or the input parameters for the instruction are illegal. Output Update Timing Chart  Ca se1 Case 2 Case 3...
Page 841 Chapter 11 Motion Control Instructions CirMode Description value E nd point X, Y,Z Cen ter (I, J) He lical in terpolat ion St art X1,Y 1,Z1 point In the figure above, coordinates for the center: I=X1+AuxPoint[1],J=Y1+AuxPoint[2], Coordinates for the end point: X=EndPoint[1], Y=EndPoint[2], Z=EndPoint[3] Draw an arc via the center on ZX plane.
Page 842 DVP-15MC Series Motion Controller Operation Manual CirMode Description value Helic al int erpolation E nd point St art po in t Cent er (J, K) X,Y, Z X1, Y1,Z1 In the figure above, coordinates for the center: J=Y1+AuxPoint[1], K=Z1+AuxPoint[2] Coordinates for the end point: X=EndPoint[1], Y=EndPoint[2], Z=EndPoint[3] Draw an arc via the radius on XY plane.
Page 843 Chapter 11 Motion Control Instructions CirMode Description value Helical End po in t X,Y, Z int erpolation S tart point X1, Y1, Z1 In the figure above, Radius: R=AuxPoint[1], Coordinates for end point: X=EndPoint[1]，Y=EndPoint[2]，Z=EndPoint[3] Draw circles via the radius on ZY plane. The value of AuxPoint[1] is the radius of the circle on ZY plane and the value of AuxPoint[2] is meaningless.
Page 844 DVP-15MC Series Motion Controller Operation Manual PathChoice Description Value E nd point St art point Clock wise motion The axes group conducts circular interpolation in the anticlockwise direction on the arcs of the specified plane. Take the radius method for example, the path for the circular motion is shown as below.
Page 845 Chapter 11 Motion Control Instructions Variable name Data type Initial value ADDAXIS2_Done BOOL ADDAXIS2_Bsy BOOL ADDAXIS2_Err BOOL ADDAXIS2_ErrID WORD DMC_GroupEnable0 DMC_GroupEnable GE_En BOOL GE_Vel ARRAY [1..8] OF LREAL GE_Acc ARRAY [1..8] OF LREAL GE_Dec ARRAY [1..8] OF LREAL GE_Jerk ARRAY [1..8] OF LREAL GE_Status BOOL GE_Bsy...
Page 846 DVP-15MC Series Motion Controller Operation Manual A DD A XIS 1 DM C_AddAxisToGroup Ax esG roup Done AD DA XIS1_Done Axis Bus y AD DA XIS1_Bsy ADDAX IS1 _Ex Exec ute Error AD DA XIS1_Er r ErrorID AD DA XIS1_Er rID...
Page 847 Chapter 11 Motion Control Instructions 2. Motion Curve in the X-Y Coordinate System and Timing Chart 3 000 2 000 1 000 10 00 2 000 400 0 C IRA BS CIRABS_Ex C IRABS_Do ne CIR ABS_Bsy CIRABS_Act CIR ABS_Abt CIR ABS_Err ...
Page 848: Dmc_Movecircularrelative
DVP-15MC Series Motion Controller Operation Manual DMC_MoveCircularRelative FB/FC Explanation Applicable model DMC_MoveCircularRelative controls axes to perform the circular DVP15MC11T interpolation. The end positions of axes are relative positions. DVP15MC11T-06 DMC_MoveCircularRelative_instance DMC_MoveCircularRelative AxesGroup Done Execut e Busy CircMode Active AuxPoint CommandAb ort ed...
Page 849 Chapter 11 Motion Control Instructions Parameter Valid range Function Data type Validation timing name (Default) is drawn via a center. FALSE to TRUE. （0） Auxpoint[1] means the radius and AuxPoint[2] is meaningless when an arc is drawn via a radius. Coordinate differences Positive number, 0, When Execute...
Page 850 DVP-15MC Series Motion Controller Operation Manual Parameter Valid range Function Data type Validation timing name (Default) Set the transition When Execute Positive number, 0 TransitionPar parameter for specific LREAL changes from （0） ameter transition mode FALSE to TRUE. Note: 1. DMC_MoveCircularRelative instruction starts being executed when Execute changes from FALSE to TRUE.
Page 851 Chapter 11 Motion Control Instructions Timing for changing to Name Timing for changing to FALSE TRUE  When the instruction execution is aborted  When Execute changes from TRUE to FALSE CommandAbort other motion instruction.  When an error occurs in the instruction ...
Page 852 DVP-15MC Series Motion Controller Operation Manual CirMode value Description E nd point X, Y,Z Cen ter (I, J) He lic al in terpolat ion St art X1,Y 1,Z1 point In the figure above, Coordinates for the center: I=X1+AuxPoint[1], J=Y1+AuxPoint[2], Coordinates for the end point: X=X1+EndPoint[1], Y=Y1+EndPoint[2]，Z=Z1+EndPoint[3].
Page 853 Chapter 11 Motion Control Instructions CirMode value Description Helic al int erpolation E nd point St art po in t Cent er (J, K) X,Y, Z X1, Y1,Z1 Coordinates for the center: J=Y1+AuxPoint[1]，K=Z1+AuxPoint[2]。 Coordinates for the end point: X=X1+EndPoint[1]，Y=Y1+EndPoint[2]，Z=Z1+EndPoint[3]。 Draw an arc via the radius on XY plane. The value of AuxPoint[1] is the radius of the circle on XY plane and here the value of AuxPoint[2] is meaningless.
Page 854 DVP-15MC Series Motion Controller Operation Manual CirMode value Description Helical End po in t X,Y, Z int erpolation S tart point X1, Y1, Z1 In the figure above, Radius: R=AuxPoint[1]。 Coordinates for end point: X=X1+EndPoint[1]，Y=Y1+EndPoint[2]， Z=Z1+EndPoint[3]。 Draw an arc via the radius on ZY plane. The value of AuxPoint[1] is the radius of the circle on ZY plane and here the value of AuxPoint[2] is meaningless.
Page 855 Chapter 11 Motion Control Instructions PathChoice Description value E nd point St art point Cloc k wis e mot io n The axes group conducts circular interpolation in the anticlockwise direction on the arcs of the specified plane. Take the radius method for example, the path for the circular motion is shown as below.
Page 856 DVP-15MC Series Motion Controller Operation Manual Variable name Data type Initial value ADDAXIS2 DMC_AddAxisToGroup ADDAXIS2_Done BOOL ADDAXIS2_Bsy BOOL ADDAXIS2_Err BOOL ADDAXIS2_ ErrID WORD DMC_GroupEnable0 DMC_GroupEnable GE_En BOOL GE_Vel ARRAY [1..8] OF LREAL GE_Acc ARRAY [1..8] OF LREAL GE_Dec ARRAY [1..8] OF LREAL GE_Jerk ARRAY [1..8] OF LREAL...
Page 857 Chapter 11 Motion Control Instructions ADDAX IS1 DM C_Add AxisToG roup Ax esGr oup D one A DDAXIS 1_Done Ax is Busy A DDAXIS 1_Bsy ADDA XIS1_Ex Ex ecute Err or A DDAXIS 1_Err A DDAXIS 1_ErrID IdenthG r oup Er rorID ADDAXI S2 DM C_Add AxisToG roup...
Page 858 DVP-15MC Series Motion Controller Operation Manual 2. Motion Curve in the X-Y coordinate system and Timing Chart 3 00 0 2 00 0 1 00 0 10 00 200 0 40 00 C IRREL CIRR EL_Ex C IRR EL _D one...
Page 859: Dmc_Groupsetoverride
Chapter 11 Motion Control Instructions DMC_GroupSetOverride FB/FC Explanation Applicable model DMC_GroupSetOverride instruction is used to set the value of DVP15MC11T override for the coordinated motion of an axes group. DVP15MC11T-06 DMC_ GroupS etO verride_insta nce DMC_GroupSetO verride AxesGroup Enabled Enable Busy VelFactor Error...
Page 860 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Name Timing for changing to TRUE Timing for changing to FALSE  When Enable changes to FALSE  When the instruction starts being Enabled  When Error changes to TRUE executed.
Page 861 Chapter 11 Motion Control Instructions users do not need to restart the instruction. When Enable changes to TRUE, an errror will occur in the instruction and the target velocity will return to 100% if the value of VelFactor exceeds valid range. 8.
Page 862 DVP-15MC Series Motion Controller Operation Manual S etOv DMC_GroupSetOverride AxesGroup Enabled SetOv_Ena S etOv_En Enable Busy SetOv_Bsy SetOv_VelF VelF actor Error SetOv_Err ErrorID SetOv_ErrID AccF actor JerkFactor LINAB S DMC_MoveLinearAbsolute LINA BS _Done AxesGroup Done LINA BS_Ex Execute Busy LINA BS _Bsy...
Page 863 Chapter 11 Motion Control Instructions  When LINABS_Ex changes to TRUE, LINABS_Bsy changes to TRUE. Two cycles later, LINABS_Act changes to TRUE and the axes group starts to move. When the axes group has not reached the target velocity and SetOv_En is set to TRUE , the DMC_GroupSetOverride instruction takes effect and the target velocity of the axes group becomes the new target velocity.
Page 864: Dmc_Groupreadactualposition
DVP-15MC Series Motion Controller Operation Manual DMC_GroupReadActualPosition FB/FC Explanation Applicable model DMC_GroupReadActualPosition instruction can be used to read DVP15MC11T the position of axes in the axes group. DVP15MC11T-06 DMC_GroupReadA ctualPos ition_inst ance DMC_GroupReadA ctualPos ition Axes Group Valid Enable Busy...
Page 865 Chapter 11 Motion Control Instructions Name Timing for changing to TRUE Timing for changing to FALSE the instruction are illegal. Output Update Timing Chart  Cas e 2 Cas e1 En able Valid Bus y Error E rro r ID Case 1：...
Page 866: 11.8 Coordination Instructions
DVP-15MC Series Motion Controller Operation Manual 11.8 Coordination Instructions DMC_ControlAxisByPos FB/FC Explanation Applicable model DMC_ControlAxisByPos controls the motion of an axis by sending an DVP15MC11T incremental position to the axis. DVP15MC11T-06 DM C_CAB yPos_ins tanc e DMC_Con trolAxisByPos Axis InControl...
Page 867 Chapter 11 Motion Control Instructions Valid range Validation Parameter name Function Data type (Default) timing deceleration. value must be set）  Output Parameters Parameter name Function Data type Valid range TRUE when the axis is under control of the InControl BOOL TRUE/FALSE instruction.
Page 868 DVP-15MC Series Motion Controller Operation Manual  Output Update Timing Chart Case 1 Case 2 Case 3 Execute InControl Busy Active CommandAborted Error ErrorI D Case 1： Busy changes to TRUE when Execute changes to TRUE. Several cycles later, Active and InControl change to TRUE.
Page 869 Chapter 11 Motion Control Instructions the motion in one SYNC cycle. The axis position is 1500 ( which has increased by 1000) after the travel is completed.  Programming Example The programming example is as follows when one DMC_ControlAxisByPos instruction is used. Variable name Data type Initial value...
Page 870: Dmc_Controlaxisbypos
DVP-15MC Series Motion Controller Operation Manual C AByPos DMC_Co ntrolAxi sByPo s Axi s 1 Axis InCo ntrol CAByPo s_InC CAByPo s_Ex Execute CAByPo s_Bsy Busy Con ti nousUpdate Active CAByPo s_Act N C Px Position CAByPo s_Abt CommandAborted C AByPos_Ex_Ve l...
Page 871: Dmc_Nc
Chapter 11 Motion Control Instructions DMC_NC FB/FC Explanation Applicable model DVP15MC11T DMC_NC Instruction is used to parse out the position of each axis in the CNC file every SYNC cycle. DVP15MC11T-06 DMC _NC_instance DMC_N C Done Execute Pause Busy Stop Active Veloverride Error...
Page 872 DVP-15MC Series Motion Controller Operation Manual Valid range Validation Parameter name Function Data type (Default) timing When Execute 1-64 changes from NCFile CNC file Number LREAL （0） FALSE to TRUE When Execute changes from AxesGroup The number of an axes group LREAL （0）...
Page 873 Chapter 11 Motion Control Instructions Parameter Name Timing for changing to TRUE Timing for changing to FALSE  When parsing the CNC file is  over. When Execute changes from TRUE to Done  FALSE. The Stop input changes to TRUE.
Page 874 DVP-15MC Series Motion Controller Operation Manual the state of Pause to FALSE, the parsing of the CNC file continues and CurrentLine and axis position outputs are recovered. When the parsing is complete, Done changes to TRUE. Meanwhile Busy and Active change to FALSE. Done changes to FALSE by changing Execute to FALSE.
Page 875 Chapter 11 Motion Control Instructions Variable name Data type Initial value CAByPos_Ex BOOL FALSE CAByPos_Ex_Vel LREAL CAByPos_Ex_Acc LREAL CAByPos_Ex_Dec LREAL CAByPos_Ex_Jerk LREAL CAByPos_InC BOOL FALSE CAByPos_Bsy BOOL FALSE CAByPos_Act BOOL FALSE CAByPos_Abt BOOL FALSE CAByPos_Err BOOL FALSE CAByPos_ErrID WORD CAByPos1 DMC_ControlAxisByPos Axis2 USINT...
Page 876 DVP-15MC Series Motion Controller Operation Manual D MC_N C N C_Ex Done Execute NC _Done NC _P au Pause Busy NC _B sy NC_Stop Stop Active NC _A ct NC_Ver Veloverride NC _E rr Error NC_Dep Depth ErrorID NC _E rrID...
Page 877 Chapter 11 Motion Control Instructions When CAByPos_Ex and CAByPos1_Ex are set to TRUE after axis 1 and axis 2 are power on, Busy and Active of CAByPos and CAByPos1 instructions change to TRUE. After the NC_Ex variable changes to TRUE, NC_Bsy changes to TRUE, NC_Act changes to TRUE, NC_Cur displays the number of the row in which the CNC file is being parsed currently.
Page 878 DVP-15MC Series Motion Controller Operation Manual MEMO 11-408...
Page 879 Troubleshooting Table of Contents 12.1 Explanation of LED Indicators ..........12-2 12.2 Table of Error IDs in Motion Instructions ....... 12-8 12.3 System Trouble Diagnosis through System Error Codes ..12-19 12-1...
Page 880 100m s OF F 1 00ms  SD LED SD LED is used for displaying the state of the SD card in DVP-15MC series motion controller. LED state Explanation How to deal with 1. No SD card is inserted to DVP-...
Page 881: Chapter12 Troubleshooting
STOP state. 1. Check if CANopen network bus cable connection is correct. 2. Check if the CANopen bus cable is Delta standard CANopen cable. 3. Check if the two ends of the CANopen bus have connected a terminal resistor respectively.
Page 882 PLC module is in the state of LED OFF No correction normal work. 1. Check if the CANopen bus cable is Delta standard cable. 2. Check if the two ends of CANopen bus have Red light connected a terminal resistor respectively.
Page 883 PLC module is in the state of LED OFF No correction normal work. 1. Check if the Motion bus cable is Delta standard CANopen cable. 2. Check if the two ends of Motion bus have connected a terminal resistor respectively.
Page 884 The second Ethernet port of DVP-15MC series motion controller is not connected to the Ethernet network.  RS232 LED RS232 LED, the RS-232 communication indicator of DVP-15MC series motion controller indicates the communication state of RS-232 port of DVP-15MC series motion controller. LED state...
Page 885 Chapter 12 Troubleshooting There are 16 input point LED indicators for showing if DVP-15MC series motion controller’s digital input points are ON or OFF. LED state Indication Red light ON Input point is ON. LED OFF Input point is OFF.
Page 886: Table Of Error Ids In Motion Instructions
DVP-15MC Series Motion Controller Operation Manual 12.2 Table of Error IDs in Motion Instructions When an error occurs in the motion instruction, the value of ErrorID can be seen as follows for analysis of the cause and troubleshooting. ErrorID Meaning...
Page 887 Chapter 12 Troubleshooting ErrorID Meaning How to deal with Decimal Modify the value of the input variable, 1013 4115 Wrong e-gear denominator value Denominator into a nonzero value. Modify the value of the input variable, The value of VelFactor is 1014 4116 VelFactor into that which can be set in the...
Page 888 DVP-15MC Series Motion Controller Operation Manual ErrorID Meaning How to deal with Decimal be greater than 0. Modify the value of the input variable, SyncStartPos of APF_RotaryCut_Init. It The value of SyncStartPos is 1024 4132 should be between 0 and the cutting length.
Page 889 Chapter 12 Troubleshooting ErrorID Meaning How to deal with Decimal the software. The cam curve specified by Check if the CamTable value of MC_CamIn 1044 4164 MC_CamIn is not built in the can correspond to the cam curve built in the software.
Page 890 DVP-15MC Series Motion Controller Operation Manual ErrorID Meaning How to deal with Decimal Modify the sequence of execution of MC_HaltSuperimposed cannot be MC_HaltSuperimposed. The execution of performed when 2004 8196 MC_HaltSuperimposed should be conducted MC_MoveSuperimposed is not in the process of performing executed yet.
Page 891 Chapter 12 Troubleshooting ErrorID Meaning How to deal with Decimal exceed the set length. received. Modify the timeout time or check if the 6212 25106 Ethernet connection timeout remote device is connected normally. The data that TCP slave actually 6213 25107 Modify the specified length of sent data.
Page 892 DVP-15MC Series Motion Controller Operation Manual ErrorID Meaning How to deal with Decimal Socket function are both 0. function as a value which is not 0. RS485 PLC Link number Modify PLC Link number as a value within 9010 36880 exceeds the range of 1-24.
Page 893 Chapter 12 Troubleshooting ErrorID Meaning How to deal with Decimal writing is out of the allowed word register area. (Valid range: %MW0~%MW32767) The start address of the local buffer of word type for data writing is within the allowed word register area but can not meet the Modify the start address of the local buffer or 9022...
Page 894 DVP-15MC Series Motion Controller Operation Manual ErrorID Meaning How to deal with Decimal is out of the allowed area. (%QX0.0~%QX127.7,%MX0.0~% MX65535.7) Modify the value of the input parameter 9030 36912 Object type error ObjType. The specified function code for Specify a new function code which is within...
Page 895 Chapter 12 Troubleshooting ErrorID Meaning How to deal with Decimal Check if the Socket configuration is proper 910E 37134 TCP connection timeout or the remote device works normally. The length of received data Set the length of received data to the length 910F 37135 exceeds the set length in TCP...
Page 896 DVP-15MC Series Motion Controller Operation Manual ErrorID Meaning How to deal with Decimal Ex_Move need be executed first A809 43017 Modify the timing of the instruction execution. before Ex_Stop is executed. The RoundPhase value should be Modify the RoundPhase value as a value...
Page 897: System Trouble Diagnosis Through System Error Codes
System Trouble Diagnosis through System Error Codes When the ERR indicator of DVP-15MC series motion controller blinks or is always ON, users can get to know the cause of an error and shoot the trouble through selecting menu Device > Diagnosis Information…...
Page 898 DVP-15MC Series Motion Controller Operation Manual System error code Explanation Correction Hexadecimal Decimal There are too many Retain variables. 101A 4122 The Retain file is too large. Decrease the number of Retain variables and then redownload the program. Redownload the program after restoring the...
Page 899 Chapter 12 Troubleshooting System error code Explanation Correction Hexadecimal Decimal Full buffer area Contact local technicians if the problem still 1603 5635 communication exists after re-downloading the program. Reset the number of input and output The number of inputs or the variables in the self-defined POU and make 3000 12288...
Page 900 DVP-15MC Series Motion Controller Operation Manual System error code Explanation Correction Hexadecimal Decimal Check if the program is correct or there is a loop of which the program execution can not 3026 12326 Watchdog timeout get out when the program execution timeout occurs.
Page 901 Chapter 12 Troubleshooting System error code Explanation Correction Hexadecimal Decimal Revise the program or re-download the revised program. Reset the watchdog time to a larger value for the task. The actual time for executing the Check whether there is any infinite loop 3057 12375 priority 7 task exceeds the set...
Page 902 DVP-15MC Series Motion Controller Operation Manual System error code Explanation Correction Hexadecimal Decimal Check whether there is any infinite loop in the program which the task calls. Redownload it after modifying the program. Reset the watchdog time to a larger value for the task.
Page 903 Chapter 12 Troubleshooting System error code Explanation Correction Hexadecimal Decimal Reset the watchdog time to a larger value for the task. The actual time for executing the Check whether there is any infinite loop 3068 12392 priority 24 task exceeds the set in the program which the task calls.
Page 904 DVP-15MC Series Motion Controller Operation Manual System error code Explanation Correction Hexadecimal Decimal current PLC. file is the same as that of the current PLC. Extension communication 5000 20480 Contact local technicians if the error still exists checking failed. after repower on.
Page 905 Modbus Communication Table of Contents Message Format in ASCII Mode ..........A-2 Message Format in RTU Mode ........... A-5 Modbus Function Codes Supported ........... A-7 Modbus Exception Response Code Supported ......A-7 Introduction to Modbus Function Codes ........A-8 Table of Registers and Corresponding Modbus addresses ..A-15...
Page 906: Message Format In Ascii Mode
The data format is determined by function codes. For example, to read the two continuous address data with hexadecimal 16#0000 as the start address in DVP-15MC series motion controller. The communication address of DVP-15MC series motion controller is 1, 16#0000 is the Modbus address of %MW0 in the controller.
Page 907 Appendix A. Modbus Communication  Request message: ASCII code corresponding to field Field name Field character character “：” Start character “0” Communication address: “1” “0” Function code: 03 “3” “0” “0” Start address: 16#0000 “0” “0” “0” “0” Data number (Counted by word): 2 “0”...
Page 908 DVP-15MC Series Motion Controller Operation Manual ASCII code corresponding to field Field name Field character character LRC check code: 16#F5 “F” “5” End character 1 End character 0  LRC check (Check sum) LRC check code is the value by firstly getting the inverse values of every bit of the result value of addition operation of the data from communication ID to the last data content (Hex.) and then...
Page 909: Message Format In Rtu Mode
The data format is determined by function codes. For example, to read the data of two continuous addresses with 16#0000 as start address in DVP-15MC series motion controller, the address of DVP-15MC is 1, 16#0000 is the Modbus address of %MW0 in the controller.
Page 910 DVP-15MC Series Motion Controller Operation Manual  Response message: Field name Character No input data for more than 10ms Start Communication address Function code Read data number（Counted by bytes） Read high byte of data content Read low byte of data content...
Page 911: Modbus Function Codes Supported
// the value that sent back to the CRC register finally Modbus Function Codes Supported  The function codes which are supported by DVP-15MC series motion controller are listed in the following table when COM2 port is possessed by the motion control module. Function...
Page 912: Introduction To Modbus Function Codes
DVP-15MC Series Motion Controller Operation Manual Introduction to Modbus Function Codes  Function code 03 reads one single or multi word register values  Data structure of a request message: Byte NO. Name Byte Byte0 Modbus ID Single byte Byte1...
Page 913 Appendix A. Modbus Communication  Example To read the contents of address 16#0000 and 16#0001 in DVP-15MC series motion controller via function code 03. 16#0000 and 16#0001 are the Modbus addresses of %MW0 and %MW1 in DVP-15MC series motion controller respectively.
Page 914 DVP-15MC Series Motion Controller Operation Manual  Function code 16#10 writes multiple word register values  Data structure of a request message: Byte NO. Name Byte Byte0 Single byte Modbus ID Byte1 Function code Single byte Byte2 High byte The start address of controller’s word registers...
Page 915 High byte  Example Write 16#0100 and 16#0200 to the addresses 16#0000 and 16#0001 in DVP-15MC series controller respectively via function code 16#10. 16#0000 and 16#0001 are Modbus addresses of %MW0 and %MW1 in DVP-15MC series controller respectively. Request message: 01 10 00 00 00 02 04 01 00 02 00 F3 33 Response message: 01 10 00 00 00 02 41 C8 ...
Page 916 See the example below for details.  Example Read the state value of %QX2.0~%QX3.4 in DVP-15MC series motion controller via function code 01. The address of %QX2.0 is 16#A010. Suppose the value of %QX2.0~%QX2.7 is 1000 0001 and %QX3.0~%QX3.4 is 1 0001.
Page 917 See the example below for details.  Example Read the state value of %QX2.0~%QX3.4 in DVP-15MC series motion controller via function code 02. The address of %QX2.0 is 16#A010. Suppose %QX2.0~%QX2.7=1000 0001, %QX3.0~%QX3.4=1 0001. Request message: 01 02 A0 10 00 0D 9A 0A Response message: 01 02 02 81 11 19 E4 ...
Page 918 TRUE is written in the bit register.  Example The value of %QX0.0 in DVP-15MC series motion controller is set to TRUE and the address of %QX0.0 is set to 16#A000 via function code 05. Request message: 01 05 A0 00 FF 00 AE 3A Response message: 01 05 A0 00 FF 00 AE 3A ...
Page 919: Table Of Registers And Corresponding Modbus Addresses
Request message: 01 0F A0 00 00 08 01 81 26 55 Response message: 01 0F A0 00 00 08 76 0D Table of Registers and Corresponding Modbus addresses  Register numbers in the motion control module of DVP-15MC series and corresponding addresses are listed below: Register Register number Explanation...
Page 920 DVP-15MC Series Motion Controller Operation Manual MEMO A-16...
Page 921 Modbus TCP Communication Table of Contents Modbus TCP Message Structure ..............B-2 Modbus Function Codes Supported in Modbus TCP ......B-2 Exception Response Code in Modbus TCP ..........B-3 Modbus Function Codes in Modbus TCP ........... B-3 Registers and Corresponding Modbus Addresses ......B-12...
Page 922 High byte Modbus data determined by function code. Modbus Function Codes Supported in Modbus TCP  Modbus function codes which DVP-15MC series motion controller supports Function Function Register code Read bit register value; maximum 256 bits of data could 16#02 %IX and %QX be read at a time.
Page 923: Appendix B Modbus Tcp Communication
Appendix B Modbus TCP Communication Exception Response Code in Modbus TCP  Modbus exception response codes that DVP-15MC series motion controller supports are shown in the table below. Exception response code Indication 16#01 Unsupportive function code 16#02 Unsupportive Modbus address...
Page 924  Example To read the content value in the addresses 16#0000 and 16#0001 inside DVP-15MC series motion controller via function code 03. 16#0000 and 16#0001 are the Modbus address of %MW0 and %MW1 inside DVP-15MC series motion controller respectively. Suppose that the value of %MW0 is 16#0100 and the value of %MW1 is 16#0200.
Page 925 Appendix B Modbus TCP Communication Byte NO. Name Byte Byte6 Modbus ID Single byte Byte7 Function code Single byte Byte8 High byte The address of a word register where to write value Byte9 Low byte Byte10 High byte The value written in the word register Byte11 Low byte ...
Page 926 DVP-15MC Series Motion Controller Operation Manual  Example: To write the value 16#0100 to the address 16#0000 in DVP-15MC series motion controller via function code 06 Request message: 00 00 00 00 00 06 01 06 00 00 01 00...
Page 927 How many bytes of data in a response message depend on the number of read register addresses in DVP-15MC series motion controller in the request message. So the value of n in Byte n in the response message can be calculated through reading the number of register addresses in DVP- 15MC series motion controller.
Page 928 DVP-15MC Series Motion Controller Operation Manual Function code: 16#02 to read multiple bit register values   Request message data structure: Byte NO. Name Byte Byte0 High byte Transaction identifier Byte1 Low byte Byte2 High byte Protocol identifier Byte3 Low byte...
Page 929 Single byte  Example To read the state value of %QX2.0~%QX3.4 in DVP-15MC series motion controller via function code 02. 16#A010 is the address of %QX2.0. Suppose that %QX2.0~%QX2.7=1000 0001 and %QX3.0~%QX3.4=10001. Request message: 00 00 00 00 00 06 01 02 A0 10 00 0D...
Page 930 1 is written to the bit register.  Example Set the value of %QX0.0 in DVP-15MC series motion controller to 1 via function code 05; the address of %QX0.0 is 16#A000. Request message: 00 00 00 00 00 06 01 05 A0 00 FF 00...
Page 931 Appendix B Modbus TCP Communication  Function code: 16#0F to write multiple bit register values.  Request message data structure: Byte NO. Name Byte Byte0 High byte Transaction identifier Byte1 Low byte Byte2 High byte Protocol identifier Byte3 Low byte Byte4 High byte Modbus data length...
Page 932 DVP-15MC Series Motion Controller Operation Manual  Exception response message data structure Byte NO. Name Byte Byte0 High byte Transaction identifier Byte1 Low byte Byte2 High byte Protocol identifier Byte3 Low byte Byte4 High byte Modbus data length Byte5 Low byte...
Page 933 CANopen Protocol Table of Contents Node States ................C-4 Network Management (NMT) ........... C-6 PDO (Process Data Object) ............C-6 SDO (Service Data Object) ............C-8...
Page 934 DVP-15MC Series Motion Controller Operation Manual  About CANopen protocol The CAN (controller area network) fieldbus only defines the physical layer and data link layer. (See ISO11898 standard.) It does not define the application layer. In the practical design, the physical layer and the data link layer are realized by the hardware.
Page 935: Appendix C Canopen Protocol
Appendix C CANopen Protocol  The CANopen Communication Object The CANopen communication protocol contains PDO, SDO, NMT and other predefined CANopen communication object. Refer to section C.3 for PDO introduction. Refer to section C.4 for SDO introduction. Refer to section C.2 for NMT introduction. ...
Page 936: Node States
DVP-15MC Series Motion Controller Operation Manual Node States  Module control services The master node in the CANopen network controls the slave by sending the command. The slave executes the command after it receives the command and it does not need to reply. All CANopen nodes have internal NMT states.
Page 937 Appendix C CANopen Protocol COB-ID Byte 0 Byte 1 Slave address Command specifier (CS) (0: Broadcast) The command specifiers are listed below. Command specifier (hex) Function Start the remote node Stop the remote node Enter the pre-operational state Reset the application layer Reset the communication ...
Page 938: Network Management (Nmt
Modes 1~240: One piece of PDO information is transmitted every 1~240 synchronous signals. Mode 254: The event trigger transmission is defined by the manufacturer. For DVP-15MC series motion controller, the definition is the same as mode 255.
Page 939 Appendix C CANopen Protocol  All the data in the PDO has to be mapped from the object dictionary. The following is an example of the PDO mapping.  The data format for RxPDO and TxPDO is as follows. COB-ID Byte 0 Byte 1 Byte 2...
Page 940 DVP-15MC Series Motion Controller Operation Manual SDO (Service Data Object)   The SDO is used to build the client/server relation between two CANopen devices. The client device can read the data from the object dictionary of the server device, and write the data into the object dictionary of the server device.
Page 941 Explanation of Homing Modes Table of Contents Explanation of Homing Modes ..........D-2...
Page 942 DVP-15MC Series Motion Controller Operation Manual Explanation of Homing Modes DVP-15MC series motion controller provides many homing modes from which user can choose the appropriate one in accordance with the field condition and technical requirement.  Mode 1 Homing which depends on the negative limit switch and Z pulse.
Page 943: Appendix D Explanation Of Homing Modes
Appendix D Explanation of Homing Modes  Mode 2 Homing which depends on the positive limit switch and Z pulse Circumstance 1： MC_Home instruction is executed when the positive limit switch is OFF and the axis moves in the positive direction at the first-phase speed. The motion direction changes and the axis moves at the second-phase speed when the axis encounters that the positive limit switch is ON.
Page 944 DVP-15MC Series Motion Controller Operation Manual Mode 3 and mode 4 Homing which depends on the home switch and Z pulse  Mode 3 Circumstance 1： When the home switch is OFF, MC_Home instruction is executed and the axis moves in the positive direction at the first-phase speed.
Page 945: Explanation Of Homing Modes
Appendix D Explanation of Homing Modes Mode 5 and mode 6 Homing which depends on the home switch and Z pulse  Mode 5 Circumstance 1： When the home switch is ON, MC_Home instruction is executed and the axis moves in the positive direction at the second-phase speed.
Page 946 DVP-15MC Series Motion Controller Operation Manual Mode 7~ mode 10 Homing which depending on the home switch, positive limit switch and Z pulse  Mode 7 Circumstance 1： When the home switch is OFF, MC_Home instruction is executed and the axis moves in the positive direction at the first-phase speed.
Page 947 Appendix D Explanation of Homing Modes  Mode 8 Circumstance 1： When the home switch is OFF, MC_Home instruction is executed and the axis moves in the positive direction at the first-phase speed. The axis moves at the second-phase speed when the home switch is ON and where the first Z pulse is met is the home position.
Page 948 DVP-15MC Series Motion Controller Operation Manual  Mode 9 Circumstance 1： MC_Home instruction is executed and the axis moves in the positive direction at the first-phase speed when the home switch is OFF. The axis moves at the second-phase speed when the home switch is ON. The motion direction changes and the axis moves at the second-phase speed when the home switch is OFF.
Page 949 Appendix D Explanation of Homing Modes  Mode 10 Circumstance 1： MC_Home instruction is executed and the axis moves in the positive direction at the first-phase speed when the home switch is OFF. The axis moves at the second-phase speed when the home switch is ON. And where the first Z pulse is met is the home position while the home switch is OFF.
Page 950 DVP-15MC Series Motion Controller Operation Manual  Mode 11 Circumstance 1： MC_Home instruction is executed and the axis moves in the negative direction at the first-phase speed when the home switch is OFF. The motion direction changes and the axis moves at the second-phase speed when the home switch is ON. And where the first Z pulse is met is the home position while the home switch is OFF.
Page 951 Appendix D Explanation of Homing Modes  Mode 12 Circumstance 1： MC_Home instruction is executed and the axis moves in the negative direction at the first-phase speed when the home switch is OFF. The axis moves at the second-phase speed when the home switch is ON. And where the first Z pulse is met is the home position.
Page 952 DVP-15MC Series Motion Controller Operation Manual  Mode 13 Circumstance 1： MC_Home instruction is executed and the axis moves in the negative direction at the first-phase speed while the home switch is OFF. The axis moves at the second-phase speed while the home switch is ON. The motion direction changes and the axis moves at the second-phase speed while the home switch is OFF.
Page 953 Appendix D Explanation of Homing Modes  Mode 14 Circumstance 1： MC_Home instruction is executed and the axis moves in the negative direction at the first-phase speed while the home switch is OFF. The axis moves at the second-phase speed once the home switch is ON. And where the first Z pulse is met is the home position while the home switch is OFF.
Page 954 DVP-15MC Series Motion Controller Operation Manual  Mode 17 Homing which depends on the negative limit switch Circumstance 1： MC_Home instruction is executed when the negative limit switch is OFF and the axis moves in the negative direction at the first-phase speed. The motion direction changes and the axis moves at the second-phase speed when the axis encounters that the negative limit switch is ON.
Page 955 Appendix D Explanation of Homing Modes Circumstance 1： MC_Home instruction is executed and the axis moves in the positive direction at the first-phase speed while the home switch is OFF. The motion direction changes and the axis moves at the second-phase speed once the home switch becomes ON. And where the axis stands is the home position at the moment the home switch becomes OFF.
Page 956 DVP-15MC Series Motion Controller Operation Manual axis moves at the second-phase speed once the home switch becomes ON. And where the axis stands is the home position at the moment the home switch becomes OFF. Circumstance 2： MC_Home instruction is executed and the axis moves in the positive direction at the second-phase speed while the home switch is ON.
Page 957 Appendix D Explanation of Homing Modes axis moves at the second-phase speed once the home switch becomes ON. Where the axis stands is the home position when the home switch is OFF. Circumstance 2： MC_Home instruction is executed while the home switch is ON and the axis moves in the negative direction at the second-phase speed.
Page 958 DVP-15MC Series Motion Controller Operation Manual  Mode 24 Circumstance 1： MC_Home instruction is executed while the home switch is OFF and the axis starts to move in the positive direction at the first-phase speed. Where the axis stands is the home position when the home switch is ON.
Page 959 Appendix D Explanation of Homing Modes  Mode 25 Circumstance 1： MC_Home instruction is executed while the home switch is OFF and the axis starts to move in the positive direction at the first-phase speed. The axis moves at the second- phase speed when the home switch is ON.
Page 960 DVP-15MC Series Motion Controller Operation Manual  Mode 26 Circumstance 1： MC_Home instruction is executed while the home switch is OFF and the axis starts to move in the positive direction at the first-phase speed. The axis moves at the second- phase speed when the home switch is ON.
Page 961 Appendix D Explanation of Homing Modes  Mode 27 Circumstance 1： MC_Home instruction is executed while the home switch is OFF and the axis starts to move in the negative direction at the first-phase speed. The motion direction changes and the axis moves at the second-phase speed when the home switch is ON. Where the axis stands is the home position when the home switch is OFF.
Page 962 DVP-15MC Series Motion Controller Operation Manual  Mode 28 Circumstance 1： MC_Home instruction is executed while the home switch is OFF and the axis starts to move in the negative direction at the first-phase speed. Where the axis stands is the home position when the home switch is ON.
Page 963 Appendix D Explanation of Homing Modes  Mode 29 Circumstance 1： MC_Home instruction is executed while the home switch is OFF and the axis starts to move in the negative direction at the first-phase speed. When the home switch is ON, the axis starts to move at the second-phase speed.
Page 964 DVP-15MC Series Motion Controller Operation Manual  Mode 30 Circumstance 1： MC_Home instruction is executed while the home switch is OFF and the axis starts to move in the negative direction at the first-phase speed. When the home switch is ON, the axis starts to move at the second-phase speed.
Page 965 Appendix D Explanation of Homing Modes Mode 31 and mode 32 Reserved for future development. Mode 33 ~ mode 34 Homing which depends on Z pulse  Mode 33 In mode 33, MC_Home instruction is executed and the axis moves at the second-phase speed in the negative direction.
Page 966 DVP-15MC Series Motion Controller Operation Manual MEMO D-26...
Page 967 List of Accessories Table of Contents Accessories for CANopen Communication ......... E-2 Accessories for PROFIBUS DP Communication ......E-4 Accessories for DeviceNet Communication ....... E-4...
Page 968 DVP-15MC Series Motion Controller Operation Manual Accessories for CANopen Communication  Cables Figure Model Length Diameter（AWG） UC-DN01Z-01A 305M 2#15，2#18 SHLD PVC（Thick cable） UC-DN01Z-02A 305M 2#22，2#24 SHLD PVC（Thin cable） UC-CMC003-01A 0.3M 4#26，1#24 PVC（Thin cable） UC-CMC005-01A 0.5M 4#26，1#24 PVC（Thin cable） UC-CMC010-01A 1.0M 4#26，1#24 PVC（Thin cable）...
Page 969: Appendix E List Of Accessories
Appendix E. List of Accessories  Distribution box Model Circuit figure TAP-CN01 Thin Cable Thick Cable Thick Cable TAP-CN02 Thin Cable Thin Cable Thin Cable TAP-CN03 8 7 6 5 4 3 2 1 Thin Cable Thin Cable Thin Cable Connector Removable terminals（5.08mm）...
Page 970: Accessories For Profibus Dp Communication
DVP-15MC Series Motion Controller Operation Manual  Terminal resistor As suggested in the CANopen protocol, the two ends of the CANopen communication cable should connect a terminal resistor of 120Ω (1/4W) respectively in order to match the impedance of the communication signal and reduce the signal reflection interference in normal signal transmission.
Page 971 Appendix E. List of Accessories UC-DN01Z-01A and UC-DN01Z-02A can be used as the main-line cable as well as the branch-line cable. The maximum communication distances that they support are different. The maximum communication distances the two cables support at different DeviceNet transmission speed are displayed as follows.
Page 972 DVP-15MC Series Motion Controller Operation Manual Model Circuit figure TAP-CP01 （Power distribution box ） Connector Removable terminals（5.08mm） Terminal 120Ω resistor  Terminal resistor As required in the DeviceNet protocol, the two ends of the DeviceNet communication cable should connect a terminal resistor of 120Ω (1/4W) respectively.

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Dvp15mc11t Dvp15mc11t-06

Delta DVP-15MC Series Operation Manual

Chapter 1 Preface

Explanation of Symbols in this Manual

Revision History

Chapter 2 Overview

Product Description

Functions

Profile and Components

Chapter 3 Specifications

3.2 Electrical Specifications

Chapter 4 System Architecture

System Constitution

Power Supply

Left-Side Extension

Right-Side Extension

Connectable Servo Drives

SD Memory Card

Chapter 5 Installation

Dimensions

Profile and Dimensions

Installing the Module in the Control Cabinet

Installing the Module to DIN Rail

Chapter 6 Wiring, Communication Setting and Network Construction

Wiring

Input Point and Output Point Wiring

RS-485 Communication Port

Communication Port

SSI Absolute Encoder Port

Incremental Encoders

Ethernet Communication Port

Motion Communication Port

Canopen Communication Port

Chapter 7 Execution Principle

Tasks

Task Types

The Impact of PLC RUN or STOP on Variables and Devices

Relationship between Motion Program and Motion Bus

Synchronization Cycle Period Setting

Chapter 8 Logic Instructions

String Processing Instructions

Chapter 9 Introductions of Axis Parameters

Description of Axis Parameters

And ENO

Relation Among Velocity, Acceleration and Jerk

Chapter 10 Motion Control Function

Introduction of Buffermode

The State Machine

Chapter 11 Motion Control Instructions

11.1 Table of Motion Control Instructions

11.2 about Motion Control Instructions

11.3 Single-Axis Instructions

11.4 Multi-Axis Instructions

11.5 Application Instructions

11.6 G Code Instructions

11.7 Axes Group Instructions

11.8 Coordination Instructions

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Summary of Contents for Delta DVP-15MC Series