DVP-MC Bus-Type Multi-Axis Motion Controller Operating Manual DVP-0191420-03 2012-08-17
Content 1. OVERVIEW OF DVP10MC11T ..................................................................................................................1-1 1.1. Function..............................................................................................................................................1-1 1.2. Profile and Outline..............................................................................................................................1-2 1.2.1. Dimension .............................
4.4.4. MC_MoveSuperImposed ........................................................................................................4-22 4.4.5. MC_MoveVelocity ...................................................................................................................4-27 4.4.6. MC_Stop..................................................................................................................................4-30 4.4.7. MC_PassiveHome .......................................................
.6.16. NOT.........................................................................................................................................4-97 4.6.17. CTU .........................................................................................................................................4-98 4.6.18. CTD .......................................................................................................................................4-100 4.6.19. CTUD .......................................
4.6.55. DInt_To_Real ........................................................................................................................4-136 4.6.56. Offset.....................................................................................................................................4-137 4.6.57. Offset _DI ..............................................................................................................................4-139 4.6.58. Offset _R ...........................................
4.8.5.2 Absolute/ Relative Mode Switching Instruction................................................................4-200 4.8.5.3 DNC_MOV(G0)（Rapid positioning instruction） ...........................................................4-201 4.8.5.4 DNC_LIN(G1)（Linear Interpolation Instruction） ..........................................................4-202 4.8.5.5 Circular/ Helical Interpolation（The Coordinates of Center of a Circle Are Set）...........4-204 4.8.5.
Overview of DVP10MC11T 1. Overview of DVP10MC11T DVP10MC11T is a type of multi-axis motion controller researched and produced by Delta autonomously on basis of CANopen field bus. It complies with CANopen DS301 basic communication protocol and DSP402 motion control protocol. Also, it supports motion control standard instruction libraries defined by most international organizations. It brings great convenience to user to learn to develop projects quickly.
Overview of DVP10MC11T 1.2. Profile and Outline 1.2.1. Dimension Unit: mm [in.] 1.2.2.
2. System Function 2. Introduction to System Function DVP10MC11T is a high-performance controller in charge of 1~ 16 real axes and max. 18 virtual axes with the application functions like gear box, cam, rotary cut, flying shear.
2. System Function 2.1.1. COM Port COM1（RS-232） COM1, RS-232 communication port possessed by PLC module, supports Modbus protocol and could serve as Modbus master (supporting MODRW, RS instructions) or slave to upload and download programs, monitor PLC device, and connect human-machine interface and etc.
2. System Function Note: DVP10MC11T provides two RJ45-type CAN port to make a daisy-chain topological structure in the two ends of the bus. One of RJ45 ports is left for connection of terminal resistor. Encoder Interface The encoder interface is a 15-pin D-SUB connector connected to the external encoder. It supports differential signal input with max work frequency 1MHz (250Kx 4 = 1MHz for per input).
2. System Function Ethernet communication port Ethernet communication port supporting Modbus TCP protocol is possessed by motion control module. CANopen Builder in the PC can download CANopen network configuration, motion control program, cam curves and G codes and also can monitor devices via Ethernet communication port. DVP10MC11T only serves as slave and could be accessed by maximum 4 masters in Ethernet network. Ethernet communication port supports auto jumper function.
2. System Function PLC Module The PLC module built in DVP10MC11T is identical to DVP series of PLC products. User could utilize the WPLSoft or ISPSoft software to edit the program, conduct the monitoring and make a connection with the left and right I/O extension and etc. The following is its functions. ¾ CPU specification: 32- bit CPU with the built-in instruction for 32-bit multiplication and division operation.
2. System Function ¾ Supporting G code y Supporting standard G code and supporting the dynamic download of G code; G code is executed while being downloaded in order to accomplish the complicate objects processing. y Capable to debug the G code in the way of a single step or fixed point through CANopen Builder software y CANopen Builder software provides the function of preview of G codes so that user could conveniently judge if the input G codes are correct or not.
2. System Function The number of input/ output point: (Octal) X20 ~ X27......, X70 ~ X77, X100 ~ X107... Y20 ~ Y27......, Y70 ~ Y77, Y100 ~ Y107... Note: The number of digital points of the digital-quantity extension module on the right of DVP10MC11T starts from 20. Suppose that the input point for the first digital-quantity extension module starts from X20 and output point starts from Y20.
2. System Function 2.2. The internal devices 2.2.1. The internal devices of PLC module See appendix E on the internal devices of PLC in DVP10MC11T 2.2.2.
2. System Function Special D Function explanation Attribute Data type latched This area is for data exchange D6250 The area of data … exchange between PLC and MC PLC: R/W MC: R UINT N D6476 D6500 Current scanning time for DVP10MC(unit: us) for DVP10MC (unit: us) between PLC and MC, PLC writes the data into this area and MC reads the data in this area. The time needed for motion R UINT N R UINT N Max. scanning time D6501 Remark control program to scan the last time. Max.
2. System Function Special D Function explanation Attribute Data type latched R UINT N The check code of D6508 exchanged data when PLC => MC Remark The check code of the data which PLC writes to MC. 1. When D6509 value = 0 D6509 Setting of RUN/STOP switch R/W UINT N R UINT N RUN/STOP switch is disabled. 2. When D6509 value = 1, RUN/STOP switch is enabled.
2. System Function Special D Function explanation Attribute Data type latched Remark b3~b0=0000: 7,E,1,ASCII b3~b0=0001: 7,O,1,ASCII b3~b0=0010: 7,N,1,ASCII b3~b0=0100: 8,N,2,RTU b7~b4=0000: 9600bps b7~b4=0001: 19200bps b7~b4=0010: 38400bps Communication ID D6516 D6517 and communication format of DVP10MC11T Current scan time for logical program （Unit: us） b7~b4=0011: 57600bps R/W UINT Y b15~b8 are used to set the modbus node ID, e.g.
2. System Function Special D Function explanation Attribute Data type latched Remark When DMC_ CapturePosition The pulse number D6529 received at the interface of the encoder R DINT N uses I0 for position capture in mode 10, the value of D6529 is the pulse number received at the interface of the encoder of 10MC. 0: Axis alarm is not detected. The instructions related with the alarm axis can still be executed when the axis alarms.
2. System Function Status word in DVP10MC D6511 and D6512 are the status words of MC module and the following is the specific explanation: Bit The implication when each bit in Device D6511 is 1 How to deal with DVP10MC11T is in error mode, Bit0 motion control program is terminated by accident. DVP10MC11T is in mode of Bit1 configuration and the configuration data is being downloaded. Bit2 Node list is empty and slave has not been configured.
2. System Function 2.3. System Work Principle 2.3.1. Axis Parameter Setting MC function module in DVP10MC11T is mainly applied to control over drive axis. Therefore, the setting of parameter of every drive axis is very crucial and the following is the main parameters to be set up.
2. System Function Description of Axis Parameter: Serial No Parameter Name 1 Node-ID Function Axis number; range:1-16 Data Type Default Value UINT - String - “Node-ID” is the CANopen node address of servo drive. 2 Name Axis name "Name" is the word commented on servo drive by software, which is only used for naming the servo drive without actual meaning.
2. System Function Serial No Parameter Name Function Data Type Default Value BOOL 0 5 Software Limitation Enable software limitation; If it item is not selected, The maximum/ minimum position of axis which software limits is invalid. If selected, the maximum/ minimum position of axis limited by software is valid. 6 Maximum Position The max. position of axis limited by software REAL - 7 Minimum Position The mini.
2. System Function Serial No Parameter Name 12 Input rotations of gear 13 Output rotations of gear 14 Unit per output rotation Data Type Default Value This parameter and Output rotations of gear decide the mechanism gear ratio. UINT 1 This parameter and Input rotations of gear decide the mechanism gear ratio. UINT 1 The corresponding position units which the terminal actuator moves while output end of the gear rotates for a circle.
2. System Function Serial No Parameter Name 19 Max.Deceleration Function The available max. deceleration; (Unit: unit) Data Type Default Value REAL 10000 Parameters 17~19 are used in the specific situation. E.g. The velocity, acceleration and deceleration of G0 in instruction CNC; the velocity, acceleration and deceleration at which slave enters the state of meshing with the master axis when Cam in; the velocity, acceleration and deceleration at which slave follows the master to move when Gear in.
2. System Function 2.3.2. Motion Program Execution Principle DVP10MC11T consists of two function modules: PLC module and MC motion control module. To enhance the work efficiency, the two modules handle the logic tasks and motion control task respectively. User could edit the program for the PLC module through ISPSoft and WPLSoft software to achieve logic control function, while, to achieve motion control function, CANopen Builder software is necessary for programming.
2. System Function Figure 2.2.2 Motion control task list In above figure, suppose MC_MoveAbsolute instruction is being executed but has not finished execution yet. At the moment, if M3=on is detected, the execution of MC_MoveAbsolute instruction will be terminated and MC_MoveRelative instruction starts executing. Meanwhile, Abort bit M21=on which indicates an accident occurs in MC_MoveAbsolute and so the instruction stops executing. The interrupted MC_MoveAbsolute will be always in stop status.
2. System Function 2.3.3. CNC Function DVP10MC11T, a multi-axis motion controller, supports the standard CNC function and can execute G codes dynamically and statically to achieve the simple numerical control of machine tool. Besides, it could also be applied to the occasions where G codes are used to locate and path planning. CANopen Builder software provides CNC G code editing function; user could edit G codes in the CNC editor or import the G codes switched by other design software into this editor.
2. System Function Figure 2.3.2 CNC editor provides the function of debugging of the current G codes so that user only need preset the target position of the G codes to be executed. Also, CNC editor can provide the function of one single -step execution of the current G-code document to ensure the correctness of debugging of G codes. 2.3.3.1.
2. System Function 2.3.3.3. Message Format The following is the format of the Modbus packet of CNC program downloaded dynamically. Request message format: 0 1 2…n-1 n…n+1 Address Function Code 0x7A] G-Code string Parity Address: The communication node ID of DVP10MC11T, default: 02 Function Code: Function code, 0x7A indicates to download CNC programs dynamically. G-Code String: A complete row of CNC program character string presented in ASCII code value with the symbol of “Enter” in the end.
2. System Function 2.3.4. CAM Function CAM is a component with curve profile or grooves. It transmits the motion to the follower near its edge and the rack will turn around periodically following the follower. CAM mechanism consists of CAM, follower and rack. The following figure is the profile chart of CAM made up of point A, B, C, and D. AB' is a follower which is connected to rack. δ4 is an inner angle of repose; δ2 is an external angle of repose.
2. System Function After CAM curve is finished editing, it should be called for use in the motion control program where MC_CamTableSelect and MC_CamIn are included together as figure 2.3.5 shows. Figure 2.3.
3. System Installation 3. System Installation This chapter focuses on the instructions of electrical specification and system installation. For the details of peripheral devices, please refer to the user manual enclosed with the product or log on the website: http://www.delta.com.tw. 3.1. Electrical Feature Electrical specification Item Content Voltage 24 VDC（-15% ~ +20%） Current 2.
3. System Installation Electrical specification for the output point Item Content Input channel number 4 transistors for output (Source) Channel type High-speed digital output type for the 4 channels Output terminals Terminal: Q0, Q1, Q2, Q3 Power voltage for 24 VDC（-15% ~ +20%）#1 output point Output delay 2µS （ Off -> On）, 3µS （ On -> Off ） Max switch frequency 1KHZ Resistance: 0.5A/1point （2A/ZP） Max loading Inductance: 15W（30VDC） Bulb: 2.
3. System Installation 3.2. System Connection 3.2.1. Power and IO Wiring Power input It is direct current input for DVP10MC11T MPU power and below items should be paid special attention to for use. 1. The input power voltage is in the range from 20.4 VDC to 28.8VDC and the power is connected to the two terminals: 24V and 0 and earth terminal is connected to the ground.
3. System Installation 6 Delta power module DVPPS02/24VDC ( It is recommended to adopt the power module DVPPS02 for DVP10MC11T); 7 DVP10MC11T body; 8 Grounding 9 Safety circuit Wiring of input and output point Wiring of input circuit The input signal of input point is direct-current power input in two ways of wiring: Sink mode and Source mode. The following is the introduction of the two ways. ¾ Sink mode The feature of Sink mode is that the current flows to the common terminal S/S.
3. System Installation The relevant circuit for wiring is shown as figure 3.2.5 Figure 3.2.5 Wiring of output circuit The circuit plate for the transistor output in DVP10MC11T includes the diodes with the protection function of counter potential. It is sufficient for application of the inductive load at low power and little higher frequency of On/Off change.
3. System Installation 3.2.2. Connected to ASDA-A2 Series of Servo There are multiple models for ASDA-A2 series of servo drive. ASDA-A2-●●●●-M supporting CANopen communication can be used to create the CANopen motion control network with DVP10MC11T together. The connection between DVP10MC11T and servo drive can be made with TAP-CB03 or TAP-CB05 cable through CN6 port.
3. System Installation 3.2.3. 1. Connecting the Extension Module to the Left Side of DVP10MC11T as DeviceNet Master Connecting DVPDNET-SL to DVP10MC11T ¾ Open the extension module clips on the top left and bottom left of DVP10MC11T and install DVPDNET-SL along four mounting holes in the four angles of DVP10MC11T as figure 3.2.8. ¾ Press the clips respectively on the top left and bottom left of DVP10MC11T to fix the module tightly and ensure that their contact is normal.
3. System Installation 3.2.4. 1. Connecting the Extension Module (DVP16SP11T) to the Right Side of DVP10MC11T Connecting DVP16SP11T to DVP10MC11T; ¾ Open the extension module clips on the top right and bottom right of DVP10MC11T and install DVP16SP11T along four mounting holes in the four angles of DVP10MC11T as figure 3.2.10. ¾ Press the clips on the upper right and bottom right of DVP10MC11T to fix the module tightly and ensure that their contact is normal.
4. Motion Control Instructions 4. Motion Control Instruction 4.1.
4.
4.
4.
4. Motion Control Instructions 4.2. Axis Status When DVP10MC11T utilizes the motion control instruction to control every axis, there is one internal-run state for every axis and axis states are switched by following the state machine instruction below. The state machine defines the motion instructions that can be executed in all states and the states after the motion instructions are executed.
4. Motion Control Instructions Axis status can be judged according to the special register for axis status. For explanation of the special register on axis, please refer to appendix C. All states of the axes correspond to the values as below.
4. Motion Control Instructions Data type list The data types in the motion control program for DVP10MC11T are Serial No. Data type Lower limit Upper limit Bit number 1 BOOL 0 1 8 2 BYTE 0 255 8 3 WORD 0 65535 16 4 DWORD 0 4294967295 32 5 SINT -128 127 8 6 USINT 0 255 8 7 INT -32768 32767 16 8 UINT 0 65535 16 9 DINT -2147483648 2147483647 32 10 UDINT 0 4294967295 32 REAL( Positive number) 3.4x10-38 3.
4. Motion Control Instructions 4.4. Single-Axis Instruction Usage 4.4.1. MC_MoveAbsolute API Move absolutely MC_MoveAbsolute 01 Controller 10MC11T Explanation of the Instruction: MC_MoveAbsolute is applied to control the terminal actuator to move to the target position relative to the zero point at the given speed, acceleration and deceleration. Once this instruction is aborted in process of motion, the uncompleted distance left will be ignored and the new instruction will be executed subsequently.
4. Motion Control Instructions Parameter name Explanation Data type Available device Abort When this instruction execution is aborted, "Abort" turns on; when “Execute” is off, "Abort" is reset. BOOL M,Q Error If any error is detected, "Error" turns on; when “Execute” is off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to selection 5.3. UINT D Note: 1.
4. Motion Control Instructions 4-10 Direction: 0 (Shortest) Direction: 0 (Shortest) Current position: 315° Current position: 315° Target position: 90° Target position: 270° Movement angle: 135° Movement angle: 45° Direction: 2 (Extend current direction) Direction: 2(Extend current direction) Rotary axis status: in state of negative rotation Rotary axis status: be motionless, in state of positive before function block is executed. rotation before function block is executed.
4. Motion Control Instructions Program Example (1) Motion diagram as below: Velocity Tar get position 500 Time Position Target position 5000 Time M2(Execute) M20(Done) M21(Abort) M22(Error) When M2 is Off Æ On, motion controller starts to control servo motor rotation. When servo reaches target position, M20 of "Done" will be OffÆOn. When M2 is On Æ Off, M20 of "Done" will be reset.
4. Motion Control Instructions Program Example (2) Two MC-MoveAbsolute instructions in the same task list are matched for use as follows.
4. Motion Control Instructions Motion diagram as below: When M2 is OffÆOn, motion controller starts to control servo motor rotation. When M3 turns OffÆOn, the first MC_MoveAbsolute instruction is aborted, and M21 of "Abort" bit turns OffÆOn. Meanwhile, the second MC_MoveAbsolute instruction is executed and servo action is performed according to the parameter of the second MC_MoveAbsolute instruction.
4. Motion Control Instructions 4.4.2. MC_MoveRelative API Controller Move relatively MC_MoveRelative 10MC11T 02 Explanation of the Instruction: MC_MoveRelative is applied to control the terminal actuator to move for a given distance with the current position as the reference point at a given speed, acceleration, deceleration. Once this instruction is aborted in process of motion, the uncompleted distance left will be ignored and the new instruction will be executed subsequently.
4. Motion Control Instructions 2. When the velocity, acceleration and deceleration of the instruction are read via human-computer interface, their value types must be set as Double Word （Floating） Program Example (1) Motion diagram: When M2 turns Off→On, motion controller controls servo motor to rotate with current position as reference point. After servo motor completes the set distance, M20 of "Done" bit turns Off→On. When M2 turns OnÆOff, M20 of "Done" bit is reset.
4. Motion Control Instructions Program Example (2) Two MC_MoveRelative instructions in the same task list are matched for use as follows.
4. Motion Control Instructions Motion diagram as below: When M2 turns Off→On, motion controller controls servo motor to rotate with initial position as reference point. When M3 turns Off→On, the first relative position instruction is aborted and M21 of "Abort" bit turns Off→On. Meanwile, servo motor starts to execute the second relative position instruction with where the first relative position instruction is aborted as reference point.
4. Motion Control Instructions 4.4.3. MC_MoveAdditive API Controller Move additively MC_MoveAdditive 10MC11T 03 Explanation of the Instruction: MC_MoveAdditive is applied to control the terminal actuator to move for an additive distance at a given speed and acceleration.
4. Motion Control Instructions Note: 1. When MC_MoveAdditive instruction is being executed, “Execute”: rising edge occurs, which doe not impact the execution of the instruction. 2. When the velocity, acceleration and deceleration of the instruction are read and written via human-computer interface, their value types must be set as Double Word（Floating).
4. Motion Control Instructions Servo motor completes the set distance, M2 turns Off→On again, motion controller sends command to control servo motor rotation; after servo motor completes the set distance, M20 of "Done" bit turns Off→On once again. Program Example (2) Two MC_MoveAdditive instructions in the same task list are matched for use as follows.
4. Motion Control Instructions Motion diagram as below: When M2 turns Off→On, motion controller controls servo motor to rotate with current position as reference point. When M2 turns Off→On, the first MC_MoveAdditive instruction is aborted and M21 of "Abort" bit turns Off→On. Meanwile, servo motor starts to execute the second MC_MoveAdditive instruction to rotate.
4. Motion Control Instructions 4.4.4. MC_MoveSuperImposed API MC_MoveSuperImposed Controller Superimposed motion 10MC11T 04 Explanation of the Instruction: MC_MoveSuperImposed is applied to control the terminal actuator to chase for a given distance at a given speed, acceleration and deceleration in current motion status.
4. Motion Control Instructions Parameter name ErrorID Explanation Error code. Please refer to section 5.3. Data type Available device UINT D Note: 1. When MC_MoveSuperImposed instruction is being executed, “Execute”: rising edge occurs, which does not impact the execution of the instruction. 2. When the velocity, acceleration and deceleration of the instruction are read and written via human-computer interface, their value types must be set as Double Word （Floating).
4. Motion Control Instructions Motion diagram as below: When M2 turns Off→On, motion controller controls servo motor to rotate with current position as reference point. After servo motor completes the target distance, M20 of "Done" bit turns Off→On. When M2 turns OnÆOff, M20 of "Done" bit is reset.
4. Motion Control Instructions Program Example (2) Two MC_MoveSuperImposed instructions in the same task list are matched for use as follows.
4. Motion Control Instructions Motion diagram as below: When M2 turns Off→On, M22 of "Busy" turns Off→On and motion controller controls servo motor to rotate with current position as reference point. When M3 turns Off→On, M32 of "Busy" turns Off→On; the second MC_MoveSuperImposed instruction starts to be executed and the speed and acceleration of servo motor enter the superposition state respectively.
4. Motion Control Instructions 4.4.5. MC_MoveVelocity API Controller Velocity instruction MC_ MoveVelocity 10MC11T 05 Explanation of the Instruction: MC_MoveVelocity is applied to control the terminal actuator to move at the given acceleration and deceleration and finally it moves at the constant speed when reaching the given velocity.
4. Motion Control Instructions Parameter name Explanation Data type Available device Error If any error is detected, "Error" turns on; when “Execution” turns from on to off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to selection 5.3. UINT D Note: 1. When MC-MoveVelocity instruction is being executed, “Execute”: rising edge occurs, which does not impact the execution of the instruction. 2.
4. Motion Control Instructions Program Example (2) Two MC_MoveVelocity instructions in the same task list are matched for use as follows.
4. Motion Control Instructions Motion controller controls servo motor rotation as M2 turns Off→On; M3 turns Off→On when servo motor has not reached target speed; M21 of "Abort" of the first instruction turns Off→On and servo motor accelerates to the speed of the second MC_MoveVelocity instruction to run; M30 of "Invelocity" turns Off→On after servo motor is up to the target speed. M30 of "Invelocity" turns On→Off when M3 turns On→Off. 4.4.6.
4. Motion Control Instructions Program Example (1) Motion diagram as below: When M0 turns Off→On, motion controller controls servo motor to decelerate; after servo motor speed reaches 0, M10 of "Done" turns Off→On. M10 of "Done" is reset when M0 turns On→Off.
4. Motion Control Instructions Program Example (2) MC_MoveVelocity and MC_Stop in the same task list are matched for use as follows. Motion diagram as below: When M2 turns Off→On, motor starts to rotate. When its rotation speed reaches the specified speed of MC_MoveVelocity instruction, M20 turns Off→On. When M3 turns Off→On, MC_Stop starts being executed. M30 of "Done" turns Off→On as the speed is decreased to 0. M30 of "Done" is reset as M3 turns On→Off.
4. Motion Control Instructions 4.4.7. MC_PassiveHome API Controller Homing instruction MC_PassiveHome 10MC11T 07 Explanation of the Instruction: MC_PassiveHome is applied to control the servo motor to perform the homing action in mode and at the velocity that axis parameter gives. The homing mode and velocity are set in the interface of axis parameters setting.
4. Motion Control Instructions Mechanical zero point, A where the For different Position value, the servo will eventually stop at the mechanical point A under the control of this instruction. But the reference zero point of the servo position makes the change as shown below. photoelectric sensor is. The position is where the servo is after the execution of this instruction is finished.
4. Motion Control Instructions Note: 2) z During wiring, COM+ and VDD must be shorted. z The brown terminal (24V+) of photoelectric switch is connected to COM+ its blue terminal (0V) is connected to COM- and its black terminal ( Signal cable) is connected to DI7 z The DI7 function is set to the home switch, i.e. P2-16 is set to 124 Homing mode selection It can be seen from the hardware wiring figure that the mechanism regards the home switch positon as the mechanical zero point position A.
4. Motion Control Instructions 4.4.8. MC_Power API Power control instruction MC_Power 08 Controller 10MC11T Explanation of the Instruction: MC_Power is applied to enable or disable the corresponding servo axis.
4. Motion Control Instructions 4.4.9. MC_Reset API Controller Reset instruction MC_Reset 10MC11T 09 Explanation of the Instruction: MC_Reset is applied to clear the axis error state in 10MC and the axis alarm information. When virtual axis or axis configured in 10MC enters the state of ErrorStop which could be found via MC_ReadStatus, MC_Reset just can be executed. Otherwise, the error will be alarmed by executing the instruction.
4. Motion Control Instructions Exmaple: When M0 is on, MC_ReadStatus will detect the state of the axis of number 1. When the axis of number 1 enters the state of ErrorStop due to offline or alarm, the ErrorStop bit of MC_ReadStatus is on and MC_Reset instruction is executed.
4. Motion Control Instructions 4.4.10. MC_ReadStatus API Controller Read axis status MC_ReadStatus 10MC11T 10 Explanation of the Instruction: MC_ReadStatus is applied to read the servo axis state in the controller. For the details on the axis state, please refer to section 4.2.
4. Motion Control Instructions Parameter name Synchroniz eMotion Homing Explanation Data type Available device BOOL M,Q BOOL M,Q “SynchronizeMotion” is on as axis is in synchronous motion status; “SynchronizeMotion” is reset as “Enable” turns on -> off. “Homing” bit turns on as axis is in homing status; “Homing” is reset as “Enable” turns on -> off. Note: 1. After the execution of this instruction is finished, the servo drive axis state will be reflected on the corresponding bit device. 2.
4. Motion Control Instructions 4.4.12. MC_ReadAxisError API Read axis error MC_ReadAxisError 12 Controller 10MC11T Explanation of the instruction: MC_ReadAxisError is applied to read the error information of the servo axis such as the alarm of an error or the state if servo axis is offline or not and so on, which are displayed on the panel of the servo drive. This instruction triggered by high level will read the axis error information when “Enable” is on.
4. Motion Control Instructions 4.4.13. DMC_ReadParameter API Controller Read parameters DMC_ReadParameter 10MC11T 13 Explanation of the Instruction: DMC_ReadParameter is applied to read the parameter value of the servo axis. User could specify the index and sub-index of the parameter desired to be read.
4. Motion Control Instructions 4.4.14. DMC_WriteParameter API Controller Write parameters DMC_WriteParameter 10MC11T 14 Explanation of the Instruction: DMC_WriteParameter is applied to set the parameter value of the servo axis. User could specify the index and sub-index of the parameter to be set.
4. Motion Control Instructions 4.4.15. DMC_SetTorque API Controller Set torque DMC_SetTorque 10MC11T 15 Explanation of the Instruction: DMC_SetTorque is applied to set the torque of the servo axis. When this instruction is executed, the servo axis works in mode of torque.
4. Motion Control Instructions Program Example M1 D0 M11 When M1 of "Enable" is on, the instruction is in execution status and M11 is on. Torque size will changed accordingly if D0 value is changed.
4. Motion Control Instructions 4.5. Multi-Axis Instruction 4.5.1. MC_CamTableSelect API Controller Select Cam table MC_CamTableSelect 10MC11T 64 Explanation of the Instruction: MC_CamTableSelect is applied to choose the cam curve and meanwhile to specify the mode when master axis establishes the relation with the slave axis.
4. Motion Control Instructions 4.5.2. MC_CamIn API Controller Cam-in instruction MC_CamIn 10MC11T 65 Explanation of the Instruction: MC_CamIn is applied to establish the cam relation between master axis and slave axis. When the cam relation is established, this instruction can be used to specify the offset value, scaling and start mode of the master axis and slave axis according to the application demand.
4. Motion Control Instructions Parameter name InSync Explanation “InSync” turns on after master axis and slave axis establish the cam relation; Data type Available device BOOL M,Q When “Execute” turns off, InSync is reset. Error If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset.。 BOOL M,Q ErrorID Error code. Please refer to section 5.3.
4. Motion Control Instructions 5. Relations between master/slave axis modes and start modes. Master axis is absolute and slave axis is absolute ¾ Relation explanation when master and slave axis are in absolute mode. In the system where master and slave axis are in absolute mode, master axis starts moving with the physical position of current point as the starting position when CamIn is executed.
4. Motion Control Instructions <2> From cam curve, slave position is 164 when master position is 144. Calculation method: f (144) =164. <3> When slave axis is in absolute mode, slave position= 164* slave scaling 1 + slave offset 0 =164 <4> Because startup mode 0 is to start up by jumping to the positive target position direction immediately, slave axis need move from current position to the position 164 in the next cycle, i.e.
4. Motion Control Instructions p Start-up mode 2: start up toward positive direction. Slave axis moves from point A to point B to mesh with master axis at the max. speed, max acceleration and max deceleration. <1> When master axis is in absolute mode, master position in cam curve = (master position 144 + master offset 0) / master scaling 1 =144. <2> From cam curve, slave position is 164 when master position is 144. Calculation method: f (144) =164.
4. Motion Control Instructions q 4-52 Start-up mode 3: start up toward negative direction. Slave axis moves from point A to point B to mesh with master axis at the max. speed, max acceleration and max deceleration <1> When master axis is in absolute mode, master position in cam curve = (master position 144 + master offset 0) / master scaling 1 =144. <2> From cam curve, slave position is 164 when master position is 144. Calculation method: f (144) =164.
4. Motion Control Instructions Master axis is absolute and slave axis is relative ¾ Relation explanation when master axis and slave axis are in absolute and relative mode respectively In the system where master and slave axis are in absolute and relative mode respectively, master axis starts moving with the physical position of current point as the starting point of the cam when “CamIn” is executed.
4. Motion Control Instructions <1> When master axis is in absolute mode, master position in cam curve = (master position 144 + master offset 0) / master scaling 1 =144. <2> From cam curve, slave position is 164 when master position is 144. Calculation method: f (144) =164.
4. Motion Control Instructions <1> When master axis is in relative mode, master position in cam curve = (master position 0 + master offset 0) / master scaling 1 =0. <2> From cam curve, slave position is 0 when master position is 0. Calculation method: f (0) =0.
4. Motion Control Instructions p 4-56 <1> When master axis is in relative mode, master position in cam curve = (master position 0 + master offset 0) / master scaling 1 =0. <2> From cam curve, slave position is 0 when master position is 0. Calculation method: f (0) = 0.
4. Motion Control Instructions q Start-up mode 0: start up by jumping to the positive target position immediately. In one synchronous cycle, slave axis jumps from point A to the point B to mesh with master axis. <1> When master axis is in relative mode, master position in cam curve = (master position 0 + master offset 0) / master scaling 1 = 0. <2> From cam curve, slave position is 0 when master position is 0. Calculation method: f (0) =0.
4. Motion Control Instructions Master axis is relative and slave axis is relative ¾ Relation explanation when master axis and slave axis are both in relative mode In the system where master and slave axis are both in relative mode, master axis starts moving with the physical position of current point as the starting point of the cam system when “CamIn” is executed. Slave axis will start the cam motion following master axis with current physical position as the starting point.
4. Motion Control Instructions <1> When master axis is in relative mode, master position in cam curve = (master position 0 + master offset 0) / master scaling 1 = 0. <2> From cam curve, slave position is 0 when master position is 0. Calculation method: f (0) = 0. <3> When slave axis is in relative mode, slave position= 0* slave scaling 1 = 0 <4> When slave axis is in relative mode as well as any start-up mode, its actual position at point B is 227 and the corresponding position in the cam curve is 0.
4. Motion Control Instructions Master scaling =1, slave scaling = 2, master offset = 0, slave offset = 0 360 S lave Position 120 Master Position 360 When master scaling =1, slave scaling = 2, master offset = 0, slave offset = 0, slave position is twice that in original cam curve. Master scaling =1, slave scaling = 0.5, master offset = 0, slave offset = 0 360 Slave Position 90 30 Master Position 360 When master scaling =1, slave scaling = 0.
4. Motion Control Instructions Master scaling = 2, slave scaling = 1, master offset = 0, slave offset = 0 360 Slave Position 180 60 360 Master Position 720 When master scaling = 2, slave scaling = 1, master offset = 0, slave offset = 0, the cam curve cycle is twice the original one and master axis takes 720°（360°*2）as the corresponding current cycle. Master scaling = 0.
4.
4. Motion Control Instructions Electronic cam example: The electronic cam curve parameters have impact on the actual cam curve. The following are explained in detail.
4. Motion Control Instructions Calculation of the coordinate of the key point in the corresponding cam curve Current position (30, 180), module is 360 and thus the point corresponding to the cam curve is (30, 180), i.e. point A in the figure. The corresponding point position in cam curve can be calculated via the following formula.
4. Motion Control Instructions When master and slave axis are in relative mode, the position curve figure for the actual motion is displayed below: Slave Position 9 00 1 80 0 A 30 3 90 7 50 1110 1 47 0 Master Position Derivation process of the coordinates of the key point is shown below: ¾ Current master position is 30; when master axis is in relative mode, master position corresponding to cam curve is 0 and any offset is invalid.
4. Motion Control Instructions 4.5.3. MC_CamOut API Controller Cam-out instruction MC_CamOut 10MC11T 66 Explanation of the instruction: This instruction is applied to disconnect the cam relation between master and slave axis. After the cam relation is disconnected, slave will keep moving at the speed when the cam relation is disconnected.
4. Motion Control Instructions Program Example: The following example describes the corresponding motion state when and after cam relation is established or when cam relation is disconnected via CAM-related instructions.
4. Motion Control Instructions Motion curve: Suppose the current physical positions of axis 2 and axis 1 are 0 and 90 respectively, i.e. point A below and the two axes have been enabled. The motion curve is shown below after the cam function is performed. As M1 turns Off ->On, “CamTableSelect” is executed. M17 is on after the execution of “CamTableSelect“ is finished. As M2 turns Off ->On, “CamIn” is executed.
4. Motion Control Instructions 4.5.4. DMC_CamSet API Set cam MC_CamSet 67 Controller 10MC11T Explanation of the instruction: The instruction is applied to modify the relevant parameters of the cam. Explanation of input and output parameter of the instruction: Parameter name Explanation Data type Available device Execute “DMC_CamSet” instruction is executed as “Execute” turns Off –> On. BOOL M,I,Q, Constant CamTableID The corresponding CAM (electronic CAM table) serial no.
4. Motion Control Instructions The register number of the key point and the corresponding communication address are shown below. Key Master axis position point serial no. D register no. MODBUS address (hex) Slave axis position D register no MODBUS address (hex) Velocity D register no. Acceleration MODBUS address (hex) D register no.
4. Motion Control Instructions The key point number and its corresponding communication address can also be checked in the following CANopen Builder software. 2. Suppose two cam curves are built in CANopoen Builder. There are 3 points for the first cam curve, 5 points for the second cam curve, and so there are totally 8 key points for the electronic cam curve (the sum of the key points for the first cam curve plus the key points for the second cam curve). The register parameter with serial no.
4. Motion Control Instructions From the figures above, you can see the slave axis position of the second key point need be modified, i.e. the value of D32770 need be done. Modify the value from 360 to 540 via the instruction "MOV-R". The cam curve parameter table is shown below after being modified. Key point serial Master axis Slave axis no.
4. Motion Control Instructions 4.5.5. MC_GearIn API Controller Gear-in instruction MC_GearIn 10MC11T 68 Explanation of the instruction: The instruction is applied to establish the gear relation between master and slave axis. While the gear relation is being established, the parameters like gear ratio can be set. After the gear relation is established, slave axis will follow master axis to move at the given proportional relationship to accomplish the synchronized control of master and slave axis.
4. Motion Control Instructions Parameter name Explanation Data type Available device Error If any error is detected, "Error" turns on; when "Execute" turns on -> off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to section 5.3.
4. Motion Control Instructions 4.5.6. MC_GearOut API Controller Gear-out instruction MC_GearOut 10MC11T 69 Explanation of the instruction The instruction is applied to disconnect the gear relation between master and slave axis. After disconnection, slave will keep moving at the speed when the gear relation is disconnected. Explanation of input and output parameter of the instruction: Parameter name Explanation Data type Available device Axis The node address of slave axis.
4. Motion Control Instructions Program Example: The following example describes the corresponding motion state when and after gear relation is established or when gear relation is disconnected via Gear-related instructions. Motion curve: When M2 turns Off ->On, master axis starts to move. When M3 turns Off ->On, slave axis starts to move following master axis.
4. Motion Control Instructions 4.5.7. MC_Phasing API Controller Phase shift MC_Phasing 10MC11T 70 Explanation of the instruction The instruction is applied to adjust the phase difference between master and slave axis. When the two axes have established the master-slave relation, master axis can be added by one virtual phase through execution of this instruction to impact the slave axis.
4. Motion Control Instructions Parameter name Done Abort Error ErrorID Data type Available device BOOL M,Q BOOL M,Q If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset. BOOL M,Q Error code. Please refer to section 5.3. UINT D Explanation As adjustment of phase shift is completed, “Done” is on; As "Execute" is off, "Done" is reset. When executing "MC_Phasing" is aborted, "Abort" is on; As "Execute" is off, "Abort" is reset.
4.
4. Motion Control Instruction 4.5.8. DMC_CapturePosition API Capture position DMC_CapturePosition 71 Controller 10MC11T Explanation of the instruction: The instruction is applied to capture the position of the terminal actuator and the captured position can be applied in error correcting. It also supports multiple kinds of trigger methods and data source. In the case of the preciser position to be captured, please perform the position capture in mode 1, 2, 3, 10 and 11.
4. Motion Control Instructions Parameter name Explanation Data type Available device UINT Constant, D UINT Constant, D BOOL M,Q BOOL M,Q Mode 0: The trigger signal comes from the input point: I0~I7 of DVP10MC11T specified by TriggerInput bit. The captured position is the actual position of the terminal actuator connected to the axis. Mode 1: The trigger signal comes from the high-speed input point: DI7 of the drive.
4. Motion Control Instruction Parameter name Explanation "DMC_CapturePosition" instruction is aborted when being executed, "Abort" bit is on; Abort Data type Available device BOOL M,Q When "Execute" is off, "Abort" is reset. Error If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to section 5.3. UINT D Position The position captured after execution of the CapturePosition instruction is completed.
4. Motion Control Instructions 4. Position capture 1) The “Position” captured by using the DMC_Capture Position instruction is converted from other value Mode Data source Mode 0, mode 1 The pulse number that servo motor feeds back to servo drive. Mode 2 The pulse number received at the input terminal pulse、/pule、 sign、/sign or hpulse、 /hpule、hsign、/hsign of CN1 port of servo drive. Mode 3 The pulse number received at the input terminal A 、/A、B 、 /B of CN5 port of servo drive.
4. Motion Control Instruction Note: When the instruction is used for position capture in mode 1, D6527 value is the pulse number that servo motor feeds back to servo drive and the data type is 32-bit signed number. The instruction utilizes I0 for position capture in mode 10, D6529 value is the pulse number received at the encoder interface of 10MC and the data type is 32-bit signed number. 5.
4. Motion Control Instructions 6. <1> Introduction to Mask As the figure shows below, one position capture is completed after the trigger times for rising edge of the TriggerInput bit reach Mask value when Windowonly=1, “Execute” turns Off -> On, and the actual position of terminal actuator is within the Window zone; The trigger of rising edge of the TriggerInput bit is invalid when the actual position of terminal actuator is out of the Window zone.
4. Motion Control Instruction 4.5.9. DMC_VirtualAxis API DMC_VirtualAxis Controller Create virtual axis 10MC11T 72 Explanation of the instruction: The instruction is applied to constitute a virtual axis. DVP10MC11T supports max. 18 virtual axes. The motion control method of virtual axes is same as the real axes. Through execution of the instructions related with axes, the virtual axis establishes the relation of gear, cam and etc. with other virtual axis or real axis.
4. Motion Control Instructions Parameter name Explanation Data type Available device OutputOfGear To constitute the mechanical gear ratio with InputOfGear REAL Constant, D Units The position that terminal actuator moves when motor rotates for one circle. REAL Constant,D BOOL M,Q "Done” is on when virtual axis is established successfully; Done “Done” is reset when “Execute” turns off. Error If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset.
4. Motion Control Instruction 4.5.10. DMC_ExternalMaster API DMC_ExternalMaster Create external virtual master axis Controller 10MC11T 73 Explanation of the instruction: The instruction is applied to constitute a virtual master axis which could not serve as slave axis but master axis. DVP10MC11T supports max. 18 virtual master axes. The source of virtual master axis is the pulse received at the encoder port or the variable of the internal register.
4. Motion Control Instructions Parameter name Data type Available device REAL Constant, D BOOL M,Q If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset. BOOL M,Q Error code. Please refer to section 5.3. UINT D Explanation The corresponding number of the units which the terminal Units Done Error ErrorID actuator moves when the output terminal of gear box rotates for one circle.
4. Motion Control Instruction 4.6. Logical Instruction 4.6.1. ADD API Controller Addition of 16-bit integer ADD 10MC11T 128 Explanation of the instruction: ADD is used for addition operation of 16-bit integers. As EN is on, add S1 to S2 and their sum value is saved in D register. Explanation of input and output parameter of the instruction Parameter name 4.6.2. Explanation Data type Available device BOOL M,I,Q, constant EN “Add” instruction is executed as “EN” is on.
4. Motion Control Instructions 4.6.3. ADD_R API ADD_R Controller Addition of floating number 10MC11T 130 Explanation of the instruction: ADD_R is used for addition operation of 32-bit floating numbers. As EN is on, add S1 to S2 and their sum value is saved in D register. Explanation of input and output parameter of the instruction: Parameter name 4.6.4.
4. Motion Control Instruction 4.6.5. SUB_DI API SUB_DI Controller Subtraction of 32-bit integer 10MC11T 132 Explanation of the instruction: SUB_DI is used for subtraction operation of 32-bit integers. As EN is on, subtract S2 from S1 and their result value is saved in D register. Explanation of input and output parameter of the instruction. Parameter name 4.6.6.
4. Motion Control Instructions 4.6.7. MUL API MUL Controller Multiplication of 16-bit integer 10MC11T 134 Explanation of the instruction: MUL is used for multiplying operation of 16-bit integers. As EN is on, multiply S1 by S2 and their result value is saved in D register. Explanation of input and output parameter of the instruction: Parameter name 4.6.8.
4. Motion Control Instruction 4.6.9. MUL_R API Controller Multiplication of floating number MUL_R 10MC11T 136 Explanation of the instruction: MUL_R is used for multiplying operation of 32-bit floating number. As EN is on, multiply S1 by S2 and their result value is saved in D register.
4. Motion Control Instructions 4.6.11. DIV_DI API Controller Division of 32-bit integer DIV_DI 10MC11T 138 Explanation of the instruction: DIV_DI is used for division operation of 32-bit integer. As EN is on, divide S1 by S2 and their result value is saved in D register.
4. Motion Control Instruction 4.6.13. AND API Controller Logical AND operation AND 10MC11T 140 Explanation of the instruction: AND is used for logical AND operation of two bit devices. When “EN” is on, AND operation of S1 and S2 is conducted and the result is saved to the bit device specified by Q; when “EN” is off, the state of Q is unchanged.
4. Motion Control Instructions 4.6.15. XOR API Controller Logical XOR operation XOR 10MC11T 142 Explanation of the instruction: XOR is used for logical XOR operation of two bit devices. When “EN” is on, XOR operation of S1 and S2 is conducted and the result is saved to the bit device specified by Q; when “EN” is off, the state of Q is unchanged.
4. Motion Control Instruction 4.6.17. CTU API Controller Up counter CTU 10MC11T 144 Explanation of the instruction: CTU is used to achieve the function of upcounter. When EN is on, R is off and the count-up input CU turns off -> on, the current value EV of the counter is increased by 1; as the value of EV is greater than or equal to the preset value PV, the output CTU is on; as EV reaches the maximum 4294967295, the counter stops counting.
4. Motion Control Instructions Program example: The value of "PV" is set as 5 and the current value is saved to "D0".
4. Motion Control Instruction 4.6.18. CTD API Controller Down counter CTD 10MC11T 145 Explanation of the instruction: CTD is used to achieve the function of downcounter. When EN is on and the loading input LD turns off -> on, the counter writes the preset value of PV into the current value of EV and the output CTD is reset. Each time the count-down input CD turns off -> on , the current value of EV is decreased by 1. When EV is decreased to 0, the output CTD turns on and the counter stops counting.
4. Motion Control Instructions Program example: The value of "PV" is set to 5 and the current value is saved to "D0".
4. Motion Control Instruction 4.6.19. CTUD API Controller Up/down counter CTUD 10MC11T 146 Explanation of the instruction: CTUD is used to achieve the function of upcounter or downcounter.
4. Motion Control Instructions Program example: The value of "PV" is set to 5 and the current value is saved to "D0".
4. Motion Control Instruction 4.6.20. TON_s API Controller On-delay timer TON_s 10MC11T 147 Explanation of the instruction: TON_s is used as an on-delay timer with 1s as the timing unit. When EN is on, the input IN is On, the current value ET starts timing from 0 on; as the current value ET is greater than or equal to the preset value PT, the output TON turns on. After ET reaches PT value, the timing will not be stopped till ET reaches maximum 4294967295.
4. Motion Control Instructions Program example: “PT” is set as D10 and the current value is saved into D12 (ET).
4. Motion Control Instruction 4.6.21. TOF_s API Controller Off-delay timer TOF_s 10MC11T 148 Explanation of the instruction: TOF_s is used as an off-delay timer with 1s as the timing unit. When EN is On and the input IN is On, the output TOF turns On and the current value ET is cleared as 0. When the input bit IN turns On -> Off, the current value ET starts timing from 0 on; as the current value ET is greater than or equal to the preset value PT, the output TOF turns Off.
4. Motion Control Instructions Program example: The value of “PT” is set as 20s and the current value is saved to D10 (ET).
4. Motion Control Instruction 4.6.22. TONR_s API Controller Retentive on-delay timer TONR_s 10MC11T 149 Explanation of the instruction: TONR_s is a retentive on-delay timer with 1s as the timing unit. When EN is on and IN is on, the current value ET of the timer starts timing; When IN is off, the current value ET is maintained. When IN turns on once again, the timing is continued based on the maintained value ET and the output TONR will be on when ET is greater than or equal to the preset value PT.
4. Motion Control Instructions Program example: The vaule of PT is set as 50s and the current value is saved in the register D10.
4. Motion Control Instruction 4.6.23. TON_ms API Controller On-delay timer TON_ms 10MC11T 150 Explanation of the instruction: TON_ms is an on-delay timer with 1ms as the timing unit. When EN is on, the input IN is On, the current value ET starts timing from 0 on; as the current value ET is greater than or equal to the preset value PT, the output TON turns on. After ET reaches PT value, the timing will not be stopped till ET reaches maximum 4294967295.
4. Motion Control Instructions 4.6.24. TOF_ms API Controller Off-delay timer TOF_ms 10MC11T 151 Explanation of the instruction: TOF_ms is used as an off-delay timer with 1ms as the timing unit. When EN is On and the input IN is On, the output TOF turns On and the current value ET is cleared as 0. When the input bit IN turns On -> Off, the current value ET starts timing from 0 on; as the current value ET is greater than or equal to the preset value PT, the output TOF turns Off.
4. Motion Control Instruction 4.6.25. TONR_ms API Controller Retentive on-delay timer TONR_ms 10MC11T 152 Explanation of the instruction: TONR_ms is a retentive on-delay timer with 1ms as the timing unit. When EN is on and IN is on, the current value ET of the timer starts timing; When IN is off, the current value ET is maintained.
4. Motion Control Instructions 4.6.26. CMP API Comparison of 16-bit integers CMP Controller 10MC11T 153 Explanation of the instruction: CMP is used for comparison of two 16-bit signed integers with the result value displayed in one of the three output bit devices. When EN is On, compare S1 less than or greater than, or equal to S2 with the result placed in the corresponding LT, GT or EQ. When EN is Off, the status of the bit device where the comparison result is placed will keep unchanged.
4. Motion Control Instruction 4.6.27. CMP_DI API Controller Comparison of 32-bit integers CMP_DI 10MC11T 154 Explanation of the instruction: CMP-DI is used for comparison of two 32-bit signed integers with the result value displayed in one of the three output bit devices. When EN is On, compare S1 less than or greater than, or equal to S2 with the result placed in the corresponding LT, GT or EQ. When EN is Off, the status of the bit device where the comparison result is placed will keep unchanged.
4. Motion Control Instructions 4.6.28. CMP_R API Comparison of floating numbers CMP_R Controller 10MC11T 155 Explanation of the instruction: CMP-R is used for comparison of two 32-bit floating number with the result value displayed in one of the three output bit devices. When EN is On, compare S1 less than or greater than, or equal to S2 with the result placed in the corresponding LT, GT or EQ. When EN is Off, the status of the bit device where the comparison result is placed will keep unchanged.
4. Motion Control Instruction 4.6.29. MOV API Controller Move 16-bit integer MOV 10MC11T 156 Explanation of the instruction: MOV is used for sending the 16-bit integer to the target register. When EN is On, the content of S will be moved to D without changing the original value in S. Explanation of input and output parameter of the instruction: Parameter name EN Explanation “MOV” is executed as “EN” turns on.
4. Motion Control Instructions 4.6.30. MOV_DI API Controller Move 32-bit integer MOV_DI 10MC11T 157 Explanation of the instruction: MOV_DI is used for sending the 32-bit integer to the target register. When EN is On, the content of S will be moved to D without changing the original value in S. Explanation of input and output parameter of the instruction: Parameter name Explanation Data type Available device EN “MOV_DI” is executed as “EN” turns on.
4. Motion Control Instruction 4.6.32. MOVF API 159 MOVF Move 16-bit integer to multiple registers Controller 10MC11T Explanation of the instruction: MOVF is used for sending one 16-bit integer to multiple target registers. When EN is on, the content of S1 is sent to the zone with D as the starting register and the data length is specified by S2. When the data length S2 is larger than maximum 64, it is counted as 64. And the part above 64 is invalid.
4. Motion Control Instructions 4.6.33. MOVF_DI API MOVF_DI 160 Move 32-bit integer to multiple registers Controller 10MC11T Explanation of the instruction: MOVF_DI is used for sending one 32-bit integer to multiple target registers. When EN is on, the content of S1 is sent to the zone with D as the starting register and the data length is specified by S2. When the data length S2 is larger than maximum 64, it is counted as 64. And the part above 64 is invalid.
4. Motion Control Instruction 4.6.34. MOVF_R API MOVF_R 161 Move floating number to multiple registers Controller 10MC11T Explanation of the instruction: MOVF_R is used for sending one 32-bit floating number to multiple target registers. When EN is on, the content of S1 is sent to the zone with D as the starting register and the data length is specified by S2. When the data length S2 is larger than maximum 64, it is counted as 64. And the part above 64 is invalid.
4. Motion Control Instructions 4.6.35. MOVB API MOVB 162 Move multiple register data to the target registers Controller 10MC11T Explanation of the instruction: MOVB is used for sending multiple source register values to the corresponding multiple target registers. When EN is on, the zone data with S1 as the starting register data is sent to the zone with D as the starting register and the data length is specified by S2. When the data length S2 is larger than maximum 64, it is counted as 64.
4. Motion Control Instruction 4.6.36. MOV_BW API MOV_BW 163 Move multiple bit device values to multiple registers Controller 10MC11T Explanation of the instruction: MOV_BW is used for sending multiple bit device values to the word devices. When EN is on, the bit device data with S1 as the starting bit device data is sent to the register zone with D as the starting register and the bit device length is specified by S2. When the data length S2 is larger than maximum 64, it is counted as 64.
4. Motion Control Instructions 4.6.37. MOV_WB API Move multiple register values to multiple bit devices MOV_WB 164 Controller 10MC11T Explanation of the instruction: MOV_WB is used for sending multiple word device values to the bit devices. When EN is on, the register value with S1 as the starting one is sent to the bit device with D as the starting one. The sent word device data length is specified by S2. When the data length S2 is larger than maximum 64, it is counted as 64.
4. Motion Control Instruction 4.6.38. ZCP API ZCP 165 Controller Compare 16-bit integer to the values in one zone 10MC11T Explanation of the instruction: ZCP is used for comparison of one 16-bit signed integer with one zone. When EN is on, S is within the range from Low value to High value, Q=On and nQ=Off; if S value is out of the range from Low value to High value, nQ =On and Q=Off; When EN is Off, the status of Q and nQ keeps unchanged.
4. Motion Control Instructions 4.6.39. ZCP_DI API ZCP_DI 166 Compare 32-bit integer to the values in one zone Controller 10MC11T Explanation of the instruction: ZCP_DI is used for comparison of the signed 32-bit integer with one zone. When EN is on, S value is within the range from Low value to High value, Q=On and nQ=Off; if S value is out of the range from Low value to High value, nQ =On, Q=Off; When EN is Off, the status of Q and nQ keeps unchanged.
4. Motion Control Instruction 4.6.40. ZCP_R API ZCP_R 167 Controller Compare floating number to the values in one zone 10MC11T Explanation of the instruction: ZCP_R is used for comparison of the 32-bit floating number with one zone. When EN is on, S value is within the range from Low value to High value, Q=On and nQ=Off; if S value is out of the range from Low value to High value, nQ =On, Q=Off; When EN is Off, the status of Q and nQ keeps unchanged.
4. Motion Control Instructions 4.6.41. SET API Controller Setting instruction SET 10MC11T 168 Explanation of the instruction: SET is used to set one single bit device to On status. When EN of the instruction is on, Q is on; as EN is off, Q is still on. Explanation of input and output parameter of the instruction: Parameter name EN Q Data type Available device “SET” is executed as “EN” turns on. BOOL M,I,Q, constant The output bit Q is set to ON status as the instruction is executed.
4. Motion Control Instruction 4.6.43. OUT API Controller Coil driving OUT 10MC11T 170 Explanation of the instruction: OUT is used to drive one single bit device. When EN of the instruction is on, Q is On; when EN is off, Q is off. Explanation of input and output parameter of the instruction: Parameter name EN Q Data type Available device “OUT” is executed as “EN” turns on. BOOL M,I,Q, constant The output bit Q is set to On state when the instruction is executed. BOOL M,Q Explanation 4.6.44.
4. Motion Control Instructions Program example: As I0=On and M0 turns off -> on via the trigger of the rising edge, ”R_Trig" instruction is executed; "Q0“ outputs the pulse once and the length of the pulse is one scan cycle.
4. Motion Control Instruction 4.6.45. F_Trig API Controller Falling edge triggering F_Trig 10MC11T 172 Explanation of the instruction: F_Trig is used to trigger via falling edge of CLK bit to make Q bit generate the high level for one scan cycle. When EN is On and CLK turns on -> off, Q outputs the high level for one scan cycle. Explanation of input and output parameter of the instruction Parameter name Explanation Data type Available device EN “F _Trig” is executed as “EN” turns on.
4. Motion Control Instructions 4.6.46. ZRSTM API Reset one zone of bit devices ZRSTM Controller 10MC11T 173 Explanation of the instruction: ZRSTM is used to reset multiple continuous bit devices. When EN is on, the bit devices with S1 as the starting device are reset and the length of the reset bit devices is specified by S2; When EN is off, the status of the bit devices is unchanged. If the length specified by S2 exceeds maximum 64, it is counted as 64 and the part above 64 is invalid.
4. Motion Control Instruction 4.6.47. ZRSTD API Controller Reset one zone of registers ZRSTD 10MC11T 174 Explanation of the instruction: ZRSTD is used to reset multiple continuous registers. When EN is on, the registers with S1 as the starting register are cleared as 0; and the number of the registers is specified by S2; When EN is off, the values of the registers are unchanged. If the length specified by S2 exceeds maximum 64, it is counted as 64 and the part above 64 is invalid.
4. Motion Control Instructions 4.6.48. SQRT_R API Square root of floating number SQRT_R Controller 10MC11T 175 Explanation of the instruction: SQRT_R is used for arithmetic square root operation of 32-bit floating number. When EN is on, arithmetic square root operation of the floating number specified by S is conducted and the result is saved in D device.
4. Motion Control Instruction 4.6.50. MOD_DI API Get remainder of 32-bit integer MOD_DI Controller 10MC11T 177 Explanation of the instruction: MOD_DI is used for getting the remainder of 32-bit integer through division operation. When EN is on, divide S1 by S2 and the remainder of S1 is stored in D device. Explanation of input and output parameter of the instruction: Parameter name Explanation Data type Available device EN “MOD_DI” is executed as “EN” turns on.
4. Motion Control Instructions 4.6.52. Real_To_Int API Convert floating number into 16-bit integer Real_To_Int 179 Controller 10MC11T Explanation of the instruction: Real_To_Int is used for converting 32-bit floating numbers into the signed 16-bit integer. When EN is on, floating number S value is converted into the signed 16-bit integer which is stored in D device and S value keeps unchanged.
4. Motion Control Instruction 4.6.54. Int_To_Real API Convert 16-bit integer into floating number Int _To_Real 181 Controller 10MC11T Explanation of the instruction: Int_To_Real is used for converting the signed 16-bit integer into 32-bit floating number. When EN is on, the signed 16-bit integer S value is converted into the 32-bit floating number which is stored in D device and S value keeps unchanged.
4. Motion Control Instructions 4.6.56. Offset API Offset 183 Controller 16-bit integer index register instruction 10MC11T Explanation of the instruction: Offset instruction is used for operation of 16-bit integer index register. When EN is on, add the In_E value to S register address and the result is the address of source index register; add the Out_E value to D register address and the result is the address of the destination index register.
4. Motion Control Instruction Example 2: Program Explanation: When the input pin S of Offset instruction and the output pin D of MOV instruction are linked with a line, the In_E value is invalid. When M1 is on, the source index register address of Offset instruction is the input device (S) address of MOV function block, which is fixed to D500. The output D of Offset instruction is D600, Out_E= 6, the destination index register address is D(600+6)=D606. Move the content of D500 to D606.
4. Motion Control Instructions 4.6.57. Offset _DI API Offset_DI 184 Controller 32-bit integer index register instruction 10MC11T Explanation of the instruction: Offset_DI is used for operation of 32-bit integer index register. When EN is on, add the In_E value to S register address and the result is the address of source index register; add the Out_E value to D register address and the result is the address of the destination index register.
4. Motion Control Instruction Example 2: Program Explanation: When the input pin S of Offset_DI instruction and the output pin D of MOV_DI instruction are linked with a line, the In_E value is invalid. When M1 is on, the source index register address of Offset_DI instruction is the input device (S) address of MOV_DI function block, which is fixed to D300. The output D of Offset_DI instruction is D800, Out_E= 9, the destination index register address is D(800+9)=D809.
4. Motion Control Instructions 4.6.58. Offset _R API Offset_R 185 Controller Floating-point number index register instruction 10MC11T Explanation of the instruction: Offset_R is used for operation of 32-bit floating-point number index register. When EN is on, add the In_E value to S register address and the result is the address of source index register; add the Out_E value to D register address and the result is the address of the destination index register.
4. Motion Control Instruction 4.7. Application Instruction 4.7.1. Rotary Cut Technology Rotary cut is the technology to cut the material in transmission vertically. The knife conducts cutting on the cut surface periodically with the rotation of the rotary cut axis.
4. Motion Control Instructions 4.7.2. Rotary Cut Parameters Parameter Explanation in figure L R1 R2 N 4.7.3. The cutting length of the processed material The radius of feed axis, i.e. the radius length of the feed roller. The radius of rotary axis, i.e. the distance from center of the rotary roller to tool bit. The number of the knife in the rotary roller. The knife number is 1 in figure above.
4. Motion Control Instruction 4.7.4. Introduction to the Cam with Rotary Cut Function The function curve of the cam with rotary cut function could be divided into sync area and adjustment area. Sync area: Feed axis and rotary axis make the motion at a fixed ratio (Linear speed of knife is usually equal to that of the cut surface), and material cutting takes place in sync area. Adjustment area: Due to different cutting length, position need be adjusted accordingly.
4. Motion Control Instructions Rotary cut axis Sync area Adjustment area Circumference of knife roller Sync area Cutting length equals the knife roller circumference Feed axis End of sync area Cutting length Start of sync area In this situation, feed axis and rotary cut axis in sync area and non-sync area keep synchronous in speed. The rotary cut axis does not need to make any adjustment.
4. Motion Control Instruction Additionally, when rotary cut function is started or broken off, the cam curves used are different. The entry curve It is the rotary cut curve when rotary cut function is started Rotary cut axis Sync area Adjustment area Entry point Sync area Feed axis End of sync area Cutting length Start of sync area The curve is the rotary cut function entry curve.
4. Motion Control Instructions Cutting position Knife 1 horizontal line Knife 2 O Cutting position The end curve It is the rotary cut curve when the rotary cut function is broken away. Rotarycut axis Sync area Adjustment area End point Sync area Feed axis End of sync area Start of sync area Cutting length After the instruction “APF_RotaryCut_Out” is started up, the system will use the curve to make the rotary cut axis break away from the rotary cut state.
4. Motion Control Instruction 4.7.5. 4.7.5.1. Rotary Cut Instructions APF_RotaryCut_Init API APF_RotaryCut_Init Controller Initialize rotary cut 10MC11T 220 Explanation of the instruction: The instruction is used for initializing the radius of rotary axis and feed axis, the cutting length, synchronous area and etc if the rotary cut relation has not been established.
4. Motion Control Instructions Parameter name Explanation Data type Available device BOOL M,Q When parameter setting is completed, Done "Done" turns on; when “Execute” turns off, "Done" is reset. Error When any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to section 5.3. UINT D Note: 1. The value of "SyncStartPos" in sync area is always greater than "SyncStopPos" in sync area.
4. Motion Control Instruction 4.7.5.2. APF_RotaryCut_In API Controller Rotary cut-in APF_RotaryCut_In 10MC11T 221 Explanation of the instruction: The instruction is used for establishing the rotary cut relation and specifying the axis number of the rotary axis and feed axis according to the application requirement. After the execution of the instruction succeeds, the rotary cut axis follows the feed axis to make the motion according to the rotary cut curve.
4. Motion Control Instructions 4.7.5.3. APF_RotaryCut_Out API Controller Rotary cut-out APF_RotaryCut_Out 10MC11T 222 Explanation of the instruction: The instruction is used for disconnecting the already established rotary cut relation between the rotary axis and feed axis. After the rotary cut relation is disconnected, the knife of the rotary axis will stop at the entry point and will not follow the feed axis any more. The instruction has no impact on the motion of the feed axis.
4. Motion Control Instruction 4.7.6. Application Example of Rotary Cut Instructions The section explains the setting of rotary cut parameters, establishment and disconnection of rotary cut relation. The following is the program example.
4. Motion Control Instructions 3）When M4 is on, the rotary cut relation starts being established. When M40 is on, it indicates the relation between rotary axis and feed axis is made successfully. Servo 2 is feed axis (master axis) and servo 1 is rotary axis (slave axis). The servo of node ID 15 is the rotary cut axis. 4）When M5 is on, feed axis starts to execute the velocity instruction. At this moment, rotary axis executes the rotary cut action based on the phase of feed axis.
4. Motion Control Instruction 4.7.7. Flying Shear Technology Flying shear is the technology to cut the material in transmission vertically. The slave axis starts to accelerate from the wait position. After its speed is up to the synchronous speed, the follower of the lead screw and material move at the same speed; they are relatively static; the Insync bit is on and the shear axis is triggered to control the shear to do the cutting upward. The structure figure of flying shear is shown as follows.
4. Motion Control Instructions 4.7.8. The technological parameters of flyingshear function The figure of flying shear function: Parameter in Description figure R1 The radius of master axis, i.e. the radius of the feed roller Name in the instruction MasterRaduis The radius of slave axis, i.e. the radius of the R2 corresponding roller of slave axis. By adopting the lead screw, R2= Lead of the lead SlaveRadius screw / 2π=S/2π The wait position of slave axis.
4. Motion Control Instruction 4.7.9. Control feature of flying shear function Flying shear is a kind of special e-cam function. In continuous shearing, the flying shear curve for the first cycle is shown below.
4. Motion Control Instructions Reference zero point of master axis position When the Enable bit of the flying shear instruction is on, the current position of master axis is regarded as the reference zero point of master axis position. Therefore, the reference zero point of master axis position is relative. Reference zero point of slave axis position Slave axis always regards the servo zero point as the reference zero point of its position.
4. Motion Control Instruction 4.7.10. Flying Shear Instructions 4.7.10.1. APF_FlyingShear_Init API APF_ FlyingShear_Init Controller Initialize flying shear 10MC11T 223 Explanation of the instruction: The instruction is used for initializing the radius of master axis and slave axis, the cutting length, synchronous area and etc if the flying shear relation has not been established.
4. Motion Control Instructions Parameter name Explanation Data Available type device MasterSyncPosition The corresponding master position when synchronous area starts. REAL Constant, D SlaveSyncPosition The corresponding slave position when synchronous area starts. REAL Constant, D SlaveEndPosition The corresponding slave position when synchronous area ends.
4. Motion Control Instruction 4.7.10.2. APF_FlyingShear API Controller Flying shear instruction APF_FlyingShear 10MC11T 224 Explanation of the instruction: The instruction is used for establishing the flying shear relation and specifying the axis number of the master and slave axis according to the application requirement. When the instruction is being executed, its output device can display the zone where the flying shear is.
4. Motion Control Instructions Parameter name Wait Insync Return Explanation Data type Available device “Wait” turns on as chase area starts; “Wait” is reset as chase area ends. BOOL M,Q BOOL M,Q BOOL M,Q “Insync” turns on as synchronous area starts; “Insync” is reset as synchronous area ends. “Return” turns on as return area starts; “Return” is reset as return area ends. Error When any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset.
4. Motion Control Instructions 4.7.11.
4. Motion Control Instructions 4.7.12. Application Example of Flying Shear Instructions This chapter describes the setting of the flying shear parameters, establishment of the flying shear relation and disconnection of the flying shear relation. See the program example below.
4. Motion Control Instructions 2) When M2 is on, the relevant parameters of flying shear function is imported so that APF_FlyingShear is called for use. When M3 is On, it indicates that the relevant parameters of the flying shear function are imported successfully. 3) M5 is set to the On state firstly; when M8 and M9 are both On, slave axis reaches the wait position and the flying shear relation is established successfully.
4. Motion Control Instructions 4.8. Explanation of G Codes and Coordinate Motion Instruction 4.8.1.
4. Motion Control Instructions 4.8.2. ¾ Explanation of G Code Format G code Unit The position unit of axis X_, Y_, Z_, A_, B_, C_, P_, Q_ in G code is consistent with that of axis parameter. Please set the same physical unit for each axis. For example, the unit is set as mm. And thus G0 X100.5 Y300 Z30.6 indicates that axis X, Y, Z move to the place of 100.5mm, 300mm, and 30.6mm respectively.
4. Motion Control Instructions ¾ Defaults Relative, absolute default: The default mode is absolute mode and could be set via G90/G91. Plane default: The default plane is XY plane and could be switched via G17/G18/G19. G0-related default: The velocity, acceleration, deceleration are the maximum velocity, maximum acceleration, maximum deceleration respectively and can be modified via E, F parameter. E+ and E- in G code can be input to set the different acceleration and deceleration.
4. Motion Control Instructions 4.8.3. Introduction to G Code Function 4.8.3.1 G90: Absolute Mode ¾ Function: After G90 is executed, the terminal position of each axis in G code is based on 0 unit and G91 can be used to switch into the relative mode. It is absolute mode for NC program by default. ¾ Format: N_G90 ¾ Parameter Explanation: N_: The row number of G code in NC program ¾ Example: The initial positions of axis X and Y are both 3000 units and the axis parameters are both default values.
4. Motion Control Instructions 4.8.3.2 G91: Relative Mode ¾ Function: After G91 is executed, the terminal position of each axis in G code is counted in incremental method beginning from the current position and G90 can be used to switch into the absolute mode. ¾ Format: N_G91 ¾ Parameter Explanation: N_: The row number of G code in NC program ¾ Example: The initial positions of axis X and Y are both 3000 units and the axis parameters are both default values.
4. Motion Control Instructions 4.8.3.3 ¾ G0: Rapid Positioning Function: Each axis moves from current position to the terminal position at the given speed. Maximum 8 axes can be controlled and each axis is independent with each other in motion. And the motion path figure is displayed below. ¾ Format: N_G0 X_Y_Z_A_B_C_P_Q_ ¾ Parameter explanation: N_: The row number of G code in NC program X_: Specify the terminal position of axis X, Unit: unit, data type: REAL.
4. Motion Control Instructions y Absolute mode example: The initial positions of axis X, Y are both 10000 units and their axis parameters are both default value.
4. Motion Control Instructions y Relative mode example: The initial positions of axis X, Y are both 10000 units and their axis parameters are both default value.
4. Motion Control Instructions 4.8.3.4 ¾ G1: Linear Interpolation Function: The cutter starts off from one point and moves straight to the target position at a given speed. The instruction can control up to 8 axes and all axes start up or stop simultaneously. Three axes control the position of the cutter together as the figure shows below.
4. Motion Control Instructions ¾ Parameter explanation: N_: The row number of G code in NC program X_: Specify the terminal position of axis X, Unit: unit, data type: REAL. Y_: Specify the terminal position of axis Y, Unit: unit, data type: REAL. Z_: Specify the terminal position of axis Z, Unit: unit, data type: REAL. A_: Specify the terminal position of axis A, Unit: unit, data type: REAL. B_: Specify the terminal position of axis B, Unit: unit, data type: REAL.
4. Motion Control Instructions Z 70000 B 20000 A 20000 20000 X 60000 50000 Y After G codes are executed, the Position/Time curve for the whole movement process is shown below: Position 70000 60000 50000 Z Y X 20000 t O y Relative mode example: The initial positions of axis X, Y, Z are all 20000 units and their axis parameters are all default value.
4.
4. Motion Control Instructions 4.8.3.5 ¾ G2: Clockwise Circular/ Helical Interpolation Function: Circular interpolation: The cutter conducts the cutting of the processed object in the clockwise direction at the feed speed given by parameter F on the circular arc with the fixed radius or the fixed center of a circle of the specified plane.
4. Motion Control Instructions Both of E and F can be omitted. If there is only one row of code in the CNC programming area and E,F are omitted, the velocity, acceleration, deceleration are decided by the parameters of X axis, i.e. “maximum velocity”, “maximum acceleration”, “maximum deceleration” in the parameters of X axis.
4. Motion Control Instructions G code Function Path figure Z Terminal point(X,Y,Z ) G17 XY plane: When there is no variation for the start point and terminal point corresponding to Z axis coordinates, the motion is circular interpolation. Otherwise, it is helical interpolation.
4.
4.
4. Motion Control Instructions Example 5: Omission format The G codes to be executed: N00 G0 X0 Y0 Z0 N01 G1 X100 Y100 Z100 N02 G2 I100 J100 N03 G91 N04 G2 I50 J50 Z Y （200,200,200） （200,200） （150,150） （100,100,100） （100,100） X Y 0 X Instruction explanation: The axis position is (100, 100,100) after execution of N01 row of instruction is finished; In N02 row of instruction, there are only I and J parameters and other omitted parameter values are based on the last instruction, i.e.
4. Motion Control Instructions Example 7: The helical interpolation with T and the center of a circle specified by XY plane (Current position: 0) The G codes to be executed: N1 G2 X100 Y100 Z100 I50 J50 T2 Instruction explanation: The motion path is a helical curve and the projection on XY plane is a full circle with the center of a circle (50, 50).
4. Motion Control Instructions 4.8.3.6 ¾ G3: Anticlockwise circular /helical interpolation Function explanation: Circular interpolation: The cutter conducts the cutting of the processed object in the anticlockwise direction at the feed speed given by parameter F on the circular arc with the fixed radius or the fixed center of a circle of the specified plane.
4. Motion Control Instructions If there are multiple rows of codes and E and F in G2 code are omitted, the velocity, acceleration, deceleration of the cutter are based on E and F in the previous rows of codes before the row where G2 is. If the previous rows of G codes have not specified E and F, “maximum velocity”, “maximum acceleration”, “maximum deceleration” in the parameters of X axis will be taken as reference.
4. Motion Control Instructions G code G17 Function Path figure XY plane: When there is some variation for the start point and terminal point corresponding to Z axis coordinates, the motion is helical interpolation. Otherwise, it is circular interpolation on XY plane.
4.
4. Motion Control Instructions Example 3: Specify the center of a circle and circular interpolation with T in relative mode Current position (2000, 0), axis parameters: default values, the G codes to be executed: N0 G91 N1 G17 N2 G3 X-2000 Y2000 I0 J2000 T3 After G codes are executed, the motion path is the arc on XY plane and the arc length is (3+3/4）times the circumference of a circle.
4. Motion Control Instructions Example 5: The helical interpolation with the specified radius The G codes to be executed: N0 G0 X0 Y0 Z0 N1 G3 X200 Y200 Z200 R-200 T2 N2 G0 X0 Y0 Z0 N3 G3 X200 Y200 Z200 R200 Instruction explanation: In this example, T is set in G2 code in N1 row and so the motion path for N1 row of instruction is the helical curve as the right thick curve in the figure above. Return to the origin after G0 in N2 row is executed and then execute the N3 row of instruction.
4. Motion Control Instructions 4.8.3.7 ¾ G17, G18, G19: to specify the circular interpolation plane Function: The three instructions are used for deciding the selection of circular interpolation or helical interpolation plane and have no impact on the linear interpolation. While the program is being executed, the three work planes can be switched with each other. If no plane option is set, the initial state of system is XY plane (G17).
4. Motion Control Instructions After execution of the instruction of number N00 is finished, the program will be delayed for 10 seconds and afterwards, the instruction of number N02 will continue to be executed. 4.8.3.9 G36: Set/Reset Instruction ¾ Function: The instruction is used to make M device set or reset.
4. Motion Control Instructions 4.8.4. DMC_NC API Controller CNC instruction DMC_NC 10MC11T 260 Instruction explanation: The instruction is used for calling and executing NC program which can be input, edited and previewed in the CANopen Builder software. It supports both static and dynamic download. The NC program downloaded statically will be stored in DVP10MC11T and will not be lost when the power is off.
4. Motion Control Instructions Parameter name Explanation Data type Available device Pause When “Pause” is on, execution of NC program is stopped temporarily and the state value of axis is (9) unchanged; when “Pause” is off, execution of NC program will continue. BOOL M, I, Q Stop When “Stop” is on, execution of NC program is stopped and the state value of axis is Stand Still. BOOL M, I, Q ManualMode When “ManualMode” is on, manual function is started up.
4. Motion Control Instructions 3. Pause: If CNC codes (G0/G1/G2/G3) in NC program are being executed, set “Pause” to ON and the execution of the corresponding G0/G1/G2/G3 will be stopped temporarily at the deceleration in G code. If “Pause” is on when G90/G91/G4/G36/G37/G17/G18/G19 is being executed, the next CNC code will not be executed. When “Pause” is off, the execution of the CNC codes which have not finished being executed will continue.
4. Motion Control Instructions ¾ Steps: y When M20 and M21 turn off-> on, axis 1, axis 2 and axis 3 are enabled. After correct execution is finished, M100, M102 and M104 are on. y When D10 is set to 0 and then M0 set to ON, the G codes will be executed dynamically by clicking the “Dynamic download” icon in the CANopen Builder software as below to download G codes which are executed while being downloaded.
4. Motion Control Instructions ¾ Program: ¾ Steps: y When M1 and M0 turn off-> on, axis 1, axis 2 and axis 3 are enabled. After correct execution is finished, M100, M102 and M104 are on. y When M2 turns off-> on, build a virtual master axis with the number: 4. y When M3 turns off-> on, the G codes in NC program with the number: 1 starts to be executed.
4. Motion Control Instructions 4.8.5. Coordinate Motion Instructions DNC_Group （Build Coordinate Motion Instruction Group） 4.8.5.1 API DNC_Group 261 Build coordinate motion instruction group Controller 10MC11T Instruction explanation: The instruction is used to build the coordinate motion group through its parameter GroupID.
4. Motion Control Instructions Parameter name Data type Available device BOOL M, I, Q BOOL M, I, Q function; when “ManualMode” is off, close the manual function. BOOL M, I, Q The speed in manual mode REAL Constant, D GroupID The number of the coordinate motion instruction group, range: 0~7. UINT Constant, D Done When “Stop” is on, “Done” is on; when “Execute” is off, “Done” is reset. BOOL M,Q Error If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset.
4. Motion Control Instructions 3. Stop If the coordinate motion instruction is being executed, set “Stop” to ON and the execution of the corresponding coordinate motion instruction will be stopped at the deceleration in coordinate motion instruction and the state of each axis is Standstill. If the coordinate motion instruction is executed again, reset “Stop” and then execute DNC_Group instruction again.
4. Motion Control Instructions 4.8.5.2 Absolute/ Relative Mode Switching Instruction API 262 DNC_Absolute（G90） In absolute mode DNC_Relative（G91） In relative mode Controller 10MC11T Instruction explanation: The two instructions are used to specify the mode for dealing with the terminal position of each axis such as absolute mode or relative mode. After the instruction ”DNC_Group” with same GroupID is executed, the two instructions just can be executed.
4. Motion Control Instructions 4.8.5.3 DNC_MOV(G0)（Rapid positioning instruction） API DNC_MOV(G0) Rapid positioning instruction Controller 10MC11T 263 Instruction explanation: The instruction is used to do the rapid positioning of the servo axis in the specified group and control each axis to move from current position to the terminal position at the specified speed. In motion, each axis is independent with each other. The instruction is similar to G0 in function.
4. Motion Control Instructions Note: 1. The function of the instruction is same as that of G0 in G codes and the input parameters X_Pos~ Q_Pos in the instruction and the parameters of X_, Y_, Z_, A_, B_, C_, P_, Q_ in G0 have same explanation. For more details on G0, please refer to section 4.8.3.3. 2. The state of axis related with the instruction is Standstill. After “DNC_Group” is executed, the instruction just can be executed and its GroupID must be same as that of DNC_Group. 3.
4. Motion Control Instructions Parameter name Explanation Data type Available device B_Pos The terminal position of axis B, unit: unit. REAL Constant, D C_Pos The terminal position of axis C, unit: unit. REAL Constant, D P_Pos The terminal position of axis P, unit: unit. REAL Constant, D Q_Pos The terminal position of axis Q, unit: unit. REAL Constant, D UINT Constant, D GroupID The number of the coordinate motion instruction group, range: 0~7.
4. Motion Control Instructions 4.8.5.5 Circular/ Helical Interpolation（The Coordinates of Center of a Circle are Set） API DNC_CW（IJK） （G2） Clockwise circular/ helical interpolation （The coordinates of center of a circle are set） Controller 265 DNC_CCW（IJK） （G3） Anticlockwise circular/ helical interpolation （The coordinates of center of a circle are set） 10MC11T Instruction explanation: The two instructions are used for circular/helical interpolation.
4.
4. Motion Control Instructions 5. No matter whether in absolute mode or relative mode, the coordinates of the center of a circle I_Value, J_Value, K_Value are always the relative coordinates with the start point as reference. 6. It is absolute mode for the instruction by default. Therefore, it is absolute mode for DNC_CW (IJK) (G2) and DNC_CCW(IJK) (G3) if DNC_Absolute (90) and DNC_Relative (91) have not been executed. 4.8.5.
4. Motion Control Instructions A_Pos The coordinate position of terminal point of the added axis REAL Constant, D B_Pos The coordinate position of terminal point of the added axis REAL Constant, D C_Pos The coordinate position of terminal point of the added axis REAL Constant, D P_Pos The coordinate position of terminal point of the added axis REAL Constant, D Q_Pos The coordinate position of terminal point of the added axis REAL Constant, D R_Value The radius of the circular arc.
4. Motion Control Instructions 4.8.5.7 Plane Selection Instruction API 267 DNC_XY（G17） XY plane selection DNC_XZ（G18） XZ plane selection DNC_YZ（G19） YZ plane selection Controller 10MC11T Instruction explanation: The three instructions are used for determining the circular/ helical interpolation plane selection and the three work planes can be switched with each other while the program is being executed.
4. Motion Control Instructions 4.8.5.8 Program Example Program example 1: DNC_MOV (G0) in absolute mode The initial positions of axis X and Y are both 10,000 units and the axis parameters are all default. ¾ The program to be executed: ¾ Program explanation: y 1. After the connection between DVP10MC11T and servo axis is made successfully, M7 and M9 are on. After M7 is on, the servo axis of number 1 Servo On; after M9 is on, the servo axis of number 2 Servo On. y 2.
4. Motion Control Instructions ¾ After the program is executed, the Y/X curve of the whole process is as below. Y Position 100000 10000 Position O ¾ 10000 50000 X After the program is executed, the Position/time curve of the whole process is as below.
4. Motion Control Instructions Program example 2: DNC_MOV (G0) in relative mode The initial positions of axis X and Y are both 10,000 units and the axis parameters are all default. ¾ The program to be executed: ¾ Program explanation: y 1. After the connection between DVP10MC11T and servo axis is made successfully, M7 and M9 are on. After M7 is on, the servo axis of number 1 Servo On; after M9 is on, the servo axis of number 2 Servo On. y 2.
4. Motion Control Instructions ¾ After the program is executed, the Y/X curve of the whole process is as below. Y Position 110000 10000 O ¾ 10000 60000 Position X After the program is executed, the Position/time curve of the whole process is as below.
4. Motion Control Instructions Program example 3: DNC_LIN (G1) in absolute mode The initial positions of axis X, Y and Z are all 20,000 units and the axis parameters are all default. ¾ The program to be executed: ¾ Program explanation: y After the connection between DVP10MC11T and servo axis is made successfully, M7 and M9 are on. After M7 is on, the servo axis of number 1 Servo On; after M9 is on, the servo axis of number 2 Servo On.
4. Motion Control Instructions ¾ After the program is executed, the Y/X curve of the whole process is as below. Z 70000 B 20000 A 20000 X ¾ 20000 60000 50000 Y After the program is executed, the Position /time curve of the whole process is as below.
4. Motion Control Instructions Program example 4: DNC_LIN (G1) in relative mode The initial positions of axis X, Y and Z are all 20,000 units and the axis parameters are all default. ¾ The program to be executed: ¾ Program explanation: y 1. After the connection between DVP10MC11T and servo axis is made successfully, M7 and M9 are on. After M7 is on, the servo axis of number 1 Servo On; after M9 is on, the servo axis of number 2 Servo On. y 2.
4. Motion Control Instructions ¾ After the program is executed, the Y/X curve of the whole process is as below. Z 90000 B 20000 A 20000 X ¾ 20000 80000 70000 Y After the program is executed, the Position /time curve of the whole process is as below.
5.Troubleshooting 5. Troubleshooting 5.1. LED Indicator Explanation POWER LED POWER LED indicates if the power supply of DVP10MC11T is normal. Explanation LED state How to deal with Green LED on Power supply is normal -- LED off or flash Power supply is abnormal Check if the power supply for DVP10MC11T is normal. RUN LED RUN LED indicates the state of PLC module. LED state Explanation How to deal with Green LED on PLC module is in run state. -- LED off PLC module is in stop state.
5. Troubleshooting CAN LED CAN LED indicates the state of CANopen network of MC module. LED state Green light single flash Explanation How to deal with CANopen network is in stop state. PC is downloading the program and waiting that download is finished. 1. Check if CANopen network connection is correct. Green light blinking 2. Check if the configured slave in the network exists. CANopen network is in preoperational state 3. The baud rates of DVP10MC11T and slaves are same. 4.
5.Troubleshooting LED state Explanation How to deal with Green light flash The communication with the axis configured is not ready. Check if the communication with each axis is normal. Red light on Hardware error in MC module After power on once again, return the goods to factory for repair if the error still exists. 1. Check if the setting value for synchronous cycle is too small. After increasing the synchronous cycle value, re-download. Red light blinking MC module runs abnormally 2.
5. Troubleshooting Input Point LED There are 8 input-point LED indicators (I0~I7) for showing if DVP10MC11T digital input point is on- state or off-state. Input point LED state Indication Green light on（I0~I7） Input point is on-state. Light off（I0~I7） Input point is off-state. Output Point LED There are 4 output-point LED indicators (Q0~Q3) for showing if DVP10MC11T digital output point is on-state or off-state.
5.Troubleshooting Bit device Indication when the value of each bit of D6511 is 1. How to deal with Bit8 GPIO operation error After power on once again, return it to factory for repair if the error still exists. Bit9 SRAM operation error After power on once again, return it to factory for repair if the error still exists. Bit10 There is some slave offline in CANopen network Check if the CANopen bus connection is normal.
5. Troubleshooting Error ID Indication The axis that the motion instruction 10 controls has not been configured to 10MC The MC_PassiveHome instruction 11 is interrupted by the MC_Stop instruction when the execution of it has not finished How to deal with Configure the axis to be operated to 10MC in the software and then redownload. No correction is needed. (The MC_Stop instruction can be executed normally.
Appendix A Appendix A Modbus Communication DVP10MC11T Modbus Communication Port: DVP10MC11T covers two communication ports such as COM1 and COM2. COM1: COM1 is a RS-232 communication port possessed by PLC module supporting Modbus ASCII or RTU mode. It can serve as Modbus master or slave to upload and download the program, monitor PLC device, connect the human machine interface and etc.
Appendix A 2. When COM2 is possessed by PLC, its format is set by D1120 and the meaning of each bit of D1120 can be seen in table 1. its communication node adress is set by D1121. If the value of D1121 is 1, it indicates that the communication node address of PLC module is 1.
Appendix A Table 1 D1036 or D1120 bit no.
Appendix A Table 2 D6516 bit no.
Appendix A Example 3: the method of revising COM2 communication format (COM2 is possessed by motion control ¾ module）. To revise COM2 communication format, add the following program codes to CANopen Builder software. As below figure shows, a rising edge occurs in the program and K512 (H200) is sent to D6516. Meanwhile, COM2 communication format is revised into ASCII mode, 9600bps（Baud rate）, 7（Data bits）, E（Parity）, 1 (Stop bits).
Appendix A Note: 1. It is suggested that the two ends of the bus should be connected with one resistor of the value: 120Ω respectively. 2. To ensure the communication quality , the double shielded and twisted-pair cable is recommended （20AWG）. 3. When the internal voltages of two devices are different, make SG（Signal Ground）of the two device connected with each other to balance their SG voltages and make the communication more stable. ASCII Mode 1.
Appendix A Decimal 16 is equal to hexadecimal 10. （ADR 1, ADR 0）=’10’， ‘1’=31H, ‘0’ = 30H 3. Function code and data The data format is determined by function codes. E.g. to read the two continuous address data with hexadecimal 0x1000 as the start address in DVP10MC11T. The communication address of DVP10MC11T is 1, 0x1000 is the Modbus address of D0 in DVP10MC11T PLC.
Appendix A Response message: Field character ASCII code corresponding to field character “：” 3A “0” 30 “1” 31 “0” 30 “3” 33 Read data number “0” 30 （Counted by bytes） “4” 34 “0” 30 “0” 30 “0” 30 “1” 31 “0” 30 “0” 30 “0” 30 “2” 32 “F” 46 “5” 35 End character 1 “CR” 0D End character 0 “LF” 0A Field name Start character Communication address: 01 Function code: 03 Read content of 0x1000 address Read content of 0x1001 address LRC check code: 0xF5 4.
Appendix A Field character ASCII code corresponding to field character “0” 30 “0” 30 “0” 30 “2” 32 “E” 45 “A” 41 End character 1: LF CR 0D End character 0: CR LF 0A Field name Data number (Counted by words): 2 LRC check code: 0xEA Communication in RTU mode 1. Communication data structure Start No input data for more than 10ms Communication address Slave address: 8-bit binary address Function code Function code: 8-bit binary address Data（n-1） …….
Appendix A Request message: Field name Start Character No input data for more than 10ms Communication address 01 Function code 03 High byte of Modbus address 10 Low byte of Modbus address 00 Read high byte of data number 00 Read low byte of data number 02 Low byte of CRC check sum C0 High byte of CRC check sum CB End No input data for more than 10ms Response message: Field name Start Character No input data for more than 10ms Communication address 01 Function code 03 Read data numb
Appendix A Step 6: Repeat the action of step 2 and step 5 for the next byte in the command message till all bytes are finished processing. The last content in CRC register is CRC check value. When CRC check value in command message is transmitted, the high and low byte in calculated CRC check value must exchange with each other, i.e. the low byte is transmitted first.
Appendix A Device Address in DVP10MC11T Device no. and the corresponding device address of motion control module in DVP10MC11T A-12 Device name Device no.
Appendix A Device no. and the corresponding device address of PLC module in DVP10MC11T Device name Device no.
Appendix A A-14 Device name Device no.
Appendix A Device name Device no. Type Address（hex） D 9984~9999 Word A700~A70F Modbus Function code The function code and abnormality response code when COM2 port is possessed by motion control module are listed in the following table. Function code Explanation Available device 0x02 Read bit-device register value; the data of 256 bits at most can be read one time. M,I,Q 0x03 Read one single or multi word register value; the data of 64 words at most can be read one time.
Appendix A Abnormality response code Explanation 0x01 Illegal command code: command code in the command message PLC receives is invalid. 0x02 Illegal device address: the address in the command message PLC receives is invalid. 0x03 Illegal device value: the data content in the command message PLC receives is invalid. 0x07 1. Check sum error 1.1 Check if the checksum value is correct 2. Illegal command message 2.1 Command message is too short 2.
Appendix A Data order Name Byte Byte n+2 Low byte of CRC check sum Low byte Byte n+3 High byte of CRC check sum High byte Data structure of abnormality response message: Data order Name Byte Byte0 Modbus ID Single byte Byte1 0x80+ function code Single byte Byte2 abnormality response code Single byte Byte3 Low byte of CRC check sum Low byte Byte4 High byte of CRC check sum High byte Note: The byte number in response message is determined by the DVP10MC11T device address number to b
Appendix A Data order Byte4 Byte5 Name Byte High byte The written value Low byte Byte6 Low byte of CRC check sum Low byte Byte7 High byte of CRC check sum High byte Data structure of abnormality response message: Data order Name Byte Byte0 Modbus ID Single byte Byte1 0x80+ function code Single byte Byte2 Abnormality response code Single byte Byte3 Low byte of CRC check sum Low byte Byte4 High byte of CRC check sum High byte ¾ Example: Write 0x0100 to 0x1000 address in DVP10MC11T
Appendix A Data order Name Byte Byte n+2 Low byte of CRC check sum Low byte Byte n+3 High byte of CRC check sum High byte Data structure of response message: Data order Name Byte Byte0 Modbus ID Single byte Byte1 Function code Single byte Byte2 The start address of DVP10MC11T word device where to write the value. High byte Byte4 The address number of DVP10MC11T word device where to write the value.
Appendix A Function code: 0x02 to read bit-device register value The data structure of function code of 0x01 is the same as that of 0x02. So 0x01will not be introduced additionally. When COM2 is possessed by PLC in DVP10MC11T, the input point status can not be read via 0x01 function code. Data structure of request message: Data order Name Byte Byte0 Modbus ID Single byte Byte1 Function code Single byte Byte2 Byte3 Byte4 Byte5 The start address of DVP10MC11T bit device to be read.
Appendix A Note: The value of Byte 2 in response message is determined by Byte 4 and Byte 5. For example, the number of the read bit device in request message is A. Dividing A by 8 produces B. If the quotient is an integer, the byte number in response message is B; if the quotient is not an integer, the byte number will be the integer part of the quotient plus 1. ¾ Example: Read the state value of M0~M19 in DVP10MC11T via function code 02. M0 address is 0x0800.
Appendix A Data structure of abnormality response message: Data order Name Byte Byte0 Modbus ID Single byte Byte1 0x80+ function code Single byte Byte2 Abnormality response code Single byte Byte3 Low byte of CRC check sum Low byte Byte4 High byte of CRC check sum High byte Note: The written value 0x0000 in the bit device in request or response message means that the value written in the bit device is 0. 0xFF00 means that the value written in the bit device is 1.
Appendix A Data structure of response message: Data order Name Byte Byte0 Modbus ID Single byte Byte1 Function code Single byte Byte2 The start address of DVP10MC11T bit device where to write the value Byte3 Byte4 The number of DVP10MC11T bit devices where to write the value Byte5 High byte Low byte High byte Low byte Byte6 Low byte of CRC check sum Low byte Byte7 High byte of CRC check sum High byte Data structure of abnormality response message: Data order Name Byte Byte0 Modbus I
Appendix B Appendix B Ethernet Communication Ethernet Communication Port in DVP10MC11T: DVP10MC11T provides an Ethernet port possessed by motion control module supporting Modbus TCP protocol. CANopen Builder software could be used to download CANopen motion control network configuration, motion program, G codes and monitor devices via this port. DVP10MC11T can only serve as slave in Ethernet network and also accept the access from 4 masters. Besides, this port supports auto jumper function as well.
Appendix B Figure of Ethernet connected with DVP10MC11T 1 3 4 4 2 2 2 2 5 Device no. and the corresponding device name in above figure are listed below. Device no. Device name 1 Ethernet master 2 Ethernet communication cable 3 Concentrator 4 DVP10MC11T 5 Computer Note: Please use the shielded twisted pair as Ethernet communication cable.
Appendix B Explanation of Ethernet parameters setting: name IP Address IP Configuration Equipment name which users could name by themselves. The IP address of DVP10MC11T There are Static and DHCP selections for DVP10MC11T Ethernet. If DHCP (dynamic) is selected, the Ethernet parameters are obtained by DVP10MC11T itself; if Static is selected, the parameters will be set by user. Netmask Subnet mask of DVP10MC11T Getway Gateway address of DVP10MC11T Modbus TCP Communication: 1.
Appendix B 3. Modbus abnormality response code DVP10MC11T supports: Abnormality response code Indication 0x01 Unsupportive function code 0x02 Unsupportive Modbus address 0x03 Data length exceeds the range 4.
Appendix B Data order Byte9 Name Device address content in DVP10MC11T Byte10 … Byte n Byte High byte Low byte Device address content in DVP10MC11T High byte Low byte Abnormality response message data structure: Data order Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Name Transaction identifier Protocol identifier Modbus data length Byte High byte Low byte High byte Low byte High byte Low byte Byte6 Modbus ID Single byte Byte7 0x80+ function code Single byte Byte8 Abnormality response code Single b
Appendix B Function code: 06 to write one single word-device register value Request message data structure: Data order Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Name Byte High byte Transaction identifier Low byte High byte Protocol identifier Low byte High byte Modbus data length Low byte Byte6 Modbus ID Single byte Byte7 Function code Single byte Byte8 Byte9 Byte10 Byte11 The word device address where to write value in DVP10MC11T The value written in word devices in DVP10MC11T High byte Low byte
Appendix B Data order Name Byte2 High byte Protocol identifier Byte3 Byte4 Low byte Modbus data length Byte5 Byte High byte Low byte Byte6 Modbus ID Single byte Byte7 0x80+ function code Single byte Byte8 Abnormality response code Single byte ¾ Example: To write value 0x0100 to 0x1000 address in DVP10MC11T via function code 06 Request message: “ 00 00 00 00 00 06 01 06 10 00 01 00”. Response message: “ 00 00 00 00 00 06 01 06 10 00 01 00”.
Appendix B Response message data structure: Data order Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Name Byte High byte Transaction identifier Low byte High byte Protocol identifier Low byte High byte Modbus data length Low byte Byte6 Modbus ID Single byte Byte7 Function code Single byte Byte8 High byte Byte9 The start address of word devices where to write values in DVP10MC11T Byte10 The address number of word devices where to write values.
Appendix B Function code: 0x02 to read bit-device register value Request message data structure: Data order Name Byte0 Byte High byte Transaction identifier Byte1 Low byte Byte2 High byte Protocol identifier Byte3 Low byte Byte4 High byte Modbus data length Byte5 Low byte Byte6 Modbus ID Single byte Byte7 Function code Single byte Byte8 High byte The start address of the read bit device in DVP10MC11T Byte9 Low byte Byte10 High byte The number of the read bit device in DVP10MC11T By
Appendix B Abnormality response message data structure: Data order Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Name Byte High byte Transaction identifier Low byte High byte Protocol identifier Low byte High byte Modbus data length Low byte Byte6 Modbus ID Single byte Byte7 0x80+ function code Single byte Byte8 Abnormality response code Single byte Note: Suppose the number of the bit device to be read in DVP10MC11T in request message is A (Byte 10, Byte 11), If A is divided by 8 with no remainder,
Appendix B Data order Name Byte10 Byte High byte The value written in bit device Byte11 Low byte Response message data structure: Data order Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Name Byte High byte Transaction identifier Low byte High byte Protocol identifier Low byte High byte Modbus data length Low byte Byte6 Modbus ID Single byte Byte7 Function code Single byte Byte8 High byte Modbus address of bit device Byte9 Low byte Byte10 High byte The value written in bit device Byte11 Lo
Appendix B Function code：0x0F to write multi bit-device register value Request message data structure: Data order Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Name Byte High byte Transaction identifier Low byte High byte Protocol identifier Low byte High byte Modbus data length Low byte Byte6 Modbus ID Single byte Byte7 Function code Single byte Byte8 The start address of the bit devices where to write values in DVP10MC11T High byte The number of bit devices where to write values in DVP10MC11T Hig
Appendix B Abnormality response message data structure: Data order Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Name Transaction identifier Protocol identifier Modbus data length Byte High byte Low byte High byte Low byte High byte Low byte Byte6 Modbus ID Single byte Byte7 0x80+ function code Single byte Byte8 Abnormality response code Single byte Note: Suppose the number of the bit device where to be written in DVP10MC11T in request message is A (Byte 10, Byte 11), If A is divided by 8 with no remain
Appendix B Devices in DVP10MC11T and the corresponding addresses are listed below: B-14 Device name Device no.
Appendix C Appendix C Special Registers Related with Axis Special registers related with axis 1 Special D Modbus address （HEX） D24576 E000 D24577 E001 D24578 E002 D24579 E003 Acceleration and deceleration type（0:T 1: S 2:JERK） D24580 E004 D24581 Function explanation Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only 0-2 UINT No Read only Numerator of electronic gear 0 - 65535 UINT No Read only E005 Denominator of electronic gear
Appendix C Special D Modbus address （HEX） D24606 E01E D24613 E025 D24614 E026 Function explanation Range Axis current state（see section 4.
Appendix C Special registers related with axis 2 Special D Modbus address （HEX） D24832 E100 D24833 E101 D24834 E102 D24835 E103 D24836 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only E104 Numerator of electronic gear 0 - 65535 UINT No Read only D24837 E105 Denominator of electronic gear 0 - 65535 UINT No Read only D24838 E106 Software limit
Appendix C Special D Modbus address （HEX） D24869 E125 Function Pulse number needed when servo motor rotates for one circle.
Appendix C Special registers related with axis 3 Special D Modbus address （HEX） D25088 E200 D25089 E201 D25090 E202 D25091 E203 D25092 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only E204 Numerator of electronic gear 0 - 65535 UINT No Read only D25093 E205 Denominator of electronic gear 0 - 65535 UINT No Read only D25094 E206 Software limit
Appendix C Special D Modbus address （HEX） D25125 E225 Function Pulse number needed when servo motor rotates for one circle.
Appendix C Special registers related with axis 4 Special D Modbus address （HEX） D25344 E300 D25345 E301 D25346 E302 D25347 E303 D25348 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only E304 Numerator of electronic gear 0 - 65535 UINT No Read only D25349 E305 Denominator of electronic gear 0 - 65535 UINT No Read only D25350 E306 Software limit
Appendix C Special D Modbus address （HEX） D25383 E327 D25387 E32B D25388 E32C D25389 E32D D25390 E32E D25391 E32F D25392 E330 D25393 E331 The phase of the terminal D25394 E332 actuator D25395 E333 The position of the terminal -2147483648 E334 actuator ~ 2147483647 D25396 Function Range Type Latched Attribute The allowed error between the given and feedback pulse number -- UINT No Read only Current torque (Rated torque permillage) -- INT No Read only No Read only
Appendix C Special registers related with axis 5 Special D Modbus address （HEX） Function Range Type Latched Attribute D25600 E400 Type（0: rotary 1: linear） 0-1 UINT No Read only D25601 E401 Read only E402 DINT No D25602 -- No Read only 0-2 UINT No Read only Modulo D25603 E403 Acceleration and deceleration type（0:T 1: S 2:JERK） D25604 E404 Numerator of electronic gear 0 - 65535 UINT No Read only D25605 E405 Denominator of electronic gear 0 - 65535 UINT No Read
Appendix C Special D Modbus address （HEX） D25630 E41E D25637 E425 D25638 E426 D25639 E427 The allowed error between the given and feedback pulse number -- D25643 E42B Current torque (Rated torque permillage) -- D25644 E42C D25645 E42D D25646 E42E D25647 E42F D25648 E430 D25649 E431 The phase of the terminal D25650 E432 actuator D25651 E433 D25652 E434 Function Range Axis current state (See section 4.2） Pulse number needed when servo motor rotates for one circle.
Appendix C Special registers related with axis 6 Special D Modbus address （HEX） D25856 E500 D25857 E501 D25858 E502 D25859 E503 D25860 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only E504 Numerator of electronic gear 0 - 65535 UINT No Read only D25861 E505 Denominator of electronic gear 0 - 65535 UINT No Read only D25862 E506 Software limit
Appendix C Special D Modbus address （HEX） Function Range Type Latched Attribute D25895 E527 The allowed error between the given and feedback pulse number -- UINT No Read only D25899 E52B Current torque (Rated torque permillage) -- INT No Read only D25900 E52C No Read only D25901 E52D No Read only D25902 E52E No Read only D25903 E52F No Read only D25904 E530 No Read only D25905 E531 The phase of the terminal REAL Read only E532 actuator No D25906 D25907 E533
Appendix C Special registers related with axis 7 Special D Modbus address （HEX） D26112 E600 D26113 E601 D26114 E602 D26115 E603 Acceleration and deceleration type （0:T 1: S 2:JERK） D26116 E604 D26117 Range Type Latche d Attribute 0-1 UINT No Read only -- DINT No Read only No Read only 0-2 UINT No Read only Numerator of electronic gear 0 - 65535 UINT No Read only E605 Denominator of electronic gear 0 - 65535 UINT No Read only D26118 E606 Software limit（0:disab
Appendix C Special D Modbus address （HEX） D26149 E625 Function Pulse number needed when servo motor rotates for one circle.
Appendix C Special registers related with axis 8 Special D Modbus address （HEX） D26368 E700 D26369 E701 D26370 E702 D26371 E703 D26372 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only E704 Numerator of electronic gear 0 - 65535 UINT No Read only D26373 E705 Denominator of electronic gear 0 - 65535 UINT No Read only D26374 E706 Software limit
Appendix C Special D Modbus address （HEX） D26411 E72B D26412 E72C D26413 E72D D26414 E72E D26415 E72F D26416 E730 D26417 E731 The phase of the terminal D26418 E732 actuator D26419 E733 D26420 E734 Function Current torque Current speed (Unit: 0.
Appendix C Special registers related with axis 9 Special D Modbus Function address （HEX） D26624 E800 D26625 E801 D26626 E802 Type（0: rotary 1: linear） Modulo Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and D26627 E803 deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only D26628 E804 Numerator of electronic gear 0 - 65535 UINT No Read only D26629 E805 Denominator of electronic gear 0 - 65535 UINT No Read
Appendix C Special D Modbus address （HEX） Function D26654 E81E Axis current state (See section 4.2） D26661 E825 Pulse number needed when E826 servo motor rotates for one circle.
Appendix C Special registers related with axis 10 Special D Modbus address （HEX） D26880 E900 D26881 E901 D26882 E902 D26883 E903 D26884 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only E904 Numerator of electronic gear 0 - 65535 UINT No Read only D26885 E905 Denominator of electronic gear 0 - 65535 UINT No Read only D26886 E906 Software limi
Appendix C Special D Modbus address （HEX） Function Range Type Latched Attribute D26919 E927 The allowed error between the given and feedback pulse number -- UINT No Read only D26923 E92B Current torque (Rated torque permillage) -- INT No Read only D26924 E92C No Read only D26925 E92D No Read only D26926 E92E No Read only D26927 E92F No Read only D26928 E930 No Read only D26929 E931 The phase of the terminal REAL Read only E932 actuator No D26930 D26931 E933
Appendix C Special registers related with axis 11 Special D Modbus address （HEX） D27136 EA00 D27137 EA01 D27138 EA02 D27139 EA03 D27140 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only EA04 Numerator of electronic gear 0 - 65535 UINT No Read only D27141 EA05 Denominator of electronic gear 0 - 65535 UINT No Read only D27142 EA06 Software limi
Appendix C Special D Modbus address （HEX） Function Range Type Latched Attribute D27175 EA27 The allowed error between the given and feedback pulse number -- UINT No Read only D27179 EA2B Current torque (Rated torque permillage) -- INT No Read only D27180 EA2C No Read only D27181 EA2D No Read only D27182 EA2E No Read only D27183 EA2F No Read only D27184 EA30 No Read only D27185 EA31 The phase of the terminal REAL Read only EA32 actuator No D27186 D27187 EA33
Appendix C Special registers related with axis 12 Special D Modbus address （HEX） D27392 EB00 D27393 EB01 D27394 EB02 D27395 EB03 D27396 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only EB04 Numerator of electronic gear 0 - 65535 UINT No Read only D27397 EB05 Denominator of electronic gear 0 - 65535 UINT No Read only D27398 EB06 Software limi
Appendix C Special D Modbus address （HEX） Function Range Type Latched Attribute D27431 EB27 The allowed error between the given and feedback pulse number -- UINT No Read only D27435 EB2B Current torque (Rated torque permillage) -- INT No Read only D27436 EB2C No Read only D27437 EB2D No Read only D27438 EB2E No Read only D27439 EB2F No Read only D27440 EB30 No Read only D27441 EB31 The phase of the terminal REAL Read only EB32 actuator No D27442 D27443 EB33
Appendix C Special registers related with axis 13 Special D Modbus address （HEX） D27648 EC00 D27649 EC01 D27650 EC02 D27651 EC03 D27652 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only EC04 Numerator of electronic gear 0 - 65535 UINT No Read only D27653 EC05 Denominator of electronic gear 0 - 65535 UINT No Read only D27654 EC06 Software limi
Appendix C Special D Modbus address （HEX） Function Range Type Latched Attribute D27687 EC27 The allowed error between the given and feedback pulse number -- UINT No Read only D27691 EC2B Current torque (Rated torque permillage) -- INT No Read only D27692 EC2C No Read only D27693 EC2D No Read only D27694 EC2E No Read only D27695 EC2F No Read only D27696 EC30 No Read only D27697 EC31 The phase of the terminal REAL Read only EC32 actuator No D27698 D27699 EC33
Appendix C Special registers related with axis 14 Special D Modbus address （HEX） D27904 ED00 D27905 ED01 D27906 ED02 D27907 ED03 D27908 Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only ED04 Numerator of electronic gear 0 - 65535 UINT No Read only D27909 ED05 Denominator of electronic gear 0 - 65535 UINT No Read only D27910 ED06 Software limit（0:disabl
Appendix C Special D Modbus address （HEX） D27941 ED25 Function Range Pulse number needed when servo motor rotates for one circle.
Appendix C Special registers related with axis 15 Special D Modbus address （HEX） D28160 EE00 D28161 EE01 D28162 EE02 D28163 EE03 D28164 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only EE04 Numerator of electronic gear 0 - 65535 UINT No Read only D28165 EE05 Denominator of electronic gear 0 - 65535 UINT No Read only D28166 EE06 Software limi
Appendix C Special D Modbus address （HEX） D28197 EE25 D28198 EE26 Function Pulse number needed when servo motor rotates for one circle. D28199 EE27 The allowed error between the given and feedback pulse number D28203 EE2B Current torque (Rated torque permillage) D28204 EE2C D28205 EE2D D28206 EE2E D28207 EE2F Current speed (Unit: 0.
Appendix C Special registers related with axis 16 Special D Modbus address （HEX） D28416 EF00 D28417 EF01 D28418 EF02 D28419 EF03 D28420 Function Range Type Latched Attribute 0-1 UINT No Read only -- DINT No Read only No Read only Acceleration and deceleration type（0:T 1: S 2:JERK） 0-2 UINT No Read only EF04 Numerator of electronic gear 0 - 65535 UINT No Read only D28421 EF05 Denominator of electronic gear 0 - 65535 UINT No Read only D28422 EF06 Software limi
Appendix C Special D Modbus address （HEX） D28446 EF1E D28453 EF25 Function Range Axis current state (See section 4.2） Pulse number needed when servo motor rotates for one circle.
Appendix D Appendix D Explanation of Homing Methods 10MC11T provides several homing methods from which user can choose the appropriate one in accordance with on-site condition and technical requirement.
Appendix D 3 3 4 4 Z pulse H ome sw itch ¾ Method 5 and 6 Homing on negative home switch and Z pulse In method 5 and 6, the initial movement direction depends on whether the negative home switch is active or inactive. (Note: the initial direction of method 5 is just the reverse of that of method 3; and the initial direction of method 6 is just the reverse of that of method 4.
Appendix D 10 8 7 9 10 7 9 8 9 7 8 10 Z pulse Home switch Positive limit switch ¾ In mode 11 ~ 14, the initial movement direction depends on the status of home switch and the status of the negative limit switch. Their home positions are at the place of the first Z pulse after home switch changes from active status to inactive status or from inactive status to active status.
Appendix D ¾ Method 17~30 are the homing methods which do not need Z pulse. Method 17~30 are similar to method 1 to method 14 except that home position is not dependent on Z pulse but dependent on the relevant home switches and limit switches status.
Appendix D 33 34 Z pulse ¾ Method 35 Homing on the current position In method 35, the current position of servo is taken to be the home position.
Appendix E Appendix E PLC Module Devices Item Range Control method Stored program, cyclic scan system Input/output method Batch processing method ( when END instruction is executed) Execution speed LD command - 0.54μs, MOV command - 3.
Appendix E Item T Timer current value C Counter current value Range T0~T255, 256 words C0~C199, 16-bit counter, 200 words C200~C254, 32 -bit counter, 55 words Word Data register register D General purpose D0~D407, 408 words (*1) D600~D999, 400 words (*1) D3920~D9999, 6080 words (*1) Latched D408~D599, 192 words (*2) D2000~D3919, 1920 words (*2) Special purpose D1000~D1999, 1000words, some are latched.
