Delta DVP-15MC Series User manual

www.deltaww.com
DVP-15MC Series
Motion Controller
Operation Manual
DVP-15MC Series Motion Controller Operation Manual
2020-01-13
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-0191920-02
*We reserve the right to change the information in this manual without prior notice.

i
DVP-15MC Series Motion Controller
Operation Manual
Table of Contents
Chapter 1 Preface
1.1 Explanation of Symbols in This Manual ......................................................1-2
1.2 Revision History .........................................................................................1-2
Chapter 2Overview
1.1 Product Description....................................................................................2-2
1.2 Functions ...................................................................................................2-2
1.3 Profile and Components .............................................................................2-3
Chapter 3 Specifications
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 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

ii
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 ..........................................................................4-5
4.6 SD Memory Card ........................................................................................4-7
4.6.1 Model and Specification........................................................................... 4-7
Chapter 5 Installation
5.1 Dimensions ................................................................................................5-2
5.1.1 Profile and Dimensions............................................................................ 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 Installing and Removing the SD Card........................................................ 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 Wiring ........................................................................................................6-3
6.1.1 Power Supply......................................................................................... 6-3
6.1.2 Safety Circuit Wiring............................................................................... 6-4
6.2 Input Point and Output Point Wiring..........................................................6-5
6.2.1 Function that Input Points Support ........................................................... 6-5
6.2.2 Input Point Wiring .................................................................................. 6-6
6.2.3 Output Point Wiring ................................................................................ 6-8
6.3 RS-485 Communication Port ......................................................................6-9
6.3.1 Function that RS-485 Port Supports.......................................................... 6-9
6.3.2 Definitions of RS-485 Port Pins................................................................. 6-9
6.3.3 RS-485 Hardware Connection .................................................................. 6-9
6.3.4 Supported Function Codes and Exception Codes........................................6-10
6.4 RS-232 Communication Port ....................................................................6-11

iii
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 ................................................................ 6-12
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............................................. 6-14
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
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
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

iv
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
Table of Logic Instructions.........................................................................8-6
Explanation of Logic Instructions.............................................................8-10
8.2.1 EN and ENO .............................................................................................8-10
Sequence Input /Output Instructions......................................................8-10
8.3.1 R_TRIG ...................................................................................................8-10
8.3.2 F_TRIG....................................................................................................8-12
8.3.3 RS ..........................................................................................................8-14
8.3.4 SR ..........................................................................................................8-16
8.3.5 SEMA ......................................................................................................8-18
Sequence Control Instructions.................................................................8-20
8.4.1 JMP.........................................................................................................8-20
Data Movement Instructions....................................................................8-21
8.5.1 MOVE......................................................................................................8-21
8.5.2 MoveBit...................................................................................................8-22
8.5.3 TransBit ..................................................................................................8-24
8.5.4 MoveDigit ................................................................................................8-26
8.5.5 Exchange.................................................................................................8-28
8.5.6 Swap ......................................................................................................8-30
Comparison Instructions..........................................................................8-32
8.6.1 LT8-32
8.6.2 LE8-34
8.6.3 GT ..........................................................................................................8-36
8.6.4 GE ..........................................................................................................8-38
8.6.5 EQ ..........................................................................................................8-40
8.6.6 NE ..........................................................................................................8-42
Timer Instructions ...................................................................................8-44

v
8.7.1 TON ....................................................................................................... 8-44
8.7.2 TOF........................................................................................................ 8-46
8.7.3 TP8-48
8.7.4 Sys_ReadTime......................................................................................... 8-50
8.7.5 Sys_ReadTotalWorkTime .......................................................................... 8-51
8.7.6 Sys_ReadPowerOnTime ............................................................................ 8-52
8.7.7 Sys_WdgStatus ....................................................................................... 8-53
Counter Instructions ................................................................................8-55
8.8.1 CTU ....................................................................................................... 8-55
8.8.2 CTD ....................................................................................................... 8-57
8.8.3 CTUD ..................................................................................................... 8-59
Math Instructions.....................................................................................8-62
8.9.1 ADD....................................................................................................... 8-62
8.9.2 SUB ....................................................................................................... 8-65
8.9.3 MUL ....................................................................................................... 8-68
8.9.4 DIV........................................................................................................ 8-71
8.9.5 MOD ...................................................................................................... 8-74
8.9.6 MODREAL ............................................................................................... 8-76
8.9.7 MODTURNS............................................................................................. 8-78
8.9.8 MODABS................................................................................................. 8-80
8.9.9 ABS ....................................................................................................... 8-82
8.9.10 DegToRad............................................................................................ 8-84
8.9.11 RadToDeg............................................................................................ 8-86
8.9.12 SIN..................................................................................................... 8-88
8.9.13 COS.................................................................................................... 8-90
8.9.14 TAN .................................................................................................... 8-92
8.9.15 ASIN................................................................................................... 8-94
8.9.16 ACOS.................................................................................................. 8-96
8.9.17 ATAN .................................................................................................. 8-98
8.9.18 LN .....................................................................................................8-100
8.9.19 LOG...................................................................................................8-102
8.9.20 SQRT .................................................................................................8-104
8.9.21 EXP ...................................................................................................8-106
8.9.22 EXPT..................................................................................................8-108
8.9.23 RAND.................................................................................................8-110

vi
8.9.24 TRUNC...............................................................................................8-112
8.9.25 FLOOR ...............................................................................................8-114
8.9.26 FRACTION ..........................................................................................8-116
Bit String Instructions ...........................................................................8-118
8.10.1 AND...................................................................................................8-118
8.10.2 OR.....................................................................................................8-121
8.10.3 NOT...................................................................................................8-124
8.10.4 XOR...................................................................................................8-126
8.10.5 XORN.................................................................................................8-129
Shift Instructions...................................................................................8-132
8.11.1 SHL ...................................................................................................8-132
8.11.2 SHR...................................................................................................8-134
8.11.3 ROL...................................................................................................8-136
8.11.4 ROR...................................................................................................8-138
Selection Instructions............................................................................8-140
8.12.1 MAX...................................................................................................8-140
8.12.2 MIN ...................................................................................................8-142
8.12.3 SEL ...................................................................................................8-145
8.12.4 MUX ..................................................................................................8-147
8.12.5 LIMIT.................................................................................................8-149
8.12.6 BAND.................................................................................................8-151
8.12.7 ZONE.................................................................................................8-154
Data Type Conversion Instructions ........................................................8-157
8.13.1 BOOL_TO_*** ....................................................................................8-157
8.13.2 Bit strings_TO_***..............................................................................8-160
8.13.3 Integers_TO_*** ................................................................................8-167
8.13.4 Real numbers_TO_***.........................................................................8-176
8.13.5 Times,dates_TO_*** ...........................................................................8-179
8.13.6 Strings_TO_***..................................................................................8-181
Communication Instructions..................................................................8-184
8.14.1 CANopen Communication Instructions....................................................8-184
8.14.1.1 DMC_ReadParameter_CANopen .........................................................8-184
8.14.1.2 DMC_WriteParameter_CANopen.........................................................8-189
8.14.2 Ethernet Instructions ...........................................................................8-193

vii
8.14.2.1 ETH_Link_Config..............................................................................8-193
8.14.2.2 ETH_Link_Manage............................................................................8-198
8.14.2.3 ETH_Link_Status..............................................................................8-199
8.14.2.4 MODBUS TCP Data Exchange Example................................................8-202
8.14.2.5 ETH_Link_Config_Ext........................................................................8-209
8.14.2.6 ETH_ SetServerlinkkeeptime..............................................................8-211
8.14.2.7 ETH_Socket_Manage ........................................................................8-212
8.14.2.8 ETH_Socket_Config ..........................................................................8-214
8.14.2.9 ETH_Socket_Open............................................................................8-217
8.14.2.10 ETH_Socket_Send.........................................................................8-219
8.14.2.11 ETH_Socket_Receive.....................................................................8-223
8.14.2.12 ETH_Socket_Close ........................................................................8-227
8.14.2.13 ETH_Socket_Status.......................................................................8-229
8.14.2.14 Ehternet Free Protocol Example......................................................8-232
8.14.3 RS485 Communication Instructions .......................................................8-237
8.14.3.1 RS485_Link_Manage ........................................................................8-237
8.14.3.2 RS485_Link_Config ..........................................................................8-239
8.14.3.3 RS485_Link_Status..........................................................................8-243
8.14.3.4 RS485 Data Exchange Example..........................................................8-246
8.14.3.5 RS485_RS.......................................................................................8-249
8.14.3.6 RS485 Free Protocol Example ............................................................8-255
8.14.3.7 RS485_SetDelayTime .......................................................................8-259
8.14.4 RS232 Communication Instructions .......................................................8-261
8.14.4.1 RS232_Link_Manage ........................................................................8-261
8.14.4.2 RS232_Link_Config ..........................................................................8-263
8.14.4.3 RS232_Link_Status..........................................................................8-267
8.14.4.4 RS232 Data Exchange Example..........................................................8-270
8.14.4.5 RS232_RS.......................................................................................8-273
8.14.4.6 RS232 Free Protocol Example ............................................................8-279
8.14.4.7 RS232_SetDelayTime .......................................................................8-282
String Processing Instructions...............................................................8-284
8.15.1 CONCAT.............................................................................................8-284
8.15.2 DELETE ..............................................................................................8-286
8.15.3 INSERT ..............................................................................................8-288
8.15.4 LEFT / RIGHT......................................................................................8-290

viii
8.15.5 MID...................................................................................................8-292
8.15.6 REPLACE ............................................................................................8-294
8.15.7 LEN ...................................................................................................8-296
8.15.8 FIND..................................................................................................8-297
Immediate Refresh Instructions ............................................................8-299
8.16.1 FROM.................................................................................................8-299
8.16.2 TO.....................................................................................................8-303
8.16.3 ImmediateInput..................................................................................8-307
8.16.4 ImmediateOutput................................................................................8-309
8.16.5 Left_Manage.......................................................................................8-311
PID-related Instructions........................................................................8-315
8.17.1 PID....................................................................................................8-315
8.17.2 GPWM................................................................................................8-326
Address Instruction ...............................................................................8-328
8.18.1 ADR...................................................................................................8-328
Network Diagnosis.................................................................................8-330
8.19.1 Motion Diagnosis.................................................................................8-330
8.19.1.1 CANmotion_SysDiag (Motion System Diagnosis)..................................8-330
8.19.1.2 CANmotion_NodeDiag (Motion Axis Diagnosis).....................................8-332
8.19.2 CANopen Diagnosis..............................................................................8-334
8.19.2.1 CANopen_SysDiag (CANopen System Diagnosis) .................................8-334
8.19.2.2 CANopen_NodeDiag (CANopen Slave Diagnosis) ..................................8-336
8.19.2.3 CANopen_State (CANopen Master Diagnosis) ......................................8-338
Read and Write Offset Bit Value.............................................................8-340
8.20.1 SetBitOffsetValue ................................................................................8-340
8.20.2 GetBitOffsetValue................................................................................8-342
FCS Instructions ....................................................................................8-344
8.21.1 CRC...................................................................................................8-344
8.21.2 LRC ...................................................................................................8-346
Chapter 9 Introductions of Axis Parameters
9.1 Description of Axis Parameters..................................................................9-2
Chapter 10 Motion Control Function

ix
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 Table of Motion Control Instructions........................................................11-4
11.2 About Motion Control Instructions ...........................................................11-6
Composition of A Motion Control Instruction............................................. 11-6
Program Languages that Motion Control Instructions Support .................... 11-6
Configuration of Motion Control Instructions ............................................ 11-6
11.3 Single-axis Instructions ...........................................................................11-7
MC_Power ........................................................................................... 11-7
MC_Home...........................................................................................11-16
MC_MoveVelocity ................................................................................11-21
MC_Halt .............................................................................................11-28
MC_Stop ............................................................................................11-33
MC_MoveRelative ................................................................................11-38
MC_MoveAdditive ................................................................................11-46
MC_MoveAbsolute ...............................................................................11-54
MC_MoveSuperimposed........................................................................11-63
MC_HaltSuperimposed .........................................................................11-70
MC_SetPosition ...................................................................................11-75
MC_SetOverride ..................................................................................11-86
MC_Reset...........................................................................................11-90
DMC_SetTorque ..................................................................................11-93
MC_ReadAxisError...............................................................................11-98
MC_ReadActualPosition ......................................................................11-100
MC_ReadStatus.................................................................................11-105
MC_ReadMotionState.........................................................................11-110
DMC_ReadParameter_Motion..............................................................11-115
DMC_WriteParameter_Motion..............................................................11-119
DMC_TouchProbe ..............................................................................11-123
DMC_TouchProbeCyclically .................................................................11-131