Delta DVP-PM Series, DVP-20PM, DVP-10PM Applications Manual

DVP-PM APPLICATION MANUAL

Table of Contents

Chapter 1: Program Structure of DVP-PM

1.1 O100 Main Program............................................................................1-1

1.2 Structure of OX Motion Subroutine.......................................................

1-3

1.3 Structure of Pn Subroutine..................................................................

1-5

1.4 Structure of O100, OX and Pn Program Design....................................

1-7

1.4.1 The Program Structure …………………………………………………………………1-7

Chapter 2: Hardware Specifications and Wiring

2.1 Hardware Specifications...................................................................... 2-1

2.1.1 Electrical Specifications ............................................................................. 2-1

2.1.2 I/O Point Specifications .............................................................................. 2-1

2.1.3 Dimension ................................................................................................. 2-6

2.2 Installation and Wiring.........................................................................2-8

2.2.1 Wiring ....................................................................................................... 2-8

2.2.2 Power Input Wiring .................................................................................... 2-9

2.2.3 Safety Wiring ............................................................................................. 2-9

2.2.4 I/O Point Wiring ......................................................................................... 2-10

2.2.5 Wiring with Drives ...................................................................................... 2-18

2.3 Communication Ports..........................................................................2-28

2.3.1 COM1 (RS-232)......................................................................................... 2-28

2.3.2 COM2 (RS-485)......................................................................................... 2-29

2.3.3 COM2 (RS-232/RS-485) ............................................................................. 2-29

Chapter 3: Functions of Devices in DVP-PM

3.1 Device in DVP-PM .............................................................................. 3-1

3.2 Values, Constants [K]/[H], Floating Points [F] .......................................

3-4

3.3 Numbering and Functions of External Input/Output Contacts [X]/[Y].......

3-6

3.4 Numbering and Functions of Auxiliary Relays [M] .................................

3-7

3.5 Numbering and Functions of Step Relays [S]........................................

3-8

3.6 Numbering and Functions of Timers [T] ................................................

3-8

3.7 Numbering and Functions of Counters [C]............................................3-9

3.8 Numbering and Functions of Registers [D]] ..........................................

3-16

3.8.1 Data Register [D]....................................................................................... 3-16

3.8.2 Index Registers [V], [Z] .............................................................................. 3-16

3.9 Pointer [N], Pointer [Pn] .......................................................................3-17

3.10 Special Auxiliary Relays [M], Special Data Register [D] ..........................

3-18

3.11 Functions of Special Auxiliary Relays and Special Registers...................

3-35

3.12 Special Registers for Manual Motion Settings ........................................

3-57

3.12.1 Functions of Special Registers for Manual Mode Settings .......................... 3-59

3.12.2 Manual Modes ......................................................................................... 3-77

3.12.3 Position & Speed Control Registers for Manual Modes............................... 3-78

Chapter 4: Basic Instructions

4.1 Basic Instructions ............................................................................... 4-1

4.2 Explanations on Basic Instructions ......................................................

4-3

Chapter 5: Categories and Use of Basic Application Instructions

5.1 List of Instructions ..............................................................................5-1

5.2 Instruction Composition.......................................................................

5-5

5.3 Numeric Values for Data Processing....................................................

5-7

5.4 Index Register V, Z .............................................................................

5-10

5.5 Instruction Index.................................................................................

5-11

5.6 Application Instructions.......................................................................

5-15

● (API 00 ~ 09) Loop Control

................................................................ 5-15

● (API 10 ~ 19) Transmission Comparison

.............................................

5-23

● (API 20 ~ 29) Four Arithmetic Operations........................................... 5-36

● (API 30 ~ 39) Rotation and Displacement........................................... 5-48

● (API 40 ~ 49) Data Processing........................................................... 5-59

● (API 50)

High Speed Processing ................................................. 5-72

● (API 61 ~ 69) Handy Instructions ....................................................... 5-74

● (API 78 ~ 87) I/O............................................................................... 5-80

● (API 100 ~ 109) Communications ........................................................... 5-85

● (API 110 ~ 175) Floating Point Operation ............................................... 5-94

● (API 215 ~ 223) Contact Type Logic Operation....................................... 5-126

● (API 224 ~ 246) Contact Type Comparison............................................. 5-129

● (API 147 ~ 260) Other Instructions ......................................................... 5-132

Chapter 6: Motion Instructions and G-Code Instructions

6.1 List of Motion Instructions and G-Code Instructions.............................. 6-1

6.2 Composition of Motion Instructions and G-Code Instructions .................

6-3

6.2.1 Motion Instructions..........................................................................6-3

6.2.2 G-Code Instructions ……………………………………………………………….. 6-4

6.3 Motion Instructions............................................................................6-6

● (MON 00 ~ 19) Motion Instructions............................................................ 6-6

6.4 O Pointer / M Pointer.................................................................................... 6-40

6.5 G-Code Instructions............................................................................6-44

● (G0 ~ 4, 90 ~ 91) G-Code Instructions ...................................................... 6-44

Chapter 7: Use DVP-PM As Slave

7.1 Access between DVP-EH2, DVP-PM (as Master) and DVP-PM (as Slave) 7-1

7.1.1 The Structure............................................................................................. 7-1

7.1.2 Example of Master-Slave Data Exchange .................................................... 7-2

Chapter 8: Application Examples

8.1 Draw the Trajectories by Using Motion Instructions and G-Codes ........... 8-1

8.1.1

Trajectory .................................................................................................. 8-1

8.1.2

Design Procedure ...................................................................................... 8-3

8.2 Applying Application Examples in PMSoft....................................................... 8-7

8.2.1

Program Structure...................................................................................... 8-7

8.2.2 Design Example Program........................................................................... 8-8

8.3 Planning Variable Speed Operation................................................................ 8-10

8.3.1

Program structure...................................................................................... 8-10

8.3.2 Design Example Program ......................................................................... 8-11

8.4 Connect DVP-PM (Master) with DVP01PU-H2 (Slave) for 3

rd

Axis Control........ 8-14

Chapter 9: Electrical Cam

9.1 Introduction to Electrical CAM (E-CAM).................................................... 9-1

9.2 E-CAM Application..................................................................................... 9-2

9.2.1

Initial Settings............................................................................................ 9-2

9.2.2

Obtain Master Position............................................................................... 9-6

9.2.3 Start / Stop E-CAM ..................................................................................... 9-9

9.3 Explanations on Special Flags and Registers........................................... 9-16

9.4 Set up E-CAM Data ................................................................................... 9-21

9.4.1

Use PMsoft CAM Chart to Set up E-CAM Data............................................. 9-21

9.4.2

Use DTO / DFROM Instructions to Set up E-CAM Data ................................ 9-27

9.5 Multi-axis E-CAM....................................................................................... 9-53

9.6 Field Applications of E-CAM...................................................................... 9-57

9.6.1

E-CAM Application on Winding Machine ...................................................... 9-57

9.6.2

E-CAM Application on Rotary Cut and Flying Saw Devices........................... 9-64

Chapter 10: Encrypting User Program

10.1 Password Setting..................................................................................... 10-1

10.1.1

System Information .................................................................................. 10-1

10.1.2

Downloading Program .............................................................................. 10-3

10.1.3

Uploading Program................................................................................... 10-6

Chapter 11: G-code Application

11.1 DVP-PM00M Program Download with PEP setting................................. 11-1

11.2 DVP-PM00M G-code Download Methods................................................ 11-2

11.2.1

PMGDL Software...................................................................................... 11-2

11.2.2

Download by B Type HMI .......................................................................... 11-8

11.2.3 Download by HMI other than B type through D registers............................. 11-13

11.3 G-code Application in Dispensers ........................................................... 11-17

11.3.1 Operation steps........................................................................................11-17

11.3.2 Storage of G/M code................................................................................. 11-22

Chapter 12: POU Editing Mode

12.1 POU Ladder Editing Environment ........................................................... 12-1

12.1.1

Function of Symbols ................................................................................. 12-2

12.1.2

Editing Symbol Tables .............................................................................. 12-4

12.1.3

Create POU Function Block...................................................................... 12-15

12.1.4

Create POU Folders ................................................................................. 12-18

12.1.5

Export POU.............................................................................................. 12-23

12.1.6

Import POU.............................................................................................. 12-30

12.1.7

Symbols Allocation................................................................................... 12-33

12.1.8 Ladder Find ............................................................................................. 12-36

12.1.9 Ladder Replace ....................................................................................... 12-40

12.2 Edit POU Ladder Diagram....................................................................... 12-41

12.2.1

Replace Devices with Symbols.................................................................. 12-41

12.2.2

Applying POU Function Blocks.................................................................. 12-43

12.3 Monitor POU program.............................................................................. 12-50

12.4 Hint Function on Symbols and Function Blocks...................................... 12-54

Chapter 13: CANopen Communication Card

13.1 Introduction to DVP-FPMC: CANopen Communication Card ................. 13-1

13.2 Specifications........................................................................................... 13-1

13.3 Product Profile & Installation................................................................... 13-2

13.4 Parameters for Control Register (CR) ..................................................... 13-3

13.5 How to Set Up ASDA-A2 Servo Drive ..................................................... 13-5

13.6 DVP-FPMC Mode Settings ...................................................................... 13-20

13.7 DVP-FPMC Ethernet Applications........................................................... 13-24

13.7.1

Communication between DVP-FPMC and HMI........................................... 13-24

13.7.2 Communication between DVP-FPMC and PMSoft ...................................... 13-27

13.8 LED Indicator & Troubleshooting........................................................13-30

Chapter 14: High Speed Compare and Capture

14.1 High Speed Compare and Capture Function........................................... 14-1

14.2 High Speed Compare Function................................................................ 14-4

14.3 Capture Function ..................................................................................... 14-8

Chapter 15: Appendix

15.1 Appendix A: Error Codes...................................................................14-1

15.2 Appendix B: Manual Revision History .................................................

14-2

15.3 Appendix C: Function Comparison Table of DVP-PM Models ..................... 14-2

1 Program Structure of DVP-PM

DVP-PM Application Manual

1-1

Delta’s DVP-PM series MPU is a high-speed positioning and multi-functional programmable logic controller with
2-axis linear/arc interpolation, featuring functions as basic instructions, application instruction (API), motion
instruction (MON) and G-code instructions, making the editing and compiling of program m ore diverse.

This chapter will introduce the program structure of DVP-PM series MPU. DVP-PM combines the sequential control
and 2-axis interpolation positioning control; therefore, the program is in three types: O100 main program, OX motion
subroutine and Pn subroutine, which will be illustrated in this chapter.

The basic instructions, application instructions (API), motion instructions (MON) and G-Code instructions will be
given in Chapter 4 ~ 6.

Here we provide a specification comparison table of different model PLCs for your reference:

PLC Models

Specifications

DVP-10PM DVP-20PM
High speed output 1000kHz 4 sets 500kHz 3 sets
PWM Accuracy 0.3%@200KHz
Hardware high speed counter 6 sets (differentialx2,

open collector x4)

2 sets

Program capacity 64K Steps 64K Steps
Execution speed LD: 0.14us

MOV: 2us
DMUL: 7.6us
DEMUL: 6.1us

1.1 O100 Main Program

O100 main program is the PLC sequential control program for DVP-PM series MPU. The O100 main program
section only supports basic instructions and application instructions. Besides processing I/O signals and calling Pn
subroutine, basic instructions and application instructions also control 100 OX motion subroutines which enable
OX0 ~ OX99. Therefore, O100 main program establishes the main control program, and the main control program
sets up and activates motion subroutines. This is the control structure of the operation of DVP-PM. See below the
operation procedure and features of O100 main program.

1. There are two ways to activate O100 main program

z When DVP-PM is powered, and the AUTO/MANU switch goes from MANU to AUTO, M1072 will be

ON automatically, and O100 main program will be in RUN status.

z When DVP-PM is powered, you can set M1072 to be ON or O100 main program to be in RUN st atus

by communication.

1 Program S tructure of DVP-PM

DVP-PM Application Manual

1-2

Auto/Manu

Communication

M1072

O10 0

Run

2. O100 main program operates in cyclic scans. When O100 main program is enabled, the scan will start at
the start flag of O100. When the scan reaches M102 (main program ends instruction), it will return to the
start flag of O100 and repeat the scan, as shown in the figure below:

O100

M102

.
.
.

Pointer indicating start of main program

Cyclic scan
Sequenti al control program area

M-code indicating end of main program

3. There are three ways to stop the operation of O100 main program:

z When DVP-PM is powered, and the AUTO/MANU switch goes from AUTO to MANU, M1072 will be

OFF automatically, and O100 main program will be in STOP status. The operation of OX and Pn
subroutines will stop at this moment.

z When DVP-PM is powered, you can set M1072 to be OFF or O100 main program to be in STOP

status by communication. The operation of OX and Pn subroutines will stop immediately.

z When errors occur during compiling or operation of the program, O100 main program will stop

automatically. See Chapter 14 Index for the table of the error codes and their causes.

4. O100 main program supports basic instructions and application instructions; therefore, you can design the
program according to your actual needs. Besides, you can further activate OX0 ~ OX99 motio n subroutines
by setting up the parameters in motion subroutines and the activation No. in the motion subroutines.

z O100 main program does not support motion instructions and G-Code instructions. Please design

motion instructions and G-Code instructions in OX0 ~ OX99 subroutines. See 1.2 for more details.

z O100 main program is able to call Pn subroutines. See 1.3 for more details.

5. The above explanations are sorted in the table below:

O100 main program Explanation

Start of O100

O100, pointer indicates the start of O100 main program (*It will be inserted by PMSoft when
compiling to IL instructions, therefore you don’t have to add it into ladder diagram.)

End of O100

M102, instruction indicates the end of O100 main program (*It will be inserted by PMSoft
when compiling to IL instructions, therefore you don’t have to add it into ladder diagram.)

Activation

1. MANU → AUTO by MANU/AUTO switch ON DVP-PM

2. M1072 OFF → ON by communication

Execution Operated in cyclic scans

Instruction supported Basic instructions and application instructions

Quantity Only one O100 program is allowed in the program

1 Program S tructure of DVP-PM

DVP-PM Application Manual

1-3

Features & functions

1. Performs sequential control of PLC

2. Able to activate OX0 ~ OX99 motion subroutines and call Pn subroutines

3. Can be placed in front of or after OX0 ~ OX99 motion subroutines and Pn subroutines.

6. Manual Motion Mode in O100 Main Program
In O100 main program, you can use special registers for designing Manual Motion Mode. (Please see 3.12
for details of how to set up).

1.2 Structure of OX Motion Subroutine

OX0 ~ OX99 motion subroutines are motion control programs for controlling the motions ON X/Y/Z axes in
DVP-PM. The OX0 ~ OX99 motion subroutines support basic instructions, application instructions, motion
instructions and G-Code instructions. Also OX subroutines are able to call Pn subroutines. OX0 ~ OX99 are
instructions provided specially for controlling the moving path ON X/Y/Z axes. See below the operation procedure
and features of OX motion subroutines.

1. How to activate OX0 ~ OX99 motion subroutines:

z When O100 main program is in RUN status, you can set up the execution No. of OX00~OX99

(D1868: H8000 ~ H8063) in O100 main program. After number of OX subroutine is specified, set
M1074 (Enabling OX subroutines) as ON or set b12 of D1846 as 1 to enable OX motion subroutine.

z Before enabling OX subroutine, make sure there are no other motion subroutines in operation.

OXn (No of OX)

O100 RUN

M1074= ON
or D1846 b12 = ON

OXn

Run

2. OX subroutine executes once when it is activated. When O100 main program activates OX subroutine,

the execution will start from the start flag of OX motion subroutine and end at M2 (end of OX
subroutine) as shown in the figure below:

1 Program S tructure of DVP-PM

DVP-PM Application Manual

1-4

MOV

.
.
.

.
.
.

.
.
.

H800A

D1868

OUT

M1074

X0

X0 = ON

Set N o . of OX as O 10. b15=1
enables OX subroutine .

X

Set M1 074 = ON or D1846_b12 = 1 to r un O 10 motion
subroutine

X

C

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g

s

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c

t

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n

MOVP

K100

D1836

MOVP

K100

D1837

.
.
.

MOV

H1000

D1846

Or

When X0 = On, OX10 motion subroutine will execute once and stop when the execution reaches M 2. If you
need to execute it again, activate X0 again and OX10 subroutine will be executed again.

3. There are four ways to stop OX motion subroutine:

z When DVP-PM is powered, and the AUTO/MANU switch goes from AUTO to MANU, M1072 will be

OFF automatically. O100 main program will be in STOP status. The operation of OX motion
subroutines will stop at this moment.

z You can also stop OX subroutine by controlling the input signals of the external terminal (STOP0).
z When DVP-PM is powered, you can also stop OX subroutine through communication by setting

M1074 to be OFF or D1846 as 0.

z When errors occur during compiling or operation of the program, OX subroutines will stop

automatically. See Chapter 11 Index for the table of the error codes and their causes.

4. OX motion subroutines support basic instructions, application instructions (API), motion instructions (MON)
and G-Code instructions. Therefore, you can design your own motion program by using these instructions
and setting up X-Y-Z axis parameters for your desired X-Y-Z motion control.

y The instructions mentioned above shall be designed in OX0 ~ OX99 motion subroutines.
y OX motion subroutine is able to call Pn subroutines. See 1.3 for more details.

5. The above explanations are sorted in the table below:

OX motion subroutine Explanation

Start of OX

OXn, pointer indicates the start of OX subroutine. OX0 ~ OX99, 100 motion subroutines

1 Program S tructure of DVP-PM

DVP-PM Application Manual

1-5

(*It will be inserted by PMSoft when compiling to IL instructions, therefore you don’t have
to add it into ladder diagram.)

End of OX

M2, instruction indicates the end of OX subroutine (*It will be inserted by PMSoft when
compiling to IL instructions, therefore you don’t have to add it into ladder diagram.)

Activation

1. When O100 main program is in RUN status, set M1074 = ON or D1846_b12 = 1 to
enable OX motion subroutine by PMSoft.

2. When O100 main program is in RUN status, set M1074 = ON or D1846_b12 = 1 to
enable OX motion subroutine through communication.

3. OX subr outine can be stopped by input signals at external control terminal (STOP0).

 Note: When you need to enable OX motion subroutine, make sure th ere are no other

motion subroutines in operation.

Execution Execute once whenever the subroutine is enabled. Re-enable it for the re-executi on.

Instruction supported

Basic instructions, application instructions (API), motion instructions (MON), and G-Code
instructions.

 Note: Avoid pulse-type instruction when using basic instructions and application

instructions.

Quantity

100 OX motion subroutines are available. To activate more OX subroutines, please set
up the number of OX (OXn) in D1868 and set M1074 = ON or D1846_b12 = 1 again.

Features & functions

1. Motion subroutine especially for motion control. (Can be activated only by O100)

2. Offers the third axis (Z) control. See 6.4 G00 and G01 instructions for more details.

3. Can be enabled / disabled b y controlling the external terminals, program design and
communication.

4. Able to call Pn subroutine.

5. Can be placed in front of or after O100 main program and Pn subroutines.

1.3 Structure of Pn Subroutine

Pn subroutine is a general-purpose subroutine which can be called in O100 main program and OX motion
subroutines. When Pn subroutine is called in O100 main program, the Pn subroutine area supports basic
instructions and application instructions. When Pn subroutines is called in OX0 ~ OX99 motion subroutines, the Pn
subroutine area supports basic instructions, application instructions (API), motion instructions (MON) and G-Code
instructions.

1. How to enable Pn subroutine:

z Call Pn subroutine in O100 main program.
z Call Pn subroutine in OX motion subroutine.

2. No matter Pn subroutine is called in O100 or OX, the execution will jump to Pn subroutine to execute the Pn
subroutine once. When SRET (Pn subroutine ends instruction) is reached, the execution will return to the
row under CALL Pn instruction and proceed with the remaining program as below.

1 Program S tructure of DVP-PM

DVP-PM Application Manual

1-6

MOV

CALL

.
.
.

.
.
.

H800A

D1868

OUT

M1074

X0

P0

P2

CALL

b

a

M1000

M1000

Call P0 subroutine

Set OX as O 10X

When X0 = ON, O 10 motion subroutine
will be enabled. Pa th a will be true.

X

Call P2 subroutine

O100 an d O 10
progr am bi fu rcat ion poi nt

X

C

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0

S

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MOVP

K100

D1836

ABST

DRV

X -20000

Y 20000

MOVP

K100

D1837

.
.
.

.
.

.
.

.
.

z P0 subroutine section called by O100 supports only basic instructions and application instructions.

However, P2 subroutine section called by OX subroutine supports basic instructions, application
instructions (API), motion instructions (MON) and G-Code instructions.

3. There are three ways to stop Pn subroutine:

z When DVP-PM is powered, and the AUTO/MANU switch goes from AUTO to MANU, M1072 will be

OFF automatically, and O100 main program will be in STOP status. The operation of OX and Pn
subroutines will also stop at this moment.

z When DVP-PM is powered, you can also stop OX subroutine by setting M1074 to be OFF or D1846

as 0 through communication, so as to stop the Pn subroutine called by OX subroutine.

z When errors occur during compiling or operation of the program, Pn subroutines will stop

automatically. See Chapter 14 Index for the table of the error codes and their causes.

4. The above explanations are sorted in the table below:

1 Program S tructure of DVP-PM

DVP-PM Application Manual

1-7

Pn subroutine Explanation

Start of the program

Pn, start flag of Pn subroutine (P0 ~ P255) (*It will be inserted by PMSoft when
compiling to IL instructions, therefore you don’t have to add it into ladder diagram.)

End of the program

SRET, instruction in dicating the end of Pn subroutine (*It will be inserted by PMSoft
when compiling to IL instructions, therefore you don’t have to add it into ladder diagram.)

Activation

1. Call Pn subroutine in O100 main program.

2. Call Pn subroutine in OX motion subroutine.

Execution Execute once whenever the subroutine is enabled. Re-enable it for the re-executi on.

Instructions supported

1. When called in O100: supports basic instructions and application instructions

2. When called in OX: supports basic instructions, application instructions (API), motion
instructions (MON) and G-Code instructions.

Note: When you need to call Pn in OX and use basic instructions and ap plication

instructions, please avoid pulse-type instructions.

Quantity 256 Pn subroutines are available

Features & functions

1. A general-purpose subroutine

2. Can be called in O100 main program and OX motion subroutine

3. Can be placed in front of or after O100 main program and OX subroutines.

1.4 Program Design Structure of O100, OX and Pn

O100 main program, OX motion subroutine and Pn subroutine are introduced in 1.1 ~ 1.3. In this section, we will
further illustrate the program structure mixed with the 3 types of programs.

1.4.1 The Program Structure

Assume we would like to design an O100 main program, an OX0 motion subroutine, an OX3 motion subroutine, a P1
subroutine and a P2 subroutine (5 program sections) as the following seque ntial control process:

O100 main program

M102

．
．
．

．
．
．
．
．
．
．

．
．
．

Call OX 0

Call P2

OX0 motion subroutine

Call P1

．
．
．

．
．
．

M2
P2 subroutine

Call OX3

．
．
．

．
．
．

SRET

OX3 motion subroutine

．
．
．

M2

P1 subroutine

．
．
．

SRET

To explain the example in an easier way, the program design will be given in section (1) ~ (5), as shown below:

1 Program S tructure of DVP-PM

DVP-PM Application Manual

1-8

CALL

.
.
.

.
.

.
.
.

.
.
.

P2

P1

CALL

(1)

(3)

(2)

(5)

MOV

H8000

D1868

SET

M1074

.
.

.
.
.

BRET

.
.
.

(4)

MOV H8003

D1868

SET M1074

.
.

M1000

M1000

Call P1 subroutine

O

X

0

M

o

t

i

o

n

s

u

b

r

o

u

t

i

n

e

s

e

c

t

i

o

n

Set OX a s O 0X

Enable O 0 motion subroutineX

Call P2 subroutine

O

1

0

0

M

a

i

n

c

o

n

t

r

o

l

p

r

o

g

r

a

m

s

e

c

t

i

o

n

P

1

S

u

b

r

o

u

t

i

n

e

s

e

c

t

i

o

n

O

X

3

M

o

t

i

o

n

s

u

b

r

o

u

t

i

n

e

s

e

c

t

i

o

n

Set OX a s O 3X

Enable O 3 mot ion subr out i neX

P

2

Su

b

r

o

u

t

i

n

e

s

e

c

t

i

o

n

DMOV

K0

D1848

.
.

M1000

M1000

BRET

.
.

1 Program S tructure of DVP-PM

DVP-PM Application Manual

1-9

Explanations ON the program design:

1. The design order is from (1) to (5) in above example. However, there is no rule for the placing order of
program sections, so you can place the 5 sections according to your needs.

2. There should be only one O100 main program (2), and it cannot be called by other programs or
subroutines. O100 can call OX motion subroutines and Pn subroutines.

3. OX motion subroutine can be called by O100 main program and Pn subroutine, and it can also call a Pn
subroutine.

4. Pn subroutine can be called by O100 main program and OX motion subroutine, and it can also call a OX
motion subroutine.

 Note:

1. Only one OX motion subroutine can be executed at a time. Therefore, when OX0 motion subroutine is
executed, OX3 will not be able to work, and vice versa.

2. Once O100 main program or Pn subroutine enables an OX motion subroutine, it will continue to execute
the next row of the program without paying attention to the OX motion subroutine being executed.

3. The enabled OX motion subroutine will only execute once. If you want it to execute again, you have to
re-enable it.

Instructions supported in each program section: (O: supported; X: not supported)

Section O100 main program

OX motion subroutine

(OX0, OX3)

P1 subroutine P2 subroutine

Basic instruction O

O O O

Application

instruction

O

O

O O

Motion instruction X O O X

G-Code instruction X O O X

Explanation

Instructions supported
are fixed

Instructions supported
are fixed

Called by OX motion
subroutine; therefore,
motion instructions
and G-Code
instructions are
supported.

Called by O100 main
program; therefore,
motion instructions
and G-Code
instructions are not
supported.

Remarks:

Main program Subroutine Motion subroutine

Placing order No limitation No limitation No limitation

Activation In RUN Status

Called by main program or motion
subroutine

Called by main program or
subroutine

Execution In cycles

Execute once whenever being
called once

Execute once whenever being
called once

Quantity 1 256, depending ON user’s demand. 100, depending ON user’s demand.

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-1

2.1 Hardware Specifications

This chapter only provides information on electrical specification and wiring. For detailed information on program

design and instructions, please refer to Chapter 5 ~ 6. For how to purchase its peripheral devices, please refer to the

instruction sheet enclosed with the product.

2.1.1 Electrical Specifications

20PM 10PM

Power supply
voltage

100 ~ 240V AC（-15% ~ 10%）, 50/60Hz ± 5%

Power supply fuse 2A/250VAC

Power consumption 60VA

DC24V current
output

500mA

Power supply
protection

DC24V; output short-circuit protection

Voltage withstand 1,500VAC (Primary-secondary); 1,500VAC (Primary-PE); 500VAC (Secondary-PE)

Insulation
resistance

> 5MΩ (all I/O point-to-ground: 500VDC)

Noise immunity

ESD: 8KV Air Discharge; EFT: Power Line: 2KV, Digital I/O: 1KV, Analog & Communication
I/O: 250V

Grounding

The diameter of grounding wire shall not be less that of L, N terminal of the power. (When
many PLCs are in use at the same time, please make sure every PLC is properly grounded.)

Environment

Operation: 0°C ~ 55°C (temperature), 50 ~ 95% (humidity), pollution degree 2
Storage: -25°C ~ 70°C (temperature), 5 ~ 95% (humidity)

Vibration/shock
resistance

International standards: IEC61131-2, IEC 68-2-6 (TEST Fc)/IEC61131-2 & IEC 68-2-27
(TEST Ea)

Weigh (approx. g.) 478/688

2.1.2 I/O Point Specifications

Input point specifications:

 DVP20PM00D

Max. input

Terminal Description

Response

time

Current Voltage

START0, START1 For input signals of Start 10ms 6mA 24V

STOP0, STOP1 For input signals of Stop 10ms 6mA 24V

LSP0/LSN0,
LSP1/LSN1

Right limit input/left limit input 10ms 6mA 24V

A0+, A0-, A1+, A1-

MPG A-phase pulse input +, - (differential signal
input) (A1+, A1- are shared by Y and Z )

200kHz 15mA 5 ~ 24V

B0+, B0-, B1+, B1-

MPG B-phase pulse input +, - (differential signal
input) (B1+, B1- are shared by Y and Z)

200kHz 15mA 5 ~ 24V

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-2

Max. input

Terminal Description

Response

time

Current Voltage

PG0+, PG0-, PG1+,
PG1-

Zero point signal input +, - (differential signal input) 200kHz 16mA 5 ~ 24V

DOG0, DOG1

There are two variations according to different
operation modes:

1. DOG signal in zero return mode

2. Start signal for inserting single speed or 2-speed
operation

1ms 6mA 24V

X0~X7 General input points 200kHz 15mA 24V

 DVP20PM00M

Max. input

Terminal Description

Response

time

Current Voltage

START0, START1 For input signals of Start 10ms 6mA 24V

STOP0, STOP1 For input signals of Stop 10ms 6mA 24V

LSP0/LSN0,
LSP1/LSN1

Right limit input/left limit input 10ms 6mA 24V

X1/X2 Right limit input/left limit input (COM) (for Z axis) 10ms 6mA 24V

A0+, A0-, A1+, A1-

MPG A-phase pulse input +, - (differential signal
input) (A1+, A1- are shared by Y and Z )

200kHz 15mA 5 ~ 24V

B0+, B0-, B1+, B1-

MPG B-phase pulse input +, - (differential signal
input) (B1+, B1- are shared by Y and Z)

200kHz 15mA 5 ~ 24V

PG0+, PG0-, PG1+,
PG1-

Zero point signal input +, - (differential signal input) 200kHz 16mA 5 ~ 24V

X3 Zero point signal input (COM) (for Z axis) 100ms 6mA 24V

DOG0, DOG1

There are two variations according to different
operation modes:

1. DOG signal in zero return mode

2. Start signal for inserting single speed or 2-speed
operation

1ms 6mA 24V

X0 Same as DOG0, DOG1 (COM) (for Z axis) 10ms 6mA 24V

X4~X7 General input points 200kHz 15mA 24V

 DVP10PM00M

Max. input

Terminal Description

Response

time

Current Voltage

X0~X7

1. single phase / A-B phase input

2. DOG signal for X-Y-Z-A axis: X0, X2, X4, X6

3. PG signal for X-Y-Z-A axis: X1, X3, X3, X7

200kHz 15mA 24V

X10+, X10-, X11+, X11- MPG+/- pulse input (differential input) 200kHz 15mA 5 ~ 24V

X12+, X12-, X13+, X13- Differential input 200kHz 15mA 5 ~ 24V

Output point specifications:

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-3

 DVP20PM00D

Terminal Description

Response

time

Max. output

current

CLR0+, CLR0-, CLR1+,
CLR1-

Clear signals (for clearing the error counter in servo
drive)

10ms 20mA

FP0+, FP0-, FP1+, FP1-

Forward / reverse running mode: Forward pulse
output

Pulse / direction mode: Pulse output terminal
A, B phase mode: A-phase output

500kHz 40mA

RP0+, RP0-, RP1+, RP1-

Forward / reverse running mode: Reverse pulse
output

Pulse / direction mode: Direction output terminal
A, B phase mode: B-phase output

500kHz 40mA

Y0 ~ Y7 General output points

200kHz 40mA

 DVP20PM00M

Terminal Description

Response

time

Max. output

current

CLR0+, CLR0-, CLR1+,
CLR1-

Clear signals (for clearing the error counter in servo
drive)

10ms 20mA

Y2 Same as clear signals (for Z axis) 10ms 30mA

FP0+, FP0-, FP1+, FP1­FP2+, FP2-

Forward / reverse running mode: Forward pulse
output

Pulse / direction mode: Pulse output terminal
A, B phase mode: A-phase output

500kHz 40mA

RP0+, RP0-, RP1+, RP1­RP2+, RP2-

Forward / reverse running mode: Reverse pulse
output

Pulse / direction mode: Direction output terminal
A, B phase mode: B-phase output

500kHz 40mA

Y3 ~ Y7 Open collector type high-speed pulse output

200kHz 40mA

 DVP10PM00M

Terminal Description

Response

time

Max. output

current

Y0 ~ Y3 Open collector type high-speed pulse output

200kHz 40mA

Y10+, Y10-, Y12+, Y12-,
Y14+, Y14-, Y16+, Y16-

Forward / reverse running mode: Forward pulse
output

Pulse / direction mode: Pulse output terminal
A, B phase mode: A-phase output

1000kHz 40mA

Y11+, Y11-, Y13+, Y13-、
Y15+, Y15-, Y17+, Y17-

Forward / reverse running mode: Reverse pulse
output

Pulse / direction mode: Direction output terminal
A, B phase mode: B-phase output

1000kHz 40mA

Digital input points:

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-4

 DVP20PM

24V DC single-ended common point input

Item

Spec

Low speed High speed (200kHz)#1

Note

Input wiring type Change wiring from S/S to SINK or SOURCE

Input indicator LED display; light on = ON, light off = OFF

Input voltage -

OFFON 20us

Active level

ONOFF 30us

Response time / noise
immunity#2

10ms 0.5us

#1: Input point A, B and PG are
high-speed inputs; others are
low-speed input.

For 10PM, X0 ~ X7 and X10+ ~
X13+ can be used as general
high-speed input points.

#2: Input point X0 ~ X7 can
conduct 10 ~ 60ms digital filter
adjustment.

 DVP10PM

Double-ended differential

input

24V DC single-ended

common point input

Item

Spec

High speed (200kHz)

Note

Input wiring type Independent wiring

Change wiring from S/S to

SINK or SOURCE

Input indicator LED display; light on = ON, light off = OFF

Input voltage 5~24 VDC 24 VDC

Input current 15mA

OFFON 20us

Active level

ONOFF 30us

Response time / noise
immunity#1

10ms / 0.5us

#1: Input points support 10 ~
60ms digital filter adjustment,
and 20~85KHz high-frequency
digital filter adjustment.

Digital output points:

 DVP-20PM

Single-ended common point transistor

output#1

Item

Spec

Low speed High speed

Single-ended common point#1

relay output

Maximum frequency 10kHz 200kHz For ON/OFF control of load

Output indicator LED display; light on = ON, light off = OFF

Minimum load - 2mA/DC power supply

Working voltage 5 ~ 30VDC < 250V AC, 30VDC

Isolation Photocoupler isolation Electromagnetic isolation

Resistive 0.5A/1 point (2A/COM) 2A/1 point (5A/COM)

Inductive 9W (24V DC)

#2

Current spec.

Lamp 2W (24V DC) 20W DC/100W AC

Max. output

OFFON 20us 0.2us 10ms

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-5

Single-ended common point transistor

output#1

Item

Spec

Low speed High speed

Single-ended common point#1

relay output

delay time

ONOFF 30us

Over-current protection N/A

 DVP-10PM

Item

Spec

Double-ended differential output

Single-ended common point

relay output

Maximum frequency 1 MHz 200 kHZ

Output indicator LED display; light on = ON, light off = OFF

Output point configuration Y10 ~ Y17 Y0 ~ Y3

Working voltage 5 VDC 5 ~ 30VDC

Max. output current 40 mA 40 mA

Isolation Line driver Photocoupler isolation

Resistive < 25 mA 0.5A/1 點 (4A/COM)

Inductive -- 12W (24 VDC)

Current spec.

Lamp -- 2 W (24 VDC)

OFFON

Max. output
delay time

ONOFF

0.2 us

Over-current protection N/A

#1: Y0 ~ Y7 on DVP20PM00D are relay output; FP2+, FP2- on DVP20PM00M are high-speed transistor output, Y2 and Y3 are
low-speed transistor output, Y4 ~ Y7 are relay output. Common point for Y0: C0; common point for Y1: C1; common point for Y2
and Y3: C2; common point for Y4~Y7: C3. Output points of DVP10PM are all high-speed transistor outputs, and Y0~Y3 can be
used as general output points.

#2: The life cycle curve:

Contact
Current(A)

20

0.

5

0.

1

0.

2

30

50

0.3 0.7

12

200

300

500

100

1000

2000

3000

O

p

e

r

a

t

i

o

n

(

X

1

0

)

3

120VAC Resistive
30VDC Inductive(t=7ms)

240VAC Inductive(cos 0.4)

ψ

=

120VAC Inductive(cos =0.4)

ψ

100~200VDC
Inductive (t=7~40ms)

30VDC
Inductive
( t=40m s )

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-6

2.1.3 Dimension

174

164

80

82.2

90

(Unit: mm)

Product Profile & Outline:

1 Communication port cover

2 I/O terminal cover

3 Function card cover

4 Input indicator

5 Output indicator

6 I/O terminal No.

7 I/O terminals

8 I/O module connection port cover

9 DIN rail clip

10 DIN rail (35mm)

11 COM2 (RS-485)

12 MANU/AUTO (STOP/RUN) switch

13 COM1 (RS-232)

14 Battery socket

15 Battery

16 Function card port

17 Function card fixing hole

18 POWER/ERROR/BAT.LOW indicators

19 I/O module connection port

20 Case fixing screw

10

2

3

1

7

6

5

9

4

8

20

12

13

11

16

17

15

19

14

18

21

21 Direct mounting hole

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-7

COM1 cover Left-side port cover

Ports under left-side port cover Screw driver is required for removing RS-485 terminal

Battery

COM 1 (RS-232)

MANU / AUTO switch

COM 2 (RS-485)

Removable Terminal Block

Part Description

COM2 (RS-485) For both master and slave modes

MANU/AUTO (STOP/RUN) switch RUN/STOP control

COM1 (RS-232) Slave mode (can be used with COM2 at the same time)

Battery The battery shall be changed within 1 minute

Wiring Terminals: See 2.1.2 for detailed electrical specifications

START0

24G

DOG0 LSN0 PG0+ START1 DOG1 LSN1 PG1+ S/S2 X1 X3 X5 X7

+24V S/S0 STOP0 LSP0 PG0- S/S1 STOP1 LSP1 PG1- X0 X2 X4 X6

B1- CLR0- CLR1- FP0- RP0-

FP1-

RP1- C0 C1 C2 C3 Y5 Y7

CLR0+ CLR1+ FP0+ RP0+ FP1+ RP1+ Y0 Y1 Y2 Y3 Y4 Y6A0+ B0+ A1+ B1+

A1-B0-

A0-

DVP-20PM00D
( AC Po we r IN, DC Signal IN )

START0

24G

DOG0 LSN0 PG0+ START1 DOG1 LSN1 PG1+ S/S2 X1 X3 X5 X7

+24V S/S0 STOP0 LSP0 PG0- S/S1 STOP1 LSP1 PG1- X0 X2 X4 X6

B1- CLR0- CLR1- FP0- RP0- FP1- RP1- FP2- RP2- C2 C3 Y5 Y7

CLR0+ CLR1+ FP0+ RP0+ FP1+ RP1+ FP2+ RP2+ Y2

Y3

Y4 Y6A0+ B0+ A1+ B1+

A1-B0-

A0-

DVP-20PM00M
( AC Po we r IN, DC Signal IN )

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-8

S/S

24G

X1 X3

X5

X7

X10-

X11-

X12- X13- X1 X3 X5 X7

+24V

X0

X2

X4 X6

X10+

X11+ X12+ X13+ X2 X4 X6

C3 Y10- Y11- Y12- Y13- Y14- Y15- Y16- Y17- C3 Y5 Y7

Y10+

Y11+

Y12+ Y13+ Y14+ Y15+ Y16+ Y17+ Y4 Y6Y0 Y1 Y2 Y3

C2C1

C0

DVP-10PM
( AC Power IN, DC Signal IN )

2.2 Installation & Wiring

DVP-PM is an OPEN-TYPE device and therefore should be installed in an enclosure free of airborne dust, humidity,

electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the device (e.g. key

or specific tools are required for opening the enclosure) in case danger and damage on the device may occur.

DO NOT connect AC power input to any of the I/O terminals; otherwise serious damage may occur. Check all the

wiring again before switching on the power. To prevent electromagnetic interferences, make sure the PLC is properly

grounded by ground terminal

.

2.2.1 Mounting and Wiring Notes

Please install DVP-PM in an enclosure with sufficient space around it to

allow heat dissipation, as shown in the figure.
Direct Mounting:

Please use M4 screw according to the dimension of the product.

DVP MPU

> 50 mm> 50 mm

> 50 mm

> 50 mm

DIN-rail Mounting:

DVP-PM can be secured to a cabinet by using the 35mm DIN rail. When

mounting the PLC to 35mm DIN rail, be sure to use the retaining clip to stop

any side-to-side movement of the PLC and reduce the chance of wires

being loose. The retaining clip is at the bottom of the PLC. To secure the

PLC to DIN rail, pull down the clip, place it onto the rail and gently push it up.

To remove the PLC, pull the retaining clip down with a flat screwdriver and
gently remove the PLC from DIN rail.

Wiring notes:

To suit M3.5 screw terminals

Below 6.2

Below 6.2

1. Use O-type or Y-type terminals. See the figure in the left hand side for

its specification. PLC terminal screws should be tightened to 9.50

kg-cm (8.25 in-Ibs). Use 60/75ºC copper conductor only.

2. DO NOT wire empty terminal. DO NOT place the input signal cable

and output power cable in the same wire duct.

3. DO NOT drop tiny metallic conductor into the PLC while screwing and

wiring. Please attach the dustproof sticker to the PLC before the

installation to prevent conductive objects from dropping in. Tear off the

sticker before running the PLC to ensure normal heat dissipation.

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-9

2.2.2 Power Input Wiring

The power input type for DVP-PM is AC input. When operating DVP-PM, please note the following points:

1. The range of the input voltage should be 100 ~ 240VAC. The power input should be connected to L and N

terminals. Please note that

wiring AC110V or AC220V to +24V output terminal or digital input points will result in

serious damage on the PLC.

2. The AC power inputs for the MPU and the digital I/O module should be ON or OFF at the same time.

3. Use wires of 1.6mm diameter (or bigger size) for the grounding of PLC.

4. The power shutdown of less than 10ms will not affect the operation of the PLC. However, power shutdown time

that is too long or the drop of power supply voltage will stop the running of the PLC, and all outputs will go “OFF”.

When the power returns to normal status, the PLC will automatically resume operation. (Care should be taken on

the latched auxiliary relays and registers inside the PLC when programming.).

5. The +24V output is rated at 0.5A from MPU. DO NOT connect other external power supplies to this terminal.

Every input terminal requires 5 ~ 7mA to be driven; e.g. the 16-point input will require approximately 100mA.

Therefore, +24V terminal cannot give output to the external load that is more than 400mA.

2.2.3 Safety Wiring

In PLC control system, many devices are controlled at the same time and actions of any device could influence each

other, i.e. breakdown of any device may cause danger or even the breakdown of the entire auto-control system.

Therefore, we suggest you wire a protection circuit at the power supply input terminal. See the figure below.

c

AC power supply: 100 ~ 240VAC, 50/60Hz

d

Circuit breaker

e

Emergency stop. This button cuts off the system power supply when accidental emergency occurs.

f

Power indicator

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-10

g

AC power supply load

h

Power supply circuit protection fuse (3A)

i

DVP-PM MPU

j

DC Power supply output: 24VDC, 500mA

2.2.4 I/O Point Wiring

1. The type of input signal is DC input and there are two types of DC input: SINK and SOURCE.

z DC Signal IN - SINK mode:

S/S

X0

Sinking

Equivalent Circuit for Input Point:

24VDC

24G

X0

S/S

+24V

SINK

+5V

Wiring Circuit:

24G

S/S

X0 X1 X2+24V

Sink Type

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-11

z DC Signal IN - SOURCE mode:

S/S

X0

Sourcing

Equivalent Circuit for Input Point

24VDC

24G

X0

S/S

+24V

SOURCE

+5V

Wiring Circuit:

24G

S/S

X0 X1 X2+24V

Source Type

2. Wiring of Differential Input:

A0 ~ A1 and B0 ~ B1 of DVP-PM series are all DC5V ~ 24V high-speed input circuit and others are DC24V

input. The working frequency of high-speed input circuit can reach up to 200kHz and is applied mainly for

connecting to output circuit with dual differential line driver.

Wiring in a high-speed, high-noise environment

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-12

DVP20PM00D high-speed input

A

A+

A -

B -

B+

A0+

A0 -

B0+

B0 -

B

Encoder output

Differential output

Twi sted pair

cable

Encoder output

DVP10PM high-speed input

Twisted pair
cable

A

A+

A -

B -

B+

X10+

X10 -

X11+

X11 -

B

In low-noise and low-frequency (less than 50kHz) environment, you can also use single-ended DC 5V ~ 24V

SINK/SOURCE input. See below for the input wirings:

y Wiring of DVP-PM DC5V SINK

(5V SINK)

NPN

SENSOR

+

5~24V

PG0+

PG0 -

DVP-20PM

(5V SINK)

NPN

SENSOR

+

5~24V

PG0+

PG0 -

DVP-10PM

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-13

y Wiring of DVP-PM DC5V SOURCE

(5V SOURCE)

+

5~24V

PNP

SENSOR

PG0+

PG0 -

DVP-20PM

(5V SOURCE)

+

5~24V

PNP

SENSOR

PG0+

PG0 -

DVP-10PM

3. Wiring of Relay (R) Output Circuit

c DC power supply d Emergency stop: Uses external switch

e Fuse: Uses 5 ~ 10A fuse at the shared terminal of output contacts to protect the output circuit

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-14

f Transient voltage suppressor: To extend the life span of contact.

1. Diode suppression of DC load: Used when in smaller power.

2. Diode + Zener suppression of DC load: Used when in larger power and frequent ON/OFF
operation

g Incandescent light (resistive load) h AC power supply

i Manually exclusive output: For example, Y4 and Y5 control the forward running and reverse running

of the motor, forming an interlock for the external circuit, together with the PLC internal program, to
ensure safe protection in case of any unexpected errors.

j Neon indicator

k

Surge Absorber: To reduce the interference on AC load.

4. Wiring of Tra nsistor (T) Output Circuit

2 Hardware Specifications and Wiring

DVP-PM Application Manual

2-15

c DC power supply d Emergency stop e Circuit protection fuse

f The transistor output model of DVP-PM applies “open collector output”. Therefore if Y0/Y1 is set as pulse

output which requires higher operation frequency, the output current passes pull-up resistor has to be
bigger than 0.1A to ensure normal operation of PLC.

1. Diode suppression: Used when in smaller power.

2. Diode + Zener suppression: Used when in larger power and frequent On/Off.

g Manually exclusive output: For example, assume that Y4 and Y5 control the forward running and reverse

running of the motor. In this case, you can design an interlock for the external circuit together with the
PLC internal program to ensure safe operation in case of any unexpected errors.