Delta DVP-20PM Instructions for use

www.deltaww.com

DVP-20PM

Application Manual

(Programming)

2014-02-12

Industrial Automation Headquarters

Delta Electronics, Inc.

Taoyuan Technology Center

No.18, Xinglong Rd., Taoyuan City,

Taoyuan County 33068, Taiwan

TEL: 886-3-362-6301 / FAX: 886-3-371-6301

Asia

Delta Electronics (Jiangsu) Ltd.

Wujiang Plant 3

1688 Jiangxing East Road,

Wujiang Economic Development Zone

Wujiang City, Jiang Su Province, P.R.C. 215200

TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290

Delta Greentech (China) Co., Ltd.

238 Min-Xia Road, Pudong District,

ShangHai, P.R.C. 201209

TEL: 86-21-58635678 / FAX: 86-21-58630003

Delta Electronics (Japan), Inc.

Tokyo Ofce

2-1-14 Minato-ku Shibadaimon,

Tokyo 105-0012, Japan

TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211

Delta Electronics (Korea), Inc.

1511, Byucksan Digital Valley 6-cha, Gasan-dong,

Geumcheon-gu, Seoul, Korea, 153-704

TEL: 82-2-515-5303 / FAX: 82-2-515-5302

Delta Electronics Int’l (S) Pte Ltd.

4 Kaki Bukit Ave 1, #05-05, Singapore 417939

TEL: 65-6747-5155 / FAX: 65-6744-9228

Delta Electronics (India) Pvt. Ltd.

Plot No 43 Sector 35, HSIIDC

Gurgaon, PIN 122001, Haryana, India

TEL : 91-124-4874900 / FAX : 91-124-4874945

Americas

Delta Products Corporation (USA)

Raleigh Ofce

P.O. Box 12173,5101 Davis Drive,

Research Triangle Park, NC 27709, U.S.A.

TEL: 1-919-767-3800 / FAX: 1-919-767-8080

Delta Greentech (Brasil) S.A.

Sao Paulo Ofce

Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista

01332-000-São Paulo-SP-Brazil

TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865

Europe

Deltronics (The Netherlands) B.V.

Eindhoven Ofce

De Witbogt 20, 5652 AG Eindhoven, The Netherlands

TEL: 31-40-2592850 / FAX: 31-40-2592851

DVP-0099720-01

*We reserve the right to change the information in this manual without prior notice.

DVP-20PM Application Manual (Programming)

DVP-20PM Application Manual

Contents

Chapter 1 Program Framework of a DVP-PM Series Motion Controller

1.1 Structure of O100................................................................................................1-1

1.1.1 Manual Function of O100.............................................................................1-2

1.2 Structure of Ox Motion Subroutines.....................................................................1-3

1.3 Structure of P Subroutines...................................................................................1-4

1.4 Using O100, Ox Motion Subroutines, and P Subroutines....................................1-6

1.4.1 Structure of a Program.................................................................................1-6

Chapter 2 Hardware Specifications and Wiring

2.1 Hardware Specifications......................................................................................2-1

2.1.1 Specifications for Power...............................................................................2-1

2.1.2 Electrical Specifications for Input Terminals/Output Terminals......................2-1

2.1.3 Dimensions...................................................................................................2-4

2.2 Wiring..................................................................................................................2-6

2.2.1 Installation of a DVP-20PM Series Motion Controller in a Control Box.........2-7

2.2.2 Wiring Power Input.......................................................................................2-7

2.2.3 Safety Wiring................................................................................................2-8

2.2.4 Wiring Input/Output Terminals......................................................................2-8

2.2.5 Wiring a DVP-20PM Series Motion Controller and an Inferior Servo Drive 2-14

2.3 Communication Ports........................................................................................2-19

2.3.1 COM1 (RS-232 Port)..................................................................................2-19

2.3.2 COM2 (RS-485 Port)..................................................................................2-20

2.3.3 COM3 (RS-232/RS-485 Port).....................................................................2-20

Chapter 3 Devices

3.1 Device Lists.........................................................................................................3-1

3.2 Values, Constants, and Floating-point Numbers .................................................3-4

3.3 External Input Devices and External Output Devices..........................................3-6

3.4 Auxiliary Relays...................................................................................................3-8

3.5 Stepping Relays ..................................................................................................3-8

3.6 Timers .................................................................................................................3-8

3.7 Counters..............................................................................................................3-9

3.8 Registers ...........................................................................................................3-13

3.8.1 Data Registers............................................................................................3-13

3.8.2 Index Registers ..........................................................................................3-14

3.9 Pointers.............................................................................................................3-14

3.10 Specail Auxiliary Relays and Special Data Registers........................................3-15

3.11 Functions of Special Auxiliary Relays and Special Data Registers ...................3-30

3.12 Special Data Registers for Motion Axes............................................................3-46

3.12.1 Descriptions of the Special Data Registers Related to Motion....................3-47

3.12.2 Introduction of Modes of Motion.................................................................3-64

3.12.3 Special Data Registers for Motion Axes .....................................................3-65

Chapter 4 Basic Instructions

4.1 Table of Basic Instructions ..................................................................................4-1

4.2 Descriptions of the Basic Instructions..................................................................4-3

Chapter 5 Applied Instructions and Basic Usage

5.1 Table of Applied Instructions ...............................................................................5-1

5.2 Structure of an Applied Instruction.......................................................................5-5

5.3 Processing Values...............................................................................................5-7

5.4 Using Index Registers to Modify Operands .......................................................5-10

5.5 Instruction Index................................................................................................5-10

5.6 Descriptions of the Applied Instructions.............................................................5-14

●(API 00~09) Loop control.............................................................................5-14

●(API 10~19) Transfer and comparison.........................................................5-23

●(API 20~29) Arithmetic.................................................................................5-36

●(API 30~39) Rotation and move ..................................................................5-48

●(API 40~49) Data processing ......................................................................5-59

●(API 50) High-speed processing..................................................................5-73

●(API 61~69) Convenience ...........................................................................5-74

●(API 78~87) I/O ...........................................................................................5-81

●(API 100~101) Communication ...................................................................5-86

●(API 110~175) Floating-point value .............................................................5-95

●(API 215~223) Logical operation...............................................................5-126

●(API 224~246) Comparison instructions....................................................5-129

●(API 147, 154, 202, 203, 256~260) Other instructions ..............................5-132

5.7 Motion Control Function Block Table ...............................................................5-145

5.8 Introduction of the Pins in a Motion Control Function Block ............................5-146

5.8.1 Definitions of Input Pins/Output Pins........................................................5-146

5.8.2 Timing Diagram for Input/Output Pins ......................................................5-148

5.8.3 Introducing the Use of PMSoft..................................................................5-148

5.9 Delta-defined Parameter Table........................................................................5-150

5.10 Uniaxial Motion Control Function Blocks.........................................................5-152

5.10.1 Absolute Single-speed Motion..................................................................5-152

5.10.2 Relative Single-speed Motion...................................................................5-156

iii

5.10.3 Absolute Two-speed Motion.....................................................................5-160

5.10.4 Relative Two-speed Motion......................................................................5-163

5.10.5 Inserting Single-speed Motion..................................................................5-166

5.10.6 Inserting Two-speed Motion .....................................................................5-170

5.10.7 JOG Motion..............................................................................................5-174

5.10.8 Manual Pulse Generator Mode.................................................................5-177

5.10.9 Electronic Gear Motion.............................................................................5-179

5.10.10 Returning Home.......................................................................................5-181

5.10.11 Setting Input Sources for Manual Pulse Generators/Electronic Gears.....5-183

5.10.12 Stopping Uniaxial Motion..........................................................................5-184

5.10.13 Parameter Setting I ..................................................................................5-186

5.10.14 Parameter Setting II .................................................................................5-188

5.10.15 Reading the Present Position/Speed of an Axis .......................................5-190

5.10.16 State of an Axis.........................................................................................5-192

5.10.17 Setting the Present Position of an Axis.....................................................5-194

5.10.18 Setting the Polarities of Input Terminals ...................................................5-195

5.10.19 Uniaxial Cyclic Electronic Cam Motion.....................................................5-197

5.10.20 Uniaxial Noncyclic Electronic Cam Motion ...............................................5-202

5.10.21 Multiaxial Cyclic Electronic Cam Motion...................................................5-206

5.10.22 Reading a Cam Point ...............................................................................5-210

5.10.23 Writing a Cam Point..................................................................................5-212

5.10.24 Calculating a Synchronization Ratio.........................................................5-214

5.10.25 Creating a Cam Curve..............................................................................5-217

5.10.26 Updating a Cam Curve.............................................................................5-224

5.10.27 Rotaty Cut ................................................................................................5-226

5.10.28 Flying Shear.............................................................................................5-232

5.10.29 Creating a Curve for a Wire Winding Machine .........................................5-239

5.11 Multiaxial Motion Control Function Blocks.......................................................5-243

5.11.1 Setting the Parameters of G-code Motion................................................5-243

5.11.2 Executing G-code Motion.........................................................................5-246

5.11.3 Stopping G-code Motion...........................................................................5-248

5.11.4 Reading an M-code..................................................................................5-250

5.12 Other Motion Control Function Blocks.............................................................5-252

5.12.1 High-speed Counter.................................................................................5-252

5.12.2 Setting High-speed Comparison...............................................................5-255

5.12.3 Resetting High-speed Comparison...........................................................5-257

5.12.4 Setting High-speed Capture.....................................................................5-260

5.12.5 High-speed Masking.................................................................................5-264

5.12.6 Setting an Interrupt...................................................................................5-266

Chapter 6 Basic Usage of Motion Instructions and G-codes

6.1 Table of Motion Instructions and Table of G-codes..............................................6-1

6.2 Composition of a Motion Instruction/G-code........................................................6-3

6.2.1 Motion Instruction.........................................................................................6-3

6.2.2 G-code Instruction........................................................................................6-4

6.3 Descriptions of Motion Instructions......................................................................6-7

6.4 Descriptions of O Pointers/M-code Instructions.................................................6-40

6.5 Descriptions of G-code Instructions...................................................................6-45

Chapter 7 Using a DVP-20PM Series Motion Controller as a Slave

7.1 Access between DVP-EH2, DVP20PM (as a Master) and DVP-20PM (as a Slave)

............................................................................................................................7-1

7.1.1 Structure.......................................................................................................7-1

7.1.2 Example of Master-slave Data Exchange.....................................................7-1

Chapter 8 Application Examples

8.1 Drawing Paths by Motoin Instructions and G-codes............................................8-1

8.1.1 Paths............................................................................................................8-1

8.1.2 Steps ............................................................................................................8-2

8.2 Applying Application Examples in PMSoft...........................................................8-6

8.2.1 Program Structure........................................................................................8-6

8.2.2 Designing an Example Program...................................................................8-6

8.3 Planning Variable Speed Operation.....................................................................8-9

8.3.1 Program Structure........................................................................................8-9

8.3.1 Designing Programs.....................................................................................8-9

8.4 Connecting DVP20PM00D (as a Master) and DVP01PU-H2 (as a Slave) for

Controlling the Third Axis...................................................................................8-11

Chapter 9 Electronic Cam

9.1 Introduction of Electronic Cams...........................................................................9-1

9.2 Operation of an Electronic Cam ..........................................................................9-2

9.2.1 Initial Setting.................................................................................................9-2

9.2.1.1 Creating Electronic Cam Data...............................................................9-2

9.2.1.2 Setting Terminals...................................................................................9-2

9.2.1.3 Setting an Input/Output Pulse Type.......................................................9-3

9.2.1.4 Setting an Input/Output Ratio................................................................9-4

9.2.1.5 Setting a Starting Angle.........................................................................9-5

9.2.2 Setting a Master Axis....................................................................................9-6

9.2.3 Starting/Stopping an Electronic Cam..........................................................9-10

9.2.3.1 Starting/Stopping a Cyclic Electronic Cam ..........................................9-10

9.2.3.2 Starting/Stopping a Noncyclic Electronic Cam.....................................9-13

9.3 Registers for Electronic Cam Motion.................................................................9-15

9.4 Creating Electronic Cam Data...........................................................................9-19

9.4.1 Creating a Cam Chart in PMSoft................................................................9-20

9.4.1.1 Function Relating the Position of a Master Axis to the Position of a Slave

Axis .....................................................................................................9-20

9.4.1.2 Measuring the Relation between the Position of a Master Axis and the

Position of a Slave Axis at Work..........................................................9-23

9.4.2 Using DTO/DFROM to Create Electronic Cam Data..................................9-24

9.4.2.1 Creating/Modifying Electronic Cam Data.............................................9-30

9.4.2.2 Creating a Smooth Curve....................................................................9-32

9.4.2.3 Creating Rotary Cut Data....................................................................9-36

9.4.2.4 Electronic Cam Data for Cutting Thick Material...................................9-42

9.4.2.5 Offset Compensation for a Slave Error................................................9-46

9.4.2.6 Application of a Flying Shear—Checking the Position of a Cutter.......9-49

9.5 Multi-axis Cam...................................................................................................9-49

9.6 Practical Application of an Electronic Cam ........................................................9-53

9.6.1 Application of a Winfing Machine ...............................................................9-53

9.6.1.1 Operation of a High-speed Winding Device ........................................9-54

9.6.1.2 Wiring Hardware .................................................................................9-56

9.6.1.3 Creating an Electronic Cam Curve......................................................9-57

9.6.2 Application of a Rotary Cutter.....................................................................9-59

9.6.2.1 Operation of a Rotary Cutter...............................................................9-59

9.6.2.2 Creating an Electronic Cam Curve......................................................9-59

9.6.3 Application of a Flying Shear......................................................................9-61

9.6.3.1 Operation of a Rotary Cutter...............................................................9-61

9.6.3.2 Creating an Electronic Cam Curve......................................................9-62

Chapter 10 Application of G-codes

10.1 Downloading a Program with PEP.....................................................................10-1

10.2 Methods of Downloading G-codes.....................................................................10-2

10.2.1 PMGDL Software........................................................................................10-2

10.2.2 Coverting the G-codes in Data Registers...................................................10-8

10.3 Applying G-codes to a Dispenser....................................................................10-12

10.4 Storing G-codes/M-codes................................................................................10-17

Chapter 11 CANopen Communication Card

11.1 Introduction of DVP-FPMC: CANopen Communication Card............................11-1

11.2 Specifications ....................................................................................................11-1

11.3 Product Profile and Installation..........................................................................11-2

11.4 Parameters for Control Registers......................................................................11-2

11.5 Descriptions of Control Registers......................................................................11-4

11.6 Setting a DVP-FPMC Mode.............................................................................11-19

11.7 Ethernet Mode of DVP-FPMC .........................................................................11-21

11.7.1 Communication between DVP-FPMC and an HMI...................................11-22

11.7.2 Communication between DVP-FPMC and PMSoft...................................11-24

11.8 LED Indicators and Troubleshooting ...............................................................11-27

Chapter 12 High-speed Comparison and High-speed Capture

12.1 High-speed Comparison and High-speed Capture............................................12-1

12.2 High-speed Comparison....................................................................................12-3

12.3 High-speed Capture ..........................................................................................12-6

Chapter 13 Appendix

13.1 Appendix A: Error Code Table...........................................................................13-1

vii

1Program Framework of a DVP-PM Series Motion Controller

Delta DVP-PM series motion controllers can put axes in particular positions at high-speeds, create linear

interpolations, and circular interpolations. They can execute basic instructions, applied instructions, motion

instructions, and G-codes. Different DVP-PM series motion controllers support different program

frameworks and functions. The functions that DVP-PM series motion controllers support are shown in the

table below. Function DVP-20PM DVP-10PM

Main program O100 ○○

Ox motion subroutines ○×

Program

P subroutines ○○

General instructions/Applied instructions ○○

Motion instructions ○×

G-codes ○×

Instruction

M-codes ○×

JOG motion ○○

Returning home ○○

Variable motion ○○

Single-speed motion ○○

Inserting single-speed motion ○○

Two-speed motion ○○

Inserting two-speed motion ○○

Triggering single-speed motion by means

of an external signal ○×

Manual pulse generator mode ○○

Uniaxial motion

Cyclic/Noncyclic electronic cam motion ○×

In this chapter, the basic program frameworks of DVP-PM series motion controllers are described. Owing

to the fact that the functionality of a DVP-PM series motion controller is composed of sequence control and

positioning control, a program comprises O100, Ox motion subroutines, and P subroutines. O100, Ox

motion subroutines, and P subroutines are described in this chapter. Basic instructions, applied

instructions, motion instructions, and G-codes will be introduced in other chapter 4~chapter 6. The

specifications for DVP-PM series motion controllers are shown in the table below.

Specifications DVP-10PM DVP-20PM

High-speed output 4 axes (1000 kHz) 3 axes (500 kHz)

PWM Precision: 0.3%@200 kHz -

High-speed counter

6 input terminals (2 differential

input terminals, and 4 input

terminals whose collectors are

open collectors)

2 input terminals

Program capacity 64K steps 64K steps

Execution speed

LD: 0.14 us

MOV: 2 us

DMUL: 7.6 us

DEMUL: 6.1 us

1.1 Structure of O100

O100 is a sequence control program. It is the main program in a DVP-PM series motion controller. It only

supports basic instructions and applied instructions. Users can use these two types of instructions to

process I/O data, call P subroutines, and enable Ox motion subroutines (Ox0~Ox99). O100 functions as a

main program. Motion subroutines are enabled through O100. There is hierarchical relation between O100

and motion subroutines. The characteristics of O100 are described below.

1. There are two methods of enabling O100.

If the STOP/RUN switch of a DVP-PM series motion controller is turned from the “STOP” position to

the “RUN” position when the DVP-PM series motion controller is powered, M1072 will be ON, and

O100 will run.

DVP-20PM Application Manual 1-1

1Program Framework of a DVP-PM Series Motion Controller

If a DVP-PM series motion controller is powered, users can use communication to set M1072 to ON,

and to run O100.

Communication

STOP/RUN switch

M1072 O100

runs.

2. O100 is scanned cyclically. The scan of the main program O100 starts from the starting flag O100. After

the ending instruction M102 is scanned, the scan of the main program O100 will go back to the starting

flag O100.

O100

M102

The main program starts.

The main program ends.

The sequence control

program is scanned cyclically.

Main Program

3. There are three methods of disabling O100.

If the STOP/RUN switch of a DVP-PM series motion controller is turned form the “RUN” position to

the “STOP” position when the DVP-PM series motion controller is powered, M1072 will be OFF,

and O100 will stop. If O100 stops, Ox motion subroutines and P subroutines will not be executed.

If a DVP-PM series motion controller is powered, users can use communication to set M1072 to

OFF, and to stop O100. If O100 stops, Ox motion subroutines and P subroutines will not be

executed.

If an error occurs when O100 is compiled or when O100 runs, O100 will stop automatically. Please

refer to appendix A in chapter 15 for more information about error codes.

4. O100 supports basic instructions and applied instructions. Users can write a control program according

to their needs. They can set the parameters of motion instructions, and motion subroutine numbers

(Ox0~Ox99) in O100.

O100 does not support motion instructions and G-codes. Motion instructions and G-codes must be

used in the motion subroutines Ox0~Ox99. Please refer to section 1.2 for more information.

O100 can call P subroutines. Please refer to section 1.3 for more information.

5. The description of O100 is shown below.

O100 Description

Enabling

O100 Starting flag O100 (If O100 is a ladder diagram in PMSoft, the starting flag in O100 will be

set automatically, and users do not have to write the starting flag.)

Disabling

O100 Ending instruction M102 (If O100 is a ladder diagram in PMSoft, the ending instruction

M102 will be set automatically, and users do not have to write the ending instruction M102.)

Executing

O100

1. The STOP/RUN switch of a DVP-PM series motion controller is turned form the “STOP”

position to the “RUN” position.

2. Users use communication to set M1072 to ON.

Operation

characteristic O100 is scanned cyclically.

Instructions

supported Basic instructions and applied instructions are supported.

Number There is only one O100 in a program.

Characteristic

and function

1. It is a sequence control program.

2. It can enable the motion subroutines Ox0~Ox99, and call P subroutines.

3. If O100 is used with Ox motion subroutines and P subroutines, O100, the Ox motion

subroutines, and the P subroutines can be arranged in any order.

1.1.1 Manual Function of O100

Users can set manual motion modes by means of special registers in O100. (Please refer to section 3.12

for more information.)

DVP-20PM Application Manual

1-2

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