Delta D25886 User Manual download pdf (Page 27)

2. System Function

DVP-MC operating manual 2-19

2.3.2. Motion Program Execution Principle

DVP10MC11T consists of two function modules: PLC module and MC motion control module. To enhance

the work efficiency, the two modules handle the logic tasks and motion control task respectively. User could

edit the program for the PLC module through ISPSoft and WPLSoft software to achieve logic control function,

while, to achieve motion control function, CANopen Builder software is necessary for programming.

The way of execution of motion control program is basically same as that for PLC program through three

stages of input capture, program execution, output refresh. But motion control program is executed on basis

of the synchronized cycle which is the cycle for updating the control and status data between motion

controller and servo drive. In one synchronized cycle, motion controller needs to capture all data related with

control program including the status data returning from servo drive, then to execute the motion program and

finally output the data of operation result to each register and control data to all servo drives. All these actions

have to be completed in one synchronized cycle.

When DVP10MC11T is connected with multi-servo drives, 10MC can achieve synchronization of multi-servo

drives through sending out synchronous signals in the method of broadcast. Servo drives receive control

data that 10MC sends out. These data are not effective immediately till the synchronous signals reach the

servo drives to realize the synchronization of multi-servo drives.

As 2.2.1 figure is shown, 10MC is connected with 4 servo drives and T is the synchronized cycle. In the

synchronized cycle, 4 servo drives receive the control data at different time (t1, t2, t3, t4) respectively but the

control data do not get effective immediately. The control data will get effective while the servo drives receive

the SYNC signals.

Figure 2.2.1

Figure 2.2.2 is an example of motion program (using MTL language). When motion control module detects

M2=on in a synchronized cycle, MC_MoveAbsolute instruction starts to be executed. In this scan cycle,

motion control module sends a piece of position control data to servo drive but M20 (Done bit) will not turn on.

In the following several cycles, motion control module will constantly send the data to servo drives to control

positions till the actual positions that servo drives feedbacks to motion control module approach the target

position. At that time, “Done” bit M20=on and execution of MC_MoveAbsolute instruction is finished.

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Delta D25886 User Manual Page 27