![Delta Electronics DVP10MC11T [342/375] Appendix c](/img/pdf.png)
Delta Electronics DVP10MC11T [342/375] Appendix c
![Delta Electronics DVP10MC11T [342/375] Appendix c](/views2/1477203/page342/bg156.png)
Appendix C
DVP-MC operating manual C-21
Special registers related with axis 11
Special
D
Modbus
address
（HEX）
Function Range Type Latched Attribute
D27136 EA00 Type（0: rotary 1: linear） 0-1 UINT No Read only
D27137 EA01
Modulo -- DINT
No Read only
D27138 EA02 No Read only
D27139 EA03
Acceleration and deceleration
type（0:T 1: S 2:JERK）
0-2 UINT No Read only
D27140 EA04 Numerator of electronic gear 0 - 65535 UINT No Read only
D27141 EA05 Denominator of electronic gear 0 - 65535 UINT No Read only
D27142 EA06
Software limit（0:disable,
1:enable）
0-1 UINT No Read only
D27143 EA07
The positive position limit
--
DINT
No Read only
D27144 EA08 -- No Read only
D27145 EA09
The negative position limit
--
DINT
No Read only
D27146 EA0A -- No Read only
D27147 EA0B
Homing mode; please refer to
appendix D
1-35 UINT No Read only
D27148 EA0C
Homing speed
(Unit: r/min)
--
UDINT
No Read only
D27149 EA0D -- No Read only
D27150 EA0E
Maximum speed
（Unit: unit/ second）
--
UDINT
No Read only
D27151 EA0F -- No Read only
D27152 EA10
Maximum acceleration
（Unit: unit/ second
2
）
--
UDINT
No Read only
D27153 EA11 -- No Read only
D27154 EA12
Maximum deceleration
（Unit: unit/ second
2
）
--
DINT
No Read only
D27155 EA13 -- No Read only
D27156 EA14
Given position（Unit: pulse）
--
DINT
No Read only
D27157 EA15 -- No Read only
D27158 EA16
Given speed
(Unit: pulse/second）
--
DINT
No Read only
D27159 EA17 -- No Read only
D27160 EA18
Given acceleration
（Pulse/second
2
）
--
DINT
No Read only
D27161 EA19 -- No Read only
D27162 EA1A
Current position (Unit: pulse)
--
DINT
No Read only
D27163 EA1B -- No Read only
D27164 EA1C
Current position error (Unit:
pulse)
--
DINT
No Read only
D27165 EA1D -- No Read only
D27166 EA1E
Axis current state (See section
4.2）
UINT No Read only
D27173 EA25 Pulse number needed when
servo motor rotates for one
circle.
--
DINT
No Read only
D27174 EA26 -- No Read only
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
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