Delta Electronics DVP10MC11T [27/375] Program execution principle

2. System Function

DVP-MC operating manual 2-19

2.3.2. Program Execution Principle

The program inside MC can be classified into the motion program and logic program. One single motion

program is executed in order of the instruction numbers from small to large. For many motion programs, they

are executed according to the program numbers from small to large. One single logic program is executed in

order of the instruction numbers from small to large. For many logic programs, they are executed according

to their numbers from small to large. Namely, the instructions in program 2 are executed after execution of

program 1 is finished and program 3, 4 and etc. are executed likewise.

The logic program which is a freely cyclical program will be executed again once it has finished being

executed. Motion program is a regular aborting program and is executed once every synchronization cycle.

See the program numbers marked in a red box and instruction numbers marked in red circles as below.

2.3.3. Relationship between Motion Program and Motion Bus

DVP10MC11T consists of two function modules: PLC module and MC motion control module. To enhance

the work efficiency, the two modules handle logic tasks and motion control tasks respectively. User could edit

the program for the PLC module through ISPSoft and WPLSoft software to achieve logic control function,

while, to achieve motion control function, CANopen Builder software is necessary for programming.

The way of execution of motion control program is basically same as that for PLC program through three

stages of input capture, program execution, output refresh. But motion control program is executed on basis

of the synchronization cycle which is the cycle for updating the control and status data between motion

controller and servo drive. In one synchronization cycle, motion controller needs to capture all data related

with control program including the status data returning from servo drive, then to execute the motion program

and finally output the data of operation result to each register and control data to all servo drives. All these

actions have to be completed in one synchronization cycle.

When DVP10MC11T is connected with multi-servo drives, 10MC can achieve synchronization of multi-servo

drives through sending out synchronous signals in the method of broadcast. Servo drives receive control

data that 10MC sends out. These data are not effective immediately till the synchronous signals reach the