Delta Electronics DVP15MC11T Operation Manual
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: 886-3-362-6301 / FAX: 886-3-371-6301
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province, P.R.C. 215200
TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C. 201209
TEL: 86-21-58635678 / FAX: 86-21-58630003
Delta Electronics (Japan), Inc.
Tokyo Ofce
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211
DVP15MC
Operation Manual
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: 82-2-515-5303 / FAX: 82-2-515-5302
Delta Electronics Int’l (S) Pte Ltd.
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : 91-124-4874900 / FAX : 91-124-4874945
Americas
Delta Products Corporation (USA)
Raleigh Ofce
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: 1-919-767-3800 / FAX: 1-919-767-8080
Delta Greentech (Brasil) S.A.
Sao Paulo Ofce
Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865
Europe
Delta Electronics (Netherlands) B.V.
Eindhoven Ofce
De Witbogt 20, 5652 AG Eindhoven, The Netherlands
TEL : +31 (0)40-8003800 / FAX : +31 (0)40-8003898
DVP15MC
Operation Manual
DVP-0191920-00
*We reserve the right to change the information in this manual without prior notice.
2016-06-30
www.deltaww.com
DVP15MC11T Operation Manual
Table of Contents
Chapter 1 Preface ................................................................................................ 1-1
1.1 Explanation of Symbols in This Manual ...................................................... 1-2
1.2 Revision History ......................................................................................... 1-2
Chapter 2 Overview of DVP15MC11 T ................................................................... 2-1
2.1 Product Description .................................................................................... 2-2
2.2 Functions ................................................................................................... 2-2
2.3 Profile and Components ............................................................................. 2-3
Chapter 3 Specifications ...................................................................................... 3-1
3.1 Function Specifications .............................................................................. 3-2
3.1.1 Specifications ........................................................................................ 3-2
3.1.2 Devices and Data Types ......................................................................... 3-3
3.1.2.1 Devices ............................................................................................. 3-3
3.1.2.2 Valid Ranges of Devices ...................................................................... 3-4
3.1.2.3 Latched Devices ................................................................................. 3-5
3.1.2.4 Data Types and Valid Ranges Supported ................................................ 3-6
3.2 Electrical Specifications ............................................................................. 3-7
Chapter 4 System Architecture ............................................................................ 4-1
4.1 System Constitution ................................................................................... 4-2
4.2 Power Supply ............................................................................................. 4-2
4.3 Left-side Extension .................................................................................... 4-2
4.3.1 Connectable Left-side Extension Module .................................................... 4-2
4.3.2 Allocation of Left-side Network Module Addresses ....................................... 4-3
4.3.3 Method of Reading/Writing of Left-side Modules ......................................... 4-3
4.4 Right-side Extension .................................................................................. 4-3
4.4.1 Connectable Right-side Extension Modules ................................................ 4-3
4.4.2 Allocation of Right-side Extension Module Addresses ................................... 4-4
4.5 Connectable Servo Drives........................................................................... 4-4
4.6 SD Memory Card ......................................................................................... 4-6
4.6.1 Model and Specification .......................................................................... 4-6
4.6.2 Function ............................................................................................... 4-8
Chapter 5 Installation .......................................................................................... 5-1
i
5.1 Dimensions ................................................................................................ 5-2
5.1.1 Profile and Dimensions of DVP15MC11T .................................................... 5-2
5.1.2 Dimensions of Left-side and Right-side Extension Modules ........................... 5-2
5.1.3 Connecting to the Left-side Extension Module ............................................ 5-3
5.1.4 Connecting to the Right-side Extension Module .......................................... 5-4
5.1.5 SD Card Installing and Removing ............................................................. 5-5
5.2 Installing the Module in the Control Cabinet .............................................. 5-7
5.2.1 Installing the Module to DIN rail .............................................................. 5-7
5.2.2 Illustration of Installation Inside the Control Cabinet .................................. 5-7
5.2.3 Environmental Temperature in the Control Cabinet ..................................... 5-7
5.2.4 Actions for Anti-interference ................................................................... 5-8
5.2.5 Dimension Requirement in the Control Cabinet .......................................... 5-8
Chapter 6 Wiring, Communication Setting and Network Construction ................. 6-1
6.1 Wiring ........................................................................................................ 6-3
6.1.1 Power Supply ........................................................................................ 6-3
6.1.2 Safety Circuit Wiring .............................................................................. 6-3
6.2 Input Point and Output Point Wiring .......................................................... 6-4
6.2.1 Function that Input Points Suppo r t ........................................................... 6-4
6.2.2 Input Point Wiring ................................................................................. 6-5
6.2.3 Output Point Wiring ............................................................................... 6-6
6.3 RS-485 Communication Port ...................................................................... 6-8
6.3.1 Function that RS-485 Port Supports ......................................................... 6-8
6.3.2 Definitions of RS-485 Port Pins ................................................................ 6-8
6.3.3 RS-485 Hardware Connection .................................................................. 6-8
6.3.4 Supported Function Codes and Exception Codes ...................................... 6-10
6.4 RS-232 Communication Port .................................................................... 6-11
6.4.1 Function that RS-232 Port Supports ....................................................... 6-11
6.4.2 Definitions of RS-232 Port Pins .............................................................. 6-11
6.4.3 RS-232 Hardware Connection ................................................................ 6-11
6.4.4 Supported Function Codes and Exception Codes ...................................... 6-12
6.5 SSI Absolute Encoder Port ....................................................................... 6-13
6.5.1 Function of SSI Absolute Encoder .......................................................... 6-13
6.5.2 Definitions of SSI Port Pins ................................................................... 6-13
6.5.3 SSI Absolute Encoder Hardware Connection ............................................ 6-13
6.6 Incremental Encoders .............................................................................. 6-15
6.6.1 Function of Incremental Encoder ........................................................... 6-15
6.6.2 Definition of Incremental Encoder Port Pins ............................................. 6-15
6.6.3 Incremental Encoder Hardware Connection ............................................. 6-16
6.7 Ethernet Communication Port .................................................................. 6-17
6.7.1 Function that Ethernet Communication Port Supports ............................... 6-17
6.7.2 Pins of Ethernet Communication Port ...................................................... 6-17
6.7.3 Network Connection of Ether ne t Communication Port ............................... 6-17
6.7.4 Function Codes that Ethernet Communication Port Supports ...................... 6-18
6.8 Motion Communication Port ..................................................................... 6-18
6.8.1 Function that Motion Communication Port Supports .................................. 6-18
ii
6.8.2 Pins of Motion Communication Port ........................................................ 6-18
6.8.3 Motion Network Connection ................................................................... 6-19
6.8.4 Communication Speed and Co m m unication Distance ................................. 6-19
6.9 CANopen Communication Port.................................................................. 6-20
6.9.1 Functions that CANopen Comm unication Port Supports ............................. 6-20
6.9.2 Pins of CANopen Communication Port ..................................................... 6-21
6.9.3 PDO Mapping at CANopen Communication Port ........................................ 6-21
6.9.4 Network Connection at CANopen Communication Port ............................... 6-21
6.9.5 CANopen Communication Rate and Communication Distance ..................... 6-22
Chapter 7 Execution Principle of DVP15MC11T Controller ................................... 7-1
7.1 Tasks .......................................................................................................... 7-2
7.1.1 Task Types ........................................................................................... 7-2
7.1.2 Priority levels of Tasks ............................................................................ 7-4
7.1.3 Watchdog for a Task .............................................................................. 7-6
7.1.4 Motion Instructions for Each Task Type ..................................................... 7-7
7.2 The Impact of PLC RUN or STOP on Variables and Devices ......................... 7-8
7.3 Relationship between Motion Program and Motion Bus .............................. 7-8
7.4 Synchronization Cycle Period Setting ......................................................... 7-9
Chapter 8 Logic Instructions ............................................................................... 8-1
8.1 Table of Logic Instructions ......................................................................... 8-4
8.2 Explanation of Logic Instructions ............................................................... 8-7
8.2.1 EN and ENO .......................................................................................... 8-7
8.3 Sequence Input /Output Instructions ........................................................ 8-7
8.3.1 R_TRIG ................................................................................................ 8-7
8.3.2 F_TRIG ................................................................................................ 8-9
8.3.3 RS ..................................................................................................... 8-11
8.3.4 SR ..................................................................................................... 8-13
8.3.5 SEMA ................................................................................................. 8-15
8.4 Data Movement Instructions .................................................................... 8-17
8.4.1 MOVE ................................................................................................ 8-17
8.4.2 MoveBit .............................................................................................. 8-18
8.4.3 TransBit ............................................................................................. 8-20
8.4.4 MoveDigit ........................................................................................... 8-22
8.4.5 Exchange ........................................................................................... 8-24
8.4.6 Swap ................................................................................................. 8-26
8.5 Comparison Instructions .......................................................................... 8-28
8.5.1 LT ..................................................................................................... 8-28
8.5.2 LE ..................................................................................................... 8-30
8.5.3 GT ..................................................................................................... 8-32
8.5.4 GE ..................................................................................................... 8-34
8.5.5 EQ ..................................................................................................... 8-36
8.5.6 NE ..................................................................................................... 8-38
8.6 Timer Instructions ................................................................................... 8-40
iii
8.6.1 TON .................................................................................................. 8-40
8.6.2 TOF ................................................................................................... 8-42
8.6.3 TP ..................................................................................................... 8-44
8.7 Counter Instructions ................................................................................ 8-46
8.7.1 CTU ................................................................................................... 8-46
8.7.2 CTD ................................................................................................... 8-48
8.7.3 CTUD ................................................................................................. 8-50
8.8 Math Instructions ..................................................................................... 8-53
8.8.1 ADD .................................................................................................. 8-53
8.8.2 SUB .................................................................................................. 8-56
8.8.3 MUL .................................................................................................. 8-59
8.8.4 DIV ................................................................................................... 8-62
8.8.5 MOD .................................................................................................. 8-65
8.8.6 MODREAL ........................................................................................... 8-67
8.8.7 MODTURNS ........................................................................................ 8-69
8.8.8 MODABS ............................................................................................ 8-71
8.8.9 ABS ................................................................................................... 8-73
8.8.10 DegToRad .......................................................................................... 8-75
8.8.11 RadToDeg .......................................................................................... 8-77
8.8.12 SIN ................................................................................................... 8-79
8.8.13 COS .................................................................................................. 8-81
8.8.14 TAN ................................................................................................... 8-83
8.8.15 ASIN ................................................................................................. 8-85
8.8.16 ACOS ................................................................................................ 8-88
8.8.17 ATAN ................................................................................................. 8-90
8.8.18 LN ..................................................................................................... 8-92
8.8.19 LOG .................................................................................................. 8-94
8.8.20 SQRT ................................................................................................. 8-96
8.8.21 EXP ................................................................................................... 8-98
8.8.22 EXPT ................................................................................................ 8-100
8.8.23 RAND ............................................................................................... 8-102
8.8.24 TRUNC .............................................................................................. 8-104
8.8.25 FLOOR .............................................................................................. 8-106
8.8.26 FRACTION ......................................................................................... 8-108
8.9 Bit String Instructions ........................................................................... 8-110
8.9.1 AND ................................................................................................. 8-110
8.9.2 OR ................................................................................................... 8-113
8.9.3 NOT ................................................................................................. 8-116
8.9.4 XOR ................................................................................................. 8-118
8.9.5 XORN ............................................................................................... 8-121
8.10 Shift Instructions ................................................................................... 8-124
8.10.1 SHL .................................................................................................. 8-124
8.10.2 SHR ................................................................................................. 8-126
8.10.3 ROL .................................................................................................. 8-128
8.10.4 ROR ................................................................................................. 8-130
8.11 Selection Instructions ............................................................................ 8-132
8.11.1 MAX ................................................................................................. 8-132
8.11.2 MIN .................................................................................................. 8-134
iv
8.11.3 SEL ................................................................................................. 8-136
8.11.4 MUX ................................................................................................ 8-138
8.11.5 LIMIT ............................................................................................... 8-140
8.11.6 BAND ............................................................................................... 8-143
8.11.7 ZONE ............................................................................................... 8-146
8.12 Data Type Conversion Instructions ........................................................ 8-149
8.12.1 BOOL_TO_*** .................................................................................. 8-149
8.12.2 Bit strings_TO_*** ............................................................................ 8-152
8.12.3 Integers_TO_*** .............................................................................. 8-159
8.12.4 Real numbers_TO_*** ....................................................................... 8-168
8.12.5 Times,dates_TO_*** ......................................................................... 8-171
8.12.6 Strings_TO_*** ................................................................................ 8-173
8.13 CANopen Communic atio n Instructions ................................................... 8-176
8.13.1 DMC_ReadParameter_CANopen ........................................................... 8-176
8.13.2 DMC_WriteParameter_CANopen ........................................................... 8-182
8.14 String Processing Instructions ............................................................... 8-187
8.14.1 CONCAT ........................................................................................... 8-187
8.14.2 DELETE ............................................................................................ 8-189
8.14.3 INSERT ............................................................................................ 8-191
8.14.4 LEFT / RIGHT .................................................................................... 8-193
8.14.5 MID ................................................................................................. 8-195
8.14.6 REPLACE .......................................................................................... 8-197
8.14.7 LEN ................................................................................................. 8-199
8.14.8 FIND ................................................................................................ 8-200
8.15 Immediate Refresh Instructi o ns ............................................................ 8-202
8.15.1 FROM ............................................................................................... 8-202
8.15.2 TO ................................................................................................... 8-206
8.15.3 ImmediateInput ................................................................................ 8-210
8.15.4 ImmediateOutput .............................................................................. 8-212
Chapter 9 Introductions of Axis Parameters ........................................................ 9-1
9.1 Description of Axis Parameters .................................................................. 9-2
Chapter 10 Motion Control Function .................................................................... 10-1
10.1 EN and ENO .............................................................................................. 10-2
10.2 Relation among Velocity, Acceleration and Jerk ....................................... 10-3
10.3 Introduction of BufferMode ...................................................................... 10-6
10.4 The State Machine .................................................................................. 10-32
Chapter 11 Motion Control Instructions ............................................................... 11-1
11.1 Table of Motion Control Instructions ........................................................ 11-3
11.2 About Motion Control Instructions ........................................................... 11-4
11.2.1 Composition of A Motion Control Instruction ............................................ 11-4
11.2.2 Program Languages that Motion Control Instructions Support .................... 11-4
11.2.3 Configuration of Motion Control Instructions ............................................ 11-4
v
11.3 Single-axis Instructions ........................................................................... 11-5
11.3.1 MC_Power .......................................................................................... 11-5
11.3.2 MC_Home ......................................................................................... 11-14
11.3.3 MC_MoveVelocity ............................................................................... 11-19
11.3.4 MC_Halt ............................................................................................ 11-26
11.3.5 MC_Stop ........................................................................................... 11-31
11.3.6 MC_MoveRelative ............................................................................... 11-36
11.3.7 MC_MoveAdditive ............................................................................... 11-44
11.3.8 MC_MoveAbsolute .............................................................................. 11-52
11.3.9 MC_MoveSuperimposed ...................................................................... 11-61
11.3.10 MC_HaltSuperimposed ........................................................................ 11-68
11.3.11 MC_SetPosition .................................................................................. 11-73
11.3.12 MC_SetOverride ................................................................................. 11-83
11.3.13 MC_Reset .......................................................................................... 11-87
11.3.14 DMC_SetTorque ................................................................................. 11-90
11.3.15 MC_ReadAxisError .............................................................................. 11-94
11.3.16 MC_ReadActualPosition ....................................................................... 11-96
11.3.17 MC_ReadStatus ................................................................................ 11-101
11.3.18 MC_ReadMotionState ........................................................................ 11-106
11.3.19 DMC_ReadParameter_Motion ............................................................. 11-111
11.3.20 DMC_WriteParameter_Motion ............................................................. 11-115
11.3.21 DMC_TouchProbe ............................................................................. 11-119
11.4 Multi-axis Instructi ons ......................................................................... 11-128
11.4.1 MC_GearIn ...................................................................................... 11-128
11.4.2 MC_GearOut .................................................................................... 11-134
11.4.3 MC_CombineAxes ............................................................................. 11-139
11.4.4 Introduction of Electronic Cam ........................................................... 11-147
11.4.5 MC_CamIn ...................................................................................... 11-148
11.4.6 MC_CamOut .................................................................................... 11-169
11.5 Application Instructions ....................................................................... 11-175
11.5.1 Rotary Cut Technology ...................................................................... 11-175
11.5.2 Rotary Cut Parameters ...................................................................... 11-176
11.5.3 Control Feature of Rotary Cut Function ................................................ 11-177
11.5.4 Introduction to Cam Curve with Rotary Cut Function ............................. 11-178
11.5.5 Rotary-cut Instructions ..................................................................... 11-182
11.5.5.1 APF_RotaryCut_Init ....................................................................... 11-182
11.5.5.2 APF_RotaryCut_In ......................................................................... 11-185
11.5.5.3 APF_RotaryCut_Out ....................................................................... 11-187
11.5.6 Application Example of Rotary Cut Instructions ..................................... 11-189
Chapter 12 Troubleshooting ................................................................................ 12-1
12.1 Explanation of LED Indicators .................................................................. 12-2
12.2 Table of Error IDs in Motion Instructions ................................................. 12-8
12.3 System Trouble Diagnosis through System Error Codes ......................... 12-12
Appendix A Modbus Communication ...................................................................... A-1
A.1 Message Format in ASCII Mode .................................................................. A-2
vi
A.2 Message Format in RTU Mode ..................................................................... A-5
A.3 Modbus Function Codes Supported ............................................................. A-7
A.4 Modbus Exception Response Code Supported ............................................ A-7
A.5 Introduction to Modbus Function Codes ..................................................... A-8
A.6 Table of Registers and Corresponding Modbus addresses ........................ A-15
Appendix B Modbus TCP Communication ................................................................ B-1
B.1 Modbus TCP Message Structure .................................................................. B-2
B.2 Modbus Function Codes Supported in Modbus TCP ..................................... B-2
B.3 Exception Response Code in Modbus TCP ................................................... B-3
B.4 Modbus Function Codes in Modbus TCP ...................................................... B-3
B.5 Registers in DVP15MC11T and Corresponding Modbus Addresses ............ B-12
Appendix C CANopen Protocol ................................................................................ C-1
C.1 Node States ................................................................................................ C-4
C.2 Network Management (NMT) ..................................................................... C-7
C.3 PDO (Process Data Object) ........................................................................ C-7
C.4 SDO (Service Data Object) ......................................................................... C-9
Appendix D Explanation of Homing Modes ............................................................ D-1
D.1 Explanation of Homing Modes ................................................................... D-2
Appendix E List of Accessories ............................................................................... E-1
E.1 Accessories for CANopen Communication .................................................. E-2
E.2 Accessories for PROFIBUS DP Communication ........................................... E-4
E.3 Accessories for DeviceNet Communication ................................................. E-4
vii
Memo
viii
1
Chapter 1 Preface
Table of Contents
1.1 Explanation of Symbols in This Manual ...................................................... 1-2
1.2 Revision History ......................................................................................... 1-2
1-1
DVP15MC11T Operation Manual
_1
! Danger
!
Warning
!
Caution
Thank you for purchasing DVP15MC11T motion controller which is created on the basis of motion control and
we are providing you with a high-end motion control system.
This manual describes the product specifications, functions, system architecture, installation, wiring,
execution principle, logic instructions and motion control instructions, trouble-shooting, communication
protocols, homing modes and other relevant information.
Make sure that you have well known about the motion control system configuration and product operation
before using DVP15MC11T.
1.1 Explanation of Symbols in This Manual
Precautions before operation
Before operation, please read relevant safety instructions carefully so as to prevent an injury t o personnel and
damage to products.
It indicates the highly potential hazards. It is possible to cause a severe injury or even
fatal harm to personnel if you do not follow the instructions.
It indicates the potential hazards. It is possible to cause a minor injury or even fatal
harm to personnel if you do not follow the instructions.
It indicates much attention should be paid. An unex pected result may occur if you do
not follow the instructions.
1.2 Revision History
Version Revision Release Date
1st The first version was published. May 30, 2018
1-2
2
Chapter 2 Overview of DVP15MC11T
Table of Contents
2.1 Product Description .................................................................................... 2-2
2.2 Functions ................................................................................................... 2-2
2.3 Profile and Components ............................................................................. 2-3
2-1
DVP15MC11T Operation Manual
_2
2.1 Product Description
DVP15MC11T is a type of multi-axis motion controller researched and produced by Delta autonomously on
the basis of CANopen field bus. It complies with CANopen DS301 basic communication protocol and
DSP402 motion control protocol. In addition, i t also supports standard instruction libraries defined by
international organizations for motion control . It brings great convenience to user to learn and develop
projects quickly. Maximum 24 axes can be controlled by means of Motion port. The single-axis motion
instructions including velocity, position, torque and homing instruct ions as well as multi-axis in structio ns such
as electronic gear, electronic cam, rotary cut and G code are supported.
Multiple communication ports are built in DVP 15MC11T. And thus various communication function s c an be
realized without adding modules. DVP15MC11T has left-side and right-side extension ports for adding
DVP-S series modules to its left and right sides. (The left-side port is a high-speed parallel extension port.)
The communication system adopts highly reliable CAN bus as the main line and hence users just need
simple cables for wiring.
Thanks to the high-speed reliable motio n control system , DVP15M C11T can be widely a pplied to a variety of
automation control industries such as packagi ng, printing, encapsulating, wire cutting, drug manufact uring
and so on.
2.2 Functions
Able to control up to 24 real axes (with axis No. ranging from 1 to 32).
The virtual axis and encoder axis can be built inside DVP15MC11T (with the axis No. ranging from 1
to 32, which can not be the same as that of real axes).
Equipped with 1GHz high-speed floating-point operation processor; supporting 64-bit floating point
(Lreal) and capable to meet various complicated motion control.
With two built-in incremental encoder ports and one SSI absolute encoder port.
With one RS232 port, one RS485 port and two Ethernet ports.
With one built-in CAN port serving as CANopen master or slave.
Supports powerful field network (as Ethernet master or slave, CANopen master or slave and
Profibus-DP slave) for construction of a function-complicated control system.
With a variety of I/O extensions (Left-side high-speed AIAO; right-side low-speed A IAO and DIDO
and temperature modules).
Using the easy-to-use software interface with the features of complete function and conv enient
application.
Providing standard bus cables, terminal resistors, distributor boxes and other acce ssorie s as well as
easy and convenient plug-and-play wiring.
2-2
_
2.3 Profile and Components
CAN
ERR
1
RUN
ERR
2
RUN
00
10
00
01
11
01
02
12
02
03
13
03
04
14
04
05
15
05
06
16
06
07
17
07
EXTENSION
PORT
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Chapter 2 Specifications
2
1E
○
A
2E
○
A
3E
○
A
4E
○
A
5E
○
A
6E
○
A
7E
○
A
8E
○
A
9E
○
Model name
State indicators
IO indicators
COM/SSI communication port
Incremental encoder port
Ethernet communication port
CANopen communication port
CANmotion communication port
Input and output pins and symbols
A
10E
○
A
11E
○
A
12E
○
A
13E
○
A
14E
○
A
15E
○
A
16E
○
A
17E
○
SD card slot
Right-side extension module port
24V power port
Screw fixing clip
Extension module fixing clip
Left-side extension module port
Nameplate
DIN rail fixing clip
2-3
DVP15MC11T Operation Manual
_2
MEMO
2-4
3
Chapter 3 Specifications
Table of Contents
3.1 Function Specifications .............................................................................. 3-2
3.1.1 Specifications ........................................................................................ 3-2
3.1.2 Devices and Data Types ......................................................................... 3-3
3.1.2.1 Devices ............................................................................................. 3-3
3.1.2.2 Valid Ranges of Devices ...................................................................... 3-4
3.1.2.3 Latched Devices ................................................................................. 3-5
3.1.2.4 Data Types and Valid Ranges Supported ................................................ 3-6
3.2 Electrical Specifications ............................................................................. 3-7
3-1
DVP15MC11T Operation Manual
_3
Size
20M
Number of
Memory
variables
Retained
Size
128K
One single G code
program
G code programs
Quantity
64
Real axis: 1~24, Virtual axis: 1~32.
Max. number of axes for linear
interpolation
Max. number of axes for circular
interpolation
Number of
cams
Cam key
points
Key points of one
single cam
One CAN port supports the
Ethernet
2
Two independent Ethernet ports
RS-232
1
Used as a master or slave
RS485
1
Used as a master or slave
Incremental
encoder
Builds an encoder axis. Z signal can
trigger an interrupt program.
SSI absolute
16 points (External interrupt trigger
is supported.)
Output points
Quantity
8 points
Left-side extension
port
Slim-series left-side extension
module
Right-side
extension port
Left-side
Left-side extension
8 pieces of Slim series left-side
8 pieces of Slim series special
modules
Number of
points
240 input points and 240 output
points
3.1 Function Specifications
3.1.1 Specifications
Item Specification
Program
capacity
Quantity
POU
definitions
1024
Programming
Motion
control
capacity for
G code
Number of
controlled
axes
Non-retained Size 20M
Size 256K
Max. number of axes for
single-axis control
Size Quantity 64
Quantity 2048
CAN 2
The virtual axis number is different
from the real axis number.
8
3
standard CANopen protocol and the
other CAN port is used in Motion.
Built-in ports of DVP15MC11T
Left-side and
right-side
extension
3-2
extension
Right-side
extension
2
encoder
Input points Quantity
modules
Special modules Quantity
Digital modules
1 Builds an encoder axis
1
1 Slim series special module
Quantity
extension modules
3_
3.1.2 Devices and Data Types
% I X 0 0.
Digital point number
Prefix 2 symbol
Prefix 1 symbol
A fixed character
No.
Item
Content
1
Prefix 1 symbol
I Q M
Input
device
Output
device
Intermediate
device
3
Prefix 2 symbol
X B W D L
4
Data type of prefix 2
BIT
BYTE
WORD
DWORD
QWORD
5
%IX0.0
%IB0
%IW0
%ID0
%IL0
6
%QX0.0
%QB0
%QW0
%QD0
%QL0
7
%MX0.0
%MB0
%MW0
%MD0
%ML0
Device
Corresponding relationships
The 1st WORD
The 2nd WORD
The 3rd WORD
The 4th WORD
0
7
8
15
0
8
15
0
7
8
15
0
8
15
%MB
%MB0
%MB1
%MB2
%MB3
%MB4
%MB5
%MB6
%MB7
%MW
%MW0
%MW1
%MW2
%MW3
%MD
%MD0
%MD1
%ML
%ML0
Device
Corresponding relationships
%MX
3.1.2.1 Devices
Device Name Explanation
Relevant Devices of DVP15MC11T Used in the Software
Chapter 3 Specifications
2 Prefix 1 name
Device example
The Corresponding Relationships of Devices
%ML0 includes %MB0~%MB7, %MD0 includes %MB0~%MB3 and %MW0 includes %MB0~%MB1 as shown
in the following table.
name
%MX
Bit
%MX0.0~0.7 %MX1.0~1.7 %MX2.0~2.7 %MX3.0~3.7 %MX4.0~4.7 %MX5.0~5.7 %MX6.0~6.7 %MX7.0~7.7
...
Bit
Bit
…
Bit
Bit
...
Bit 7 Bit
…
Bit
Bit
...
Bit
Bit
…
Bit
Bit
...
Bit 7 Bit
…
Bit
%ML1 includes %MB8~%MB15, %MD2 includes %MB8~%MB11, %MW4 includes %MB8~%MB9
and %MB8 includes %MX8.0~8.7 as shown in the following table.
name
%MX
%MB
%MW
%MD
The 5th WORD The 6th WORD The 7th WORD The 8th WORD
Bit
0
%MX8.0~8.7 %MX9.0~9.7
Bit 7 Bit
...
%MB8 %MB9 %MB10 %MB11 %MB12 %MB13 %MB14 %MB15
8
%MW4 %MW5 %MW6 %MW7
Bit
…
Bit
15
0
%MX10.0~10.7 %MX11.0~11.7 %MX12.0~12.7 %MX13.0~13.7 %MX14.0~14.
%MD2 %MD3
...
Bit 7 Bit
8
…
Bit
15
Bit
0
...
Bit 7 Bit
8
…
Bit
15
Bit
0
...
7
Bit 7 Bit
8
Bit
…
15
15.0~15.
7
3-3
DVP15MC11T Operation Manual
_3
Device
Device name
Expression
Range
The 5th WORD The 6th WORD The 7th WORD The 8th WORD
name
Bit
0
...
Bit 7 Bit
8
…
Bit
15
Bit
0
Corresponding relationships
...
Bit 7 Bit
8
…
Bit
15
Bit
0
...
Bit 7 Bit
8
…
Bit
15
Bit
0
...
Bit 7 Bit
8
…
Bit
15
%ML
%ML1
3.1.2.2 Valid Ranges of Devices
The table of valid ranges of the devices in DVP15MC11T
%IX %IX0.0~%IX0.7 %IX0.0~%IX127.7
%QX %QX0.0~%QX0.7 %QX0.0~%QX127.7
%MX %MX0.0 %MX0.0~%MX131071.7
%IB %IB0 %IB0~%IB127
%QB %QB0 %QB0~%QB127
%MB %MB0 %MB0~%MB131071
%IW %IW0 %IW0~%IW63
%QW %QW0 %QW0~%QW63
%MW
%ID %ID0 %ID0~%ID31
%QD %QD0 %QD0~%QD31
%MD %MD0 %MD0~%MD32767
%MW0
%MW0~%MW65535
%IL %IL0 %IL0~%IL15
%QL %QL0 %QL0~%QL15
%ML %ML0 %ML0~%ML16383
3-4
3_
The table of Modbus device addresses
Device
type
Modbus address
type
%IX0.0~%IX0.7
0x6000~0x6007
%IX1.0~%IX1.7
0x6008~0x600F
……
……
%IX127.0~%IX127.7
0x63F8~0x63FF
Word
%IW0~%IW63
0x8000~0x803F
%QX0.0~%QX0.7
0xA000~0xA007
%QX1.0~%QX1.7
0xA008~0xA00F
……
……
%QX127.0~%QX127.7
0xA3F8~0xA3FF
Word
%QW0~%QW63
0xA000~0xA03F
%MX0.0~%MX0.7
0x10000000~0x10000007
addresses
%MX1.0~%MX1.7
0x10000008~0x1000000F
……
……
%MX131071.0~%MX131071.7
0x100FFFF8~0x100FFFFF
Standard Modbus
address
Delta-extended
Modbus addresses
Chapter 3 Specifications
Device area
I
（Input）
Q
（Output）
M
（Register）
Bit
Bit
Bit
Word
Word
%MW0~%MW32767 0x0000~0x7FFF
%MW32768~%MW65535 0x20008000~0x2000FFFF
3.1.2.3 Latched Devices
Range Modbus address
Standard Modbus
address
Delta-extended
Modbus
The %MW0~%MW999 devices are latched devices in which data are retained when power off. Besides, the
variables defined in the software can select Retain as its property. The capacity of latched devices is 128K
bytes.
3-5
DVP15MC11T Operation Manual
_3
No.
Data type
Valid range
Initial value
1
BOOL
TRUE or FALSE
FALSE
2
BYTE
16#00 ~ FF
16#00
3
WORD
16#0000 ~ FFFF
16#0000
4
DWORD
16#00000000 ~ FFFFFFFF
16#00000000
5
LWORD
16#0000000000000000 ~ FFFFFFFFFFFFFFFF
16#0000000000000000
6
USINT
0 ~ +255
0
7
UINT
0 ~ +65535
0
8
UDINT
0 ~ +4294967295
0
9
ULINT
0 ~ +18446744073709551615
0
10
SINT
−128 ~ +127
0
11
INT
−32768 ~ +32767
0
12
DINT
−2147483648 ~ +2147483647
0
13
LINT
−9223372036854775808 ~ +9223372036854775807
0
−3.402823e+38 ~ −1.175495e-38,
+1.175495e-38 ~ +3.402823e+38
−1.79769313486231e+308 ~
Range:T#0ns~213503d23h34m33s709.551ms
D#Y-M-D. Range: D#1970-01-01~D#2106-02-07. Unit:
TOD#H:M:S:MS, Range:TOD#00:00:00~23:59:59.999.
is displayed. If 1 is
DT#Y-M-D-H-M-S. Range:
DT#1970-01-01-0:0:0~2106-02-07-6:28:15. Unit: s.
20
STRING
0~32000 characters
‘’
3.1.2.4 Data Types and Valid Ranges Supported
The data types and valid ranges of the variables in the software that DVP15MC11T uses are shown in the
following table.
14 REAL
15 LREAL
16 TIME
17 DATE
18 TOD
19 DT
0,
−2.22507385850721e-308,
0,
+2.22507385850721e−308 ~
+1.79769313486231e+308,
T#XXXXXXdXXhXXmXXsXXXms，Unit: ns.
s.
Unit: ms. If 0 is written, TOD#00:00:00
written, TOD#00:00:00.001 is displayed. If 86399999 is
written, TOD#23:59:59.999 is displayed. If 86400000 is
written, TOD#00:00:00 is displayed. If 4294967295 is
written, TOD#17:2:47.295 is displayed.
0.0
0.0
T#0ms
D#1970-01-01
TOD#00:00:00
DT#1970-01-01-0:0:0
3-6
3_
3.2 Electrical Specifications
Item
Content
Fuse capacity
3 A/30 VDC, Polyswitch
Consumption
power
Static electricity: 8KV Air Discharge, 4KV Contact Discharge
Work: 0°C ~ 55°C (Temperature), 5 ~ 95% (Humidity), pol lution level 2
Weight
About 425g
Item
Content
Number of input
channels
Channel type
High-speed digital input type for the 16 channels
Common terminal
24 VDC, 5mA
The unshielded cable: 300m
Item
Content
Number of output
channels
Common terminal
for output points
Power voltage for
output points
Electrical specification
Chapter 3 Specifications
Power voltage
Isolation voltage
Vibration/shock
immunity
Interference
immunity
Environment
Electrical specificati on for input points
24 VDC（-15% ~ +20%）
500 VDC（Secondary-PE）
8W Max
Standard: IEC61131-2,IEC 68-2-6 （TEST Fc）/IEC61131-2 & IEC 68-2-27 （TEST
Ea）
EFT: Power Line: ±2KV, Digital Input: ±1KV,
Communication I/O: ±1KV
RS: 80MHz ~ 1000MHz, 10V/m.
Conducted Susceptibility Test: 150kHz ~ 80MHz, 3V/m
Surge Test: Power line 0.5KV DM/CM
Storage: -25°C ~ 70°C (Temperature), 5 ~ 95% (Humidity).
16 channels
Input terminals
for input points
Input type Sink or Source mode
Input delay
Input current
Max. cable length
Electrical specificati on for output points
Channel type High-speed digital output type for 8 channels
Output terminals Terminal Q0~Q7
Output delay
Terminal I0~I7，I10~I17
Terminal S0/S1
2.5µS （OFF ->ON）, 5 µS （ON -> OFF）
The shielded cable: 500m；
8 transistors for output (N-MOS)
Terminal UP/ZP (Used for connection of anode or cathode of supply power)
24 VDC（-15% ~ +20%）#1
2µS （ OFF -> ON）, 3µS （ ON -> OFF）
3-7
DVP15MC11T Operation Manual
_3
Item
Content
Max. switch
frequency
The shielded cable: 500m
The unshielded cable: 300m
1KHZ
Resistance: 0.5A/1point （2A/ZP）
Max. loading
Max. cable length
#1: UP and ZP must connect the auxiliary power 24VDC (-15%~20%).
Inductance: 13W（24VDC）
Bulb: 2.5W（24VDC）
3-8
4
Chapter 4 System Architecture
Table of Contents
4.1 System Constitution ................................................................................... 4-2
4.2 Power Supply ............................................................................................. 4-2
4.3 Left-side Extension .................................................................................... 4-2
4.3.1 Connectable Left-side Extension Module .................................................... 4-2
4.3.2 Allocation of Left-side Network Module Addresses ....................................... 4-3
4.3.3 Method of Reading/Writing of Left-side Modules ......................................... 4-3
4.4 Right-side Extension .................................................................................. 4-3
4.4.1 Connectable Right-side Extension Modules ................................................ 4-3
4.4.2 Allocation of Right-side Extension Module Addresses ................................... 4-4
4.5 Connectable Servo Drives........................................................................... 4-4
4.6 SD Memory Card ......................................................................................... 4-6
4.6.1 Model and Specification .......................................................................... 4-6
4.6.2 Function ............................................................................................... 4-8
4-1
DVP15MC11T Operation Manual
_4
Module
name
Input
voltage
Output
voltage
Output
current
International
Standard
1
DVP04AD-SL
Analog module
Analog input
2
DVP04DA-SL
Analog module
Analog output
4.1 System Constitution
A multi-layer industrial network can be built by means of DVP15MC11T. By using DVP15MC11T, the
network can consist of top-layer Ethernet, middle-layer CANopen and Profibus bus as well as bottom-layer
RS-485 bus which supports Modbus as follows.
The figure above illustrates the peripheral device s which are connected to various ports of DVP15MC11T in
the entire system. Refer to chapter 6 for details on the functions of communication ports.
4.2 Power Supply
Delta power modules are recommended as the power supply for DVP15MC11T. The information of Delta
power modules is shown in the following table.
No.
1 DVPPS02
2 DVPPS05 120W 5A
Phase
Single
phase
Power
48W 2A
85~264VAC 24VDC
4.3 Left-side Extension
4.3.1 Connectable Left-side Extension Module
Max. 8 high-speed extension modules can be connected to the left side of DVP15MC11T and the
connectable modules are listed in the following table.
No. Module name Module type Description
3
4-2
DVPPF02-SL
Network module Profibus communication
Chapter 4 System Architecture
4_
Mapping
Position
Input data
length
Output data
length
7
DVP16SP11R/T
8 bits
8 bits
4.3.2 Allocation of Left-side Network Module Addresses
About Input and Output Mapping Areas of Left-side Network Modules
The input and output mapping areas of different po sitions of the left side of PLC CPU are listed as follows
when the network modules connected to the left side of DVP15MC11T serve as a slave. The position 1 is for
the first module connected to the left side of P LC CPU; the position 2 is for the second one connected to the
left side of PLC CPU and so on.
area
1
2
3
4
5
6
7
8
Refer to the operation manuals of modules for details on al location of left-side extension module mapping
areas. Pay attention to how the mapping address expression format is changed in the operation manual.
For example, the output mapping area for DVPPF02-SL is D6250~D6349. But the area address is expressed
as %MW6250~%MW6349 when the module is connected to the left of DVP15MC11T.
Output mapping area Input mapping area
%MW6250~%MW6377 %MW6000~%MW6127
%MW6750~%MW6877 %MW6500~%MW6627
%MW7250~%MW7377 %MW7000~%MW7127
%MW7750~%MW7877 %MW7500~%MW7627
%MW8250~%MW8377 %MW8000~%MW8127
%MW8750~%MW8877 %MW8500~%MW8627
%MW9250~%MW9377 %MW9000~%MW9127
%MW9750~%MW9877 %MW9500~%MW9627
4.3.3 Method of Reading/Writing of Left-side Modules
The controller can read and write the data in CR regi st ers of the left-side extension modules via FROM/TO
instruction. For instance, the modules such as DVP04AD-SL and DVP04DA-SL may use FROM/TO to read
and write data in CR.
4.4 Right-side Extension
4.4.1 Connectable Right-side Extension Modules
Slim-series extension modules including digital modules, analog modules and temperature modules can be
connected to the right side of DVP15MC11T. Digital m odules can conne ct maximum 240 inp ut points and 24 0
output points. Maximum 8 analog modules can be connected. The connectable right-side extension module s
are listed in the following table.
No. Module name
1 DVP08SM11N 8 bits 2 DVP16SM11N 16 bits 3 DVP06SN11R - 6 bits
4 DVP08SN11R/T - 8 bits
5 DVP16SN11T - 16 bits
6
DVP08SP11R/T
8
DVP16SP11TS（PNP）
9 DVP32SM11N 32 bits - Pin-connector input
4 bits
8 bits 8 bits
4 bits
Input point extension
Output point extension
Input extension and output
extension
Extension type
4-3
DVP15MC11T Operation Manual
_4
Input data
length
Output data
length
16
DVP06XA-S
4 words
2 words
Analog input and analog output
-
-
Sensor
(Model: J, K, R, S, T thermocouples)
No. Module name
10 DVP32SN11TN - 32 bits Pin-connector output
11 DVP08ST11N 8 bits - Digital switch
12 DVP04AD-S 4 words 13 DVP06AD-S 6 words 14 DVP04DA-S - 4 words
15 DVP02DA-S
17 DVP04PT-S
18 DVP06PT-S
19 DVP04TC-S 4 words -
-
4 words
6 words
2 words
Analog input
Analog output
Sensor
(Model: PT100)
Extension type
4.4.2 Allocation of Right-side Extension Module Addresses
DVP15MC11T can connect Slim-series extension modules to its right side and max. 240 di gital input points
and 240 digital output points are connectable. Max. 8 special modules are connectable such as analog
modules, temperature modules and pulse modules. Up to 14 digi tal modul es and special m odules at mo st are
connectable to the right side of DVP15MC11T.
Input point number and output point number of right-side digital extension modules
The input point number and output point number of t he digi tal extension modules connected to the right of
DVP15MC11T start from 2.0. For example, the input point for the first digital module starts from %IX2.0 and
the output point starts from %QX2.0. It is counted as 8 points if the n um ber is less than 8.
Digital input points and output points are numbe red as below: (Octal)
%IX2.0 ~%IX2.7,......, %IX16.0 ~%IX16.7,......, %IX31.0 ~ %IX31.7
%QX2.0 ~ %QX2.7,......, %QX16.0 ~ %QX16.7,......, %QX31.0 ~ %QX31.7
About the right-side special module and serial number
The right-side extension modules such as analog modules, temperature modules and pulse
modules are regarded as special modules.
The serial number of the first special module to the right side of DVP15MC11T is 0; the serial
number of the second one is 1, and so on. Maximum 8 special modules can be connect ed. The start
address for input of the right-side special module is %MW10000 an d t he start address for output of
the right-side special module is %MW10500.
DVP15MC11T can directly read and write the right-side module parameters through the hardware
configuration interface of the software. Also, it can grant a value to an address or grant a value to a
variable with which an address is combined in a prog ram to read and write right-side module
parameters.
4.5 Connectable Servo Drives
There are many models for ASDA-A2-series servo drives. ASDA-A2-XXXX-M model supports CANopen
communication. Only ASDA-A2-XXXX-M servo drives can be used to build CANopen motion control network
through connecting the motion port of DVP15MC11T. The connection between DVP15MC11T and the servo
drive can be made with UC-CMC003-01A or UC-CMC005-01A cable through CN6 po rt.
4-4
4_
Illustration of the servo drive model
address of the servo in the CANopen
corresponds to must be consistent with that of
0203: CANopen baud rate is 500Kbps
Chapter 4 System Architecture
Relevant servo parameter settings are shown in the following table when DVP15MC11T and the
servo drive are connected.
Parameter Explanation Setting value Explanation
P1-01
P3-00
P3-01
*1：The output directions of the torque are illustrated as below w hen the value of X is 0 and 1 respectively.
Setting the control
mode of the servo
Setting a node ID
Baud rate
X0B*1 Set as CANopen mode
Setting range:
1~24
0403
The setting of this parameter corresponds to
the node
network
The baud rate that the parameter value
DVP15MC11T.
0403: CANopen baud rate is 1Mbps
4-5
DVP15MC11T Operation Manual
_4
0
1
P CCW（ ）
N CW（ ）
N CW（ ）
P CCW（ ）
Positive
direction
Negative
direction
The wiring figure of DVP15MC11T and ASDA-A2-XXXX-M-series servo drives
Notes:
1. Please refer to the servo user manual for the wiring of ASDA-A2-XXXX-M-series servo drives, servo
motors and encoders.
2. Choose UC-CMC003-01A or UC-CMC005-01A or UC-CMC010-01A communication cable according
to the field status.
3. There is one 120Ω terminal resistor embedded at Motion port. In the CANopen network consisting of
Motion port and servos, the other end of the network must be connected with a terminal resistor
TAP-TR01 which could be found in the packing box of DVP15MC11T.
4.6 SD Memory Card
4.6.1 Model and Specification
Model and Appearance
SD memory cards can be classified into SD, Mini S D and Mic ro SD acc ording to it s size. DVP15MC11T only
supports the standard-dimension SD.
4-6
Chapter 4 System Architecture
4_
Class
SD
SDHC
SDXC
Capacity
32MB~2GB
4GB~32GB
32GB~2TB
Size
SD
SDHC
Mini SDHC
Micro SDHC
SDXC
Micro SDXC
SD
Mini SD
Micro SD
Specification
There are various SD card specifications on current m ark et. Except that SD cards are different in size, they
can be classified into SD, SDHC and SDXC according to its capacity . However, DVP15MC11T only supports
basic SD specification currently. The following table includes the information of SD card family members.
DVP15MC11T only supports SD and SDHC. Please make sure to purcha se t he SD card of the right
specification that DVP15MC11T supports.
SD card classification
File system
SD speed
level
* Please notice that there is a kind of MMC card which is v ery similar to SD card in appearance and thus
please differentiate them carefully during pur chase.
Before use of SD card
Write-protection function of the memory card
There is a write-protection switch for general SD cards. The data can not be written into SD card if the
switch is moved to the Lock position. Hence, please ensure that the write-protection switch of SD card
has been released correctly before SD card is used and then the write-into function can be executed in
DVP15MC11T.
FAT16/FAT32 FAT32
CLASS 2 (Min. 2MB/Sec.)
N/A
CLASS 4 (Min. 4MB/Sec.)
CLASS 6 (Min. 6MB/Sec.) CLASS 10
(Min. 10MB/Sec.)
exFAT（FAT64）
CLASS 2 (Min. 2MB/Sec.)
CLASS 4 (Min. 4MB/Sec.)
CLASS 6 (Min. 6MB/Sec.)
CLASS 10 (Min. 10MB/Sec.)
4-7
Loading...