Delta DVP-PM Series Gebrauchsanweisung

DVP-PM APPLICATION MANUAL

Table of Contents

Chapter 1: Program Structure of DVP-PM

1.1 O100 Main Program............................................................................1-1

1.2 Structure of OX Motion Subroutine.......................................................1-3

1.3 Structure of Pn Subroutine ..................................................................1-5

1.4 Structure of O100, OX and Pn Program Design ....................................1-7

1.4.1 The Program Structure …………………………………………………………………1-7

Chapter 2: Hardware Specifications and Wiring

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

2.1.1 Electrical Specifications ............................................................................. 2-1

2.1.2 I/O Point Specifications.............................................................................. 2-1

2.1.3 Dimension ................................................................................................. 2-6

2.2 Installation and Wiring.........................................................................2-8

2.2.1 Wiring ....................................................................................................... 2-8

2.2.2 Power Input Wiring .................................................................................... 2-9

2.2.3 Safety Wiring............................................................................................. 2-9

2.2.4 I/O Point Wiring ......................................................................................... 2-10

2.2.5 Wiring with Drives...................................................................................... 2-18

2.3 Communication Ports..........................................................................2-28

2.3.1 COM1 (RS-232)......................................................................................... 2-28

2.3.2 COM2 (RS-485)......................................................................................... 2-29

2.3.3 COM2 (RS-232/RS-485)............................................................................. 2-29

Chapter 3: Functions of Devices in DVP-PM

3.1 Device in DVP-PM ..............................................................................3-1

3.2 Values, Constants [K]/[H], Floating Points [F] .......................................3-4

3.3 Numbering and Functions of External Input/Output Contacts [X]/[Y]....... 3-6

3.4 Numbering and Functions of Auxiliary Relays [M] .................................3-7

3.5 Numbering and Functions of Step Relays [S]........................................ 3-8

3.6 Numbering and Functions of Timers [T]................................................3-8

3.7 Numbering and Functions of Counters [C]............................................3-9

3.8 Numbering and Functions of Registers [D]] ..........................................3-16

3.8.1 Data Register [D]....................................................................................... 3-16

3.8.2 Index Registers [V], [Z] .............................................................................. 3-16

3.9 Pointer [N], Pointer [Pn].......................................................................3-17

3.10 Special Auxiliary Relays [M], Special Data Register [D].......................... 3-18

3.11 Functions of Special Auxiliary Relays and Special Registers...................3-35

3.12 Special Registers for Manual Motion Settings........................................3-57

3.12.1 Functions of Special Registers for Manual Mode Settings .......................... 3-59

3.12.2 Manual Modes ......................................................................................... 3-77

3.12.3 Position & Speed Control Registers for Manual Modes............................... 3-78

Chapter 4: Basic Instructions

4.1 Basic Instructions ...............................................................................4-1

4.2 Explanations on Basic Instructions ......................................................4-3

Chapter 5: Categories and Use of Basic Application Instructions

5.1 List of Instructions ..............................................................................5-1

5.2 Instruction Composition.......................................................................5-5

5.3 Numeric Values for Data Processing....................................................5-7

5.4 Index Register V, Z .............................................................................5-10

5.5 Instruction Index.................................................................................5-11

5.6 Application Instructions.......................................................................5-15

●(API 00 ~ 09) Loop Control................................................................ 5-15

●(API 10 ~ 19) Transmission Comparison............................................. 5-23

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

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

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

●(API 50) High Speed Processing................................................. 5-72

●(API 61 ~ 69) Handy Instructions ....................................................... 5-74

●(API 78 ~ 87) I/O............................................................................... 5-80

●(API 100 ~ 109) Communications........................................................... 5-85

●(API 110 ~ 175) Floating Point Operation ............................................... 5-94

●(API 215 ~ 223) Contact Type Logic Operation ....................................... 5-126

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

●(API 147 ~ 260) Other Instructions......................................................... 5-132

Chapter 6: Motion Instructions and G-Code Instructions

6.1 List of Motion Instructions and G-Code Instructions..............................6-1

6.2 Composition of Motion Instructions and G-Code Instructions................. 6-3

6.2.1 Motion Instructions..........................................................................6-3

6.2.2 G-Code Instructions ……………………………………………………………….. 6-4

6.3 Motion Instructions............................................................................6-6

●(MON 00 ~ 19) Motion Instructions............................................................ 6-6

6.4 O Pointer / M Pointer.................................................................................... 6-40

6.5 G-Code Instructions............................................................................6-44

●(G0 ~ 4, 90 ~ 91) G-Code Instructions ...................................................... 6-44

Chapter 7: Use DVP-PM As Slave

7.1 Access between DVP-EH2, DVP-PM (as Master) and DVP-PM (as Slave) 7-1

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

7.1.2 Example of Master-Slave Data Exchange.................................................... 7-2

Chapter 8: Application Examples

8.1 Draw the Trajectories by Using Motion Instructions and G-Codes........... 8-1

8.1.1 Trajectory .................................................................................................. 8-1

8.1.2 Design Procedure ...................................................................................... 8-3

8.2 Applying Application Examples in PMSoft....................................................... 8-7

8.2.1 Program Structure...................................................................................... 8-7

8.2.2 Design Example Program........................................................................... 8-8

8.3 Planning Variable Speed Operation................................................................ 8-10

8.3.1 Program structure ...................................................................................... 8-10

8.3.2 Design Example Program ......................................................................... 8-11

8.4 Connect DVP-PM (Master) with DVP01PU-H2 (Slave) for 3rd Axis Control........ 8-14

Chapter 9: Electrical Cam

9.1 Introduction to Electrical CAM (E-CAM).................................................... 9-1

9.2 E-CAM Application..................................................................................... 9-2

9.2.1 Initial Settings............................................................................................ 9-2

9.2.2 Obtain Master Position............................................................................... 9-6

9.2.3 Start / Stop E-CAM..................................................................................... 9-9

9.3 Explanations on Special Flags and Registers........................................... 9-16

9.4 Set up E-CAM Data ................................................................................... 9-21

9.4.1 Use PMsoft CAM Chart to Set up E-CAM Data............................................. 9-21

9.4.2 Use DTO / DFROM Instructions to Set up E-CAM Data ................................ 9-27

9.5 Multi-axis E-CAM....................................................................................... 9-53

9.6 Field Applications of E-CAM...................................................................... 9-57

9.6.1 E-CAM Application on Winding Machine...................................................... 9-57

9.6.2 E-CAM Application on Rotary Cut and Flying Saw Devices........................... 9-64

Chapter 10: Encrypting User Program

10.1 Password Setting..................................................................................... 10-1

10.1.1 System Information .................................................................................. 10-1

10.1.2 Downloading Program .............................................................................. 10-3

10.1.3 Uploading Program................................................................................... 10-6

Chapter 11: G-code Application

11.1 DVP-PM00M Program Download with PEP setting................................. 11-1

11.2 DVP-PM00M G-code Download Methods................................................ 11-2

11.2.1 PMGDL Software...................................................................................... 11-2

11.2.2 Download by B Type HMI.......................................................................... 11-8

11.2.3 Download by HMI other than B type through D registers............................. 11-13

11.3 G-code Application in Dispensers ........................................................... 11-17

11.3.1 Operation steps........................................................................................ 11-17

11.3.2 Storage of G/M code................................................................................. 11-22

Chapter 12: POU Editing Mode

12.1 POU Ladder Editing Environment ........................................................... 12-1

12.1.1 Function of Symbols................................................................................. 12-2

12.1.2 Editing Symbol Tables .............................................................................. 12-4

12.1.3 Create POU Function Block ...................................................................... 12-15

12.1.4 Create POU Folders................................................................................. 12-18

12.1.5 Export POU.............................................................................................. 12-23

12.1.6 Import POU.............................................................................................. 12-30

12.1.7 Symbols Allocation................................................................................... 12-33

12.1.8 Ladder Find ............................................................................................. 12-36

12.1.9 Ladder Replace ....................................................................................... 12-40

12.2 Edit POU Ladder Diagram....................................................................... 12-41

12.2.1 Replace Devices with Symbols.................................................................. 12-41

12.2.2 Applying POU Function Blocks.................................................................. 12-43

12.3 Monitor POU program.............................................................................. 12-50

12.4 Hint Function on Symbols and Function Blocks...................................... 12-54

Chapter 13: CANopen Communication Card

13.1 Introduction to DVP-FPMC: CANopen Communication Card ................. 13-1

13.2 Specifications........................................................................................... 13-1

13.3 Product Profile & Installation................................................................... 13-2

13.4 Parameters for Control Register (CR)..................................................... 13-3

13.5 How to Set Up ASDA-A2 Servo Drive ..................................................... 13-5

13.6 DVP-FPMC Mode Settings ...................................................................... 13-20

13.7 DVP-FPMC Ethernet Applications........................................................... 13-24

13.7.1 Communication between DVP-FPMC and HMI ........................................... 13-24

13.7.2 Communication between DVP-FPMC and PMSoft ...................................... 13-27

13.8 LED Indicator & Troubleshooting........................................................13-30

Chapter 14: High Speed Compare and Capture

14.1 High Speed Compare and Capture Function........................................... 14-1

14.2 High Speed Compare Function................................................................ 14-4

14.3 Capture Function ..................................................................................... 14-8

Chapter 15: Appendix

15.1 Appendix A: Error Codes ...................................................................14-1

15.2 Appendix B: Manual Revision History.................................................14-2

15.3 Appendix C: Function Comparison Table of DVP-PM Models..................... 14-2

1Program Structure of DVP-PM

DVP-PM Application Manual 1-1

Delta’s DVP-PM series MPU is a high-speed positioning and multi-functional programmable logic controller with

2-axis linear/arc interpolation, featuring functions as basic instructions, application instruction (API), motion

instruction (MON) and G-code instructions, making the editing and compiling of program more diverse.

This chapter will introduce the program structure of DVP-PM series MPU. DVP-PM combines the sequential control

and 2-axis interpolation positioning control; therefore, the program is in three types: O100 main program, OX motion

subroutine and Pn subroutine, which will be illustrated in this chapter.

The basic instructions, application instructions (API), motion instructions (MON) and G-Code instructions will be

given in Chapter 4 ~ 6.

Here we provide a specification comparison table of different model PLCs for your reference:

PLC Models

Specifications DVP-10PM DVP-20PM

High speed output 1000kHz 4 sets 500kHz 3 sets

PWM Accuracy 0.3%@200KHz

Hardware high speed counter 6 sets (differentialx2,

open collector x4)

2 sets

Program capacity 64K Steps 64K Steps

Execution speed LD: 0.14us

MOV: 2us

DMUL: 7.6us

DEMUL: 6.1us

1.1 O100 Main Program

O100 main program is the PLC sequential control program for DVP-PM series MPU. The O100 main program

section only supports basic instructions and application instructions. Besides processing I/O signals and calling Pn

subroutine, basic instructions and application instructions also control 100 OX motion subroutines which enable

OX0 ~ OX99. Therefore, O100 main program establishes the main control program, and the main control program

sets up and activates motion subroutines. This is the control structure of the operation of DVP-PM. See below the

operation procedure and features of O100 main program.

1. There are two ways to activate O100 main program

zWhen DVP-PM is powered, and the AUTO/MANU switch goes from MANU to AUTO, M1072 will be

ON automatically, and O100 main program will be in RUN status.

zWhen DVP-PM is powered, you can set M1072 to be ON or O100 main program to be in RUN status

by communication.

1Program Structure of DVP-PM

DVP-PM Application Manual

1-2

Auto/Manu

Communication M1072 O100

Run

2. O100 main program operates in cyclic scans. When O100 main program is enabled, the scan will start at

the start flag of O100. When the scan reaches M102 (main program ends instruction), it will return to the

start flag of O100 and repeat the scan, as shown in the figure below:

O100

M102

Pointer indicating start of mainprogram

Cyclic scan

Sequential control program area

M-code indicating endof main program

3. There are three ways to stop the operation of O100 main program:

zWhen DVP-PM is powered, and the AUTO/MANU switch goes from AUTO to MANU, M1072 will be

OFF automatically, and O100 main program will be in STOP status. The operation of OX and Pn

subroutines will stop at this moment.

zWhen DVP-PM is powered, you can set M1072 to be OFF or O100 main program to be in STOP

status by communication. The operation of OX and Pn subroutines will stop immediately.

zWhen errors occur during compiling or operation of the program, O100 main program will stop

automatically. See Chapter 14 Index for the table of the error codes and their causes.

4. O100 main program supports basic instructions and application instructions; therefore, you can design the

program according to your actual needs. Besides, you can further activate OX0 ~ OX99 motion subroutines

by setting up the parameters in motion subroutines and the activation No. in the motion subroutines.

zO100 main program does not support motion instructions and G-Code instructions. Please design

motion instructions and G-Code instructions in OX0 ~ OX99 subroutines. See 1.2 for more details.

zO100 main program is able to call Pn subroutines. See 1.3 for more details.

5. The above explanations are sorted in the table below:

O100 main program Explanation

Start of O100 O100, pointer indicates the start of O100 main program (*It will be inserted by PMSoft when

compiling to IL instructions, therefore you don’t have to add it into ladder diagram.)

End of O100 M102, instruction indicates the end of O100 main program (*It will be inserted by PMSoft

when compiling to IL instructions, therefore you don’t have to add it into ladder diagram.)

Activation 1. MANU →AUTO by MANU/AUTO switch ON DVP-PM

2. M1072 OFF →ON by communication

Execution Operated in cyclic scans

Instruction supported Basic instructions and application instructions

Quantity Only one O100 program is allowed in the program

1Program Structure of DVP-PM

DVP-PM Application Manual 1-3

Features & functions

1. Performs sequential control of PLC

2. Able to activate OX0 ~ OX99 motion subroutines and call Pn subroutines

3. Can be placed in front of or after OX0 ~ OX99 motion subroutines and Pn subroutines.

6. Manual Motion Mode in O100 Main Program

In O100 main program, you can use special registers for designing Manual Motion Mode. (Please see 3.12

for details of how to set up).

1.2 Structure of OX Motion Subroutine

OX0 ~ OX99 motion subroutines are motion control programs for controlling the motions ON X/Y/Z axes in

DVP-PM. The OX0 ~ OX99 motion subroutines support basic instructions, application instructions, motion

instructions and G-Code instructions. Also OX subroutines are able to call Pn subroutines. OX0 ~ OX99 are

instructions provided specially for controlling the moving path ON X/Y/Z axes. See below the operation procedure

and features of OX motion subroutines.

1. How to activate OX0 ~ OX99 motion subroutines:

zWhen O100 main program is in RUN status, you can set up the execution No. of OX00~OX99

(D1868: H8000 ~ H8063) in O100 main program. After number of OX subroutine is specified, set

M1074 (Enabling OX subroutines) as ON or set b12 of D1846 as 1 to enable OX motion subroutine.

zBefore enabling OX subroutine, make sure there are no other motion subroutines in operation.

OXn (No of OX)

O100 RUN

M1074= ON

or D1846b12 =ON OXn

Run

2. OX subroutine executes once when it is activated. When O100 main program activates OX subroutine,

the execution will start from the start flag of OX motion subroutine and end at M2 (end of OX

subroutine) as shown in the figure below:

1Program Structure of DVP-PM

DVP-PM Application Manual

1-4

MOV

H800A D1868

OUT M1074

X0 = ON

Set No. of OX as O 10. b15=1

enables OX subroutine.

Set M1074 = ON or D1846_b12 = 1 to run O 10 motion

subroutine X

Cyclicscan

Executeonce

O100Maincontrolprogram

section

OX10Motionsubrouting

section

MOVP K100 D1836

MOVP K100 D1837

MOV H1000 D1846

When X0 = On, OX10 motion subroutine will execute once and stop when the execution reaches M2. If you

need to execute it again, activate X0 again and OX10 subroutine will be executed again.

3. There are four ways to stop OX motion subroutine:

zWhen DVP-PM is powered, and the AUTO/MANU switch goes from AUTO to MANU, M1072 will be

OFF automatically. O100 main program will be in STOP status. The operation of OX motion

subroutines will stop at this moment.

zYou can also stop OX subroutine by controlling the input signals of the external terminal (STOP0).

zWhen DVP-PM is powered, you can also stop OX subroutine through communication by setting

M1074 to be OFF or D1846 as 0.

zWhen errors occur during compiling or operation of the program, OX subroutines will stop

automatically. See Chapter 11 Index for the table of the error codes and their causes.

4. OX motion subroutines support basic instructions, application instructions (API), motion instructions (MON)

and G-Code instructions. Therefore, you can design your own motion program by using these instructions

and setting up X-Y-Z axis parameters for your desired X-Y-Z motion control.

yThe instructions mentioned above shall be designed in OX0 ~ OX99 motion subroutines.

yOX motion subroutine is able to call Pn subroutines. See 1.3 for more details.

5. The above explanations are sorted in the table below:

OX motion subroutine Explanation

Start of OX OXn, pointer indicates the start of OX subroutine. OX0 ~ OX99, 100 motion subroutines

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