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DVP10MC11T
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Delta Electronics DVP10MC11T [230/375] G91 relative mode

4. Motion Control Instructions

4-186 DVP-MC operating manual

4.8.3.2 G91: Relative Mode

 Function: After G91 is executed, the terminal position of each axis in G code is counted in incremental

method beginning from the current position and G90 can be used to switch into the absolute mode.

 Format: N_G91

 Parameter Explanation:

N_: The row number of G code in NC program

 Example:

The initial positions of axis X and Y are both 3000 units and the axis parameters are both default values.

The G codes to be executed are as follows:

N0 G91

N1 G0 X6000 Y6000

After G codes are executed, the Y/X curve for the whole movement process is shown below:

Position

3000 9000

3000

9000

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

Delta Electronics DVP10MC11T [230/375] G91 relative mode

Содержание

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