Application Announcement IABU, DELTA ELECTRONICS, INCDVP PLC Product ASDA DOP Published by Published to Solution Center Publisher Applicable to DVP ES2&EX2 ASDA-A2 DOP-AS35THTD Joseph Huang Confidential level ECN No. General Classified Top secret N/A Publication No. FAE-01-P10510-000 May. 10, 2010 Date of Publication Taiwan sales, Product Manager, DGC, DEU, DPR, DES Purpose ：DVP ES2/EX2 series PLC Demo kit operation manual Description： This manual demonstrates how to use newly added special position commands of DVP ES2/EX2 as well as related flag and register. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 0 Table of contents The included devices of EX2 demo kit……………………….....…………………2 Short brief of special features of ES2/EX2 PLC…..……….….….….……………3 EX2 demo kit wiring……………………………….…………….…….……..………4 Parameter setting of ASDA-A2 Servo Drive…………..………………..…..……..4 Description of Special M & D………………………………..….………..…….……5 HMI program overview……………………………………..…….……..……………6 Introductions of instruction and special functions DPLSY………………………………………………..………..…………………8 DPLSR…………………………………….……………….……………………10 DZRN……………………………………….………………….………………..14 DDRVA…………………………………………….……………………………15 DDRVI…………………………………………….……………………………..16 DPTPO…………………………….………….…………………………………19 DCLLM……………………………….…………………………….……………20 DVSPO………………………………..………………...............…...…………22 DVSPO+DICF …………………..…………..………………....………………24 Program ………………………………………….……….………………………….26 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 1 1. The included devices of EX2 demo kit DOP AS35THTD DVP 20EX200T PLC DVP-PS01 ASD-BM-50A (Cable included) ASDA-A2 ECMA-C10602ES ASDABEN0003 ASDABPW0003 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 2 RSTEF. REV. Built in ASDA Servo Drive convenient instruction: ASDRW. DVSPO etc. RDST. Built in VFD convenient instruction: FWD. Built in 2 special instruction2 for PV tracker: GPS and DSPA. STOP. DDRVI. Support password protection function: Subroutine Password and PLC ID. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 3 . Maximum I/O point up to: 256 input +16 output points or 256 output +16 input points. 2 RS485. 6 points of10KHz). Built in 8 point high speed input (2 points of100KHz. All com port can act as master or slave independently. . Built-in 3 Com Port : 1 RS232. Short brief of special feature of ES2/EX2 PLC 16K Steps program capacity.2. DCLLM. DPLSR. Built in special position control instruction: DZRN. All model of ES2/EX2 are with removable terminal blocks. EX2 model has built-in12bit resolution 4 channels A/D and 2 channels D/A. Support new programming software: ISPSoft. 3. Parameter setting of ASDA-A2 Servo Drive Parameter 1-00 1-01 1-44 1-45 2-10 2-15 2-16 2-17 2-08 Setting 2 0 128 1 1 0 0 0 10 Description Pulse + Direction Pt Mode Gear ratio1 (N1) Gear ratio2 (M) Servo On DI6 DI7 DI8 Return to default setting 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 4 . EX2 Demo kit Wiring 4. Y1) pulse output execution completed. Auto-reset Y0 when high speed pulse output completed. Mask Pulse # Pulse number for masking Y0 when M1156 = ON (Low word) Y0 Pulse Low word of the present value of Y0 pulse output. Y1) Ramp up/down time of the 1st group pulse output CH0 (Y0. After Mark P# Output pulse # for ramp-down stop when mark sensor receives signals. Reverse Y1 pulse output direction in high speed pulse output instructions. For ZRN instruction. ON = pause. Y0 pulse output pause (immediate). Y1) 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 5 . Has to be used with D1348. Indicating pause status of Y0. ITPN S/End F Acc/Dec En R-D-T Idle time (pulse number) setting of CH0 (Y0. OFF = resume. Enable ramp-down time setting on Y0. (Low word). Y1) Ramp up/down time of the 1st group pulse output CH0 (Y0. Y1) Start/End frequency of the 1st group pulse output CH0 (Y0. Enabling the mask and mark function on I400/I401(X4) corresponding to Y0.5. enable left limit switch (Negative Limit). Y0 pulse output pause (ramp down). Description of Special M & D M/D M1029 M1078 M1108 M1156 M1305 M1307 M1347 M1534 M1538 D1026 *D1030 D1232 D1244 D1340 D1343 D1348 Pause Pau-R-D M&M Reverse N-Limit A-R-Y0 En R-D-T Paused Symbols Description CH0 (Y0. 6. HMI program overview 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 6 . 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 7 . Y0 will keep sending out pulses. When Y0 is sending pulse. Servo motor will rotate 5 rotations. Note: SPD X2 shows current Y0 output frequency (Hz). 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 8 . Number of Output device Sign (Reverse signal) Present value of Y0 Current speed (Hz) Execution completed Commonly used special M Operation 1: Sending fixed number of pulses Set Pulse = 50000 then press DPLSY. input different figures in “Frequency” to change current operating frequency.134%. This result is in the acceptable range of errors.7. (If Pulse number = “– Negative”. servo motor will rotate with opposite direction) Operation 2: Sending continuous pulses Set Pulse = 0 then press DPLSY.Pulse Output Frequency Pulses. Introductions of instruction and special functions API 57 DPLSY -. Y0 output in frequency will have slight errors within 0. Operation 3: Sending pulse (Adjustable speed) Set Pulse = 0 then press DPLSY. (Repeat this step to see its movement) 2nd press M1347 then press DPLSY with same setting above.Operation with common used special M M1029: Flag on when pulse output is completed. M1 DPLSR. (Compare these two steps you will see the difference. Press M1078 to pause Y0 pulse output immediately. D1030’s value can be cleaned only when conditional contact is disabled such as M0 DPLSY. M1305: Press M1305 then press DPLSY. When M1078 is on. The rotation of motor will be on opposite side. M1347: 1st set Pulses = 1000 then press DPLSY. press DPLSY to release. This applies to all examples using D1030 in this demo program. M1538 flag will on to indicate current status. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 9 . M1078: Press DPLSY to trigger servo.) *D1030: Present value of Y0 pulse output. When finished sending. Servo motor will rotate 2 rotations with fixed Acc/Dec 200ms. Operation with common used special M (For other special M. enable M1534 and then press DPLSR. Press M1108. then press DPLSR. motor will ramp down with pre-set acceleration time till stop. Number of Acc/Dec time Mask & Mark function I401 & Y5 manual interrupt Enable ramp down time Ramp down time setting Pause with ramp down Operation 1: Sending fixed number of pulses with same Acc/Dec time. Set Pulse = 100000. (If Pulse number = “– Negative”. Set Pulse = 20000. Servo motor will start rotating with acceleration time 200ms then stop its rotation with deceleration time 2000ms. servo 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 10 .Pulse Ramp Frequency Pulses. servo motor will rotate with opposite direction) Operation 2: Sending fixed number of pulses with different Acc/Dec time. please refer to page 8) M1108: Set enough pulse first then press DPLSR to trigger servo. D1348 = 2000.API 157 DPLSR -. 5: Release DPLSR to stop this command. 4: Press I401 “E” to send Mark signal to stop servo motor. 3: Press DPLSR to start running servo motor.Mask & Mark: ES2/EX2 series PLC has ability to do mask and mark function. (Flag M1538 will be turned off) 6: To resume previous movement. firstly make sure DPLSR is released then release M1108 and finally press DPLSR to repeat its movement. 6: Repeating 4 & 5. D: Virtual Mark Sensor) “F” for mark function. the entire examples of Mask & Mark function will adopt virtual mark sensor to fulfill its movement. The measurement of Y0 will be around 34753**. 4: Servo motor will rotate 3 rotation and stop. This demo kit does not connect to authentic mark sensor. Thus. 3: Press DPLSR to start running servo motor. Operation 4: Mark function testing (Only triggered by DHSCS 1: Set I401 DHSCS Int 2: Enable M1156 “D” = 30000. Number of pulses which is masked (To blind Mark Sensor) Manual Mark Sensor Enable M&M Function I401 Signal Virtual Mark Sensor Operation 3: Mark function testing (Only triggered by I401 1: Set I401 DHSCS Int 2: Enable M1156 E: Manual Mark Sensor) “D” a very big constant such as 5000000. (Flag M1108 and M1538 will be lit on) 5: Release M1108 to restore rotation of servo motor. “F” for mark function. the result and its movement will be the same with real mark sensor. Input area of Mask & Mark function (same with DDRVI) Measurement of Y0 pulse output Value can be cleaned only when DPLSR is released Send out number of pulses after receive Mark Sensor signal. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 11 . steps 5 & 6 will still be necessary. 5: Observe D1030. Only release M1108 can resume its previous movement. steps 5 to release DPLSR won’t be necessary. The Virtual Mark Sensor is using DHSCS command to trigger interrupt. 3: Enable M1156 4: Press DPLSR to start running servo motor.) 6: Release DPLSR to stop this command. Set D1026) “F” for mark function. firstly make sure DPLSR is released then release M1108 and finally press DPLSR to repeat its movement. 6: Simply lower the D1232 “B” by 2 pulses to 4998. 5: Press I401 “E” to try to interrupt pulse command. (Flag M1538 will be turned off) 7: To resume previous movement.The interrupt will occur only when pulses are over 100000. “F” for mark function. The final measurement will be 35002** Final pulse = 35002. Thus. (Position of mark) “B” =5000. position or moving length of motor = 35000 (Refer to D1030) 1: Set I401 DHSCS Int 2: Set D1232 “D” to desired pulse such as 30000. 3: Enable M1156 4: Press DPLSR to start running servo motor. (Flag M1538 will be turned off) 8: Release M1108 then press DPLSR to repeat the movement again. Operation 6: Mark function with extra pulses sending after received mark signal (Set D1232) Required final pulses. for repeating M&M function. “C” = 100000. 7: Release DPLSR to stop this command.Note: When using authentic mark sensor. It’s not the exact pulses we require. Operation 5: Mark function with Mask setting (Set D1026) 1: Set I401 DHSCS Int 2: Set D1026 “D” a very big constant such as 500000. The final measurement will be 35000 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 12 . (Press & release continually till interrupt occur) (See the measurement of D1030. Adjustment is needed at this time. (Mask function is also available to use in this example. I llustration of Mask & Mark function Only enable Mark function Enable Mask & Mark function The minimum pulses are required for D1232 when Mark function is enable (M1156) Dec time 20ms 30ms 40ms 50ms 60ms Pulses 473 708 953 1183 1423 Dec time 70ms 80ms 90ms 100ms 110ms Pulses 1660 1903 2135 2373 2611 Dec time 120ms 130ms 140ms 150ms 160ms Pulses 2853 3087 3326 3564 3803 Dec time 170ms 180ms 190ms 200ms Pulses 4039 4277 4515 4753 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 13 . about 1 sec to let motor move a little bit (Observe D1030= -3xxxx) Press ZRN to start Zero Return (D1030 should be counted up with negative sign) Press Limit to let motor reverse rotation (D1030’s values will gradually close to 0) Long press DOG to let the movement go Creep speed (Jog speed of ZRN) Release DOG and motor will be stopped. (Zero point D1030 = 0) 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 14 . (Zero point D1030 = 0) Operation 2: ZRN with Negative Limit mode Press M1307 to enable Negative Limit Press JOG.API 156 DZRN – Zero Return Target frequency Creep speed JOG function by PLSV PLSV frequency Negative Limit Enable negative Limit Virtual DOG Operation 1: Normal ZRN mode Press JOG+ about 1 sec to let motor move a little bit (Observe D1030= +3xxxx) Press ZRN to start Zero Return (D1030 should be counted down toward 0) Long press DOG to let the movement go Creep speed (Jog speed of ZRN) Release DOG and motor will be stopped. execute DZRN first. The servo motor won’t be triggered to run again.100000 with frequency 100K. for more information please refer to page 8&9.) Press Disable Position 2 first then press DDRVA to trigger motor run. M1078 are the same with DPLSY DPLSR. Release DDRVA and press again. (Disable Position2) Set Position 1 = . Operation 2: Move to Absolute position with different Acc/Dec time. Acc/Dec = 2000. The pause functions M1108.API 159 DDRVA – Absolute Position Control Position 1/ Pulses. Number of Frequency of Position 1 Acceleration/Deceleration time Disable position 2 Enable ramp down time Ramp down time setting Pause with ramp down Operation 1: Move to Absolute position (Make sure D1030 = 0. Motor will start to run with Acc 2000ms (speed up) and stop with Dec 20ms (Slow down) Note: The Position 2 with Disable function is not the part of DDRVA command. It is just made for user to move away current position (position 1) for observation its traits. Press M 1534 with D1348 = 20 then press DDRVI to trigger motor run. the final position will be at 30000. When it stops. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 15 . If not. setting of its functions will be almost the same with DPLSR. Only operands of Position and Frequency are different from DPLSR. Thus.API 158 DDRVI – Relative Position Control Position (pulses) Frequency Acc/Dec time D1343 Mask & Mark function I401 & Y5 manual interrupt Enable ramp down time Ramp down time setting Pause with ramp down Input area of Mask & Mark function (same with DPLSR) Measurement of Y0 pulse output Value can be cleaned only when DDRVI is released Send out number of pulses after receive Mark Sensor signal. Number of pulses which is masked (To blind Mark Sensor) Manual Mark Sensor Enable M&M Function I401 Signal Virtual Mark Sensor Note: The functions of DDRVI are almost the same with DPLSR. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 16 . The measurement of Y0 will be around 32373**. Frequency = 70000. 3: Press DDRVI to start running servo motor. Set Pulse = 50000. Servo motor will start rotating with acceleration time 100ms then stop its rotation with deceleration time 2000ms. Acc/Dec = 100. the result and its movement will be the same with real mark sensor. Mask&Mark: Operation 3: Mark function testing (Only triggered by I401 1: Set I401 DHSCS Int 2: Enable M1156 E: Manual Mark Sensor) “D” a very big constant such as 5000000. (If Pulse number = “– Negative”. Set Pulse = 100000. enable M1534 and then press DDRVI. 4: Servo motor will rotate 3 rotation and stop. steps 5 & 6 will still be necessary. D1348 = 2000. Acc/Dec = 100 then press DDRVI. Frequency = 50000.Operation 1: Rotate servo motor to desired position with same Acc/Dec time. servo motor will rotate with opposite direction) Operation 2: Rotate servo motor to desired position with Different Acc/Dec time. 4: Press I401 “E” to send Mark signal to stop servo motor. Note: When using authentic mark sensor. (Flag M1108 and M1538 will be lit on) 5: Release M1108 to restore rotation of servo motor. for repeating M&M function. steps 5 to release DDRVI won’t be necessary. “F” for mark function. Thus. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 17 . 6: Repeating 4 & 5. (Flag M1538 will be turned off) 6: To resume previous movement. Only release M1108 can resume its previous movement. The Virtual Mark Sensor is using DHSCS command to trigger interrupt. 5: Release DDRVI to stop this command. D: Virtual Mark Sensor) “F” for mark function. firstly make sure DDRVI is released then release M1108 and finally press DDRVI to repeat its movement. Operation 4: Mark function testing (Only triggered by DHSCS 1: Set I401 DHSCS Int 2: Enable M1156 “D” = 30000. Servo motor will rotate 5 rotations with fixed Acc/Dec 100ms. 3: Press DDRVI to start running servo motor. The final measurement will be 50000. (Mask function is also available to use in this example. position or moving length of motor = 50000 (Refer to D1030) 1: Set I401 DHSCS Int 2: Set D1232 “D” to desired pulse such as 30000. “F” for mark function. 5: Observe D1030.) 6: Release DDRVI to stop this command. please refer to section of DPLSY & DPLSR 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 18 . 3: Enable M1156 4: Press DDRVI to start running servo motor. (Flag M1538 will be turned off) 7: To resume previous movement.Operation 5: Mark function with Mask setting (Set D1026) 1: Set I401 DHSCS Int 2: Set D1026 “D” a very big constant such as 500000. The final measurement will be 50002** Final pulse = 50002. (Flag M1538 will be turned off) 8: Release M1108 then press DDRVI to repeat the movement again. “C” = 100000. (Clean D1030 for next measurement) 7: Release DDRVI to stop this command. Set D1026) “F” for mark function. It’s not the exact pulses we require. Operation 6: Mark function with extra pulses sending after received mark signal (Set D1232) Required final pulses. firstly make sure DDRVI is released then release M1108 and finally press DDRVI to repeat its movement. (Position of mark) “B” =20000.The interrupt will occur only when pulses are over 100000. 5: Press I401 “E” to try to interrupt pulse command. Operation with commonly used special M. (Press & release continually till interrupt occur) (See the measurement of D1030. 6: Simply lower the D1232 “B” by 2 pulses to19998. Adjustment is needed at this time. 3: Enable M1156 4: Press DDRVI to start running servo motor. API 195 DPTPO – Single-Axis Pulse Output By Table Frequency setting Pulse setting Same with SPD X2 Section indicator Output device Sign (Reverse signal) Operation1: Multi-section pulse output Fill 5 sections of frequency in Freq 1-5 and fill 5 sections of pulses in Pulse1-5 Examples: Freq 1-5 10000 20000 30000 40000 50000 Pulse 1-5 50000 60000 70000 80000 90000 Freq 1-5 100000 20000 70000 2000 90000 Pulse 1-5 50000 10000 50000 2000 30000 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 19 . API 197 DCLLM – Close Loop Position Control Target number of feedbacks Target frequency Feedback source device Starting/Ending frequency Mask & Mark function Idle time pulses Enable Mark function Input area of Mask & Mark function Measurement of Y0 pulse output Value can be cleaned only when DCLLM is released Number of pulses which is masked (To blind Mark Sensor) Idle Speed setting Send out # of pulses with idle speed I401 Signal Virtual Mark Sensor Manual Mark Sensor Enable M&M Function 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 20 . ) Mask&Mark: Operation 3: DCLLM movement with fixed pulse (to stop at fixed length by reaching interrupt) 1: Set target number of pulse a very big constant such as 100000. (D1030 will show 70500. 4: Press DCLLM to start running servo motor. it is to say this movement does not enter into idle zone) Operation 4: DCLLM with Virtual Sensor. 5: When reaching 70000. After pressing I401. Target frequency = 70000. (Together with setting of D1340 “D”. (Together with M1347. target frequency = 100000. Servo motor will rotate 8 rotations with 50khz then enter into a 100Hz slow movement for additional 1000 pulse (idle speed). Servo will stop rotating immediately. the whole process will stop. Target frequency = 50000 2: Set the I401 DHSCS Int 3: Enable M1156 “C” = 70000 (Total length) “G” for Mark and Mask function. D1244 “E”= 500. The DCLLM movement is complete and stop at idle time zone after receiving Virtual Mark Sensor signal ) 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 21 . then press DCLLM. 1: Set target number of pulse = 70000 . Servo will stop rotating. Servo motor will rotate 3 rotations with 100khz then enter into a 100Hz slow movement (idle speed) for waiting interrupt signal. target frequency = 50000. 5: When reaching 70500. It can resume its movement again. M1347 function will be of no use) Operation 2: DCLLM movement with idle time pulse number setting Set target number of pulse = 80000. 4: Press DCLLM to start running servo motor. 2: Set the I401 DHSCS Int 3: Enable M1156 “C” = 70500 (Total length) “G” for Mark and Mask function. it can adjust idle speed. If M1156 is enabled.Operation 1: DCLLM movement with target number of pulses and target frequency Set target number of pulse = 30000. D1030 will show 80499. then press DCLLM. (D1030 will show 70001 or 70002. then the movement will be stop immediately) “F” after pulses # I llustration of Mask & Mark function 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 22 . (Otherwise if press I401 90000. Target frequency = 40000. “F” within 4: Enable M1156 5: Press DCLLM to start running servo motor.Operation 5: DCLLM with Virtual Sensor and Mask pulse setting.) 6: When reaching 101000. the movement will not stop. 2: Set the I401 DHSCS Int 3: Set D1026 “C” = 101000 (Total length) with D1340 “D” = 2000 “B” = 90000. (When running. This step is to simulate that there are many marks or patterns on object so as to create false signals for Mark & Mask function. 1: Set target number of pulse = 100000. Servo will stop rotating. (Pulse can only be set before its end of ramp down time) “G” for Mark and Mask function. continuously press I401 pulses 90000. then change target frequency. pulse output frequency and slope can be adjusted. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 23 . By changing gap frequency and gap time.API 197 DVSPO – Variable Speed Pulse Output Target frequency Target pulse Gap frequency Gap time Operation Press DVSPO to start running then change target frequency to desired speed such as 50000 or 100000 to see its difference. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 24 . Finally press I601 to enable new setting. the actual changing timing will be delayed due to the program scan time and the gap time as below. gap time and frequency in red rectangular area. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 25 . Function Explanations: 1.API 199 DICF – Immediately change frequency Target frequency Target pulse Gap frequency Gap time DICF Operation Press DVSPO/DICF to start running with default gap frequency and gap time then change to different gap frequency. If the target frequency is changed by using DVSPO instruction. 2. the actual changing timing will be executed immediately with only an approx. The timing diagram is as below: 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 26 . 10us delay (execution time of DICF instruction). If frequency is changed by applying DICF instruction in interrupt subroutines. Program 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 27 .8. 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 28 . 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 29 . 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 30 . 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 31 . 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 32 . 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 33 . 品質至上 信賴第一 追求卓越 QUALITY RELIABILITY EXCELLENCE 34 .