Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manuals
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Delta DVP-ES2/EX2/SS2/SA2/SX2/SE Manual
702 pages 8.19 Mb
2 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual Programming 4 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual Programming Contents 1 PLC Concepts 2 Programming Concepts 3 Instruction Set 5 ii 4 Communications 5 Sequential Function Chart 6 Troubleshooting 7 CANopen Function and Operation 6 iiiAppendix A 7 iv 9 PLC Concepts 10 1.1 PLC Scan Method Output Y Program Output Input signal 11 1.2 Current Flow X0 Y0 X6 X0 Y0 X1 X2 Y0 X3 X4 X5 ab 1.3 NO Contact, NC Contact 12 1.4 PLC Registers and Relays Device indication: Indicated as X and numbered in octal, e.g. X0~X7, Device indication: indicated as E0 ~ E7 and F0 ~ F7. Device indication: Indicated as Y and numbered in octal, e.g. Y0~Y7, Device indication: Indicated as M and numbered in decimal, e.g. M0, M1, Device indication: Indicated as S and numbered in decimal, e.g. S0, S1, Device indication: Indicated as T and numbered in decimal, e.g. T0, T1, Device indication: Indicated as C and numbered in decimal, e.g. C0, C1, Device indication: Indicated as D and numbered in decimal, e.g. D0, D1, 19 1.6 Conversion between Ladder Diagram and Instruction List Mode 20 1.7 Fuzzy Syntax 23 24 1.9 Basic Program Design Examples 1. PLC Concepts 1-21 Verti cal Light Horizontal Light 29 Timing Diagram: SFC Figure: DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 1-22 30 Ladder Diagram: 31 WPLSoft programming (SFC mode) SFC logic Internal Ladder Logic LAD-0 Transfer condition 1 S22 Transfer condition 4 LAD-0 S0 S20 S21 S22 S23 S30 S31 S32 S33 S0 Transfer condition 7 33 Programming Concepts 34 2.1 ES2/EX2 Memory Map 37 2.2 SS2 Memory Map 40 2.3 SA2 Memory Map 43 2.4 SX2 Memory Map 46 2.5 Status and Allocation of Latched Memory 47 2.6 PLC Bits, Nibbles, Bytes, Words, etc W1 BY3 BY2 BY1 BY0 NB0NB1NB2NB3NB4NB5NB6NB7 DW W0 2.7 Binary, Octal, Decimal, BCD, Hex 49 2.8 M Relay 62 2.9 S Relay 2.10 T (Timer) 63 2.11 C (Counter) 66 2.12 High-speed Counters 2. Programming Concepts 012345 X21 5 4 3 2 1 X20 6 3 0 A-phase X0 B-phase X1 C251 present value Y0, C251 contact Counting up Counting down 71 2.13 Special Data Register 2.14 E, F Index Registers 83 K14 F0F0 E0 E0 F0 16-bit 16-bit 32-bit X0 K8 E0MOV D5E0 D10F0 MOV MOV 117 Instruction Set 118 3.1 Basic Instructions (without API numbers) 119 3.2 Explanations to Basic Instructions 125 128 3.3 Pointers 3.4 Interrupt Pointers 130 3.5 Application Programming Instructions 10 P D ** *** ***** * **** **** 131 {133 K2M0 D10MOV 137 ()252 () ()315 ABCD H318 CR #10 CR #9Upper 16-bit Lower 16-bit Specif ied CR num ber 320 source data register, starting from the lower 8 bits of D100 length = 4349 CDE FD10 D20 D21 351 D100 D101DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 3-236 0000 0 1 1 111000010 0 00000 00 00010001 352 D100 D101 359 ~361 y In this control mode, PID operation can be selected as Automatic, Forward, Reverse and y PID equation for control mode k0~k2: 362 () () ()y When t E K t E K MV ()) (StPVK S 1 ** ++= ()() y Control diagram: y The equation above illustrates that this operation is different from a general PID 363 () () ()() () () 364 () () ()t PV - t SV t E = y Control diagram: 428 464 VFD-B PLC, PLC receives: 01 06 2000 1770 52 481 State 2: DOG switch is ON, pulse output in reverse, limit switch disabled. State 4: Current position at right side of zero point, M1346=On. 482 TimeFreq. Time X4 Freq. M1029 Y4 X4 M1029 Y4 483 State 5: Current position at right side of zero point, D1312=-2, M1308=Off, M1346=On. Freq. Time Freq. Time Freq. Time Freq. Time X4 M1029 Y4 X2 X4 M1029 Y4 X2 State 6: Current position at right side of zero point, D1312=-100, M1308=On. X4 M1029 Y0 X4 M1029 Y0 495 499 501 502 =505 513 517 519 522 523 b15 b0 MAND Before Execution After Execution D0 D1 D2 D10 D11 D12 D20 D21 D22 525 528 Before Execution After Execution b15 b0 MINV D0 D1 D2 D20 D21 D22 533 535 539 M1098=0 36 M1098=1 D0 D1 D2 D10 D10 545 553 554 ....557 559 2. Assume the first execution results are as below: 563 Freq. Time t1 t2 t3 g1 g2 g3 S Pulse number S 567 572 b = Offset = Min. destination value Min. source value slope 573 D 0 = 30 Source value S=500 = 500 Destination v alue 574 = 500S 500 D 0 = 30 Destination value Source value 577 y Content in D0~D7: y Content in D20~D27: y After the comparison of CMPT instruction, the associated bit will be 1 if two devices have 579 DVP-ES2/SX2/SS2/SA2/SX2/SE Operation Manual Programming 3-464 580 581 583 587 589 590 591 593 595 597 601 603 Communications 651 Troubleshooting 652 6.1 Common Problems and Solutions 654 6.2 Error code Table (Hex) 656 6.3 Error Detection Devices 657 CANopen Function and Operation 658 7.1 The Introduction of CANopen It supports the PDO (process data object) service. It supports the SDO (service data object) service. It supports the service of reading the emergency from a slave. It supports the SYNC object (synchronous object) service. The CANopen communication rates which are supported are 20K, 50K, 125K, 250K, 500K, The mapping data types which are supported: 659 It supports the PDO (process data object) service. It supports the service of reading the emergency from a slave. 7.2 The Installation and the Network Topology 660 664 7.3 The CANopen Protocol 665 The PDO provides the direct visit channel for the device application object, is used to There are two kinds of uses for PDOs. The first is data transmission and the second data +-+- 667 The SDO is used to build the client/server relation between two CANopen devices. The The SDO message contains the index information and the subindex information which can The SDO can transmit the data in any length. If the data length is more than 4 bytes, the The structures of the SDO requested message and reply message are as follows. 669 Error control services Boot-up services 670 The broadcast object in the predefined connection setting 671 The corresponding object in the predefined connection set 7.4 Sending SDO, NMT and Reading Emergency Message through the Ladder Diagram The data format of the SDO request message: Size: The length of the message data. The counting starts from D6253 with byte as the unit. Node ID: The node address of the target equipment on CANopen network. 672 The data format of the SDO response message: 674 The data format of the NMT request message: When status code is 1, it indicates that NMT operation succeeds. When status code is not Node ID: The node address of the target equipment on CANopen network. NMT service code: The data format of the NMT Response message: Node ID: The node address of the target equipment on CANopen network. 675 The data format of the Emergency request message: Node ID: The node address of the target equipment on CANopen network. The data format of the Emergency response message: 677 Hardware Connection: CANopen TAP-CN 03 DVP32ES2-C PC ASDA-A2-xxxx-M CANopen RS-232 678 679 7.5 Indicators and Troubleshooting7.5.1 Description of Indicators 680 7.5.2 CANopen Netw ork Node State Display As a master, DVP-ES2-C supports maximum 16 slaves ranging from node 1 to node 16. While the special auxiliary relay M1349 of DVP-ES2-C is ON, the CANopen function is 681 The error code of every node is displayed through the corresponding special register and the Code display in D9981~D9996 as DVP32ES2-C is in master mode: 682 Code display in D9980 as DVP-ES2-C is in master mode: Code display in D9980 as DVP32ES2-C is in slave mode: 683 7.6 Application Example CANopen TAP-C N03 DVP32ES2-C PC ASDA-A2-xxxx-M CANopen RS-232 Set servo parameters as follows: 687 690 Program control: D6282 is given the value K256 through WPL software. That is, the speed When M0 turns from OFF to ON, write K256 to D6282 and then the value is written to P1-09 When M1 turns from OFF to ON, turn P2-12 on and call the speed specified by parameter When M1 turns from ON to OFF, the speed command becomes 0 and the motor stops 691 7.7 Object Dictionary 699 Appendix
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