Delta DVP-20PM

1 Program Framework of a DVP-PM Series Motion Controller
MOV
CALL
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H800A
D1868
OUT
M1074
X0
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P0
P2
CALL
b
a
M1000
M1000
S
u
b
r
o
u
t
i
n
e
s
e
c
t
i
o
n
MOVP
K100
D1836
ABST
DRV
X-20000
Y20000
MOVP
D1837
K100
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O100
Main program
Cyclic scan
O100 and Ox10
diverge.
Calling P0
Setting the motion subroutine number Ox10
If X0 is ON, Ox10 will be enabled.
The path a is valid.
Ox10 is executed once.
OX10
Motion subroutine
Ox10 is executed once.
Calling P2
P2
subroutine
P2 is executed once.
P2 is executed once.
P0
subroutine
The subroutine P0 supports basic instructions and applied instructions. The subroutine P2
supports basic instructions, applied instructions, motion instructions, and G-codes.
3. There are three methods of disabling a P subroutine.
 If the STOP/RUN switch of a DVP-PM series motion controller is turned form the “RUN” position to
the “STOP” position when the DVP-PM series motion controller is powered, M1072 will be OFF,
O100 will stop, and Ox motion subroutines and P subroutines will not be executed.
 If a DVP-PM series motion controller is powered, users can use communication to set the value in
D1846 to 0, or to set M1074 to OFF, to stop the execution of Ox motion subroutines, and to stop the
execution of P subroutines.
 If an error occurs when a P subroutine is executed, the execution of the P subroutine will stop
automatically. Please refer to appendix A in chapter 15 for more information about error codes.
4. If P subroutines are called by O100, the P subroutines will support basic instructions and applied
instructions. If P subroutines are called by Ox0~Ox99, the P subroutines will support basic instructions,
applied instructions, motion instructions, and G-codes.
5. The description of P subroutines is shown below.
P subroutine Description
Enabling a P
subroutine
There are 256 P subroutines (P0~P255).
(If a P subroutine is a ladder diagram in PMSoft, the starting flag in the P subroutine
will be set automatically, and users do not have to write the starting flag.)
Disabling a P
subroutine
Ending instruction SRET (If a P subroutine is a ladder diagram in PMSoft, the ending
instruction SRET will be set automatically, and users do not have to write the ending
instruction SRET.)
DVP-20PM Application Manual
1-5