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DVP-MC Bus-Type Multi-Axis Motion Controller Operating Manual DVP-0191420-04 Sep. 1 st , 2015

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Content 1. Overview of DVP10MC11T ....................................................................................... 1-1 1.1. Function ........................................................................................................ 1-1 1.2. Profile and Outline ........................................................................................... 1-2 1.2.1. Dimension ................................................................................................ 1-2 1.2.2. Components ............................................................................................. 1-2 2.

Introduction to System Function .............................................................................. 2-1 2.1. System Architecture ........................................................................................ 2-1 2.1.1. COM Port ................................................................................................. 2-2 2.1.2. System Construction Structure .................................................................... 2-4 2.1.3. System Extension ...................................................................................... 2-6 2.2. The internal devices .........................................................................................

2-8 2.2.1. The internal devices of PLC module .............................................................. 2-8 2.2.2. The internal devices of MC motion control module .......................................... 2-8 2.2.3. Data exchange between MC module and PLC module .................................... 2-12 2.3. System Work Principle ................................................................................... 2-14 2.3.1. Axis Parameter Setting ............................................................................. 2-14 2.3.2. Program Execution Principle ...................................................................... 2-19 2.3.3.

Relationship between Motion Program and Motion Bus .................................. 2-19 2.3.4. Setting the Synchronization Cycle Period .................................................... 2-22 2.3.5. CNC Function .......................................................................................... 2-24 2.3.5.1. CNC Program Downloading and Debugging ............................................ 2-25 2.3.5.2. The Protocol for Dynamic Download of CNC Program ............................... 2-25 2.3.5.3. Message Format ................................................................................. 2-26 2.3.6.

CAM Function .......................................................................................... 2-27 3. System Installation ................................................................................................ 3-1 3.1. Electrical Feature ............................................................................................ 3-1 3.2. System Connection .......................................................................................... 3-3 3.2.1. Power and IO Wiring .................................................................................. 3-3 3.2.2. Connected to ASDA-A2 Series of Servo ......................................................... 3-6 3.2.3.

Connecting the Extension Module to the Left Side of DVP10MC11T as DeviceNet Master ..................................................................................................... 3-7 3.2.4. Connecting the Extension Module (DVP16SP11T) to the Right Side of DVP10MC11T . ............................................................................................................. 3-8 4. Motion Control Instruction ...................................................................................... 4-1 4.1. Instruction Table ............................................................................................. 4-1 4.2.

Axis Status ..................................................................................................... 4-6

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4.3. Instruction Usage ............................................................................................ 4-7 4.4. Single-Axis Instruction Usage ............................................................................ 4-9 4.4.1. MC_MoveAbsolute ...................................................................................... 4-9 4.4.2. MC_MoveRelative ..................................................................................... 4-15 4.4.3. MC_MoveAdditive ..................................................................................... 4-19 4.4.4. MC_MoveSuperImposed ............................................................................ 4-23 4.4.5.

MC_MoveVelocity ..................................................................................... 4-30 4.4.6. MC_Stop ................................................................................................ 4-33 4.4.7. MC_PassiveHome ..................................................................................... 4-36 4.4.8. MC_Power............................................................................................... 4-39 4.4.9. MC_Reset ............................................................................................... 4-40 4.4.10. MC_ReadStatus ...................................................................................... 4-42 4.4.11.

MC_ReadActualPosition ............................................................................ 4-43 4.4.12. MC_ReadAxisError ................................................................................... 4-44 4.4.13. DMC_ReadParameter ............................................................................... 4-45 4.4.14. DMC_WriteParameter .............................................................................. 4-47 4.4.15. DMC_SetTorque ...................................................................................... 4-48 4.4.16. DMC_ChangeMechanismGearRatio ............................................................. 4-50 4.4.17.

DMC_DisableAxis .................................................................................... 4-53 4.4.18. DMC_PositionLag .................................................................................... 4-55 4.5. Multi-Axis Instruction ..................................................................................... 4-57 4.5.1. MC_CamTableSelect ................................................................................. 4-57 4.5.2. MC_CamIn .............................................................................................. 4-59 4.5.3. MC_CamOut ............................................................................................ 4-78 4.5.4.

DMC_CamSet .......................................................................................... 4-81 4.5.5. MC_GearIn ............................................................................................. 4-85 4.5.6. MC_GearOut ........................................................................................... 4-87 4.5.7. MC_Phasing ............................................................................................ 4-90 4.5.8. DMC_CapturePosition ............................................................................... 4-93 4.5.9. DMC_VirtualAxis ...................................................................................... 4-99 4.5.10.

DMC_ExternalMaster ............................................................................. 4-101 4.5.11. DMC_CamSwitch................................................................................... 4-103 4.6. Logic Instruction .......................................................................................... 4-107 4.6.1. ADD ..................................................................................................... 4-107 4.6.2. ADD_DI ................................................................................................ 4-107 4.6.3. ADD_R ................................................................................................. 4-108 4.6.4.

SUB ..................................................................................................... 4-108 4.6.5. SUB_DI ................................................................................................ 4-109 4.6.6. SUB_R ................................................................................................. 4-109

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4.6.7. MUL ..................................................................................................... 4-110 4.6.8. MUL_DI ................................................................................................ 4-110 4.6.9. MUL_R .................................................................................................. 4-111 4.6.10. DIV ..................................................................................................... 4-111 4.6.11. DIV_DI ................................................................................................ 4-112 4.6.12.

DIV_R .................................................................................................. 4-112 4.6.13. AND .................................................................................................... 4-113 4.6.14. OR ...................................................................................................... 4-113 4.6.15. XOR .................................................................................................... 4-114 4.6.16. NOT ..................................................................................................... 4-114 4.6.17.

CTU ..................................................................................................... 4-115 4.6.18. CTD ..................................................................................................... 4-117 4.6.19. CTUD ................................................................................................... 4-119 4.6.20. TON_s ................................................................................................. 4-121 4.6.21. TOF_s .................................................................................................. 4-123 4.6.22. TONR_s ...............................................................................................

4-125 4.6.23. TON_ms ............................................................................................... 4-127 4.6.24. TOF_ms ............................................................................................... 4-128 4.6.25. TONR_ms ............................................................................................. 4-129 4.6.26. CMP .................................................................................................... 4-130 4.6.27. CMP_DI ............................................................................................... 4-131 4.6.28.

CMP_R ................................................................................................. 4-132 4.6.29. MOV .................................................................................................... 4-133 4.6.31. MOV_R ................................................................................................ 4-134 4.6.30. MOV_DI ............................................................................................... 4-134 4.6.32. MOVF .................................................................................................. 4-135 4.6.33. MOVF_DI .............................................................................................

4-136 4.6.34. MOVF_R ............................................................................................... 4-137 4.6.35. MOVB .................................................................................................. 4-138 4.6.36. MOV_BW .............................................................................................. 4-139 4.6.37. MOV_WB .............................................................................................. 4-140 4.6.38. ZCP ..................................................................................................... 4-141 4.6.39.

ZCP_DI ................................................................................................ 4-142 4.6.40. ZCP_R ................................................................................................. 4-143 4.6.41. SET ..................................................................................................... 4-144 4.6.42. RESET ................................................................................................. 4-144 4.6.43. OUT .................................................................................................... 4-145 4.6.44. R_Trig ..................................................................................................

4-145 4.6.45. F_Trig .................................................................................................. 4-147

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