Delta Electronics DVP10MC11T Руководство по эксплуатации(ENG) онлайн [6/375] 397599

4.8.3.5 G2: Clockwise Circular/ Helical Interpolation ......................................... 4-194

4.8.3.6 G3: Anticlockwise circular /helical interpolation ...................................... 4-201

4.8.3.7 G17, G18, G19: to specify the circular interpolation plane ....................... 4-207

4.8.3.8 G4: Dwell Instruction ......................................................................... 4-207

4.8.3.9 G36: Set/Reset Instruction ................................................................. 4-208

4.8.3.10 G37: Status Judgment Instruction ...................................................... 4-208

4.8.4. DMC_NC ............................................................................................... 4-209

4.8.5. Coordinate Motion Instructions ................................................................. 4-214

4.8.5.1 DNC_Group (Build Coordinate Motion Instruction Group) ......................... 4-214

4.8.5.2 Absolute/ Relative Mode Switching Instruction ....................................... 4-217

4.8.5.3 DNC_MOV(G0) (Rapid positioning instruction) ....................................... 4-218

4.8.5.4 DNC_LIN(G1) (Linear Interpolation Instruction) ..................................... 4-219

4.8.5.5

Circular/ Helical Interpolation (The Coordinates of Center of a Circle are Set)

..................................................................................................... 4-221

4.8.5.6 Circular/ Helical Interpolation (Radius is Set) ......................................... 4-223

4.8.5.7 Plane Selection Instruction ................................................................. 4-225

4.8.5.8 Program Example .............................................................................. 4-226

5. Troubleshooting ..................................................................................................... 5-1

5.1. LED Indicator Explanation ................................................................................. 5-1

5.2. Status Word Instruction ................................................................................... 5-4

5.3. Error ID in Motion Instructions .......................................................................... 5-5

Appendix A Modbus Communication ........................................................................... A-1

Appendix B Ethernet Communication ......................................................................... B-1

Appendix C Axis-Related Special Registers .................................................................. C-1

Appendix D Explanation of Homing Modes .................................................................... D-1

Appendix E PLC Module Devices ................................................................................ E-1

Appendix F Frequently Asked Questions ..................................................................... F-1

Question 1: How is the problem of AL303/ AL302/ AL301 fault alarm in the servo solved while

DVP10MC11T is controlling the servo motion? ........................................................... F-1

Question 2: Are there latched devices inside both of the PLC module and motion control module in

DVP10MC11T? ...................................................................................................... F-1

Question 3: How is the servo motor speed limited under torque mode? ......................... F-1

Question 4: How is the servo torque limited under CANopen mode？ ............................ F-2

Question 5: How does the servo move when reaching a limit under DVP10MC11T’s control?

.......................................................................................................................... F-3

Question 6: How does DVP10MC11T match the absolute servo in use? .......................... F-4