Delta DVP-20PM User Manual

1 Program Framework of a DVP-PM Series Motion Controller
Delta DVP-PM series motion controllers can put axes in particular positions at high-speeds, create linear
interpolations, and circular interpolations. They can execute basic instructions, applied instructions, motion
instructions, and G-codes. Different DVP-PM series motion controllers support different program
frameworks and functions. The functions that DVP-PM series motion controllers support are shown in the
table below.
Function DVP-20PM DVP-10PM
Main program O100 ○ ○
Ox motion subroutines ○ ×
Program
P subroutines ○ ○
General instructions/Applied instructions ○ ○
Motion instructions ○ ×
G-codes ○ ×
Instruction
M-codes ○ ×
JOG motion ○ ○
Returning home ○ ○
Variable motion ○ ○
Single-speed motion ○ ○
Inserting single-speed motion ○ ○
Two-speed motion ○ ○
Inserting two-speed motion ○ ○
Triggering single-speed motion by means
of an external signal
○ ×
Manual pulse generator mode ○ ○
Uniaxial motion
Cyclic/Noncyclic electronic cam motion ○ ×
In this chapter, the basic program frameworks of DVP-PM series motion controllers are described. Owing
to the fact that the functionality of a DVP-PM series motion controller is composed of sequence control and
positioning control, a program comprises O100, Ox motion subroutines, and P subroutines. O100, Ox
motion subroutines, and P subroutines are described in this chapter. Basic instructions, applied
instructions, motion instructions, and G-codes will be introduced in other chapter 4~chapter 6. The
specifications for DVP-PM series motion controllers are shown in the table below.
Specifications DVP-10PM DVP-20PM
High-speed output
4 axes (1000 kHz) 3 axes (500 kHz)
PWM
Precision: 0.3%@200 kHz -
High-speed counter
6 input terminals (2 differential
input terminals, and 4 input
terminals whose collectors are
open collectors)
2 input terminals
Program capacity
64K steps 64K steps
Execution speed
LD: 0.14 us
MOV: 2 us
DMUL: 7.6 us
DEMUL: 6.1 us
-
1.1 Structure of O100
O100 is a sequence control program. It is the main program in a DVP-PM series motion controller. It only
supports basic instructions and applied instructions. Users can use these two types of instructions to
process I/O data, call P subroutines, and enable Ox motion subroutines (Ox0~Ox99). O100 functions as a
main program. Motion subroutines are enabled through O100. There is hierarchical relation between O100
and motion subroutines. The characteristics of O100 are described below.
1. There are two methods of enabling O100.
 If the STOP/RUN switch of a DVP-PM series motion controller is turned from the “STOP” position to
the “RUN” position when the DVP-PM series motion controller is powered, M1072 will be ON, and
O100 will run.
DVP-20PM Application Manual
1-1

Delta DVP-20PM Specifications

General

Brand	Delta
Model	DVP-20PM
Category	Controller
Language	English