Delta Electronics DVP15MC11T User manual

www.deltaww.com
DVP15MC Operation Manual
DVP15MC Operation Manual
2016-06-30
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: [phone] / FAX: [phone]
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province, P.R.C. 215200
TEL: [phone] / FAX: [phone]
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C. 201209
TEL: [phone] / FAX: [phone]
Delta Electronics (Japan), Inc.
Tokyo Ofce
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: [phone] / FAX: [phone]
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: [phone] / FAX: [phone]
Delta Electronics Int’l (S) Pte Ltd.
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: [phone] / FAX: [phone]
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : [phone] / FAX : [phone]
Americas
Delta Products Corporation (USA)
Raleigh Ofce
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: [phone] / FAX: [phone]
Delta Greentech (Brasil) S.A.
Sao Paulo Ofce
Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: [phone] / FAX: [phone]
Europe
Delta Electronics (Netherlands) B.V.
Eindhoven Ofce
De Witbogt 20, 5652 AG Eindhoven, The Netherlands
TEL : [phone] / FAX : [phone]
DVP-0191920-00
*We reserve the right to change the information in this manual without prior notice.

DVP15MC11T Operation Manual
Table of Contents
Chapter 1 Preface................................................................................................1-1
1.1 Explanation of Symbols in This Manual ......................................................1-2
1.2 Revision History.........................................................................................1-2
Chapter 2 Overview of DVP15MC11T...................................................................2-1
2.1 Product Description....................................................................................2-2
2.2 Functions ...................................................................................................2-2
2.3 Profile and Components .............................................................................2-3
Chapter 3 Specifications......................................................................................3-1
3.1 Function Specifications ..............................................................................3-2
3.1.1 Specifications........................................................................................3-2
3.1.2 Devices and Data Types .........................................................................3-3
3.1.2.1 Devices.............................................................................................3-3
3.1.2.2 Valid Ranges of Devices ......................................................................3-4
3.1.2.3 Latched Devices.................................................................................3-5
3.1.2.4 Data Types and Valid Ranges Supported................................................3-6
3.2 Electrical Specifications .............................................................................3-7
Chapter 4 System Architecture............................................................................4-1
4.1 System Constitution...................................................................................4-2
4.2 Power Supply.............................................................................................4-2
4.3 Left-side Extension ....................................................................................4-2
4.3.1 Connectable Left-side Extension Module....................................................4-2
4.3.2 Allocation of Left-side Network Module Addresses.......................................4-3
4.3.3 Method of Reading/Writing of Left-side Modules .........................................4-3
4.4 Right-side Extension ..................................................................................4-3
4.4.1 Connectable Right-side Extension Modules ................................................4-3
4.4.2 Allocation of Right-side Extension Module Addresses...................................4-4
4.5 Connectable Servo Drives...........................................................................4-4
4.6 SD Memory Card.........................................................................................4-6
4.6.1 Model and Specification..........................................................................4-6
4.6.2 Function...............................................................................................4-8
Chapter 5 Installation..........................................................................................5-1
i

5.1 Dimensions ................................................................................................5-2
5.1.1 Profile and Dimensions of DVP15MC11T.................................................... 5-2
5.1.2 Dimensions of Left-side and Right-side Extension Modules........................... 5-2
5.1.3 Connecting to the Left-side Extension Module............................................ 5-3
5.1.4 Connecting to the Right-side Extension Module.......................................... 5-4
5.1.5 SD Card Installing and Removing.............................................................5-5
5.2 Installing the Module in the Control Cabinet..............................................5-7
5.2.1 Installing the Module to DIN rail .............................................................. 5-7
5.2.2 Illustration of Installation Inside the Control Cabinet ..................................5-7
5.2.3 Environmental Temperature in the Control Cabinet..................................... 5-7
5.2.4 Actions for Anti-interference ................................................................... 5-8
5.2.5 Dimension Requirement in the Control Cabinet..........................................5-8
Chapter 6 Wiring, Communication Setting and Network Construction.................6-1
6.1 Wiring........................................................................................................6-3
6.1.1 Power Supply........................................................................................6-3
6.1.2 Safety Circuit Wiring..............................................................................6-3
6.2 Input Point and Output Point Wiring..........................................................6-4
6.2.1 Function that Input Points Support........................................................... 6-4
6.2.2 Input Point Wiring ................................................................................. 6-5
6.2.3 Output Point Wiring ...............................................................................6-6
6.3 RS-485 Communication Port ......................................................................6-8
6.3.1 Function that RS-485 Port Supports .........................................................6-8
6.3.2 Definitions of RS-485 Port Pins................................................................ 6-8
6.3.3 RS-485 Hardware Connection.................................................................. 6-8
6.3.4 Supported Function Codes and Exception Codes ...................................... 6-10
6.4 RS-232 Communication Port ....................................................................6-11
6.4.1 Function that RS-232 Port Supports ....................................................... 6-11
6.4.2 Definitions of RS-232 Port Pins.............................................................. 6-11
6.4.3 RS-232 Hardware Connection................................................................ 6-11
6.4.4 Supported Function Codes and Exception Codes ...................................... 6-12
6.5 SSI Absolute Encoder Port .......................................................................6-13
6.5.1 Function of SSI Absolute Encoder .......................................................... 6-13
6.5.2 Definitions of SSI Port Pins ................................................................... 6-13
6.5.3 SSI Absolute Encoder Hardware Connection ............................................ 6-13
6.6 Incremental Encoders..............................................................................6-15
6.6.1 Function of Incremental Encoder ........................................................... 6-15
6.6.2 Definition of Incremental Encoder Port Pins............................................. 6-15
6.6.3 Incremental Encoder Hardware Connection ............................................. 6-16
6.7 Ethernet Communication Port ..................................................................6-17
6.7.1 Function that Ethernet Communication Port Supports ............................... 6-17
6.7.2 Pins of Ethernet Communication Port...................................................... 6-17
6.7.3 Network Connection of Ethernet Communication Port ............................... 6-17
6.7.4 Function Codes that Ethernet Communication Port Supports...................... 6-18
6.8 Motion Communication Port.....................................................................6-18
6.8.1 Function that Motion Communication Port Supports.................................. 6-18
ii

6.8.2 Pins of Motion Communication Port ........................................................ 6-18
6.8.3 Motion Network Connection................................................................... 6-19
6.8.4 Communication Speed and Communication Distance................................. 6-19
6.9 CANopen Communication Port..................................................................6-20
6.9.1 Functions that CANopen Communication Port Supports ............................. 6-20
6.9.2 Pins of CANopen Communication Port..................................................... 6-21
6.9.3 PDO Mapping at CANopen Communication Port........................................ 6-21
6.9.4 Network Connection at CANopen Communication Port............................... 6-21
6.9.5 CANopen Communication Rate and Communication Distance ..................... 6-22
Chapter 7 Execution Principle of DVP15MC11T Controller ...................................7-1
7.1 Tasks..........................................................................................................7-2
7.1.1 Task Types...........................................................................................7-2
7.1.2 Priority levels of Tasks............................................................................7-4
7.1.3 Watchdog for a Task ..............................................................................7-6
7.1.4 Motion Instructions for Each Task Type.....................................................7-7
7.2 The Impact of PLC RUN or STOP on Variables and Devices.........................7-8
7.3 Relationship between Motion Program and Motion Bus..............................7-8
7.4 Synchronization Cycle Period Setting.........................................................7-9
Chapter 8 Logic Instructions ...............................................................................8-1
8.1 Table of Logic Instructions.........................................................................8-4
8.2 Explanation of Logic Instructions...............................................................8-7
8.2.1 EN and ENO..........................................................................................8-7
8.3 Sequence Input /Output Instructions ........................................................8-7
8.3.1 R_TRIG................................................................................................8-7
8.3.2 F_TRIG ................................................................................................8-9
8.3.3 RS..................................................................................................... 8-11
8.3.4 SR..................................................................................................... 8-13
8.3.5 SEMA................................................................................................. 8-15
8.4 Data Movement Instructions....................................................................8-17
8.4.1 MOVE ................................................................................................ 8-17
8.4.2 MoveBit.............................................................................................. 8-18
8.4.3 TransBit ............................................................................................. 8-20
8.4.4 MoveDigit........................................................................................... 8-22
8.4.5 Exchange ........................................................................................... 8-24
8.4.6 Swap................................................................................................. 8-26
8.5 Comparison Instructions..........................................................................8-28
8.5.1 LT ..................................................................................................... 8-28
8.5.2 LE ..................................................................................................... 8-30
8.5.3 GT..................................................................................................... 8-32
8.5.4 GE..................................................................................................... 8-34
8.5.5 EQ..................................................................................................... 8-36
8.5.6 NE..................................................................................................... 8-38
8.6 Timer Instructions ...................................................................................8-40
iii

8.6.1 TON .................................................................................................. 8-40
8.6.2 TOF................................................................................................... 8-42
8.6.3 TP..................................................................................................... 8-44
8.7 Counter Instructions................................................................................ 8-46
8.7.1 CTU................................................................................................... 8-46
8.7.2 CTD................................................................................................... 8-48
8.7.3 CTUD................................................................................................. 8-50
8.8 Math Instructions.....................................................................................8-53
8.8.1 ADD .................................................................................................. 8-53
8.8.2 SUB .................................................................................................. 8-56
8.8.3 MUL .................................................................................................. 8-59
8.8.4 DIV ................................................................................................... 8-62
8.8.5 MOD.................................................................................................. 8-65
8.8.6 MODREAL........................................................................................... 8-67
8.8.7 MODTURNS ........................................................................................ 8-69
8.8.8 MODABS............................................................................................ 8-71
8.8.9 ABS................................................................................................... 8-73
8.8.10 DegToRad .......................................................................................... 8-75
8.8.11 RadToDeg .......................................................................................... 8-77
8.8.12 SIN ................................................................................................... 8-79
8.8.13 COS .................................................................................................. 8-81
8.8.14 TAN................................................................................................... 8-83
8.8.15 ASIN ................................................................................................. 8-85
8.8.16 ACOS ................................................................................................ 8-88
8.8.17 ATAN................................................................................................. 8-90
8.8.18 LN..................................................................................................... 8-92
8.8.19 LOG .................................................................................................. 8-94
8.8.20 SQRT................................................................................................. 8-96
8.8.21 EXP................................................................................................... 8-98
8.8.22 EXPT ................................................................................................8-100
8.8.23 RAND ...............................................................................................8-102
8.8.24 TRUNC..............................................................................................8-104
8.8.25 FLOOR..............................................................................................8-106
8.8.26 FRACTION.........................................................................................8-108
8.9 Bit String Instructions ...........................................................................8-110
8.9.1 AND .................................................................................................8-110
8.9.2 OR ...................................................................................................8-113
8.9.3 NOT .................................................................................................8-116
8.9.4 XOR .................................................................................................8-118
8.9.5 XORN ...............................................................................................8-121
8.10 Shift Instructions...................................................................................8-124
8.10.1 SHL..................................................................................................8-124
8.10.2 SHR .................................................................................................8-126
8.10.3 ROL..................................................................................................8-128
8.10.4 ROR .................................................................................................8-130
8.11 Selection Instructions............................................................................8-132
8.11.1 MAX .................................................................................................8-132
8.11.2 MIN..................................................................................................8-134
iv

8.11.3 SEL ................................................................................................. 8-136
8.11.4 MUX ................................................................................................ 8-138
8.11.5 LIMIT............................................................................................... 8-140
8.11.6 BAND............................................................................................... 8-143
8.11.7 ZONE............................................................................................... 8-146
8.12 Data Type Conversion Instructions ........................................................8-149
8.12.1 BOOL_TO_*** .................................................................................. 8-149
8.12.2 Bit strings_TO_***............................................................................ 8-152
8.12.3 Integers_TO_*** .............................................................................. 8-159
8.12.4 Real numbers_TO_***....................................................................... 8-168
8.12.5 Times,dates_TO_*** ......................................................................... 8-171
8.12.6 Strings_TO_*** ................................................................................ 8-173
8.13 CANopen Communication Instructions...................................................8-176
8.13.1 DMC_ReadParameter_CANopen........................................................... 8-176
8.13.2 DMC_WriteParameter_CANopen........................................................... 8-182
8.14 String Processing Instructions...............................................................8-187
8.14.1 CONCAT........................................................................................... 8-187
8.14.2 DELETE............................................................................................ 8-189
8.14.3 INSERT ............................................................................................ 8-191
8.14.4 LEFT / RIGHT.................................................................................... 8-193
8.14.5 MID................................................................................................. 8-195
8.14.6 REPLACE .......................................................................................... 8-197
8.14.7 LEN ................................................................................................. 8-199
8.14.8 FIND................................................................................................ 8-200
8.15 Immediate Refresh Instructions ............................................................8-202
8.15.1 FROM............................................................................................... 8-202
8.15.2 TO................................................................................................... 8-206
8.15.3 ImmediateInput ................................................................................ 8-210
8.15.4 ImmediateOutput .............................................................................. 8-212
Chapter 9 Introductions of Axis Parameters........................................................9-1
9.1 Description of Axis Parameters..................................................................9-2
Chapter 10 Motion Control Function ....................................................................10-1
10.1 EN and ENO..............................................................................................10-2
10.2 Relation among Velocity, Acceleration and Jerk.......................................10-3
10.3 Introduction of BufferMode......................................................................10-6
10.4 The State Machine..................................................................................10-32
Chapter 11 Motion Control Instructions...............................................................11-1
11.1 Table of Motion Control Instructions........................................................11-3
11.2 About Motion Control Instructions ...........................................................11-4
11.2.1 Composition of A Motion Control Instruction ............................................ 11-4
11.2.2 Program Languages that Motion Control Instructions Support .................... 11-4
11.2.3 Configuration of Motion Control Instructions ............................................ 11-4
v

11.3 Single-axis Instructions...........................................................................11-5
11.3.1 MC_Power.......................................................................................... 11-5
11.3.2 MC_Home .........................................................................................11-14
11.3.3 MC_MoveVelocity ...............................................................................11-19
11.3.4 MC_Halt............................................................................................11-26
11.3.5 MC_Stop...........................................................................................11-31
11.3.6 MC_MoveRelative ...............................................................................11-36
11.3.7 MC_MoveAdditive...............................................................................11-44
11.3.8 MC_MoveAbsolute ..............................................................................11-52
11.3.9 MC_MoveSuperimposed ......................................................................11-61
11.3.10 MC_HaltSuperimposed ........................................................................11-68
11.3.11 MC_SetPosition ..................................................................................11-73
11.3.12 MC_SetOverride.................................................................................11-83
11.3.13 MC_Reset..........................................................................................11-87
11.3.14 DMC_SetTorque.................................................................................11-90
11.3.15 MC_ReadAxisError..............................................................................11-94
11.3.16 MC_ReadActualPosition .......................................................................11-96
11.3.17 MC_ReadStatus................................................................................11-101
11.3.18 MC_ReadMotionState........................................................................11-106
11.3.19 DMC_ReadParameter_Motion .............................................................11-111
11.3.20 DMC_WriteParameter_Motion.............................................................11-115
11.3.21 DMC_TouchProbe .............................................................................11-119
11.4 Multi-axis Instructions......................................................................... 11-128
11.4.1 MC_GearIn......................................................................................11-128
11.4.2 MC_GearOut....................................................................................11-134
11.4.3 MC_CombineAxes.............................................................................11-139
11.4.4 Introduction of Electronic Cam ...........................................................11-147
11.4.5 MC_CamIn ......................................................................................11-148
11.4.6 MC_CamOut ....................................................................................11-169
11.5 Application Instructions....................................................................... 11-175
11.5.1 Rotary Cut Technology......................................................................11-175
11.5.2 Rotary Cut Parameters......................................................................11-176
11.5.3 Control Feature of Rotary Cut Function................................................11-177
11.5.4 Introduction to Cam Curve with Rotary Cut Function .............................11-178
11.5.5 Rotary-cut Instructions .....................................................................11-182
11.5.5.1 APF_RotaryCut_Init.......................................................................11-182
11.5.5.2 APF_RotaryCut_In.........................................................................11-185
11.5.5.3 APF_RotaryCut_Out.......................................................................11-187
11.5.6 Application Example of Rotary Cut Instructions.....................................11-189
Chapter 12 Troubleshooting ................................................................................12-1
12.1 Explanation of LED Indicators..................................................................12-2
12.2 Table of Error IDs in Motion Instructions.................................................12-8
12.3 System Trouble Diagnosis through System Error Codes.........................12-12
Appendix A Modbus Communication ......................................................................A-1
A.1 Message Format in ASCII Mode..................................................................A-2
vi

A.2 Message Format in RTU Mode.....................................................................A-5
A.3 Modbus Function Codes Supported.............................................................A-7
A.4 Modbus Exception Response Code Supported ............................................A-7
A.5 Introduction to Modbus Function Codes.....................................................A-8
A.6 Table of Registers and Corresponding Modbus addresses ........................A-15
Appendix B Modbus TCP Communication................................................................B-1
B.1 Modbus TCP Message Structure..................................................................B-2
B.2 Modbus Function Codes Supported in Modbus TCP.....................................B-2
B.3 Exception Response Code in Modbus TCP...................................................B-3
B.4 Modbus Function Codes in Modbus TCP......................................................B-3
B.5 Registers in DVP15MC11T and Corresponding Modbus Addresses............B-12
Appendix C CANopen Protocol................................................................................C-1
C.1 Node States................................................................................................C-4
C.2 Network Management (NMT) .....................................................................C-7
C.3 PDO (Process Data Object) ........................................................................C-7
C.4 SDO (Service Data Object) .........................................................................C-9
Appendix D Explanation of Homing Modes ............................................................ D-1
D.1 Explanation of Homing Modes ................................................................... D-2
Appendix E List of Accessories...............................................................................E-1
E.1 Accessories for CANopen Communication ..................................................E-2
E.2 Accessories for PROFIBUS DP Communication ...........................................E-4
E.3 Accessories for DeviceNet Communication.................................................E-4
vii

Memo
viii

1
Chapter 1 Preface
Table of Contents
1.1 Explanation of Symbols in This Manual ......................................................1-2
1.2 Revision History.........................................................................................1-2
1-1

DVP15MC11T Operation Manual
_1
Thank you for purchasing DVP15MC11T motion controller which is created on the basis of motion control and
we are providing you with a high-end motion control system.
This manual describes the product specifications, functions, system architecture, installation, wiring,
execution principle, logic instructions and motion control instructions, trouble-shooting, communication
protocols, homing modes and other relevant information.
Make sure that you have well known about the motion control system configuration and product operation
before using DVP15MC11T.
1.1 Explanation of Symbols in This Manual
Precautions before operation
Before operation, please read relevant safety instructions carefully so as to prevent an injury to personnel and
damage to products.
!Danger
It indicates the highly potential hazards. It is possible to cause a severe injury or even
fatal harm to personnel if you do not follow the instructions.
! Warning
It indicates the potential hazards. It is possible to cause a minor injury or even fatal
harm to personnel if you do not follow the instructions.
! Caution
It indicates much attention should be paid. An unexpected result may occur if you do
not follow the instructions.
1.2 Revision History
Version Revision Release Date
1st The first version was published. May 30, 2018
1-2

2
Chapter 2 Overview of DVP15MC11T
Table of Contents
2.1 Product Description....................................................................................2-2
2.2 Functions ...................................................................................................2-2
2.3 Profile and Components .............................................................................2-3
2-1

DVP15MC11T Operation Manual
_2
2.1 Product Description
DVP15MC11T is a type of multi-axis motion controller researched and produced by Delta autonomously on
the basis of CANopen field bus. It complies with CANopen DS301 basic communication protocol and
DSP402 motion control protocol. In addition, it also supports standard instruction libraries defined by
international organizations for motion control. It brings great convenience to user to learn and develop
projects quickly. Maximum 24 axes can be controlled by means of Motion port. The single-axis motion
instructions including velocity, position, torque and homing instructions as well as multi-axis instructions such
as electronic gear, electronic cam, rotary cut and G code are supported.
Multiple communication ports are built in DVP15MC11T. And thus various communication functions can be
realized without adding modules. DVP15MC11T has left-side and right-side extension ports for adding
DVP-S series modules to its left and right sides. (The left-side port is a high-speed parallel extension port.)
The communication system adopts highly reliable CAN bus as the main line and hence users just need
simple cables for wiring.
Thanks to the high-speed reliable motion control system, DVP15MC11T can be widely applied to a variety of
automation control industries such as packaging, printing, encapsulating, wire cutting, drug manufacturing
and so on.
2.2 Functions
Able to control up to 24 real axes (with axis No. ranging from 1 to 32).
The virtual axis and encoder axis can be built inside DVP15MC11T (with the axis No. ranging from 1
to 32, which can not be the same as that of real axes).
Equipped with 1GHz high-speed floating-point operation processor; supporting 64-bit floating point
(Lreal) and capable to meet various complicated motion control.
With two built-in incremental encoder ports and one SSI absolute encoder port.
With one RS232 port, one RS485 port and two Ethernet ports.
With one built-in CAN port serving as CANopen master or slave.
Supports powerful field network (as Ethernet master or slave, CANopen master or slave and
Profibus-DP slave) for construction of a function-complicated control system.
With a variety of I/O extensions (Left-side high-speed AIAO; right-side low-speed AIAO and DIDO
and temperature modules).
Using the easy-to-use software interface with the features of complete function and convenient
application.
Providing standard bus cables, terminal resistors, distributor boxes and other accessories as well as
easy and convenient plug-and-play wiring.
2-2

Chapter 2 Specifications
2
_
2.3 Profile and Components
CAN
ERR 1
RUN
ERR 2
RUN
00
10
00
01
11
01
02
12
02
03
13
03
04
14
04
05
15
05
06
16
06
07
17
07
EXTENSION
PORT
123
4
5
678
910
11
12
13
14
15
16
17
○
1EModel name A○ 10ESD card slot
A○ 2EState indicators A○ 11ERight-side extension module port
A○ 3EIO indicators A○ 12E24V power port
A○ 4ECOM/SSI communication port A○ 13EScrew fixing clip
A○ 5EIncremental encoder port A○ 14EExtension module fixing clip
A○ 6EEthernet communication port A○ 15ELeft-side extension module port
A○ 7ECANopen communication port A○ 16ENameplate
A○ 8ECANmotion communication port A○
17EDIN rail fixing clip
A○ 9EInput and output pins and symbols
2-3

DVP15MC11T Operation Manual
_2
MEMO
2-4

3
Chapter 3 Specifications
Table of Contents
3.1 Function Specifications ..............................................................................3-2
3.1.1 Specifications........................................................................................3-2
3.1.2 Devices and Data Types .........................................................................3-3
3.1.2.1 Devices.............................................................................................3-3
3.1.2.2 Valid Ranges of Devices ......................................................................3-4
3.1.2.3 Latched Devices.................................................................................3-5
3.1.2.4 Data Types and Valid Ranges Supported................................................3-6
3.2 Electrical Specifications .............................................................................3-7
3-1

DVP15MC11T Operation Manual
_3
3.1 Function Specifications
3.1.1 Specifications
Item Specification
Programming
Program
capacity
Size
20M
Quantity
Number of
POU
definitions
1024
Memory
capacity for
variables
Retained
Size
128K
Non-retained Size 20M
G code
One single G code
program
Size 256K
G code programs
Quantity
64
Motion
control
Number of
controlled
axes
Max. number of axes for
single-axis control
Real axis: 1~24, Virtual axis: 1~32.
The virtual axis number is different
from the real axis number.
Max. number of axes for linear
interpolation
8
Max. number of axes for circular
interpolation
3
Number of
cams
Size Quantity 64
Cam key
points
Key points of one
single cam
Quantity 2048
Built-in ports of DVP15MC11T
CAN 2
One CAN port supports the
standard CANopen protocol and the
other CAN port is used in Motion.
Ethernet
2
Two independent Ethernet ports
RS-232
1
Used as a master or slave
RS485
1
Used as a master or slave
Incremental
encoder
2
Builds an encoder axis. Z signal can
trigger an interrupt program.
SSI absolute
encoder 1 Builds an encoder axis
Input points Quantity
16 points (External interrupt trigger
is supported.)
Output points
Quantity
8 points
Left-side extension
port
1
Slim-series left-side extension
module
Right-side
extension port
1 Slim series special module
Left-side and
right-side
extension
Left-side
extension
Left-side extension
modules Quantity
8 pieces of Slim series left-side
extension modules
Right-side
extension
Special modules Quantity
8 pieces of Slim series special
modules
Digital modules
Number of
points
240 input points and 240 output
points
3-2

Chapter 3 Specifications
3_
3.1.2 Devices and Data Types
3.1.2.1 Devices
Device Name Explanation
% I X 0 0.
Digital point number
Prefix 2 symbol
Prefix 1 symbol
A fixed character
Relevant Devices of DVP15MC11T Used in the Software
No.
Item
Content
1
Prefix 1 symbol
I
Q
M
2 Prefix 1 name
Input
device
Output
device
Intermediate
device
3
Prefix 2 symbol
X
B
W
D
L
4
Data type of prefix 2
BIT
BYTE
WORD
DWORD
QWORD
5
Device example
%IX0.0
%IB0
%IW0
%ID0
%IL0
6
%QX0.0
%QB0
%QW0
%QD0
%QL0
7
%MX0.0
%MB0
%MW0
%MD0
%ML0
The Corresponding Relationships of Devices
%ML0 includes %MB0~%MB7, %MD0 includes %MB0~%MB3 and %MW0 includes %MB0~%MB1 as shown
in the following table.
Device
name
Corresponding relationships
The 1st WORD
The 2nd WORD
The 3rd WORD
The 4th WORD
Bit
0
... Bit
7
Bit
8
… Bit
15
Bit
0
... Bit
7
Bit
8
… Bit
15
Bit
0
... Bit
7
Bit
8
… Bit
15
Bit
0
... Bit
7
Bit
8
… Bit
15
%MX %MX0.0~0.7
%MX1.0~1.7 %MX2.0~2.7 %MX3.0~3.7 %MX4.0~4.7 %MX5.0~5.7 %MX6.0~6.7 %MX7.0~7.7
%MB
%MB0
%MB1
%MB2
%MB3
%MB4
%MB5
%MB6
%MB7
%MW
%MW0
%MW1
%MW2
%MW3
%MD
%MD0
%MD1
%ML
%ML0
%ML1 includes %MB8~%MB15, %MD2 includes %MB8~%MB11, %MW4 includes %MB8~%MB9
and %MB8 includes %MX8.0~8.7 as shown in the following table.
Device
name
Corresponding relationships
The 5
th
WORD The 6
th
WORD The 7
th
WORD The 8
th
WORD
Bit
0 ... Bit 7 Bit 8 … Bit 15 Bit 0 ... Bit 7 Bit 8 … Bit 15 Bit 0 ... Bit 7 Bit 8 … Bit 15 Bit 0 ... Bit 7 Bit 8 … Bit 15
%MX %MX8.0~8.7
%MX9.0~9.7 %MX10.0~10.
7%MX11.0~11. 7%MX12.0~12. 7%MX13.0~13. 7%MX14.0~14. 7
%MX
15.0~15.
7
%MB %MB8 %MB9 %MB10 %MB11 %MB12 %MB13 %MB14 %MB15
%MW %MW4 %MW5 %MW6 %MW7
%MD %MD2 %MD3
3-3

DVP15MC11T Operation Manual
_3
Device
name
Corresponding relationships
The 5
th
WORD The 6
th
WORD The 7
th
WORD The 8
th
WORD
Bit
0 ... Bit 7 Bit 8 … Bit 15 Bit 0 ... Bit 7 Bit 8 … Bit 15 Bit 0 ... Bit 7 Bit 8 … Bit 15 Bit 0 ... Bit 7 Bit 8 … Bit 15
%ML %ML1
3.1.2.2 Valid Ranges of Devices
The table of valid ranges of the devices in DVP15MC11T
Device name
Expression
Range
%IX %IX0.0~%IX0.7 %IX0.0~%IX127.7
%QX %QX0.0~%QX0.7 %QX0.0~%QX127.7
%MX %MX0.0 %MX0.0~%MX131071.7
%IB %IB0 %IB0~%IB127
%QB %QB0 %QB0~%QB127
%MB %MB0 %MB0~%MB131071
%IW %IW0 %IW0~%IW63
%QW %QW0 %QW0~%QW63
%MW %MW0 %MW0~%MW65535
%ID %ID0 %ID0~%ID31
%QD %QD0 %QD0~%QD31
%MD %MD0 %MD0~%MD32767
%IL %IL0 %IL0~%IL15
%QL %QL0 %QL0~%QL15
%ML %ML0 %ML0~%ML16383
3-4

Chapter 3 Specifications
3_
The table of Modbus device addresses
Device area
Device
type
Range Modbus address
Modbus address
type
I
（Input）Bit
%IX0.0~%IX0.7
0x6000~0x6007
Standard Modbus
address
%IX1.0~%IX1.7
0x6008~0x600F
……
……
%IX127.0~%IX127.7
0x63F8~0x63FF
Word
%IW0~%IW63
0x8000~0x803F
Q
（Output）Bit
%QX0.0~%QX0.7
0xA000~0xA007
%QX1.0~%QX1.7
0xA008~0xA00F
……
……
%QX127.0~%QX127.7
0xA3F8~0xA3FF
Word
%QW0~%QW63
0xA000~0xA03F
M
（Register）
Bit
%MX0.0~%MX0.7
0x10000000~0x10000007
Delta-extended
Modbus
addresses
%MX1.0~%MX1.7
0x10000008~0x1000000F
……
……
%MX131071.0~%MX131071.7
0x100FFFF8~0x100FFFFF
Word %MW0~%MW32767 0x0000~0x7FFF
Standard Modbus
address
Word %MW32768~%MW65535 0x20008000~0x2000FFFF
Delta-extended
Modbus addresses
3.1.2.3 Latched Devices
The %MW0~%MW999 devices are latched devices in which data are retained when power off. Besides, the
variables defined in the software can select Retain as its property. The capacity of latched devices is 128K
bytes.
3-5