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DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual Programming
Publication History
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DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual Programming
Contents
1 PLC Concepts
2 Programming Concepts
3 Instruction Set
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4 Communications
5 Sequential Function Chart
6 Troubleshooting
7 CANopen Function and Operation
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Appendix A
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PLC Concepts
1.1 PLC Scan Method
Input X
Output Y
Program
1.2 Current Flow
X0 Y0
X6
X1 X2 Y0 X3 X4
X0 Y0
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,
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S0 S21 S22
1. PLC Concepts
1-11
1.6 Conversion between Ladder Diagram and Instruction List Mode
Ladder Diagram
Instruction
1.7 Fuzzy Syntax
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1.9 Basic Program Design Examples
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1. PLC Concepts
1-21
Verti cal Light Horizontal Light
Timing Diagram:
SFC Figure:
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1-22
Ladder Diagram:
1. PLC Concepts
1-23
WPLSoft programming (SFC mode)
Y2
S0ZRST S127
SFC logic Internal Ladder Logic LAD-0
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Programming Concepts
2.1 ES2/EX2 Memory Map
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2.2 SS2 Memory Map
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2.3 SA2 Memory Map
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2.4 SX2 Memory Map
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2.5 Status and Allocation of Latched Memory
2.6 PLC Bits, Nibbles, Bytes, Words, etc
W1
BY3 BY2 BY1 BY0
NB0NB1NB2NB3NB4NB5NB6NB7
DW W0
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2.8 M Relay
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2. Programming Concepts
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2. Programming Concepts
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2. Programming Concepts
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2. Programming Concepts
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2. Programming Concepts
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2. Programming Concepts
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2.9 S Relay
2.10 T (Timer)
2.11 C (Counter)
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2.12 High-speed Counters
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2. Programming Concepts
012345
2-39
X21
2.13 Special Data Register
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2. Programming Concepts
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2. Programming Concepts
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2. Programming Concepts
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2. Programming Concepts
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2. Programming Concepts
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2.14 E, F Index Registers
K14 F0
F0 E0 E0
F0
16-bit 16-bit 32-bit
X0 K8 E0MOV D5E0 D10F0
X2 Y2
P1CJ
X1
X0 Y1
P** 0 P1 N
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2.16 Applications of Special M Relays and D Registers
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MOV H86 D1109 SET M1136
M1002
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Bit15~12 Bit11~8 Bit7~4 Bit3~0 Analog output mode of D Analog input input Analog input
mode of AD0 A0 mode of AD2 mode of AD1
Analog
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DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming
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2. Programming Concepts
2-75
4. Spec ilable for up to 50 words)
ial D and special M corresponding to Slave ID1~ID8: (M1353 = ON, access ava
DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming
5. Special D and special M corresponding to Slave ID9~ID16: (M1353 = ON, access available
for up to 50 words)
2-76
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Operation flow chart: 10.
M1355
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Example 2:
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Instruction Set
3.1 Basic Instructions (without API numbers)
3.2 Explanations to Basic Instructions
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M0 Y0
M1
M0 Y0
M1
3.3 Pointers
3.4 Interrupt Pointers
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3.5 Application Programming Instructions
10 P
D
** *** ***** *
{
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K2M0 D10
MOV
SET M0
DSW X10 Y10 D0 K0 RST M0
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()
127;.121 = BM
0 10000011 011100000000000000000002 = 41B8000016
1 10000011 011100000000000000000002=C1B8000016
F0 E0 E0
F0
16-bit 16-bit 32-bit
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3.6 Numerical List of Instructions (classified according to the function)
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3.7 Numerical List of Instructions (in alphabetic order)
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3.8 Detailed Instruction Explanation
P0~P255 CJ, CJP: 3 steps
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P0~P255 CALL, CALLP: 3 steps
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CJ Instruction Program Flow
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3. Instruction Set
3-69
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WAND
X0 D0 D2 D4
0000111111111111 00000000 00011 111 000 0 0 000 000 00
11 1
b15 b00
Before execution After execution
D0 D2 D4
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3-90
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D0
124
00 00 1 00 0 76 54 3 2 1 0
D20
D10
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Corresponding table for hardware counters and comparators (It is only applicable to
Block diagram of hardware counters and comparators:
When DHSCS uses I030 or I040, comparators A3 and A4 are no longer available for
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() ()
rpm nt
D 10
0 60
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11
19 19
......
66 7 7
44 55
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Pulse number
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90. Auto operation (Single step / One-cycle operation / continuous operation): a) SFC:
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y If the machine (not at the zero point) goes,
y If the machine (at the zero point) goes from zero return (S1) to manual (S0), no matter M1045
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If X20 = ON,
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c d e f
cd ef
c d e f
dc fe
c d e f
dc fe
K8: Transform 8-bit GPS data into 32-bit floating point data in the following rule:
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The combination will be performed in the following rule:
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F E D C B
A
PLC(Transistor output)
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PLC
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ABCD H
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CR #10 CR #9
Upper 16-bit Lower 16-bit Specif ied CR num ber
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source data register, starting from the lower 8 bits of D100 length = 4
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Timing diagram:
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CDE F
D10
D20 D21
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D100 D101
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0000 0 1 1 111000010 0 00000 00 00010001
D100 D101
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A + B BB BB A+B A+B
Scan cycle Sca n cycle
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~
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y In this control mode, PID operation can be selected as Automatic, Forward, Reverse and
y PID equation for control mode k0~k2:
() () ()
y When
t E K t E K MV
()
)
() () ()
() () ()
() () ()
t PV - t SV t E =
y Control diagram:
G(s) S
Time (sec )
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Example program of SV ramp up function:
DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming
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Part of the example program:
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Results of initial auto-tuning
Results of using adjusted parameters generated by initial auto-tuning function.
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X0 M0 Y0
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S1 = Address of VFD. Range of S1: K0 ~ K255, when S1 is specified as K0, PLC will
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X0 DMOVR F1.200E+0 D10
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S: Radian R: Result (SIN value)
R S
-
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X0 MEMR K10 D2000 K100
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VFD-B PLC, PLC receives: 01 06 2000 1770 52
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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.
Time
Freq.
Time
X4
Freq.
M1029 Y4
X4
State 5: Current position at right side of zero point, D1312=-2, M1308=Off, M1346=On.
Freq.
Time
Freq.
Time
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X0 TRD D0
X0 TWRP D20
1, second data resets).
=
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H1971=K6513
GRAY CODE 6513
K4X0
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When X23 = 0N, 16-bit data in D4 will be sent to D6 and D7.
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N
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Result:
b15 b0 MAND
Before Execution After Execution
D0 D1 D2 D10 D11 D12 D20 D21 D22
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Before Execution
After Execution
b15 b0 MINV
D0 D1 D2 D20 D21 D22
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X1 M1097 MBSP D0 D20 K3
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12
M1098=0 36 M1098=1
D0 D1 D2 D10 D10
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Figure 3 Figure 4
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....
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100kHz D1340 D1343
X4 = OFF --> ON D1340 D1348
2. Assume the first execution results are as below:
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Freq. Time
t1
t2 t3 g1 g2 g3 S
Pulse number
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b = Offset = Min. destination value Min. source value slope
D 0
= 30
Source value
S=500
= 500
S
500
D 0
= 30
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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
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3.
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Communications
4.1 Communication Ports
4.2 Communication Protocol ASCII mode
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4.4 PLC Device Address
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4.5 Command Code
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Sequential Function Chart
5.1 Step Ladder Instruction [STL], [RET]
5.2 Sequential Function Chart (SFC)
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5.3 The Operation of STL Program
M1002 primary pulse
.
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5.4 Points to Note for Designing a Step Ladder Program
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5.5 Types of Sequences
SFC diagram
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5. Sequential Function Chart
Example of alternative divergence & alternative convergence:
5-15
Step Ladder Diagram: SFC Diagram:
DVP-ES2EX2/SS2/SA2/SX2/SE Operation Manual - Programming
Example of simultaneous divergence & simultaneous convergence:
Step Ladder Diagram: SFC Diagram:
5-16
5. Sequential Function Chart
Example of the simultaneous divergence & alternative convergence:
5-17
Step Ladder Diagram: SFC Diagram:
DVP-ES2EX2/SS2/SA2/SX2/SE Operation Manual - Programming
5-18
5. Sequential Function Chart
SFC Diagram:
5-19
DVP-ES2EX2/SS2/SA2/SX2/SE Operation Manual - Programming
Restrictions on Divergence Sequence:
5-20
5. Sequential Function Chart
SFC Diagram:
5-21
5.6 IST Instruction
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8. Zero return mode: a) SFC:
b) Ladder Diagram:
9. Auto operation (Single step / One-cycle operation / continuous operation): a) SFC:
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Troubleshooting
6.1 Common Problems and Solutions
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6.2 Error code Table (Hex)
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6.3 Error Detection Devices
CANopen Function and Operation
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 PDO (process data object) service.
It supports the service of reading the emergency from a slave.
7.2 The Installation and the Network Topology
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7.3 The CANopen Protocol
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
+-+-
The PDO is described by means of the producer/consumer mode. The data is transmitted
Every PDO is described by two objects in the object dictionary: The PDO communication
The PDO transmission mode: synchronous and asynchronous
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.
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Error control services
Boot-up services
Emergency object
The broadcast object in the predefined connection setting
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.
The data format of the SDO response message:
Status code:
Type: In SDO response message, 43 (Hex) refers to reading 4 bytes of data; 4B (Hex) refers
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.
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:
Number of data stored: The latest number of Emergency messages CANopen master
The data in D6004-D6007 are the content of Emergency 1 and every Emergency message
Hardware Connection:
CANopen
TAP-CN 03
DVP32ES2-C PC
7.5 Indicators and Troubleshooting
7.5.1 Description of Indicators
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
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:
Code display in D9980 as DVP-ES2-C is in master mode:
Code display in D9980 as DVP32ES2-C is in slave mode:
7.6 Application Example
CANopen
TAP-C N03
DVP32ES2-C PC
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Error Control Protocol
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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
7.7 Object Dictionary
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Appendix
Contents
