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DVP10MC11T
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Delta Electronics DVP10MC11T [76/375] Motion control instructions

4. Motion Control Instructions

4-32 DVP-MC operating manual



Program Example 2

Two MC_MoveVelocity instructions in the same task list are matched for use as follows.

Motion diagram as below:

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

Delta Electronics DVP10MC11T [76/375] Motion control instructions

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