Name: Delta DVP-15MC Series
Brand: Delta
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C-1

CANopen Protocol

Table of Contents

C.1 Node States .............................................................................. C-4

C.2 Network Management (NMT) ................................................... C-6

C.3 PDO (Process Data Object) ....................................................... C-6

C.4 SDO (Service Data Object) ....................................................... C-8

Default Chapter2
- Table of Contents2
Chapter 1 Preface16
Explanation of Symbols in this Manual17
Revision History18
Chapter 2 Overview20
Product Description21
Functions21
Profile and Components22
Chapter 3 Specifications24
- Specifications24
- 3.1.2 Devices and Data Types26
3.2 Electrical Specifications29
Chapter 4 System Architecture33
System Constitution33
Power Supply33
Left-Side Extension33
- Connectable Left-Side Extension Module33
- Connectable Right-Side Extension Modules34
- Allocation of Left-Side Network Module Addresses34
- Method of Reading/Writing of Left-Side Modules34
Right-Side Extension34
- Allocation of Right-Side Extension Module Addresses35
Connectable Servo Drives36
SD Memory Card38
- Model and Specification38
Chapter 5 Installation41
Dimensions41
- Profile and Dimensions41
Installing the Module in the Control Cabinet47
- Installing the Module to DIN Rail47
Chapter 6 Wiring, Communication Setting and Network Construction50
Wiring52
- Power Supply52
- Safety Circuit Wiring53
Input Point and Output Point Wiring55
- Function that Input Points Support55
- Input Point Wiring56
- Output Point Wiring58
RS-485 Communication Port59
- Function that RS-485 Port Supports59
- Definitions of RS-485 Port Pins59
- RS-485 Hardware Connection59
- Supported Function Codes and Exception Codes60
Communication Port62
- Function that RS-232 Port Supports62
- Definitions of RS-232 Port Pins62
- RS-232 Hardware Connection62
- Supported Function Codes and Exception Codes63
SSI Absolute Encoder Port64
- Function of SSI Absolute Encoder64
- Definitions of SSI Port Pins64
- SSI Absolute Encoder Hardware Connection65
Incremental Encoders66
- Function of Incremental Encoder66
- Definition of Incremental Encoder Port Pins66
- Incremental Encoder Hardware Connection67
Ethernet Communication Port68
- Function that Ethernet Communication Port Supports68
- Pins of Ethernet Communication Port69
- Network Connection of Ethernet Communication Port69
- Function Codes that Ethernet Communication Port Supports69
Motion Communication Port71
- Function that Motion Communication Port Supports71
- Pins of Motion Communication Port71
- Motion Network Connection71
- Communication Speed and Communication Distance71
Canopen Communication Port72
- Functions that Canopen Communication Port Supports72
- Pins of Canopen Communication Port73
- PDO Mapping at Canopen Communication Port73
- Network Connection at Canopen Communication Port73
- Canopen Communication Rate and Communication Distance74
Chapter 7 Execution Principle77
Tasks77
- Task Types77
The Impact of PLC RUN or STOP on Variables and Devices85
Relationship between Motion Program and Motion Bus85
Synchronization Cycle Period Setting86
Chapter 8 Logic Instructions92
- Table of Logic Instructions92
- Explanation of Logic Instructions96
- R_Trig96
- Sequence Input /Output Instructions96
- F_Trig99
- Sema104
  - Sequence Control Instructions106
- Jmp106
  - Data Movement Instructions107
- Move112
- Movedigit113
- Exchange114
- Swap116
- String Processing Instructions368
Chapter 9 Introductions of Axis Parameters433
- Description of Axis Parameters434
- And ENO438
Relation Among Velocity, Acceleration and Jerk439
Chapter 10 Motion Control Function439
Introduction of Buffermode442
The State Machine468
Chapter 11 Motion Control Instructions474
11.1 Table of Motion Control Instructions474
11.2 about Motion Control Instructions476
- Composition of a Motion Control Instruction476
- Configuration of Motion Control Instructions476
- Program Languages that Motion Control Instructions Support476
11.3 Single-Axis Instructions477
- Mc_Power477
- Mc_Home486
- Mc_Movevelocity491
- Mc_Halt498
- Mc_Stop503
- Mc_Moverelative508
- Mc_Moveadditive516
- Mc_Moveabsolute524
- Mc_Movesuperimposed533
- Mc_Haltsuperimposed540
- Mc_Setposition545
- Mc_Setoverride556
- Mc_Reset560
- Dmc_Settorque563
- Mc_Readaxiserror567
- Mc_Readactualposition569
- Mc_Readstatus574
- Mc_Readmotionstate579
- Dmc_Readparameter_Motion584
- Dmc_Writeparameter_Motion587
- Dmc_Writeparameter_Motion589
- Dmc_Touchprobe593
- Dmc_Touchprobecyclically602
- Dmc_Jog606
- Dmc_Movevelocitystopbypos608
- Dmc_Movevelocitystopbylinepos612
- Dmc_Readpositionlagstatus616
- Dmc_Writepositionlagsetting619
- Dmc_Changemechanismgearratio621
- Dmc_Torquecontrol623
- Dmc_Movevelocity628
- Dmc_Switchsoftlimit629
11.4 Multi-Axis Instructions631
- Mc_Gearin631
- Mc_Gearout637
- Mc_Combineaxes641
- Introduction of Electronic Cam649
- Mc_Camin650
- Mc_Camout671
- Dmc_Camreadpoint677
- Dmc_Camwritepoint681
- Dmc_Camset685
- Dmc_Camreadtappetstatus687
- Dmc_Camreadtappetvalue692
- Dmc_Camwritetappetvalue695
- Dmc_Camdeletetappet703
11.5 Application Instructions706
- Rotary Cut Technology706
- Rotary Cut Parameters707
- Control Feature of Rotary Cut Function708
- Introduction to Cam Curve with Rotary Cut Function709
- Apf_Rotarycut_Init713
- Rotary-Cut Instructions713
- Apf_Rotarycut_In716
- Application Example of Rotary Cut Instructions720
11.6 G Code Instructions724
- G Code Input Format724
- Explanation of G Code Formats726
- G Code Functions728
- G90 (Absolute Mode)728
- G91 (Relative Mode)729
- G0 (Rapid Positioning)730
- G1 (Linear Interpolation)733
- G2 (Clockwise Circular/ Helical Interpolation)737
- G3 (Anticlockwise Circular /Helical Interpolation)744
- G17/G18/G19 (Specify Circular Interpolation Plane)750
- G4 (Dwell Instruction)751
- G50 (Precise Stop)752
- G51 (Round Path Transition)753
- G52 (Smooth Path Transition)754
- M Code756
- Dmc_Cartesiancoordinate758
- G Code Instruction758
- Dmc_Readmfunction764
- Dmc_Resetmfunction767
- Dmc_Setg0Para770
- Dmc_Setg1Para773
- Dmc_Setstartposition776
11.7 Axes Group Instructions779
- Dmc_Addaxistogroup779
- Dmc_Removeaxisfromgroup781
- Dmc_Ungroupallaxes783
- Dmc_Groupenable791
- Dmc_Groupstop791
- Dmc_Groupinterrupt794
- Dmc_Groupcontinue799
- Dmc_Movedirectabsolute801
- Dmc_Movedirectrelative806
- Dmc_Movelinearabsolute811
- Dmc_Movelinearrelative824
- Dmc_Movecircularabsolute837
- Dmc_Movecircularrelative848
- Dmc_Groupsetoverride859
- Dmc_Groupreadactualposition864
- 11.8 Coordination Instructions866
  - Dmc_Controlaxisbypos870
  - Dmc_Nc871
Chapter12 Troubleshooting881
- Table of Error Ids in Motion Instructions886
- System Trouble Diagnosis through System Error Codes897
Appendix A Modbus Communication906
- Message Format in ASCII Mode906
- Message Format in RTU Mode909
- Modbus Function Codes Supported911
- Modbus Exception Response Code Supported911
- Introduction to Modbus Function Codes912
- Table of Registers and Corresponding Modbus Addresses919
Appendix B Modbus TCP Communication923
- Exception Response Code in Modbus TCP923
- Modbus Function Codes in Modbus TCP923
Appendix C Canopen Protocol935
- Node States936
- Network Management (NMT938
- PDO (Process Data Object938
Appendix D Explanation of Homing Modes943
- Explanation of Homing Modes945
Appendix E List of Accessories969
- Accessories for PROFIBUS DP Communication970
- Accessories for Devicenet Communication970

Delta DVP-15MC Series User Manual

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Delta DVP-15MC Series Specifications

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Brand	Delta
Model	DVP-15MC Series
Category	Controller
Language	English