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DVP15MC11T
Delta Electronics DVP15MC11T User Manual
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9
Chapter 9
Introductions
of Axis
Parameters
Table of Contents
9.1
Description of Axis Par
ameters
..................................................................
9-2
9-1
285
287
Table of Contents
Dvp15Mc11T Operation Manual
2
Default Chapter
2
Table of Contents
2
Chapter 1 Preface
10
Explanation of Symbols in this Manual
11
Revision History
11
Chapter 2 Overview of DVP15MC11T
12
Product Description
13
Functions
13
Profile and Components
14
Chapter 3 Specifications
16
Function Specifications
17
Specifications
17
Devices
18
Devices and Data Types
18
Valid Ranges of Devices
19
Latched Devices
20
Data Types and Valid Ranges Supported
21
Electrical Specifications
22
Chapter 4 System Architecture
24
Left-Side Extension
25
Connectable Left-Side Extension Module
25
Allocation of Left-Side Network Module Addresses
26
Method of Reading/Writing of Left-Side Modules
26
Power Supply
25
System Constitution
25
Right-Side Extension
26
Connectable Right-Side Extension Modules
26
Allocation of Right-Side Extension Module Addresses
27
Connectable Servo Drives
27
SD Memory Card
29
Model and Specification
29
Function
31
Chapter 5 Installation
32
Default Chapter
33
Dimensions
33
Dimensions of Left-Side and Right-Side Extension Modules
33
Profile and Dimensions of DVP15MC11T
33
Connecting to the Left-Side Extension Module
34
Connecting to the Right-Side Extension Module
35
SD Card Installing and Removing
36
Installing the Module in the Control Cabinet
38
Environmental Temperature in the Control Cabinet
38
Illustration of Installation Inside the Control Cabinet
38
Installing the Module to DIN Rail
38
Actions for Anti-Interference
39
Dimension Requirement in the Control Cabinet
39
Chapter 6 Wiring, Communication Setting and Network Construction
40
Table of Contents
41
Wiring
42
Power Supply
42
Safety Circuit Wiring
42
Input Point and Output Point Wiring
43
Function that Input Points Support
43
Input Point Wiring
44
Output Point Wiring
45
Communication Port
47
Function that RS-485 Port Supports
47
Definitions of RS-485 Port Pins
47
Hardware Connection
47
Supported Function Codes and Exception Codes
49
Communication Port
50
Function that RS-232 Port Supports
50
Definitions of RS-232 Port Pins
50
Hardware Connection
50
Supported Function Codes and Exception Codes
51
SSI Absolute Encoder Port
52
Function of SSI Absolute Encoder
52
Definitions of SSI Port Pins
52
SSI Absolute Encoder Hardware Connection
52
Incremental Encoders
54
Function of Incremental Encoder
54
Definition of Incremental Encoder Port Pins
54
Incremental Encoder Hardware Connection
55
Ethernet Communication Port
56
Function that Ethernet Communication Port Supports
56
Pins of Ethernet Communication Port
56
Network Connection of Ethernet Communication Port
56
Function Codes that Ethernet Communication Port Supports
57
Motion Communication Port
57
Function that Motion Communication Port Supports
57
Pins of Motion Communication Port
57
Communication Speed and Communication Distance
58
Motion Network Connection
58
Canopen Communication Port
59
Functions that Canopen Communication Port Supports
59
Network Connection at Canopen Communication Port
60
PDO Mapping at Canopen Communication Port
60
Pins of Canopen Communication Port
60
Canopen Communication Rate and Communication Distance
61
Chapter 7 Execution Principle of Dvp15Mc11T Controller
62
Tasks
63
Task Types
63
Priority Levels of Tasks
65
Watchdog for a Task
67
Motion Instructions for each Task Type
68
Relationship between Motion Program and Motion Bus
69
The Impact of PLC RUN or STOP on Variables and Devices
69
Synchronization Cycle Period Setting
70
Chapter 8 Logic Instructions
72
Default Chapter
75
Table of Logic Instructions
75
Explanation of Logic Instructions
78
EN and ENO
78
Sequence Input /Output Instructions
78
R_Trig
78
F_Trig
80
Sema
86
Data Movement Instructions
88
Move
88
Movebit
89
Transbit
91
Movedigit
93
Exchange
95
Swap
97
Comparison Instructions
99
Timer Instructions
111
Ton
111
Tof
113
Counter Instructions
117
Ctu
117
Ctd
119
Ctud
121
Math Instructions
124
Add
124
Sub
127
Mul
130
DIV
133
Mod
136
Modreal
138
Modturns
140
Modabs
142
Abs
144
Degtorad
146
Radtodeg
148
Sin
150
Cos
152
Tan
154
Asin
156
Acos
159
Atan
161
Log
165
Sqrt
167
Exp
169
Expt
171
Rand
173
Trunc
175
Floor
177
Fraction
179
Bit String Instructions
181
And
181
Not
187
Xor
189
Xorn
192
Shift Instructions
195
Shl
195
Shr
197
Rol
199
Ror
201
Selection Instructions
203
Max
203
Min
205
Sel
207
Mux
209
Limit
211
Band
214
Bit Strings_To_
217
Real Numbers_To_
217
Zone
217
Data Type Conversion Instructions
220
Bit Strings_To_***
223
Integers_To_***
230
Real Numbers_To_***
239
Times,Dates_To_***
242
Strings_To_***
244
Canopen Communication Instructions
247
Dmc_Writeparameter_Canopen
253
String Processing Instructions
258
Delete
260
Insert
262
Left / Right
264
Replace
268
Find
271
Immediate Refresh Instructions
273
Immediateinput
281
Immediateoutput
283
Description of Axis Parameters
287
Chapter 9 Introductions of Axis Parameters
286
Chapter 10 Motion Control Function
290
Relation Among Velocity, Acceleration and Jerk
292
Introduction of Buffermode
295
The State Machine
321
Chapter 11 Motion Control Instructions
324
Default Chapter
326
Table of Motion Control Instructions
326
About Motion Control Instructions
327
Composition of a Motion Control Instruction
327
Configuration of Motion Control Instructions
327
Program Languages that Motion Control Instructions Support
327
Single-Axis Instructions
328
Mc_Power
328
Mc_Home
337
Mc_Movevelocity
342
Mc_Halt
349
Mc_Stop
354
Mc_Moverelative
359
Mc_Moveadditive
367
Mc_Moveabsolute
375
Mc_Movesuperimposed
384
Mc_Haltsuperimposed
391
Mc_Setposition
396
Mc_Setoverride
406
Mc_Setoverride
408
Mc_Reset
410
Mc_Reset
412
Dmc_Settorque
413
Mc_Readaxiserror
417
Mc_Readactualposition
419
Mc_Readstatus
424
Mc_Readstatus
426
Mc_Readmotionstate
429
Dmc_Readparameter_Motion
434
Dmc_Writeparameter_Motion
438
Dmc_Touchprobe
442
Multi-Axis Instructions
451
Mc_Gearin
451
Mc_Gearout
457
Mc_Combineaxes
462
Introduction of Electronic Cam
470
Mc_Camin
471
Mc_Camout
492
Application Instructions
498
Rotary Cut Parameters
499
Control Feature of Rotary Cut Function
500
Introduction to Cam Curve with Rotary Cut Function
501
Rotary-Cut Instructions
505
Apf_Rotarycut_In
508
Apf_Rotarycut_Out
510
Application Example of Rotary Cut Instructions
512
Chapter 12 Troubleshooting
516
Explanation of LED Indicators
517
Table of Error Ids in Motion Instructions
523
System Trouble Diagnosis through System Error Codes
527
Appendix A Modbus Communication
534
Default Chapter
535
Message Format in ASCII Mode
535
Message Format in RTU Mode
538
Modbus Exception Response Code Supported
540
Modbus Function Codes Supported
540
Introduction to Modbus Function Codes
541
Table of Registers and Corresponding Modbus Addresses
548
Appendix B Modbus TCP Communication
550
B.1 Modbus TCP Message Structure
551
B.3 Exception Response Code in Modbus TCP
552
B.5 Registers in DVP15MC11T and Corresponding Modbus Addresses
561
Appendix C Canopen Protocol
562
C.1 Node States
565
C.2 Network Management (NMT)
568
C.4 SDO (Service Data Object)
570
Appendix D Explanation of Homing Modes
572
D.1 Explanation of Homing Modes
573
Appendix E List of Accessories
596
E.1 Accessories for Canopen Communication
597
E.2 Accessories for PROFIBUS DP Communication
599
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Delta Electronics DVP15MC11T Specifications
General
Brand
Delta Electronics
Model
DVP15MC11T
Category
Controller
Language
English
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