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台达可编程控制器(PLC)DVP-MC操作手册.pdf
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更新于2023-03-16
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台达可编程控制器(PLC)DVP-MC操作手册pdf,台达可编程控制器(PLC)DVP-MC:DVP10MC11T 是一个多功能控制器,其内部包含标准PLC 模块和MC 运动控制模块两大功能模块。PLC模块与台达其它DVP 系列PLC 功能相似,使用方法也相同,通过WPLSoft 或ISPSoft 编程软件,可以编写梯形图,顺序功能图,指令表等台达标准的PLC 逻辑程序。
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DVP-MC
总线型
多轴运动控制器
操作手册
2012-02-13

目录
1. 产品概述 ...............................................................................................................1-1
1.1. 功能简介 ......................................................................................................1-1
1.2. 外观及各单元部件介绍......................................................................................1-2
1.2.1. 外观尺寸规格 ...........................................................................................1-2
1.2.2. 产品各部介绍 ...........................................................................................1-2
2. 系统功能介绍..........................................................................................................2-1
2.1. 系统连接架构.................................................................................................2-1
2.1.1. 通讯接口介绍 ...........................................................................................2-2
2.1.2. 系统组成架构 ...........................................................................................2-5
2.1.3. 系统扩展介绍 ...........................................................................................2-7
2.2. 内部装置介绍.................................................................................................2-8
2.2.1. PLC模块内部装置介绍 ................................................................................2-8
2.2.2. MC运动控制模块内部装置介绍 ......................................................................2-8
2.3. 系统工作原理............................................................................................... 2-13
2.3.1. 轴参数设置............................................................................................ 2-13
2.3.2. 运动程序执行原理 ................................................................................... 2-18
2.3.3. CNC功能简介......................................................................................... 2-20
2.3.3.1. CNC程序下载调试........................................................................... 2-21
2.3.3.2. 动态CNC程序下载协议 ..................................................................... 2-21
2.3.3.3. 报文格式 ...................................................................................... 2-21
2.3.4. CAM功能简介 ........................................................................................2-23
3. 系统安装介绍..........................................................................................................3-1
3.1. 电气特性 ......................................................................................................3-1
3.2. 系统连接 ......................................................................................................3-2
3.2.1. 电源及IO配线 ..........................................................................................3-2
3.2.2. 与ASDA-A2 系列伺服连接 ...........................................................................3-5
3.2.3. 与左侧扩展模块(以DeviceNet主站为例)连接..................................................3-6
3.2.4. 与右侧扩展模块(以DVP16SP11T模块为例)连接..............................................3-7
4. 运动控制指令说明 ....................................................................................................4-1
4.1. 应用指令一览表 ..............................................................................................4-1
4.2. 轴状态.........................................................................................................4-4
4.3. 指令使用说明.................................................................................................4-6
4.4. 单轴指令使用说明 ...........................................................................................4-7
4.4.1. MC_MoveAbsolute(绝对位移指令).............................................................4-7

4.4.2. MC_MoveRelative(相对位移指令) ............................................................4-13
4.4.3. MC_MoveAdditive(附加位移指令)............................................................4-17
4.4.4. MC_MoveSuperImposed(追加位移指令)...................................................4-22
4.4.5. MC_MoveVelocity(速度指令)..................................................................4-27
4.4.6. MC_Stop(停止指令) .............................................................................4-31
4.4.7. MC_PassiveHome(原点回归指令) ............................................................4-34
4.4.8. MC_Power(使能指令) ...........................................................................4-36
4.4.9. MC_Reset(复位指令) ............................................................................4-37
4.4.10. MC_ReadStatus(读取轴状态指令)............................................................4-38
4.4.11. MC_ReadActualPosition(读取实际位置指令)...............................................4-40
4.4.12. MC_ReadAxisError(读取轴错误指令) ........................................................4-41
4.4.13. DMC_ReadParameter(读取参数指令) .......................................................4-42
4.4.14. DMC_WriteParameter(写入参数指令).......................................................4-44
4.4.15. DMC_SetTorque(扭矩设定指令).................................................................4-45
4.5. 多轴指令使用说明..........................................................................................4-47
4.5.1. MC_CamTableSelect(凸轮表选择指令)......................................................4-47
4.5.2. MC_CamIn(电子凸轮关联指令) ...............................................................4-49
4.5.3. MC_CamOut(凸轮脱离指令)...................................................................4-68
4.5.4. DMC_CamSet(凸轮设置指令) .................................................................4-71
4.5.5. MC_GearIn(齿轮耦合指令).....................................................................4-76
4.5.6. MC_GearOut(齿轮脱离指令)...................................................................4-77
4.5.7. MC_Phasing(相位偏移指令) ...................................................................4-79
4.5.8. DMC_NC(CNC指令) .............................................................................4-82
4.5.9. DMC_ CapturePosition(位置捕获指令) .....................................................4-87
4.5.10. DMC_VirtualAxis(虚轴指令)...................................................................4-91
4.5.11. DMC_ExternalMaster(外部虚主轴指令).....................................................4-93
4.6. 逻辑指令使用说明..........................................................................................4-95
4.6.1. ADD(16 位整数加法指令) .......................................................................4-95
4.6.2. ADD_DI(32 位整数加法指令) ..................................................................4-95
4.6.3. ADD_R(浮点数加法指令)........................................................................4-96
4.6.4. SUB(16 位整数减法指令) .......................................................................4-96
4.6.5. SUB_DI(32 位整数减法指令) ..................................................................4-97
4.6.6. SUB_R(浮点数减法指令)........................................................................4-97
4.6.7. MUL(16 位整数乘法指令) .......................................................................4-98
4.6.8. MUL_DI(32 位整数乘法指令) ..................................................................4-98
4.6.9. MUL_R(浮点数乘法指令)........................................................................4-99
4.6.10. DIV(16 位整数除法指令) ........................................................................4-99
4.6.11. DIV_DI(32 位整数除法指令) .................................................................4-100

4.6.12. DIV_R(浮点数除法指令) ...................................................................... 4-100
4.6.13. AND(逻辑与指令) .............................................................................. 4-101
4.6.14. OR(逻辑或指令) ................................................................................ 4-102
4.6.15. XOR(逻辑异或指令)............................................................................ 4-103
4.6.16. NOT(逻辑非指令) .............................................................................. 4-103
4.6.17. CTU(增计数指令)............................................................................... 4-104
4.6.18. CTD(减计数指令)............................................................................... 4-106
4.6.19. CTUD(增/减计数指令)......................................................................... 4-108
4.6.20. TON_s(通电延时定时指令) ................................................................... 4-110
4.6.21. TOF_s(断电延时定时指令).................................................................... 4-112
4.6.22. TONR_s(记忆型通电延时定时指令) ......................................................... 4-114
4.6.23. TON_ms(通电延时定时指令) ................................................................ 4-116
4.6.24. TOF_ms(断电延时定时指令)................................................................. 4-117
4.6.25. TONR_ms(记忆型通电延时定时指令) ...................................................... 4-118
4.6.26. CMP(16 位整数比较指令)..................................................................... 4-119
4.6.27. CMP_DI(32 位整数比较指令)................................................................ 4-120
4.6.28. CMP_R(浮点数比较指令) ..................................................................... 4-121
4.6.29. MOV(16 位整数传送指令) .................................................................... 4-122
4.6.30. MOV_DI(32 位整数传送指令) ............................................................... 4-123
4.6.31. MOV_R(浮点数传送指令)..................................................................... 4-123
4.6.32. MOVF(16 位整数多点传送指令) ............................................................. 4-124
4.6.33. MOVF_DI(32 位整数多点传送指令) ........................................................ 4-125
4.6.34. MOVF_R(浮点数多点传送指令).............................................................. 4-126
4.6.35. MOVB(块传送指令) ............................................................................ 4-127
4.6.36. MOV_BW(位->字传送指令) ................................................................. 4-128
4.6.37. MOV_WB(字->位传送指令) ................................................................. 4-129
4.6.38. ZCP(16 位整数区间比较指令)................................................................ 4-130
4.6.39. ZCP_DI(32 位整数区间比较指令)........................................................... 4-131
4.6.40. ZCP_R(浮点数区间比较指令) ................................................................ 4-132
4.6.41. SET(置位指令).................................................................................. 4-133
4.6.42. RESET(复位指令) .............................................................................. 4-133
4.6.43. OUT(驱动线圈指令)............................................................................ 4-134
4.6.44. R_Trig(上升沿触发指令) ...................................................................... 4-135
4.6.45. F_Trig(下降沿触发指令) ...................................................................... 4-136
4.6.46. ZRSTM(位装置区间复位指令)................................................................ 4-137
4.6.47. ZRSTD( 寄存器区间清零指令) .............................................................. 4-137
4.6.48. SQRT_R(浮点数算术平方根指令) .............................................................. 4-138
4.6.49. MOD(16 位整数取余指令)...................................................................... 4-138

4.6.50. MOD_DI(32 位整数取余指令)................................................................4-139
4.6.51. MOD_R (浮点数取余指令).......................................................................4-139
4.6.52. Real_To_Int(浮点数转换 16 位整数指令) ..................................................4-140
4.6.53. Real_To_DInt(浮点数转换 32 位整数指令)................................................4-140
4.6.54. Int _To_ Real(16 位整数转换浮点数指令).................................................4-141
4.6.55. DInt _To_ Real(32 位整数转换浮点数指令)...............................................4-141
4.7. 应用指令使用说明........................................................................................4-142
4.7.1. 旋切功能工艺介绍 ..................................................................................4-142
4.7.2. 旋切功能工艺参数 ..................................................................................4-142
4.7.3. 旋切功能控制特性 ..................................................................................4-143
4.7.4. 旋切功能凸轮介绍 ..................................................................................4-144
4.7.5. 旋切指令介绍 .......................................................................................4-148
4.7.5.1. APF_RotaryCut_Init(旋切初始化指令) ............................................4-148
4.7.5.2. APF_RotaryCut_In(旋切耦合指令).................................................4-150
4.7.5.3. APF_RotaryCut_Out(旋切脱离指令)...............................................4-151
4.7.6. 旋切指令应用范例 ..................................................................................4-152
4.7.7. 追剪功能工艺介绍 ..................................................................................4-154
4.7.8. 追剪功能工艺参数 ..................................................................................4-154
4.7.9. 追剪功能控制特性 ..................................................................................4-155
4.7.10. 追剪功能指令介绍 ..................................................................................4-157
4.7.10.1. APF_FlyingShear_Init(追剪初始化指令)..........................................4-157
4.7.10.2. APF_FlyingShear(追剪指令) ........................................................4-159
4.7.11. 追剪功能时序图.....................................................................................4-161
4.7.12. 追剪指令应用范例 ..................................................................................4-161
5. 错误排除............................................................................................................... 5-1
5.1. LED灯指示说明.............................................................................................. 5-1
5.2. 状态字说明 ................................................................................................... 5-4
5.3. 运动指令Error ID值含义说明............................................................................. 5-5
附录A Modbus通讯说明..............................................................................................A-1
附录B 以太网通讯说明 ................................................................................................. B-1
附录C 轴相关特殊寄存器说明 ......................................................................................... C-1
附录D 原点回归模式说明 ..............................................................................................D-1
附录E PLC模块寄存器说明............................................................................................ E-1
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