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Delta DVP-ES2/EX2/SS2/SA2/SX2/SE 8. Zero return mode: a) SFC: , b) Ladder Diagram: ,

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5. Sequential Function Chart

8. Zero return mode: a) SFC:

S10

X35

S11

S12

RST Y4

RST Y1

RST Y2

SET M1043

RST S12

Release balls

Stop lowering robo t arm

Raise robot arm to the

upper-limit (X4 = ON)

Stop shifting to right

Shift to left to reach the

left-limit (X1 = ON)

Enable zero return completed flag

Zero return completed

b) Ladder Diagram:

SET S10

RST Y4

S10

RST Y1

SET S11

RST Y2

S11

SET S12

SET M1043

S12

RST S12

Enter zero return mode

Release balls

Stop lowering robot ar m

Raise robot arm to the

upper-limit (X4 = ON)

Stop shifting to right

Shift to left and to reach

the left-limit (X1 = O n )

Enable zero return completed flag

Zero return completed

5-25

Contents

Main DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual Programming Publication History Page i DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual Programming Contents 1 PLC Concepts 2 Programming Concepts 3 Instruction Set ii 4 Communications 5 Sequential Function Chart 6 Troubleshooting 7 CANopen Function and Operation iii Appendix A iv Page 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, Page Page Page Page Page 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 Page Page 1.9 Basic Program Design Examples Page Page Page Page 1. PLC Concepts 1-21 Verti cal Light Horizontal Light Timing Diagram: SFC Figure: DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 1-22 Ladder Diagram: 1. PLC Concepts 1-23 WPLSoft programming (SFC mode) Y2 S0ZRST S127 SFC logic Internal Ladder Logic LAD-0 Page Programming Concepts 2.1 ES2/EX2 Memory Map Page Page 2.2 SS2 Memory Map Page Page 2.3 SA2 Memory Map Page Page 2.4 SX2 Memory Map Page Page 2.5 Status and Allocation of Latched Memory 2.6 PLC Bits, Nibbles, Bytes, Words, etc W1 BY3 BY2 BY1 BY0 NB0NB1NB2NB3NB4NB5NB6NB7 DW W0 Page 2.8 M Relay DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-18 2. Programming Concepts 2-19 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-20 2. Programming Concepts 2-21 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-22 2. Programming Concepts 2-23 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-24 2. Programming Concepts 2-25 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-26 2. Programming Concepts 2-27 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-28 2. Programming Concepts 2-29 2.9 S Relay 2.10 T (Timer) 2.11 C (Counter) Page Page 2.12 High-speed Counters Page Page Page Page 2. Programming Concepts 012345 2-39 X21 2.13 Special Data Register DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-40 2. Programming Concepts 2-41 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-42 2. Programming Concepts 2-43 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-44 2. Programming Concepts 2-45 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-46 2. Programming Concepts 2-47 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-48 2. Programming Concepts 2-49 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-50 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 Page Page 2.16 Applications of Special M Relays and D Registers Page Page Page Page Page Page Page Page MOV H86 D1109 SET M1136 M1002 Page Page Page 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 Page Page Page Page Page DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 2-74 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 Page Page Page Operation flow chart: 10. M1355 Page Example 2: Page Page Instruction Set 3.1 Basic Instructions (without API numbers) 3.2 Explanations to Basic Instructions Page Page Page Page Page Page M0 Y0 M1 M0 Y0 M1 3.3 Pointers 3.4 Interrupt Pointers Page 3.5 Application Programming Instructions 10 P D ** *** ***** * { Page K2M0 D10 MOV SET M0 DSW X10 Y10 D0 K0 RST M0 Page Page () 127;.121 = BM 0 10000011 011100000000000000000002 = 41B8000016 1 10000011 011100000000000000000002=C1B8000016 F0 E0 E0 F0 16-bit 16-bit 32-bit Page 3.6 Numerical List of Instructions (classified according to the function) Page Page Page Page Page Page Page Page 3.7 Numerical List of Instructions (in alphabetic order) Page Page Page Page Page Page Page Page 3.8 Detailed Instruction Explanation P0~P255 CJ, CJP: 3 steps Page Page Page P0~P255 CALL, CALLP: 3 steps Page DVP-ES2/SA2/SS2/SA2/SX2/SE Operation Manual - Programming 3-48 Page Page Page Page CJ Instruction Program Flow Page Page Page Page Page Page Page Page Page Page Page Page Page 3. Instruction Set 3-69 Page Page Page Page Page DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 3-76 Page Page Page Page Page Page 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 Page Page Page Page Page Page DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 3-90 Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page D0 124 00 00 1 00 0 76 54 3 2 1 0 D20 D10 Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page 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 Page Page Page () () rpm nt D 10 0 60 Page Page Page Page Page Page Page Page Page Page 11 19 19 ...... 66 7 7 44 55 Page Pulse number Page Page Page Page Page 90. Auto operation (Single step / One-cycle operation / continuous operation): a) SFC: Page 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 Page Page Page Page Page Page Page Page Page Page Page Page If X20 = ON, Page Page DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 3-174 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: Page Page The combination will be performed in the following rule: Page Page Page Page Page Page Page Page F E D C B A PLC(Transistor output) Page Page Page Page Page PLC Page Page DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 3-196 Page Page ABCD H Page Page CR #10 CR #9 Upper 16-bit Lower 16-bit Specif ied CR num ber Page source data register, starting from the lower 8 bits of D100 length = 4 Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Timing diagram: Page Page Page Page Page Page Page CDE F D10 D20 D21 Page D100 D101 DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 3-236 0000 0 1 1 111000010 0 00000 00 00010001 D100 D101 Page Page Page A + B BB BB A+B A+B Scan cycle Sca n cycle Page Page ~ Page 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 ) Page Example program of SV ramp up function: DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming 3-252 Part of the example program: Page Results of initial auto-tuning Results of using adjusted parameters generated by initial auto-tuning function. Page X0 M0 Y0 Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page S1 = Address of VFD. Range of S1: K0 ~ K255, when S1 is specified as K0, PLC will Page Page Page Page Page Page Page Page Page X0 DMOVR F1.200E+0 D10 Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page S: Radian R: Result (SIN value) R S - Page - Page - Page - Page Page Page Page Page Page Page X0 MEMR K10 D2000 K100 Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page VFD-B PLC, PLC receives: 01 06 2000 1770 52 Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page 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 Page Page Page Page Page Page Page Page Page Page Page Page Page X0 TRD D0 X0 TWRP D20 1, second data resets). = Page Page H1971=K6513 GRAY CODE 6513 K4X0 Page Page Page Page Page Page When X23 = 0N, 16-bit data in D4 will be sent to D6 and D7. Page Page DVP-ES2/EX2/SS2/SA2/SX2 Operation Manual - Programming 3-402 N Page Result: b15 b0 MAND Before Execution After Execution D0 D1 D2 D10 D11 D12 D20 D21 D22 Page Page Page Before Execution After Execution b15 b0 MINV D0 D1 D2 D20 D21 D22 Page Page Page Page Page X1 M1097 MBSP D0 D20 K3 Page Page 12 M1098=0 36 M1098=1 D0 D1 D2 D10 D10 Page Page Page Page Page Figure 3 Figure 4 Page Page Page Page Page Page .... Page Page 100kHz D1340 D1343 X4 = OFF --> ON D1340 D1348 2. Assume the first execution results are as below: Page Page Page Freq. Time t1 t2 t3 g1 g2 g3 S Pulse number Page Page Page DVP-ES2/EX2/SS2/SA2/SX2 Operation Manual - Programming 3-452 Page Page Page b = Offset = Min. destination value Min. source value slope D 0 = 30 Source value S=500 = 500 S 500 D 0 = 30 Page Page 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 Page DVP-ES2/SX2/SS2/SA2/SX2/SE Operation Manual Programming 3-464 Page Page Page Page Page 3. Page Page Page Page Page Page Page Communications 4.1 Communication Ports 4.2 Communication Protocol ASCII mode Page Page Page Page Page Page Page 4.4 PLC Device Address Page 4.5 Command Code Page Page Page Page Page Page Page Sequential Function Chart 5.1 Step Ladder Instruction [STL], [RET] 5.2 Sequential Function Chart (SFC) Page 5.3 The Operation of STL Program M1002 primary pulse . Page Page Page 5.4 Points to Note for Designing a Step Ladder Program Page 5.5 Types of Sequences SFC diagram Page Page Page 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 Page Page 8. Zero return mode: a) SFC: b) Ladder Diagram: 9. Auto operation (Single step / One-cycle operation / continuous operation): a) SFC: Page Page Troubleshooting 6.1 Common Problems and Solutions Page 6.2 Error code Table (Hex) Page 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 Page Page Page 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. Page 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 Page Page Page Error Control Protocol Page Page 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 Page Page Page Page Page Page Page Appendix Contents