Delta Electronics DVP10MC11T [271/375] Position

Содержание

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