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Delta Electronics DVP10MC11T [153/375] Sub_di
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4. Motion Control Instructions
DVP-MC operating manual 4-109
4.6.5. SUB_DI
API
SUB_DI
Subtraction of 32-bit integer
Controller
132
10MC11T
Explanation of the instruction:
SUB_DI is used for subtraction operation of 32-bit integers. As EN is on, subtract S2 from S1 and their result
value is saved in D register.
Explanation of input and output parameter of the instruction.
Parameter
name
Explanation
Data
type
Available
device
EN “SUB_DI” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Minuend DINT Constant, D
S2 Subtrahend DINT Constant, D
D Remainder DINT D
4.6.6. SUB_R
API
SUB_R
Subtraction of floating number
Controller
133
10MC11T
Explanation of the instruction:
SUB_R is used for subtraction operation of 32-bit floating number. As EN is on, subtract S2 from S1 and their
result value is saved in D register.
Explanation of input and output parameter of the instruction
Parameter
name
Explanation
Data
type
Available
evice
EN “SUB_R” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Minuend REAL Constant, D
S2 Subtrahend
REAL
Constant, D
D Remainder
REAL
D
Содержание
- Dvp mc bus type multi axis motion controller operating manual 1
- Content 2
- Function 7
- Overview of dvp10mc11t 7
- Components 8
- Dimension 8
- Overview of dvp10mc11t 8
- Profile and outline 8
- Introduction to system function 9
- System architecture 9
- System function 9
- Com port 10
- System function 10
- 5 10 15 11
- System function 11
- System construction structure 12
- System function 12
- System function 13
- System extension 14
- System function 14
- System function 15
- System function 16
- The internal devices 16
- The internal devices of mc motion control module 16
- The internal devices of plc module 16
- System function 17
- System function 18
- System function 19
- Data exchange between mc module and plc module 20
- Plc mc 20
- System function 20
- System function 21
- Axis parameter setting 22
- System function 22
- System work principle 22
- System function 23
- System function 24
- System function 25
- System function 26
- Program execution principle 27
- Relationship between motion program and motion bus 27
- System function 27
- System function 28
- System function 29
- Setting the synchronization cycle period 30
- System function 30
- Cnc function 32
- System function 32
- Cnc program downloading and debugging 33
- System function 33
- The protocol for dynamic download of cnc program 33
- Message format 34
- System function 34
- Cam function 35
- System function 35
- System function 36
- Electrical feature 37
- System installation 37
- System installation 38
- Figure 3 39
- Power and io wiring 39
- System connection 39
- System installation 39
- System installation 40
- Wiring of input and output points 40
- Dvp10mc11t 41
- System installation 41
- Connected to asda a2 series of servo 42
- System installation 42
- Connecting the extension module to the left side of dvp10mc11t as 43
- Connecting the extension module to the left side of dvp10mc11t as devicenet master 43
- Devicenet master 43
- System installation 43
- Connecting the extension module dvp16sp11t to the right side of 44
- Connecting the extension module dvp16sp11t to the right side of dvp10mc11t 44
- Dvp 16sp 44
- Dvp10mc11t 44
- System installation 44
- Instruction table 45
- Motion control instruction 45
- Motion control instructions 45
- Motion control instructions 46
- Motion control instructions 47
- Motion control instructions 48
- Motion control instructions 49
- Axis status 50
- Motion control instructions 50
- Instruction usage 51
- Motion control instructions 51
- Motion control instructions 52
- Mc_moveabsolute 53
- Motion control instructions 53
- Single axis instruction usage 53
- Motion control instructions 54
- Dvp mc operating manual 4 11 55
- Motion control instructions 55
- Motion control instructions 56
- Motion control instructions 57
- Motion control instructions 58
- Mc_moverelative 59
- Motion control instructions 59
- Motion control instructions 60
- Motion control instructions 61
- Motion control instructions 62
- Mc_moveadditive 63
- Motion control instructions 63
- Motion control instructions 64
- Motion control instructions 65
- Motion control instructions 66
- Mc_movesuperimposed 67
- Motion control instructions 67
- Motion control instructions 68
- Motion control instructions 69
- Motion control instructions 70
- Motion control instructions 71
- 1 e gear 72
- 28 dvp mc operating manual 72
- Axis 1 72
- Axis 2 72
- Axis 3 72
- Axis 3 axis 2 72
- Cam master axis real axis 72
- Cam master axis virtual axis 72
- Cam slave axis real axis 72
- Gear master axis virtual axis 72
- Gear slave axis real axis 72
- Make a conversion as the following figure shows by adding a virtual axis when the slave axis specified in mc_camin apf_rotarycut_in and apf_flyingshear need modify the position through the execution of mc_movesuperimposed 72
- Mc_movesuperimposed 72
- Motion control instructions 72
- Motion control instructions 73
- Mc_movevelocity 74
- Motion control instructions 74
- Motion control instructions 75
- Motion control instructions 76
- Mc_stop 77
- Motion control instructions 77
- Motion control instructions 78
- Motion control instructions 79
- Mc_passivehome 80
- Motion control instructions 80
- Motion control instructions 81
- Motion control instructions 82
- Mc_power 83
- Motion control instructions 83
- Mc_reset 84
- Motion control instructions 84
- Motion control instructions 85
- Mc_readstatus 86
- Motion control instructions 86
- Mc_readactualposition 87
- Motion control instructions 87
- Mc_readaxiserror 88
- Motion control instructions 88
- Dmc_readparameter 89
- Motion control instructions 89
- Motion control instructions 90
- Dmc_writeparameter 91
- Motion control instructions 91
- Dmc_settorque 92
- Motion control instructions 92
- Motion control instructions 93
- Dmc_changemechanismgearratio 94
- Motion control instructions 94
- Motion control instructions 95
- Motion control instructions 96
- Dmc_disableaxis 97
- Motion control instructions 97
- Motion control instructions 98
- Dmc_positionlag 99
- Motion control instructions 99
- Motion control instructions 100
- Mc_camtableselect 101
- Motion control instructions 101
- Multi axis instruction 101
- Motion control instructions 102
- Mc_camin 103
- Motion control instructions 103
- Motion control instructions 104
- Motion control instructions 105
- Motion control instructions 106
- Motion control instructions 107
- Motion control instructions 108
- Motion control instructions 109
- Motion control instructions 110
- Motion control instructions 111
- Motion control instructions 112
- Motion control instructions 113
- Motion control instructions 114
- Master position 360 115
- Motion control instructions 115
- Slave position 115
- Master position 116
- Motion control instructions 116
- Slave position 116
- Master position 117
- Motion control instructions 117
- Slave position 117
- Master position 118
- Motion control instructions 118
- Slave position 118
- Motion control instructions 119
- Motion control instructions 120
- Motion control instructions 121
- Mc_camout 122
- Motion control instructions 122
- Motion control instructions 123
- Program example 123
- Motion control instructions 124
- Dmc_camset 125
- Motion control instructions 125
- Motion control instructions 126
- Motion control instructions 127
- Motion control instructions 128
- Mc_gearin 129
- Motion control instructions 129
- Motion control instructions 130
- Mc_gearout 131
- Motion control instructions 131
- Motion control instructions 132
- Motion control instructions 133
- Program example 133
- Mc_phasing 134
- Motion control instructions 134
- Motion control instructions 135
- 92 dvp mc operating manual 136
- Instruction figure 136
- Motion control instructions 136
- On again the phase relation between master axis and slave axis returns to the initial status since phase shift is 0 when m10 is on master position is 63000 and slave position master position 63000 136
- Sequence diagram 136
- Dmc_captureposition 137
- Motion control instructions 137
- Motion control instruction 138
- Motion control instructions 139
- Motion control instruction 140
- Motion control instructions 141
- Motion control instruction 142
- Dmc_virtualaxis 143
- Motion control instructions 143
- Motion control instruction 144
- Dmc_externalmaster 145
- Motion control instructions 145
- Motion control instruction 146
- Dmc_camswitch 147
- Motion control instructions 147
- Motion control instruction 148
- Motion control instructions 149
- Motion control instruction 150
- Add_di 151
- Logic instruction 151
- Motion control instructions 151
- Motion control instruction 152
- Motion control instructions 153
- Sub_di 153
- Motion control instruction 154
- Mul_di 154
- Motion control instructions 155
- Div_di 156
- Motion control instruction 156
- Motion control instructions 157
- Motion control instruction 158
- Motion control instructions 159
- Motion control instruction 160
- Motion control instructions 161
- Motion control instruction 162
- Motion control instructions 163
- Motion control instruction 164
- Motion control instructions 165
- Motion control instruction 166
- Motion control instructions 167
- Motion control instruction 168
- Motion control instructions 169
- Tonr_s 169
- Motion control instruction 170
- Motion control instructions 171
- Ton_ms 171
- Motion control instruction 172
- Tof_ms 172
- Motion control instructions 173
- Tonr_ms 173
- Motion control instruction 174
- Cmp_di 175
- Motion control instructions 175
- Motion control instruction 176
- Motion control instructions 177
- Motion control instruction 178
- Mov_di 178
- Motion control instructions 179
- Motion control instruction 180
- Movf_di 180
- Motion control instructions 181
- Movf_r 181
- Motion control instruction 182
- Motion control instructions 183
- Mov_bw 183
- Motion control instruction 184
- Mov_wb 184
- Motion control instructions 185
- Motion control instruction 186
- Zcp_di 186
- Motion control instructions 187
- Motion control instruction 188
- Motion control instructions 189
- R_trig 189
- Motion control instruction 190
- F_trig 191
- Motion control instructions 191
- Motion control instruction 192
- Motion control instructions 193
- Motion control instruction 194
- Sqrt_r 194
- Mod_di 195
- Motion control instructions 195
- Motion control instruction 196
- Real_to_dint 196
- Real_to_int 196
- Dint_to_real 197
- Int_to_real 197
- Motion control instructions 197
- Motion control instruction 198
- Offset 198
- Motion control instructions 199
- Motion control instruction 200
- Offset_di 200
- Motion control instructions 201
- Motion control instruction 202
- Offset_r 202
- Application instruction 203
- Motion control instructions 203
- Rotary cut technology 203
- Control feature of rotary cut function 204
- Motion control instruction 204
- Rotary cut parameters 204
- Introduction to the cam with rotary cut function 205
- Motion control instructions 205
- Motion control instruction 206
- Motion control instructions 207
- Motion control instruction 208
- Apf_rotarycut_init 209
- Motion control instructions 209
- Rotary cut instructions 209
- Motion control instruction 210
- Apf_rotarycut_in 211
- Motion control instructions 211
- Apf_rotarycut_out 212
- Motion control instruction 212
- Application example of rotary cut instructions 213
- Motion control instructions 213
- Motion control instruction 214
- Flying shear technology 215
- Motion control instructions 215
- Motion control instruction 216
- The technological parameters of flying shear function 216
- Control feature of flying shear function 217
- Motion control instructions 217
- Motion control instruction 218
- Apf_flyingshear_init 219
- Flying shear instructions 219
- Motion control instructions 219
- Motion control instruction 220
- Apf_flyingshear 221
- Motion control instructions 221
- Motion control instruction 222
- Motion control instructions 223
- Sequence chart on flying shear function 223
- Application example of flying shear instructions 224
- Motion control instructions 224
- Motion control instructions 225
- Explanation of g codes and coordinate motion instruction 226
- G code input format 226
- Motion control instructions 226
- Explanation of g code format 227
- Motion control instructions 227
- Motion control instructions 228
- G90 absolute mode 229
- Introduction to g code function 229
- Motion control instructions 229
- X position 229
- Y position 229
- G91 relative mode 230
- Motion control instructions 230
- X position 230
- Y position 230
- G0 rapid positioning 231
- Motion control instructions 231
- Motion control instructions 232
- Position 232
- Motion control instructions 233
- Position 233
- G1 linear interpolation 234
- Motion control instructions 234
- F v v v 235
- Motion control instructions 235
- Motion control instructions 236
- Position 236
- X 50000 236
- Y 60000 236
- Motion control instructions 237
- G2 clockwise circular helical interpolation 238
- Motion control instructions 238
- Motion control instructions 239
- Motion control instructions 240
- Motion control instructions 241
- Motion control instructions 242
- Motion control instructions 243
- Motion control instructions 244
- G3 anticlockwise circular helical interpolation 245
- Motion control instructions 245
- Motion control instructions 246
- Motion control instructions 247
- Motion control instructions 248
- Motion control instructions 249
- Motion control instructions 250
- G17 g18 g19 to specify the circular interpolation plane 251
- G4 dwell instruction 251
- Motion control instructions 251
- G36 set reset instruction 252
- G37 status judgment instruction 252
- Motion control instructions 252
- Dmc_nc 253
- Motion control instructions 253
- Motion control instructions 254
- Motion control instructions 255
- Motion control instructions 256
- Motion control instructions 257
- Coordinate motion instructions 258
- Dnc_group build coordinate motion instruction group 258
- Motion control instructions 258
- Motion control instructions 259
- Motion control instructions 260
- Absolute relative mode switching instruction 261
- Motion control instructions 261
- Dnc_mov g0 rapid positioning instruction 262
- Motion control instructions 262
- Dnc_lin g1 linear interpolation instruction 263
- Motion control instructions 263
- Motion control instructions 264
- Circular helical interpolation the coordinates of center of a circle are set 265
- Motion control instructions 265
- Motion control instructions 266
- Circular helical interpolation radius is set 267
- Motion control instructions 267
- Motion control instructions 268
- Motion control instructions 269
- Plane selection instruction 269
- Motion control instructions 270
- Program example 270
- Motion control instructions 271
- Position 271
- Motion control instructions 272
- Motion control instructions 273
- Motion control instructions 274
- After the program is executed the position time curve of the whole process is as below 275
- After the program is executed the y x curve of the whole process is as below 275
- Dvp mc operating manual 4 231 275
- Motion control instructions 275
- Motion control instructions 276
- After the program is executed the position time curve of the whole process is as below 277
- After the program is executed the y x curve of the whole process is as below 277
- Dvp mc operating manual 4 233 277
- Motion control instructions 277
- Position 277
- X 70000 277
- Y 80000 277
- Led indicator explanation 278
- Troubleshooting 278
- Troubleshooting 279
- Troubleshooting 280
- Status word instruction 281
- Troubleshooting 281
- Error id in motion instructions 282
- Troubleshooting 282
- Troubleshooting 283
- Troubleshooting 284
- Appendix a 285
- Appendix a modbus communication 285
- Appendix a 286
- Appendix a 287
- Appendix a 288
- Appendix a 289
- Appendix a 290
- Appendix a 291
- Appendix a 292
- Appendix a 293
- Appendix a 294
- Appendix a 295
- Appendix a 296
- Appendix a 297
- Appendix a 298
- Appendix a 299
- Appendix a 300
- Appendix a 301
- Appendix a 302
- Appendix a 303
- Appendix a 304
- Appendix a 305
- Appendix a 306
- Appendix a 307
- Appendix b 308
- Appendix b ethernet communication 308
- Appendix b 309
- Appendix b 310
- Appendix b 311
- Appendix b 312
- Appendix b 313
- Appendix b 314
- Appendix b 315
- Appendix b 316
- Appendix b 317
- Appendix b 318
- Appendix b 319
- Appendix b 320
- Appendix b 321
- Appendix c 322
- Appendix c axis related special registers 322
- Appendix c 323
- Appendix c 324
- Appendix c 325
- Appendix c 326
- Appendix c 327
- Appendix c 328
- Appendix c 329
- Appendix c 330
- Appendix c 331
- Appendix c 332
- Appendix c 333
- Appendix c 334
- Appendix c 335
- Appendix c 336
- Appendix c 337
- Appendix c 338
- Appendix c 339
- Appendix c 340
- Appendix c 341
- Appendix c 342
- Appendix c 343
- Appendix c 344
- Appendix c 345
- Appendix c 346
- Appendix c 347
- Appendix c 348
- Appendix c 349
- Appendix c 350
- Appendix c 351
- Appendix c 352
- Appendix c 353
- Appendix d 354
- Appendix d explanation of homing modes 354
- Appendix d 355
- Appendix d 356
- Appendix d 357
- Appendix d 358
- Appendix d 359
- Appendix d 360
- Appendix d 361
- Appendix d 362
- Appendix d 363
- Axis moves at the second phase speed while the home switch is off and where the first z 363
- Circumstance 1 mc_home instruction is executed and the axis moves in the negative direction at the 363
- Circumstance 2 mc_home instruction is executed and the axis moves in the negative direction at the 363
- Circumstance 3 mc_home instruction is executed and the axis moves in the negative direction at the 363
- D 10 dvp mc operating manual 363
- First phase speed while the home switch is off the axis moves at the second phase speed 363
- First phase speed while the home switch is off the motion direction changes and the axis 363
- Home position 363
- Home position when the home switch is on 363
- Homing on the home switch negative limit switch and z pulse 363
- Mode 12 363
- Mode 13 363
- Moves at the first phase speed while the home switch is off and the negative limit switch is 363
- On the axis moves at the second phase speed and where the first z pulse is met is the 363
- Pulse is met is the home position 363
- Second phase speed while the home switch is off and where the first z pulse is met is the 363
- Second phase speed while the home switch is on the motion direction changes and the 363
- While the home switch is on the motion direction changes and the axis moves at the 363
- Appendix d 364
- Appendix d 365
- Appendix d 366
- Appendix d 367
- Appendix e 368
- Appendix e plc module devices 368
- Appendix e 369
- Appendix f 370
- Appendix f frequently asked questions 370
- Question 1 how is the problem of al303 al302 al301 fault alarm in the servo solved while dvp10mc11t is controlling the servo motion 370
- Question 2 are there latched devices inside both of the plc module and motion control module in dvp10mc11t 370
- Question 3 how is the servo motor speed limited under torque mode 370
- Appendix f 371
- Question 4 how is the servo torque limited under canopen mode 371
- Appendix f 372
- Program example 372
- Question 5 how does the servo move when reaching a limit under dvp10mc11t s control 372
- Appendix f 373
- Question 6 how does dvp10mc11t match the absolute servo in use 373
- Appendix f 374
- Appendix f 375
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