Application Announcement IABU, DELTA ELECTRONICS, INC

DVP 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.

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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

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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

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2. Short brief of special feature of ES2/EX2 PLC 16K Steps program capacity. All model of ES2/EX2 are with removable terminal blocks. Built-in 3 Com Port : 1 RS232, 2 RS485, All com port can act as master or slave independently. Maximum I/O point up to: 256 input +16 output points or 256 output +16 input points. Built in 8 point high speed input (2 points of100KHz, 6 points of10KHz). EX2 model has built-in12bit resolution 4 channels A/D and 2 channels D/A. Built in special position control instruction: DZRN, DPLSR, DDRVI, DCLLM, DVSPO etc. Built in 2 special instruction2 for PV tracker: GPS and DSPA. Built in ASDA Servo Drive convenient instruction: ASDRW. Built in VFD convenient instruction: FWD, REV, STOP, RDST, RSTEF. Support password protection function: Subroutine Password and PLC ID. Support new programming software: ISPSoft.

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3. EX2 Demo kit Wiring

4. 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

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5. 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, Y1) pulse output execution completed. Y0 pulse output pause (immediate). Y0 pulse output pause (ramp down). ON = pause, OFF = resume. Enabling the mask and mark function on I400/I401(X4) corresponding to Y0. Reverse Y1 pulse output direction in high speed pulse output instructions. For ZRN instruction, enable left limit switch (Negative Limit). Auto-reset Y0 when high speed pulse output completed. Enable ramp-down time setting on Y0. Has to be used with D1348. Indicating pause status of Y0.

Mask Pulse # Pulse number for masking Y0 when M1156 = ON (Low word) Y0 Pulse Low word of the present value of Y0 pulse output.

After Mark P# Output pulse # for ramp-down stop when mark sensor receives signals. (Low word). ITPN S/End F Acc/Dec En R-D-T Idle time (pulse number) setting of CH0 (Y0, Y1) Start/End frequency of the 1st group pulse output CH0 (Y0, Y1) Ramp up/down time of the 1st group pulse output CH0 (Y0, Y1) Ramp up/down time of the 1st group pulse output CH0 (Y0, Y1)

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6. HMI program overview

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7. Introductions of instruction and special functions

API 57 DPLSY -- Pulse Output

Frequency Pulses, 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. Servo motor will rotate 5 rotations. (If Pulse number = Negative, servo motor will rotate with opposite direction)

Operation 2: Sending continuous pulses Set Pulse = 0 then press DPLSY. Y0 will keep sending out pulses.

Operation 3: Sending pulse (Adjustable speed) Set Pulse = 0 then press DPLSY. When Y0 is sending pulse, input different figures in Frequency to change current operating frequency.

Note: SPD X2 shows current Y0 output frequency (Hz). Y0 output in frequency will have slight errors within 0.134%. This result is in the acceptable range of errors.

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Operation with common used special M M1029: Flag on when pulse output is completed.

M1078: Press DPLSY to trigger servo.

Press M1078 to pause Y0 pulse output

immediately. When M1078 is on, M1538 flag will on to indicate current status.

M1305: Press M1305 then press DPLSY. The rotation of motor will be on opposite side.

M1347: 1st set Pulses = 1000 then press DPLSY.

When finished sending, press DPLSY

to release. (Repeat this step to see its movement) 2nd press M1347 then press DPLSY with same setting above. (Compare these two steps you will see the difference.)

*D1030: Present value of Y0 pulse output. D1030s value can be cleaned only when conditional contact is disabled such as M0 DPLSY, M1 DPLSR. This applies

to all examples using D1030 in this demo program.

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API 157 DPLSR -- Pulse Ramp

Frequency Pulses, 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 = 20000, then press DPLSR. Servo motor will rotate 2 rotations with fixed Acc/Dec 200ms. (If Pulse number = Negative, servo motor will rotate with opposite direction)

Operation 2: Sending fixed number of pulses with different Acc/Dec time. Set Pulse = 100000, D1348 = 2000, enable M1534 and then press DPLSR. Servo motor will start rotating with acceleration time 200ms then stop its rotation with deceleration time 2000ms.

Operation with common used special M (For other special M, please refer to page 8) M1108: Set enough pulse first then press DPLSR to trigger servo. motor will ramp down with pre-set acceleration time till stop. Press M1108, servo

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Mask & Mark: ES2/EX2 series PLC has ability to do mask and mark function. This demo kit does not connect to authentic mark sensor. Thus, the entire examples of Mask & Mark function will adopt virtual mark sensor to fulfill its movement. 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.

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.

F for mark function.

3: Press DPLSR to start running servo motor. 4: Press I401 E to send Mark signal to stop servo motor. (Flag M1108 and M1538 will be lit on)

5: Release M1108 to restore rotation of servo motor. 6: Repeating 4 & 5, the result and its movement will be the same with real mark sensor.

Operation 4: Mark function testing (Only triggered by DHSCS

1: Set I401 DHSCS Int 2: Enable M1156 D = 30000.

D: Virtual Mark Sensor)

F for mark function.

3: Press DPLSR to start running servo motor. 4: Servo motor will rotate 3 rotation and stop. The measurement of Y0 will be around 34753**. 5: Release DPLSR to stop this command. (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.

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Note: When using authentic mark sensor, steps 5 to release DPLSR wont be necessary. Only release M1108 can resume its previous movement. The Virtual Mark Sensor is using DHSCS command to trigger interrupt. Thus, for repeating M&M function, steps 5 & 6 will still be necessary.

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.

C = 100000. F for mark function.

3: Enable M1156

4: Press DPLSR to start running servo motor. 5: Press I401 E to try to interrupt pulse command. (Press & release continually till interrupt occur)

(See the measurement of D1030.The interrupt will occur only when pulses are over 100000.) 6: Release DPLSR to stop this command. (Flag M1538 will be turned off) 7: To resume previous movement, firstly make sure DPLSR is released then release M1108 and finally press DPLSR to repeat its movement.

Operation 6: Mark function with extra pulses sending after received mark signal (Set D1232)
Required final pulses, 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. (Position of mark)

B =5000. (Mask function is also available to use in this example. Set D1026) F for mark function.

3: Enable M1156

4: Press DPLSR to start running servo motor. 5: Observe D1030. The final measurement will be 35002** Final pulse = 35002. Its not the exact pulses we require. Adjustment is needed at this time. 6: Simply lower the D1232 B by 2 pulses to 4998. 7: Release DPLSR to stop this command. (Flag M1538 will be turned off) 8: Release M1108 then press DPLSR to repeat the movement again. The final measurement will be 35000

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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

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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. (Zero point D1030 = 0)

Operation 2: ZRN with Negative Limit mode Press M1307 to enable Negative Limit 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 up with negative sign) Press Limit to let motor reverse rotation (D1030s 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)

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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, If not, execute DZRN first.) Press Disable Position 2 first then press DDRVA to trigger motor run. When it stops, the final position will be at 30000. Release DDRVA and press again. The servo motor wont be triggered to run again.

Operation 2: Move to Absolute position with different Acc/Dec time. (Disable Position2) Set Position 1 = - 100000 with frequency 100K, Acc/Dec = 2000. Press M 1534 with D1348 = 20 then press DDRVI to trigger motor run. 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. The pause functions M1108, M1078 are the same with DPLSY DPLSR, for more information please refer to page 8&9.

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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. Only operands of Position and Frequency are different from DPLSR. Thus, setting of its functions will be almost the same with DPLSR.

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Operation 1: Rotate servo motor to desired position with same Acc/Dec time. Set Pulse = 50000; Frequency = 50000; Acc/Dec = 100 then press DDRVI. Servo motor will rotate 5 rotations with fixed Acc/Dec 100ms. (If Pulse number = Negative, servo motor will rotate with opposite direction)

Operation 2: Rotate servo motor to desired position with Different Acc/Dec time. Set Pulse = 100000; Frequency = 70000; Acc/Dec = 100; D1348 = 2000, enable M1534 and then press DDRVI. Servo motor will start rotating with acceleration time 100ms then stop its rotation with deceleration time 2000ms.

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.

F for mark function.

3: Press DDRVI to start running servo motor. 4: Press I401 E to send Mark signal to stop servo motor. (Flag M1108 and M1538 will be lit on)

5: Release M1108 to restore rotation of servo motor. 6: Repeating 4 & 5, the result and its movement will be the same with real mark sensor.

Operation 4: Mark function testing (Only triggered by DHSCS

1: Set I401 DHSCS Int 2: Enable M1156 D = 30000.

D: Virtual Mark Sensor)

F for mark function.

3: Press DDRVI to start running servo motor. 4: Servo motor will rotate 3 rotation and stop. The measurement of Y0 will be around 32373**. 5: Release DDRVI to stop this command. (Flag M1538 will be turned off) 6: To resume previous movement, firstly make sure DDRVI is released then release M1108 and finally press DDRVI to repeat its movement. Note: When using authentic mark sensor, steps 5 to release DDRVI wont be necessary. Only release M1108 can resume its previous movement. The Virtual Mark Sensor is using DHSCS command to trigger interrupt. Thus, for repeating M&M function, steps 5 & 6 will still be necessary.

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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.

C = 100000. F for mark function.

3: Enable M1156

4: Press DDRVI to start running servo motor. 5: Press I401 E to try to interrupt pulse command. (Press & release continually till interrupt occur)

(See the measurement of D1030.The interrupt will occur only when pulses are over 100000.) 6: Release DDRVI to stop this command. (Flag M1538 will be turned off) 7: To resume previous movement, firstly make sure DDRVI is released then release M1108 and finally press DDRVI to repeat its movement.

Operation 6: Mark function with extra pulses sending after received mark signal (Set D1232)
Required final pulses, 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. (Position of mark)

B =20000. (Mask function is also available to use in this example. Set D1026) F for mark function.

3: Enable M1156

4: Press DDRVI to start running servo motor. 5: Observe D1030. The final measurement will be 50002** Final pulse = 50002. Its not the exact pulses we require. Adjustment is needed at this time. 6: Simply lower the D1232 B by 2 pulses to19998. (Clean D1030 for next measurement) 7: Release DDRVI to stop this command. (Flag M1538 will be turned off) 8: Release M1108 then press DDRVI to repeat the movement again. The final measurement will be 50000.

Operation with commonly used special M, please refer to section of DPLSY & DPLSR

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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

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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

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Operation 1: DCLLM movement with target number of pulses and target frequency Set target number of pulse = 30000; target frequency = 100000; then press DCLLM. Servo motor will rotate 3 rotations with 100khz then enter into a 100Hz slow movement (idle speed) for waiting interrupt signal. After pressing I401, the whole process will stop. (Together with M1347, It can resume its movement again. If M1156 is enabled, M1347 function will be of no use)

Operation 2: DCLLM movement with idle time pulse number setting Set target number of pulse = 80000; target frequency = 50000; D1244 E= 500,

then press DCLLM. Servo motor will rotate 8 rotations with 50khz then enter into a 100Hz slow movement for additional 1000 pulse (idle speed). D1030 will show 80499. (Together with setting of D1340 D, it can adjust idle speed.)

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; Target frequency = 50000 2: Set the I401 DHSCS Int 3: Enable M1156 C = 70000 (Total length)

G for Mark and Mask function.

4: Press DCLLM to start running servo motor. 5: When reaching 70000, Servo will stop rotating immediately. (D1030 will show 70001 or 70002, it is to say this movement does not enter into idle zone)

Operation 4: DCLLM with Virtual Sensor.

1: Set target number of pulse = 70000 ; Target frequency = 70000. 2: Set the I401 DHSCS Int 3: Enable M1156 C = 70500 (Total length)

G for Mark and Mask function.

4: Press DCLLM to start running servo motor. 5: When reaching 70500, Servo will stop rotating. (D1030 will show 70500. The DCLLM movement is complete and stop at idle time zone after receiving Virtual Mark Sensor signal )

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Operation 5: DCLLM with Virtual Sensor and Mask pulse setting.

1: Set target number of pulse = 100000; Target frequency = 40000. 2: Set the I401 DHSCS Int 3: Set D1026 C = 101000 (Total length) with D1340 D = 2000

B = 90000. (Pulse can only be set before its end of ramp down time) G for Mark and Mask function. F within

4: Enable M1156

5: Press DCLLM to start running servo motor. (When running, continuously press I401

pulses 90000, the movement will not stop. This step is to simulate that there are many marks or patterns on object so as to create false signals for Mark & Mask function.) 6: When reaching 101000, Servo will stop rotating. (Otherwise if press I401 90000, then the movement will be stop immediately) F after pulses #

llustration of Mask & Mark function

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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. By changing gap frequency and gap time, then change target frequency, pulse output frequency and slope can be adjusted.

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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; gap time and frequency in red rectangular area. Finally press I601 to enable new setting.

Function Explanations: 1. If the target frequency is changed by using DVSPO instruction, the actual changing timing will be delayed due to the program scan time and the gap time as below.

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2. If frequency is changed by applying DICF instruction in interrupt subroutines, the actual changing timing will be executed immediately with only an approx. 10us delay (execution time of DICF instruction). The timing diagram is as below:

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8. Program

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