Delta DVP-15MC Series Manuel utilisateur

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DVP-15MC Series

Motion Controller

Operation Manual

DVP-15MC Series Motion Controller Operation Manual

2020-01-13

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

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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

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Raleigh Ofce

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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

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Europe

Delta Electronics (Netherlands) B.V.

Eindhoven Ofce

De Witbogt 20, 5652 AG Eindhoven, The Netherlands

TEL : +31 (0)40-8003800 / FAX : +31 (0)40-8003898

DVP-0191920-02

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

DVP-15MC Series Motion Controller

Operation Manual

Table of Contents

Chapter 1 Preface

1.1 Explanation of Symbols in This Manual ......................................................1-2

1.2 Revision History .........................................................................................1-2

Chapter 2Overview

1.1 Product Description....................................................................................2-2

1.2 Functions ...................................................................................................2-2

1.3 Profile and Components .............................................................................2-3

Chapter 3 Specifications

3.1 Function 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 ................................................ 3-6

3.2 Electrical Specifications .............................................................................3-7

Chapter 4 System Architecture

4.1 System Constitution...................................................................................4-2

4.2 Power Supply .............................................................................................4-2

4.3 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

4.4 Right-side Extension ..................................................................................4-3

4.4.1 Connectable Right-side Extension Modules................................................. 4-3

4.4.2 Allocation of Right-side Extension Module Addresses................................... 4-4

4.5 Connectable Servo Drives ..........................................................................4-5

4.6 SD Memory Card ........................................................................................4-7

4.6.1 Model and Specification........................................................................... 4-7

Chapter 5 Installation

5.1 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 .......................................... 5-4

5.1.5 Installing and Removing the SD Card........................................................ 5-5

5.2 Installing the Module in the Control Cabinet..............................................5-7

5.2.1 Installing the Module to DIN rail............................................................... 5-7

5.2.2 Illustration of Installation Inside the Control Cabinet................................... 5-7

5.2.3 Environmental Temperature in the Control Cabinet..................................... 5-7

5.2.4 Actions for Anti-interference .................................................................... 5-8

5.2.5 Dimension Requirement in the Control Cabinet .......................................... 5-8

Chapter 6 Wiring, Communication Setting and Network Construction

6.1 Wiring ........................................................................................................6-3

6.1.1 Power Supply......................................................................................... 6-3

6.1.2 Safety Circuit Wiring............................................................................... 6-4

6.2 Input Point and Output Point Wiring..........................................................6-5

6.2.1 Function that Input Points Support ........................................................... 6-5

6.2.2 Input Point Wiring .................................................................................. 6-6

6.2.3 Output Point Wiring ................................................................................ 6-8

6.3 RS-485 Communication Port ......................................................................6-9

6.3.1 Function that RS-485 Port Supports.......................................................... 6-9

6.3.2 Definitions of RS-485 Port Pins................................................................. 6-9

6.3.3 RS-485 Hardware Connection .................................................................. 6-9

6.3.4 Supported Function Codes and Exception Codes........................................6-10

6.4 RS-232 Communication Port ....................................................................6-11

iii

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

6.5 SSI Absolute Encoder Port .......................................................................6-13

6.5.1 Function of SSI Absolute Encoder ........................................................... 6-13

6.5.2 Definitions of SSI Port Pins .................................................................... 6-13

6.5.3 SSI Absolute Encoder Hardware Connection............................................. 6-14

6.6 Incremental Encoders ..............................................................................6-15

6.6.1 Function of Incremental Encoder ............................................................ 6-15

6.6.2 Definition of Incremental Encoder Port Pins.............................................. 6-15

6.6.3 Incremental Encoder Hardware Connection.............................................. 6-16

6.7 Ethernet Communication Port ..................................................................6-17

6.7.1 Function that Ethernet Communication Port Supports................................ 6-17

6.7.2 Pins of Ethernet Communication Port ...................................................... 6-17

6.7.3 Network Connection of Ethernet Communication Port................................ 6-17

6.7.4 Function Codes that Ethernet Communication Port Supports ...................... 6-18

6.8 Motion Communication Port .....................................................................6-18

6.8.1 Function that Motion Communication Port Supports .................................. 6-18

6.8.2 Pins of Motion Communication Port......................................................... 6-18

6.8.3 Motion Network Connection ................................................................... 6-19

6.8.4 Communication Speed and Communication Distance................................. 6-19

6.9 CANopen Communication Port..................................................................6-20

6.9.1 Functions that CANopen Communication Port Supports ............................. 6-20

6.9.2 Pins of CANopen Communication Port...................................................... 6-21

6.9.3 PDO Mapping at CANopen Communication Port ........................................ 6-21

6.9.4 Network Connection at CANopen Communication Port............................... 6-21

6.9.5 CANopen Communication Rate and Communication Distance ..................... 6-22

Chapter 7 Execution Principle

7.1 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 Instructions for Each Task Type ..................................................... 7-7

7.2 The Impact of PLC RUN or STOP on Variables and Devices.........................7-8

7.3 Relationship between Motion Program and Motion Bus..............................7-8

7.4 Synchronization Cycle Period Setting.........................................................7-9

Chapter 8 Logic Instructions

Table of Logic Instructions.........................................................................8-6

Explanation of Logic Instructions.............................................................8-10

8.2.1 EN and ENO .............................................................................................8-10

Sequence Input /Output Instructions......................................................8-10

8.3.1 R_TRIG ...................................................................................................8-10

8.3.2 F_TRIG....................................................................................................8-12

8.3.3 RS ..........................................................................................................8-14

8.3.4 SR ..........................................................................................................8-16

8.3.5 SEMA ......................................................................................................8-18

Sequence Control Instructions.................................................................8-20

8.4.1 JMP.........................................................................................................8-20

Data Movement Instructions....................................................................8-21

8.5.1 MOVE......................................................................................................8-21

8.5.2 MoveBit...................................................................................................8-22

8.5.3 TransBit ..................................................................................................8-24

8.5.4 MoveDigit ................................................................................................8-26

8.5.5 Exchange.................................................................................................8-28

8.5.6 Swap ......................................................................................................8-30

Comparison Instructions..........................................................................8-32

8.6.1 LT8-32

8.6.2 LE8-34

8.6.3 GT ..........................................................................................................8-36

8.6.4 GE ..........................................................................................................8-38

8.6.5 EQ ..........................................................................................................8-40

8.6.6 NE ..........................................................................................................8-42

Timer Instructions ...................................................................................8-44

8.7.1 TON ....................................................................................................... 8-44

8.7.2 TOF........................................................................................................ 8-46

8.7.3 TP8-48

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.....................................................................................8-62

8.9.1 ADD....................................................................................................... 8-62

8.9.2 SUB ....................................................................................................... 8-65

8.9.3 MUL ....................................................................................................... 8-68

8.9.4 DIV........................................................................................................ 8-71

8.9.5 MOD ...................................................................................................... 8-74

8.9.6 MODREAL ............................................................................................... 8-76

8.9.7 MODTURNS............................................................................................. 8-78

8.9.8 MODABS................................................................................................. 8-80

8.9.9 ABS ....................................................................................................... 8-82

8.9.10 DegToRad............................................................................................ 8-84

8.9.11 RadToDeg............................................................................................ 8-86

8.9.12 SIN..................................................................................................... 8-88

8.9.13 COS.................................................................................................... 8-90

8.9.14 TAN .................................................................................................... 8-92

8.9.15 ASIN................................................................................................... 8-94

8.9.16 ACOS.................................................................................................. 8-96

8.9.17 ATAN .................................................................................................. 8-98

8.9.18 LN .....................................................................................................8-100

8.9.19 LOG...................................................................................................8-102

8.9.20 SQRT .................................................................................................8-104

8.9.21 EXP ...................................................................................................8-106

8.9.22 EXPT..................................................................................................8-108

8.9.23 RAND.................................................................................................8-110

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 ...................................................................................................8-132

8.11.2 SHR...................................................................................................8-134

8.11.3 ROL...................................................................................................8-136

8.11.4 ROR...................................................................................................8-138

Selection Instructions............................................................................8-140

8.12.1 MAX...................................................................................................8-140

8.12.2 MIN ...................................................................................................8-142

8.12.3 SEL ...................................................................................................8-145

8.12.4 MUX ..................................................................................................8-147

8.12.5 LIMIT.................................................................................................8-149

8.12.6 BAND.................................................................................................8-151

8.12.7 ZONE.................................................................................................8-154

Data Type Conversion Instructions ........................................................8-157

8.13.1 BOOL_TO_*** ....................................................................................8-157

8.13.2 Bit strings_TO_***..............................................................................8-160

8.13.3 Integers_TO_*** ................................................................................8-167

8.13.4 Real numbers_TO_***.........................................................................8-176

8.13.5 Times,dates_TO_*** ...........................................................................8-179

8.13.6 Strings_TO_***..................................................................................8-181

Communication Instructions..................................................................8-184

8.14.1 CANopen Communication Instructions....................................................8-184

8.14.1.1 DMC_ReadParameter_CANopen .........................................................8-184

8.14.1.2 DMC_WriteParameter_CANopen.........................................................8-189

8.14.2 Ethernet Instructions ...........................................................................8-193

vii

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.........................................................................8-219

8.14.2.11 ETH_Socket_Receive.....................................................................8-223

8.14.2.12 ETH_Socket_Close ........................................................................8-227

8.14.2.13 ETH_Socket_Status.......................................................................8-229

8.14.2.14 Ehternet Free Protocol Example......................................................8-232

8.14.3 RS485 Communication Instructions .......................................................8-237

8.14.3.1 RS485_Link_Manage ........................................................................8-237

8.14.3.2 RS485_Link_Config ..........................................................................8-239

8.14.3.3 RS485_Link_Status..........................................................................8-243

8.14.3.4 RS485 Data Exchange Example..........................................................8-246

8.14.3.5 RS485_RS.......................................................................................8-249

8.14.3.6 RS485 Free Protocol Example ............................................................8-255

8.14.3.7 RS485_SetDelayTime .......................................................................8-259

8.14.4 RS232 Communication Instructions .......................................................8-261

8.14.4.1 RS232_Link_Manage ........................................................................8-261

8.14.4.2 RS232_Link_Config ..........................................................................8-263

8.14.4.3 RS232_Link_Status..........................................................................8-267

8.14.4.4 RS232 Data Exchange Example..........................................................8-270

8.14.4.5 RS232_RS.......................................................................................8-273

8.14.4.6 RS232 Free Protocol Example ............................................................8-279

8.14.4.7 RS232_SetDelayTime .......................................................................8-282

String Processing Instructions...............................................................8-284

8.15.1 CONCAT.............................................................................................8-284

8.15.2 DELETE ..............................................................................................8-286

8.15.3 INSERT ..............................................................................................8-288

8.15.4 LEFT / RIGHT......................................................................................8-290

viii

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........................................................................8-315

8.17.1 PID....................................................................................................8-315

8.17.2 GPWM................................................................................................8-326

Address Instruction ...............................................................................8-328

8.18.1 ADR...................................................................................................8-328

Network Diagnosis.................................................................................8-330

8.19.1 Motion Diagnosis.................................................................................8-330

8.19.1.1 CANmotion_SysDiag (Motion System Diagnosis)..................................8-330

8.19.1.2 CANmotion_NodeDiag (Motion Axis Diagnosis).....................................8-332

8.19.2 CANopen Diagnosis..............................................................................8-334

8.19.2.1 CANopen_SysDiag (CANopen System Diagnosis) .................................8-334

8.19.2.2 CANopen_NodeDiag (CANopen Slave Diagnosis) ..................................8-336

8.19.2.3 CANopen_State (CANopen Master Diagnosis) ......................................8-338

Read and Write Offset Bit Value.............................................................8-340

8.20.1 SetBitOffsetValue ................................................................................8-340

8.20.2 GetBitOffsetValue................................................................................8-342

FCS Instructions ....................................................................................8-344

8.21.1 CRC...................................................................................................8-344

8.21.2 LRC ...................................................................................................8-346

Chapter 9 Introductions of Axis Parameters

9.1 Description of Axis Parameters..................................................................9-2

Chapter 10 Motion Control Function

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 ...........................................................11-6

Composition of A Motion Control Instruction............................................. 11-6

Program Languages that Motion Control Instructions Support .................... 11-6

Configuration of Motion Control Instructions ............................................ 11-6

11.3 Single-axis Instructions ...........................................................................11-7

MC_Power ........................................................................................... 11-7

MC_Home...........................................................................................11-16

MC_MoveVelocity ................................................................................11-21

MC_Halt .............................................................................................11-28

MC_Stop ............................................................................................11-33

MC_MoveRelative ................................................................................11-38

MC_MoveAdditive ................................................................................11-46

MC_MoveAbsolute ...............................................................................11-54

MC_MoveSuperimposed........................................................................11-63

MC_HaltSuperimposed .........................................................................11-70

MC_SetPosition ...................................................................................11-75

MC_SetOverride ..................................................................................11-86

MC_Reset...........................................................................................11-90

DMC_SetTorque ..................................................................................11-93

MC_ReadAxisError...............................................................................11-98

MC_ReadActualPosition ......................................................................11-100

MC_ReadStatus.................................................................................11-105

MC_ReadMotionState.........................................................................11-110

DMC_ReadParameter_Motion..............................................................11-115

DMC_WriteParameter_Motion..............................................................11-119

DMC_TouchProbe ..............................................................................11-123

DMC_TouchProbeCyclically .................................................................11-131

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