台达 DVP MC 运动控制器用户使用操作手册中文高清完整版目 录
1. 产品概述 .......................................................................................................................................... 1-1
1.1. 功能简介 ........................................................................................................................................................... 1-1
1.2. 外观及各单元部件介绍 .................................................................................................................................. 1-2
1.2.1. 外观尺寸规格 .......................................................................................................................................... 1-2
1.2.2. 产品各部介绍 .......................................................................................................................................... 1-2
2. 系统功能介绍 .................................................................................................................................... 2-1
2.1. 系统连接架构 ................................................................................................................................................... 2-1
2.1.1. 通讯接口介绍 .......................................................................................................................................... 2-2
2.1.2. 系统组成架构 .......................................................................................................................................... 2-5
2.1.3. 系统扩展介绍 .......................................................................................................................................... 2-7
2.2. 内部装置介绍 ................................................................................................................................................... 2-8
2.2.1. PLC 模块内部装置介绍 .......................................................................................................................... 2-8
2.2.2. MC 运动控制模块内部装置介绍 .......................................................................................................... 2-8
2.3. 系统工作原理 ................................................................................................................................................. 2-13
2.3.1. 轴参数设置 ............................................................................................................................................ 2-13
2.3.2. 运动程序执行原理 ................................................................................................................................ 2-18
2.3.3. CNC 功能简介 ...................................................................................................................................... 2-20
2.3.3.1. CNC 程序下载调试 ........................................................................................................................ 2-21
2.3.3.2. 动态CNC 程序下载协议 ............................................................................................................... 2-21
2.3.3.3. 报文格式 ......................................................................................................................................... 2-21
2.3.4. CAM 功能简介 ...................................................................................................................................... 2-23
3. 系统安装介绍 .................................................................................................................................... 3-1
3.1. 电气特性 ........................................................................................................................................................... 3-1
3.2. 系统连接 ........................................................................................................................................................... 3-2
3.2.1. 电源及IO 配线 ........................................................................................................................................ 3-2
3.2.2. 与ASDA-A2 系列伺服连接 .................................................................................................................. 3-5
3.2.3. 与左侧扩展模块（以DeviceNet 主站为例）连接 ........................................................................... 3-6
3.2.4. 与右侧扩展模块（以DVP16SP11T 模块为例）连接 ...................................................................... 3-7
4. 运动控制指令说明 .............................................................................................................................. 4-1
4.1. 应用指令一览表 ............................................................................................................................................... 4-1
4.2. 轴状态 ............................................................................................................................................................... 4-6
4.3. 指令使用说明 ................................................................................................................................................... 4-8
4.4. 单轴指令使用说明 .......................................................................................................................................... 4-9
4.4.1. MC_MoveAbsolute（绝对位移指令） ............................................................................................. 4-9
4.4.2. MC_MoveRelative（相对位移指令） ............................................................................................. 4-15
4.4.3. MC_MoveAdditive（附加位移指令） ............................................................................................ 4-19
4.4.4. MC_MoveSuperImposed（追加位移指令） ................................................................................ 4-23
4.4.5. MC_MoveVelocity（速度指令） ..................................................................................................... 4-28
4.4.6. MC_Stop（停止指令） ....................................................................................................................... 4-32
4.4.7. MC_PassiveHome（原点回归指令） .............................................................................................. 4-35
4.4.8. MC_Power（使能指令） .................................................................................................................... 4-38
4.4.9. MC_Reset（复位指令） ..................................................................................................................... 4-39
4.4.10. MC_ReadStatus（读取轴状态指令） .............................................................................................. 4-41
4.4.11. MC_ReadActualPosition（读取实际位置指令） ......................................................................... 4-43
4.4.12. MC_ReadAxisError（读取轴错误指令） ........................................................................................ 4-44
4.4.13. DMC_ReadParameter（读取参数指令）....................................................................................... 4-45
4.4.14. DMC_WriteParameter（写入参数指令） ...................................................................................... 4-47
4.4.15. DMC_SetTorque（扭矩设定指令） ................................................................................................. 4-48
4.5. 多轴指令使用说明 ........................................................................................................................................ 4-50
4.5.1. MC_CamTableSelect（凸轮表选择指令） ..................................................................................... 4-50
4.5.2. MC_CamIn（电子凸轮关联指令） ................................................................................................... 4-51
4.5.3. MC_CamOut（凸轮脱离指令） ....................................................................................................... 4-70
4.5.4. DMC_CamSet（凸轮设置指令） ..................................................................................................... 4-73
4.5.5. MC_GearIn（齿轮耦合指令） ........................................................................................................... 4-78
4.5.6. MC_GearOut（齿轮脱离指令） ....................................................................................................... 4-80
4.5.7. MC_Phasing（相位偏移指令） ........................................................................................................ 4-82
4.5.8. DMC_ CapturePosition（位置捕获指令） .................................................................................... 4-85
4.5.9. DMC_VirtualAxis（虚轴指令） ........................................................................................................ 4-92
4.5.10. DMC_ExternalMaster（外部虚主轴指令） ................................................................................... 4-94
4.6. 逻辑指令使用说明 ........................................................................................................................................ 4-96
4.6.1. ADD（16 位整数加法指令） ............................................................................................................. 4-96
4.6.2. ADD_DI（32 位整数加法指令） ....................................................................................................... 4-96
4.6.3. ADD_R（浮点数加法指令） ............................................................................................................... 4-97
4.6.4. SUB（16 位整数减法指令） .............................................................................................................. 4-97
4.6.5. SUB_DI（32 位整数减法指令） ........................................................................................................ 4-98
4.6.6. SUB_R（浮点数减法指令） ................................................................................................................ 4-98
4.6.7. MUL（16 位整数乘法指令） ............................................................................................................. 4-99
4.6.8. MUL_DI（32 位整数乘法指令） ....................................................................................................... 4-99
4.6.9. MUL_R（浮点数乘法指令） ............................................................................................................. 4-100
4.6.10. DIV（16 位整数除法指令）............................................................................................................. 4-100
4.6.11. DIV_DI（32 位整数除法指令） ...................................................................................................... 4-101
4.6.12. DIV_R（浮点数除法指令） .............................................................................................................. 4-101
4.6.13. AND（逻辑与指令） ........................................................................................................................ 4-102
4.6.14. OR（逻辑或指令） ............................................................................................................................ 4-102
4.6.15. XOR（逻辑异或指令） ..................................................................................................................... 4-103
4.6.16. NOT（逻辑非指令） ......................................................................................................................... 4-103
4.6.17. CTU（增计数指令） .......................................................................................................................... 4-104
4.6.18. CTD（减计数指令） .......................................................................................................................... 4-106
4.6.19. CTUD（增/减计数指令） ................................................................................................................. 4-108
4.6.20. TON_s（通电延时定时指令） ......................................................................................................... 4-110
4.6.21. TOF_s（断电延时定时指令） .......................................................................................................... 4-112
4.6.22. TONR_s（记忆型通电延时定时指令）.......................................................................................... 4-114
4.6.23. TON_ms（通电延时定时指令） ..................................................................................................... 4-116
4.6.24. TOF_ms（断电延时定时指令） ...................................................................................................... 4-117
4.6.25. TONR_ms（记忆型通电延时定时指令） ...................................................................................... 4-118
4.6.26. CMP（16 位整数比较指令） .......................................................................................................... 4-119
4.6.27. CMP_DI（32 位整数比较指令） .................................................................................................... 4-120
4.6.28. CMP_R（浮点数比较指令） ............................................................................................................ 4-121
4.6.29. MOV（16 位整数传送指令） ......................................................................................................... 4-122
4.6.30. MOV_DI（32 位整数传送指令） ................................................................................................... 4-123
4.6.31. MOV_R（浮点数传送指令） ........................................................................................................... 4-123
4.6.32. MOVF（16 位整数多点传送指令） ............................................................................................... 4-124
4.6.33. MOVF_DI（32 位整数多点传送指令） ......................................................................................... 4-125
4.6.34. MOVF_R（浮点数多点传送指令） ................................................................................................ 4-126
4.6.35. MOVB（块传送指令） ..................................................................................................................... 4-127
4.6.36. MOV_BW（位->字传送指令） ...................................................................................................... 4-128
4.6.37. MOV_WB（字->位传送指令） ...................................................................................................... 4-129
4.6.38. ZCP（16 位整数区间比较指令） ................................................................................................... 4-130
4.6.39. ZCP_DI（32 位整数区间比较指令） ............................................................................................. 4-131
4.6.40. ZCP_R（浮点数区间比较指令） ..................................................................................................... 4-132
4.6.41. SET（置位指令） ............................................................................................................................... 4-133
4.6.42. RESET（复位指令） .......................................................................................................................... 4-133
4.6.43. OUT（驱动线圈指令） ..................................................................................................................... 4-134
4.6.44. R_Trig（上升沿触发指令） .............................................................................................................. 4-135
4.6.45. F_Trig（下降沿触发指令） .............................................................................................................. 4-136
4.6.46. ZRSTM（位装置区间复位指令） ................................................................................................... 4-137
4.6.47. ZRSTD（寄存器区间清零指令） ..................................................................................................... 4-137
4.6.48. SQRT_R（浮点数算术平方根指令） ............................................................................................... 4-138
4.6.49. MOD（16 位整数取余指令） .......................................................................................................... 4-138
4.6.50. MOD_DI（32 位整数取余指令） .................................................................................................... 4-139
4.6.51. MOD_R（浮点数取余指令） ........................................................................................................... 4-139
4.6.52. Real_To_Int（浮点数转换16 位整数指令） ................................................................................. 4-141
4.6.53. Real_To_DInt（浮点数转换32 位整数指令） .............................................................................. 4-141
4.6.54. Int _To_ Real（16 位整数转换浮点数指令） ................................................................................ 4-142
4.6.55. DInt _To_ Real（32 位整数转换浮点数指令） ............................................................................ 4-142
4.6.56. Offset（16 位整数变址寄存器指令） ............................................................................................ 4-143
4.6.57. Offset _DI（32 位整数变址寄存器指令） .................................................................................... 4-145
4.6.58. Offset _R（浮点数变址寄存器指令） ............................................................................................ 4-147
4.7. 应用指令使用说明 ...................................................................................................................................... 4-148
4.7.1. 旋切功能工艺介绍 ............................................................................................................................... 4-148
4.7.2. 旋切功能工艺参数 ............................................................................................................................... 4-148
4.7.3. 旋切功能控制特性 ............................................................................................................................... 4-150
4.7.4. 旋切功能凸轮介绍 ............................................................................................................................... 4-151
4.7.5. 旋切指令介绍 ...................................................................................................................................... 4-155
4.7.5.1. APF_RotaryCut_Init（旋切初始化指令） .............................................................................. 4-155
4.7.5.2. APF_RotaryCut_In（旋切耦合指令） .................................................................................... 4-157
4.7.5.3. APF_RotaryCut_Out（旋切脱离指令） ................................................................................. 4-158
4.7.6. 旋切指令应用范例 ............................................................................................................................... 4-159
4.7.7. 追剪功能工艺介绍 ............................................................................................................................... 4-161
4.7.8. 追剪功能工艺参数 ............................................................................................................................... 4-161
4.7.9. 追剪功能控制特性 ............................................................................................................................... 4-162
4.7.10. 追剪功能指令介绍 ............................................................................................................................... 4-164
4.7.10.1. APF_FlyingShear_Init（追剪初始化指令） .......................................................................... 4-164
4.7.10.2. APF_FlyingShear（追剪指令） ............................................................................................... 4-166
4.7.11. 追剪功能时序图 .................................................................................................................................. 4-168
4.7.12. 追剪指令应用范例 ............................................................................................................................... 4-168
4.8. G 代码及坐标运动指令说明 ....................................................................................................................... 4-171
4.8.1. G 代码输入格式 .................................................................................................................................. 4-171
4.8.2. G 代码格式说明 .................................................................................................................................. 4-171
4.8.3. G 代码功能详细介绍 ........................................................................................................................... 4-173
4.8.3.1 G90（绝对模式） ........................................................................................................................ 4-173
4.8.3.2 G91（相对模式） ........................................................................................................................ 4-173
4.8.3.3 G0（快速定位） .......................................................................................................................... 4-174
4.8.3.4 G1（直线插补） .......................................................................................................................... 4-177
4.8.3.5 G2（顺时针圆弧/螺旋插补） ................................................................................................... 4-181
4.8.3.6 G3（逆时针圆弧/螺旋插补） ................................................................................................... 4-188
4.8.3.7 G17/G18/G19（指定圆弧插补平面） ................................................................................... 4-194
4.8.3.8 G4（延时指令） .......................................................................................................................... 4-194
4.8.3.9 G36（置位/复位指令） ............................................................................................................. 4-195
4.8.3.10 G37（状态判断指令） ............................................................................................................... 4-196
4.8.4. DMC_NC 指令 .................................................................................................................................. 4-197
4.8.5. 坐标运动指令说明 .............................................................................................................................. 4-202
4.8.5.1 DNC_Group （坐标运动指令组建立） ................................................................................ 4-202
4.8.5.2 DNC_Absolute/DNC_Relative（绝对/相对指令） ........................................................... 4-204
4.8.5.3 DNC_MOV(G0)（快速定位指令） ......................................................................................... 4-205
4.8.5.4 DNC_LIN(G1)（直线插补指令） ............................................................................................ 4-206
4.8.5.5 DNC_CW（IJK）/DNC_CCW（IJK）（圆弧/螺旋插补-设定圆心坐标） ........................ 4-208
4.8.5.6 DNC_CW（R）/DNC_CCW（R）（圆弧/螺旋插补-设定半径）...................................... 4-210
4.8.5.7 DNC_XY（G17）/ DNC_XZ（G18）/DNC_YZ（G19）（平面选择指令） .................. 4-212
4.8.5.8 程序范例 ...................................................................................................................................... 4-214
5. 错误排除 .......................................................................................................................................... 5-1
5.1. LED 灯指示说明 .............................................................................................................................................. 5-1
5.2. 状态字说明 ....................................................................................................................................................... 5-4
5.3. 运动指令Error ID 值含义说明 ...................................................................................................................... 5-5
附录A Modbus 通讯说明 ..................................................................................................................... A-1
附录B 以太网通讯说明 .......................................................................................................................... B-1
附录C 轴相关特殊寄存器说明 ................................................................................................................ C-1
附录D 原点回归模式说明 ...................................................................................................................... D-1
附录E PLC 模块寄存器说明 ................................................................................................................... E-1
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