DVP-MC Bus-Type

Multi-Axis Motion Controller

Operating Manual

DVP-0191420-04

Sep. 1st, 2015

 Content
1. Overview of DVP10MC11T ....................................................................................... 1-1
1.1. Function ........................................................................................................ 1-1
1.2. Profile and Outline ........................................................................................... 1-2
1.2.1. Dimension ................................................................................................ 1-2
1.2.2. Components ............................................................................................. 1-2
2. Introduction to System Function .............................................................................. 2-1
2.1. System Architecture ........................................................................................ 2-1
2.1.1. COM Port ................................................................................................. 2-2
2.1.2. System Construction Structure .................................................................... 2-4
2.1.3. System Extension ...................................................................................... 2-6
2.2. The internal devices......................................................................................... 2-8
2.2.1. The internal devices of PLC module .............................................................. 2-8
2.2.2. The internal devices of MC motion control module .......................................... 2-8
2.2.3. Data exchange between MC module and PLC module .................................... 2-12
2.3. System Work Principle ................................................................................... 2-14
2.3.1. Axis Parameter Setting ............................................................................. 2-14
2.3.2. Program Execution Principle ...................................................................... 2-19
2.3.3. Relationship between Motion Program and Motion Bus .................................. 2-19
2.3.4. Setting the Synchronization Cycle Period .................................................... 2-22
2.3.5. CNC Function .......................................................................................... 2-24
2.3.5.1. CNC Program Downloading and Debugging ............................................ 2-25
2.3.5.2. The Protocol for Dynamic Download of CNC Program ............................... 2-25
2.3.5.3. Message Format ................................................................................. 2-26
2.3.6. CAM Function.......................................................................................... 2-27
3. System Installation ................................................................................................ 3-1
3.1. Electrical Feature ............................................................................................ 3-1
3.2. System Connection .......................................................................................... 3-3
3.2.1. Power and IO Wiring .................................................................................. 3-3
3.2.2. Connected to ASDA-A2 Series of Servo ......................................................... 3-6
3.2.3. Connecting the Extension Module to the Left Side of DVP10MC11T as DeviceNet
Master ..................................................................................................... 3-7
3.2.4. Connecting the Extension Module (DVP16SP11T) to the Right Side of DVP10MC11T .
............................................................................................................. 3-8
4. Motion Control Instruction ...................................................................................... 4-1
4.1. Instruction Table ............................................................................................. 4-1
4.2. Axis Status ..................................................................................................... 4-6
4.3. Instruction Usage ............................................................................................4-7
4.4. Single-Axis Instruction Usage ............................................................................4-9
4.4.1. MC_MoveAbsolute ......................................................................................4-9
4.4.2. MC_MoveRelative ..................................................................................... 4-15
4.4.3. MC_MoveAdditive..................................................................................... 4-19
4.4.4. MC_MoveSuperImposed ............................................................................ 4-23
4.4.5. MC_MoveVelocity ..................................................................................... 4-30
4.4.6. MC_Stop ................................................................................................ 4-33
4.4.7. MC_PassiveHome ..................................................................................... 4-36
4.4.8. MC_Power............................................................................................... 4-39
4.4.9. MC_Reset ............................................................................................... 4-40
4.4.10. MC_ReadStatus ...................................................................................... 4-42
4.4.11. MC_ReadActualPosition ............................................................................ 4-43
4.4.12. MC_ReadAxisError................................................................................... 4-44
4.4.13. DMC_ReadParameter ............................................................................... 4-45
4.4.14. DMC_WriteParameter .............................................................................. 4-47
4.4.15. DMC_SetTorque ...................................................................................... 4-48
4.4.16. DMC_ChangeMechanismGearRatio ............................................................. 4-50
4.4.17. DMC_DisableAxis .................................................................................... 4-53
4.4.18. DMC_PositionLag .................................................................................... 4-55
4.5. Multi-Axis Instruction ..................................................................................... 4-57
4.5.1. MC_CamTableSelect ................................................................................. 4-57
4.5.2. MC_CamIn .............................................................................................. 4-59
4.5.3. MC_CamOut ............................................................................................ 4-78
4.5.4. DMC_CamSet .......................................................................................... 4-81
4.5.5. MC_GearIn ............................................................................................. 4-85
4.5.6. MC_GearOut ........................................................................................... 4-87
4.5.7. MC_Phasing ............................................................................................ 4-90
4.5.8. DMC_CapturePosition ............................................................................... 4-93
4.5.9. DMC_VirtualAxis ...................................................................................... 4-99
4.5.10. DMC_ExternalMaster ............................................................................. 4-101
4.5.11. DMC_CamSwitch................................................................................... 4-103
4.6. Logic Instruction .......................................................................................... 4-107
4.6.1. ADD ..................................................................................................... 4-107
4.6.2. ADD_DI ................................................................................................ 4-107
4.6.3. ADD_R ................................................................................................. 4-108
4.6.4. SUB ..................................................................................................... 4-108
4.6.5. SUB_DI ................................................................................................ 4-109
4.6.6. SUB_R ................................................................................................. 4-109
4.6.7. MUL .....................................................................................................4-110
4.6.8. MUL_DI ................................................................................................4-110
4.6.9. MUL_R ..................................................................................................4-111
4.6.10. DIV .....................................................................................................4-111
4.6.11. DIV_DI ................................................................................................4-112
4.6.12. DIV_R..................................................................................................4-112
4.6.13. AND ....................................................................................................4-113
4.6.14. OR ......................................................................................................4-113
4.6.15. XOR ....................................................................................................4-114
4.6.16. NOT.....................................................................................................4-114
4.6.17. CTU .....................................................................................................4-115
4.6.18. CTD .....................................................................................................4-117
4.6.19. CTUD ...................................................................................................4-119
4.6.20. TON_s .................................................................................................4-121
4.6.21. TOF_s ..................................................................................................4-123
4.6.22. TONR_s ...............................................................................................4-125
4.6.23. TON_ms ...............................................................................................4-127
4.6.24. TOF_ms ...............................................................................................4-128
4.6.25. TONR_ms .............................................................................................4-129
4.6.26. CMP ....................................................................................................4-130
4.6.27. CMP_DI ...............................................................................................4-131
4.6.28. CMP_R .................................................................................................4-132
4.6.29. MOV ....................................................................................................4-133
4.6.30. MOV_DI ...............................................................................................4-134
4.6.31. MOV_R ................................................................................................4-134
4.6.32. MOVF ..................................................................................................4-135
4.6.33. MOVF_DI .............................................................................................4-136
4.6.34. MOVF_R ...............................................................................................4-137
4.6.35. MOVB ..................................................................................................4-138
4.6.36. MOV_BW ..............................................................................................4-139
4.6.37. MOV_WB ..............................................................................................4-140
4.6.38. ZCP .....................................................................................................4-141
4.6.39. ZCP_DI ................................................................................................4-142
4.6.40. ZCP_R .................................................................................................4-143
4.6.41. SET .....................................................................................................4-144
4.6.42. RESET .................................................................................................4-144
4.6.43. OUT ....................................................................................................4-145
4.6.44. R_Trig ..................................................................................................4-145
4.6.45. F_Trig ..................................................................................................4-147
 4.6.46. ZRSTM ................................................................................................ 4-148
4.6.47. ZRSTD ................................................................................................ 4-149
4.6.48. SQRT_R ............................................................................................... 4-150
4.6.49. MOD ................................................................................................... 4-150
4.6.50. MOD_DI .............................................................................................. 4-151
4.6.51. MOD_R ................................................................................................ 4-151
4.6.52. Real_To_Int ......................................................................................... 4-152
4.6.53. Real_To_DInt ....................................................................................... 4-152
4.6.54. Int_To_Real ......................................................................................... 4-153
4.6.55. DInt_To_Real ....................................................................................... 4-153
4.6.56. Offset .................................................................................................. 4-154
4.6.57. Offset_DI ............................................................................................. 4-156
4.6.58. Offset_R .............................................................................................. 4-158
4.7. Application Instruction .................................................................................. 4-159
4.7.1. Rotary Cut Technology ............................................................................ 4-159
4.7.2. Rotary Cut Parameters............................................................................ 4-160
4.7.3. Control feature of rotary cut function ........................................................ 4-160
4.7.4. Introduction to the Cam with Rotary Cut Function ..................................... 4-161
4.7.5. Rotary Cut Instructions ........................................................................... 4-165
4.7.5.1. APF_RotaryCut_Init ........................................................................... 4-165
4.7.5.2. APF_RotaryCut_In............................................................................. 4-167
4.7.5.3. APF_RotaryCut_Out .......................................................................... 4-168
4.7.6. Application Example of Rotary Cut Instructions .......................................... 4-169
4.7.7. Flying Shear Technology ......................................................................... 4-171
4.7.8. The technological parameters of flying shear function.................................. 4-172
4.7.9. Control feature of flying shear function ..................................................... 4-173
4.7.10. Flying Shear Instructions ....................................................................... 4-175
4.7.10.1 APF_FlyingShear_Init. ...................................................................... 4-175
4.7.10.2 APF_FlyingShear. ............................................................................. 4-177
4.7.11. Sequence Chart on Flying Shear Function ................................................. 4-179
4.7.12. Application Example of Flying Shear Instructions ....................................... 4-180
4.8. Explanation of G Codes and Coordinate Motion Instruction ................................. 4-182
4.8.1. G Code Input Format .............................................................................. 4-182
4.8.2. Explanation of G Code Format.................................................................. 4-183
4.8.3. Introduction to G Code Function ............................................................... 4-185
4.8.3.1 G90: Absolute Mode .......................................................................... 4-185
4.8.3.2 G91: Relative Mode ........................................................................... 4-186
4.8.3.3 G0: Rapid Positioning ........................................................................ 4-187
4.8.3.4 G1: Linear Interpolation..................................................................... 4-190
 4.8.3.5 G2: Clockwise Circular/ Helical Interpolation .........................................4-194
4.8.3.6 G3: Anticlockwise circular /helical interpolation ......................................4-201
4.8.3.7 G17, G18, G19: to specify the circular interpolation plane .......................4-207
4.8.3.8 G4: Dwell Instruction .........................................................................4-207
4.8.3.9 G36: Set/Reset Instruction .................................................................4-208
4.8.3.10 G37: Status Judgment Instruction ......................................................4-208
4.8.4. DMC_NC ...............................................................................................4-209
4.8.5. Coordinate Motion Instructions .................................................................4-214
4.8.5.1 DNC_Group (Build Coordinate Motion Instruction Group).........................4-214
4.8.5.2 Absolute/ Relative Mode Switching Instruction .......................................4-217
4.8.5.3 DNC_MOV(G0) (Rapid positioning instruction) .......................................4-218
4.8.5.4 DNC_LIN(G1) (Linear Interpolation Instruction) .....................................4-219
4.8.5.5 Circular/ Helical Interpolation (The Coordinates of Center of a Circle are Set)
.....................................................................................................4-221
4.8.5.6 Circular/ Helical Interpolation (Radius is Set) .........................................4-223
4.8.5.7 Plane Selection Instruction .................................................................4-225
4.8.5.8 Program Example ..............................................................................4-226
5. Troubleshooting ..................................................................................................... 5-1
5.1. LED Indicator Explanation................................................................................. 5-1
5.2. Status Word Instruction ................................................................................... 5-4
5.3. Error ID in Motion Instructions .......................................................................... 5-5
Appendix A Modbus Communication ........................................................................... A-1
Appendix B Ethernet Communication ......................................................................... B-1
Appendix C Axis-Related Special Registers .................................................................. C-1
Appendix D Explanation of Homing Modes .................................................................... D-1
Appendix E PLC Module Devices ................................................................................ E-1
Appendix F Frequently Asked Questions ..................................................................... F-1
Question 1: How is the problem of AL303/ AL302/ AL301 fault alarm in the servo solved while
DVP10MC11T is controlling the servo motion? ........................................................... F-1
Question 2: Are there latched devices inside both of the PLC module and motion control module in
DVP10MC11T? ...................................................................................................... F-1
Question 3: How is the servo motor speed limited under torque mode? ......................... F-1
Question 4: How is the servo torque limited under CANopen mode？ ............................ F-2
Question 5: How does the servo move when reaching a limit under DVP10MC11T’s control?
.......................................................................................................................... F-3
Question 6: How does DVP10MC11T match the absolute servo in use? .......................... F-4
 Overview of DVP10MC11T

1. Overview of DVP10MC11T
DVP10MC11T is a type of multi-axis motion controller researched and produced by Delta autonomously on
the basis of CANopen field bus. It complies with CANopen DS301 basic communication protocol and
DSP402 motion control protocol. Also, it supports motion control standard instruction libraries defined by
most international organizations. It brings great convenience to user to learn and develop projects quickly.
The multi-function controller consists of standard PLC module and MC motion control module. PLC module
is similar to DVP serial PLC in function and usage. User could utilize WPLSoft or ISPSoft programming
software to write and edit the ladder diagram, SFC, instruction table and Delta standard PLC logic programs.
Moreover, PLC supports the two extension ports in its left and right sides. The one in its left side is a parallel
extension port which could be connected with max 7 field bus master modules such as DeviceNet/CANopen
master, Ethernet modules and high-speed analog quantity modules. The other one in its right side is to
connect DVP-S series of PLC extension modules such as low-speed analog quantity and digital quantity
modules.
DVP10MC11T is mainly applied to control the servo drive precisely via CANopen bus so as to accomplish
the functions like the speed control, position control and etc. that user expects.
CANopen Builder software is used to edit the motion control program for DVP10MC11T to achieve all kinds
of complicate motion control tasks.
Its graphical motion control language provided to user to program on the motion control function is easy and
convenient for user to learn and understand.
Besides, CANopen Builder provides the interfaces of G codes editing, preview and electronic cam editing so
as to plan a more distinctive motion control demand.
With communication system adopting the highly reliable CAN bus as main line, DVP10MC11T just need
provide the simple wiring to user.
Thanks to the high-speed and reliable motion control system, DVP10MC11T can be widely applied in the
automation control industry such as packaging, printing, encapsulating, cutting, digital control machine,
automatic storage and so on.

1.1. Function
The PLC module of DVP10MC11T resembles DVP-SX2 MPU. For the detailed function parameter
information, please refer to Application Manual of DVP-ES2/EX2/SS2/SA2/SX2 (Programming). We focus
on the main functions of DVP10MC11T below:
 Capable of controlling up to 16 real axes via (CANopen) high-speed bus ( Axis No. range: 1~16)
 Virtual axes as well as the external encoder virtual master axis can be constructed in DVP10MC11T.
(Axis No. range: 1~18; the numbers of real and virtual axes must be different.)
 Equipped with the high-speed floating point processor for handling all kinds of complicate motion control
tasks.
 Supporting powerful field bus network by serving as DeviceNet master/slave, CANopen master/slave and
Profibus-DP slave as well as making up the control system with complicate functions.
 It has many kinds of IO extensions (high-speed AIAO on the left, low-speed AIAO and DIDO on the right,
temperature module and etc.)
 Using the software interface which is easy to operate with complete functions.
 Providing the accessory products such as standard bus cables, terminal resistor and terminal
block to wire the circuit easily just by plugging. So users do not need to prepare for them additionally by
themselves.

DVP-MC operating manual 1-1

Overview of DVP10MC11T

1.2. Profile and Outline

1.2.1. Dimension

Unit: mm [in.]

1.2.2. Components
1 Model name
2 POWER /RUN /ERR indicator
COM1 /COM2 communication
3
indicator
4 CAN, MTL indicator
5 RUN/STOP switch
6 Encoder interface
7 RESET button
8 COM1 communication port
9 Ethernet communication port
10 DIN rail clip
11 CANopen communication port
12 Clip for fixing extension module
13 Input/Output terminals
14 Clip for fixing extension module
15 Extension port on the right side
16 COM2 communication port
17 24V power interface
18 Extension port on the left side
19 Nameplate

1-2 DVP-MC operating manual

 2. System Function

2. Introduction to System Function

DVP10MC11T is a high-performance controller in charge of 1~ 16 real axes and max. 18 virtual axes with the
application functions like gear box, cam, rotary cut, flying shear. With a standard PLC module inside it,
DVP10MC11T supports the functions of PLC and can be extended with the DeviceNet module, CANopen
module, Ethernet module, high-speed analog-quantity module on its left side and all Slim series of modules
with analog quantity and digital quantity on its right side. In addition, DVP10MC11T provides the standard
RS232, RS485 communication port, CANopen bus interface, Ethernet interface, encoder interface so that
user could handily construct a motion control network with powerful functions.

2.1. System Architecture

DVP10MC11T can be applied to the construction of a multi-layer industrial network. In the following figure,
the top layer is the network constituted by Ethernet, the middle layer is the network made up of CAN bus
supporting DeviceNet and CANopen protocol, the bottom layer is the network consisting of 485 bus
supporting Modbus.
DVPEN01-SL
DVPCOPM-SL
DVPDNET-SL
DVP10MC11T
Extend I/O

1: RS232 3:Enthernet
2:RS485 2:RS485

4:CAN

6:DeviceNet/CANopen

5:Encoder

The figure above displays the external equipment connected to each port of DVP10MC11T. The following
sections will introduce the functions of each communication port.

DVP-MC operating manual 2-1

2. System Function

2.1.1. COM Port

 COM1（RS-232）
COM1, RS-232 communication port possessed by PLC module, supports Modbus protocol and could serve
as Modbus master (supporting MODRW, RS instructions) or slave to upload and download programs,
monitor PLC device, and connect human-machine interface and etc.
COM1 Pin Definition:
Pin Signal Description
1, 2 +5V 5V power positive pole
3 GND Grounding
4 Rx Receiving data
5 TX Sending data
6 GND Grounding
7 NC Reserved
8 GND Grounding

 COM2（RS-485）
COM2, RS-485 communication port supporting Modbus protocol, is the hardware port commonly used by
motion control module and PLC. The motion control module or PLC can be accessed through different node
ID. Their node ID must be different from each other. If COM2 is used by PLC, 10MC could be regarded as
Modbus master or slave. If COM2 is used by motion control module, 10MC could only serve as Modbus
slave to download CANopen motion control network configuration, program, G codes and monitor devices.
COM2 Pin Definition:
Pin Signal Description
1 + Signal+
2 _ Signal-
3 SG Grounding

Note: Please refer to appendix A for more details on Modbus.

 CANopen Bus Interface

There are two RJ45 ports for CANopen bus interface and the standard CAN communication cable
(TAP-CB03/TAP-CB05/TAP-CB10) is needed for user to create a reliable motion control network
conveniently and quickly. CAN bus need be added with two terminal resistors in its two terminals to
constitute the network and Delta supplies the standard terminal resistance module (TAP-TR01). There are
two terminal resistors enclosed in the package of 10MC product.
Pin Signal Explanation
1 CAN_H Signal+
2 CAN_L Signal-
3 CAN_GND Grounding
4 RESE_1 Reserved
5 RESE_2 Reserved
6 CAN_SHLD Shielded cable
7 CAN_GND Grounding
8 RESE_3 Reserved

2-2 DVP-MC operating manual

 2. System Function

Note: DVP10MC11T provides two RJ45-type CAN ports to make a daisy-chain topological structure in the
two ends of the bus. One of RJ45 ports is left for connection of a terminal resistor.

 Encoder Interface
The encoder interface is a 15-pin D-SUB connector connected to the external encoder.
It supports differential signal input with max. work frequency 1MHz (250Kx 4 = 1MHz for per input).
Meanwhile, this interface integrates two kinds of power outputs: 24V (500mA) and 5V (500mA) to supply the
power to the encoder. And thus users do not need to prepare power for the encoder additionally.
User could read D6513 (H9971) in motion control module to check the pulse number that the encoder
receives through sending Modbus instruction and also could create virtual master axis by using
DMC-ExternalMaster instruction in motion program. Rotation of slave axis can be controlled by using the
encoder to receive the pulse number.

Terminal No. Definition Explanation 15-Pin SUB-D figure

1 A+
2 A-
10 B+ Differential signal of
11 B- Incremental encoder
4 Z+

6
11
1
5 Z-
7 +24V +24V encoder power
8 GND Grounding for +24V and +5V
15 +5V +5V encoder power
3 Reserved Reserved

10
15
5
6 Reserved Reserved
9 Reserved Reserved
12 Reserved Reserved
13 Reserved Reserved
14 Reserved Reserved

DVP-MC operating manual 2-3

2. System Function

 Ethernet communication port

Ethernet communication port supporting Modbus TCP protocol is possessed by motion control module.
CANopen Builder in the PC can download CANopen network configuration, motion control program, cam
curves and G codes and also can monitor devices via Ethernet communication port. DVP10MC11T
only serves as slave and could be accessed by maximum 4 masters in Ethernet network. Ethernet
communication port supports auto jumper function. It can be directly connected to computer or switchboard
without specially handling wire jumper. The LED indicator in the communication port displays Ethernet
current connection status so that users can judge the connection status quickly accordingly.

Terminal No. Definition Explanation RJ -45 figure

1 Tx+ Positve pole for transmitting data

2 Tx- Negative pole for transmitting data
3 Rx+ Positve pole for receiving data
4 -- N/C
5 -- N/C
6 Rx- Negative pole for receiving data
7 -- N/C
8 -- N/C

Note: Modbus TCP can be referred to in appendix B.

2.1.2. System Construction Structure

DVP10MC11T consists of two function modules: PLC module and MC motion control module. PLC module is
similar to Delta DVP-SX2 MPU and motion control module supports motion control function based on
CANopen. The two modules utilize the independent processor which processes the complicate motion
control task and a large quantity of logic operation in parallel to enhance the work efficiency.
Illustration of the internal structure of DVP10MC11T:

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 2. System Function

 PLC Module
The PLC module built in DVP10MC11T is identical to DVP series of PLC products. User could utilize the
WPLSoft or ISPSoft software to edit the program, conduct the monitoring and make a connection with the left
and right I/O extension and etc. The following is its functions.
 CPU specification: 32- bit CPU with the built-in instruction for 32-bit multiplication and division
operation.
 In terms of program capacity, devices and instructions
 Compatible with SX2/ES2/EX2 MPU series of programs; program space: Max 16K Step
 Fast-speed execution of instruction ( Basic instruction: 0.35us～1us, MOV instruction< 5us)
 The application instruction library is identical to SX2/ ES2/EX2 series
 Max. 10000 D devices and 2112 latched areas.
 Communication devices
 COM1 (RS232) communication port
 COM2 (RS485) communication port
 Run/Stop switch can control the program to run or stop
 Extension module
 Max. 7 high-speed extension modules in the left side and 8 extension modules in the right are
available
 The temperature modules like PT/TC supports the function of automatic adjustment of PID
temperature
 Max. 240 input points and 240 output points for digital extension module.
 Other functions
 Providing user with the special identification code, subprogram password protection and the
limit of the time for inputting the wrong main password
 The built-in DELTA Q-Link communication protocol expedites to refresh HMI screen.
 For more details on the functions of PLC modules, please refer to the operating manuals
(Programming) of DVP-ES2/EX2/SS2/SA2/SX2.

 MC Motion Control Module

The MC motion control module in DVP10MC11T controls the servo drive to complete the high-speed, precise
and high-efficiency control task via CANopen bus. DVP10MC11T makes the complicate CANopen
communication packaged and users do not need to know CANopen communication principle except to do the
simple setting and edit the motion control program through CANopen Builder software to accomplish the
complicate motion control. Therefore, it saves a lot of time for user to learn and shortens the lead time to
develop products as well as speeds up the products to go to the market.
The major functions of the motion control module of DVP10MC11T are listed below.
 Supporting motion control instructions
 Logic instruction
 Single-axis motion instruction
 Multi-axis motion instruction
 Typical application instruction
 High-speed input points and output points
 Supporting 8 high-speed digital input points (I0~I7) with interruption function
 Supporting 4 high-speed digital output points (Q0~Q3)

DVP-MC operating manual 2-5

2. System Function

 Supporting G codes
 Supporting standard G codes and supporting dynamic download of G codes; G codes are
executed while being downloaded in order to accomplish the complicate objects processing.
 Capable to debug the G codes in the way of a single step or fixed point through CANopen
Builder software
 CANopen Builder software provides the function of preview of G codes so that user could
conveniently judge if the input G codes are correct or not.
 Supporting electronic Cam
 Supporting to call the specified cam curve through CANopen Builder software so as to edit the
cam curve.
 Supporting the application instructions for typical technology such as rotary cutting, flying shear.
Users do not program the cam curve except to input the crucial technological parameters so that
the cam curve will be reflected automatically in the inner of the instruction. And thus it will
reduce a lot of work load for user to develop the project.
 Supporting E-gear
 Program capacity
 Providing max. 1M bytes for the program space, max. 12K Fbs program editable
 Max. 6000 rows of G codes storable.
 Max. 16 electronic cam curves editable and max. 2048 key points storable.

2.1.3. System Extension

DVP10MC11T can be connected with extension modules on both its left side and right side.

 The extension module connected to the left side of DVP10MC11T

DVP10MC11T can be connected with CANopen, DeviceNet master and high-speed modules with analog
quantity like DVP04AD-SL on its left side. Max. 7 high-speed modules are allowed to connect to the left side
of DVP10MC11T.
MC motion module is the first extension module of the left side of PLC module inside DVP10MC11T. And thus
the first extension module of the left side of DVP10MC11T is the second extension module of PLC module.
For example, the output mapping area starts from D6282 if DVPCOPM-SL is connected to the left side of SV
CPU and the output mapping area starts from D6782 if DVPCOPM-SL is connected to the left side of
DVP10MC11T.

DVPDNET DVP10MC

S/S
I0
I1
I2
I3
D e vi ce N e t/C AN o p e n ma ste r a n d I4
I5
th e h i g h -sp e e d AIAO mo d u l e s I6
l i ke D VP0 4 AD -SL. . . . . . I7

UP
ZP
Q0
Q1
Q2
Q3

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 2. System Function

 The extension module connected to the right side of DVP10MC11T

DVP10MC11T can also connect all Slim series of extension modules with the digital quantity of max. 240
input points and 240 output points in its right side. Besides, max. 8 special modules with non-digital quantity
such as analog-quantity module, temperature module, pulse module and etc. can be connected to the right
side of DVP10MC11T.
The number of digital input/ output point is reflected with X and Y and the functions are as follows.

 The number of input/ output point: (Octal)

X20 ~ X27......, X70 ~ X77, X100 ~ X107...

Y20 ~ Y27......, Y70 ~ Y77, Y100 ~ Y107...

Note: The number of digital points of the digital-quantity extension module on the right of DVP10MC11T starts
from 20. Suppose that the input point for the first digital-quantity extension module starts from X20 and output
point starts from Y20. The numbers of input point and output point are added by 8’s multiple; it is counted as 8
points if the number is less than 8.

 The number of special modules

The extension modules on the right side of DVP10MC11T like analog-quantity module, temperature module
and pulse module are called special modules. The number of the first special module on the right side of
10MC is 0; the number of the second one is 1, and so on. PLC module could access the special module
according to such serial numbers through executing FROM/TO instruction.

AIAO and DIDO

……

DVP-MC operating manual 2-7

2. System Function

2.2. The internal devices

2.2.1. The internal devices of PLC module

See appendix E on the internal devices of PLC in DVP10MC11T

2.2.2. The internal devices of MC motion control module

The internal devices of motion control module in DVP10MC11T:

Data
Type Device Device name Range Modbus address
type

High-speed
High-speed
I BOOL external input I0~I7 0400~0407
input
point

High-speed
High-speed
Q BOOL external output Q0~Q3 0500~0503
output
point

M0~M1535 0800~0DFF
Auxiliary relay M BOOL Auxiliary relay
M1536~M4095 B000~B9FF
D0~D4095 1000~1FFF
General
D WORD Data register D4096~5999 9000~976F
register
D7000~D24575 9B58~DFFF
D WORD D6000~D6226 9770~9852
GPIO register
D WORD D6250~D6476 986A~994C
Special data
D WORD D6500~D6518 9964~9976
Special register
register Axis parameter
D WORD D24576~D28671 E000~EFFF
register
Cam key point
D WORD D28672~D45055 2000~5FFF
register

Note: Please refer to appendix C for the explanation of the corresponding content of axis parameter
registers.

 Special register
The special data register of motion control module of DVP10MC11T has its special functions as shown below.

Special
Function explanation Attribute Data type Latched Remark
D

D6000 This area is for data exchange

The area for data between PLC and MC, MC
… PLC: R
exchange between UINT N writes the data into this area
MC: R/W
PLC and MC and PLC reads the data in this
D6226
area.

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 2. System Function

Special
Function explanation Attribute Data type Latched Remark
D

D6250 This area is for data exchange

The area for data between PLC and MC, PLC
PLC: R/W
… exchange between UINT N writes the data into this area
MC: R
PLC and MC and MC reads the data in this
D6476 area.

Current scanning The time needed for motion

D6500 time for R UINT N control program to scan the
DVP10MC(unit: us) last time.

Max. scanning time

Max. time needed for motion
D6501 for DVP10MC (unit: R UINT N
control program to scan once.
us)

It is in hexadecimal. The part

to the left of decimal point is
high byte and the part to the
The major revision of right of decimal point is low
D6502 R UINT N
DVP10MC firmware byte. If the read value is
0101H, it means the current
major firmware is V1.01
revision.

It is in hexadecimal. The part

to the left of hexadecimal point
is high byte and the part to the
The minor revision of
D6503 R UINT Y right of hexadecimal point is
DVP10MC firmware
low byte. If the read value is
0101H, it means the current
min firmware is V1.01 revision.
Firmware revision of Firmware revision of 10MC
D6504 R UINT Y
PLC module PLC module

The exchanged data The length of the data written

D6505 length when MC => R UINT Y to PLC by MC with word as its
PLC (unit: word) unit.
The exchanged data The length of the data written
D6506 length when PLC => R UINT Y to MC by PLC with word as its
MC (unit: word) unit.
The check code of
The check code of the data
D6507 exchanged data R UINT N
which MC writes to PLC.
when MC => PLC
The check code of
The check code of the data
D6508 exchanged data R UINT N
which PLC writes to MC.
when PLC => MC

DVP-MC operating manual 2-9

2. System Function

Special
Function explanation Attribute Data type Latched Remark
D

1. When D6509 value = 0

RUN/STOP switch is
Setting of disabled.
D6509 R/W UINT N
RUN/STOP switch 2. When D6509 value = 1,
RUN/STOP switch is
enabled.

Low word of
D6511 DVP10MC status R UINT N
word
Status word of MC module
High word of
D6512 DVP10MC status R UINT N
word

Low word of
feedback pulse
D6513
number of the
encoder Feedback pulse number of the
R UDINT N
High word of encoder
feedback pulse
D6514
number of the
encoder
7: Program is being executed.
0: Execution of program stops
16: System reset which is
equivalent to that 10MC is
powered on again.
Motion program When the motion control
RUN/STOP and program of 10MC is running,
6515 R/W UINT N
system reset write 0 to D6515 to stop the
program being executed.
Afterwards, the motion control
program can not be executed
again unless 7 is written to
D6515 after pressing the
Reset key.

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 2. System Function

Special
Function explanation Attribute Data type Latched Remark
D

b3~b0=0000: 7,E,1,ASCII
b3~b0=0001: 7,O,1,ASCII
b3~b0=0010: 7,N,1,ASCII
b3~b0=0100: 8,N,2,RTU
b7~b4=0000: 9600bps
b7~b4=0001: 19200bps
b7~b4=0010: 38400bps
Communication ID
and communication b7~b4=0011: 57600bps
D6516 R/W UINT Y b7~b4=0100: 115200bps
format of
DVP10MC11T b15~b8 are used to set the
Modbus node ID, e.g.
b15~b8=00000001which
indicates that Modbus node ID
is 1, likewise other Modbus
node ID are named in the
same way. Note: b stands for
bit.
Current scan time for The time needed for the logic
D6517 logic program R UINT N program to carry out scanning
（Unit: us） currently.
Max. scan time for The maximum time needed for
D6518 logic program R UINT N the logic program to scan one
（Unit: us） time.
The start D device in the
Setting of the
latched area is D7000; the
D6519 quantity of D device R/W UINT Y
quantity is specified by D6519;
in the latched area
range: 0~3000.
The start M device in the
Setting of the
latched area is M3000; the
D6520 quantity of M device R/W UINT Y
quantity is specified by D6520;
in the latched area
range: 0~1000
When DMC_ CapturePosition
The pulse number is used for position capture in
that servo motor mode 1, the value of D6527 is
D6527 R DINT N
feeds back to servo the pulse number that servo
drive motor feeds back to servo
drive.
When DMC_ CapturePosition
The pulse number uses I0 for position capture in
received at the mode 10, the value of D6529
D6529 R DINT N
interface of the is the pulse number received
encoder at the interface of the encoder
of 10MC.

DVP-MC operating manual 2-11

2. System Function

Special
Function explanation Attribute Data type Latched Remark
D

0: Axis alarm is not detected.

The instructions related with
the alarm axis can still be
executed when the axis
alarms.
D6532 Axis alarm detection R/W UINT N 1: When the axis alarms,
the alarm axis enters the state
of ErrorStop and the motion
instructions related with the
alarm axis stops being
executed.

2.2.3. Data exchange between MC module and PLC module

The areas for exchanging the data between MC and PLC are D6000~D6226, D6250~D6476. D6000~D6226
are where MC writes the data and PLC reads the value of the register; D6250~D6476 are where PLC writes
the data and MC reads the value of the register.
The principle is illustrated as below.

Write into Read by

D6000~D6226

MC PLC
Read by Write into
D6250~D6476

Data Exchange Figure

The program inside MC includes motion program and logic program. The data in exchange area of MC are
updated once every time all logic program execution is over. (The data in D6000~D6226 are written into
D6000~D6226 of PLC by MC and the data in D6250~D6476 of PLC are read into D6250~D6476 of MC by
MC). The data in exchange area of PLC are updated once every time one scan cycle is over. (The data in
D6250~D6476 are written into D6250~D6476 of MC by PLC and the data in D6000~D6226 of MC are read
into D6000~D6226 of PLC by PLC).

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 2. System Function

 Status word in DVP10MC

D6511 and D6512 are the status words of MC module and the following is the specific explanation:

Bit The implication when each bit in

How to deal with
Device D6511 is 1
DVP10MC11T is in error mode,
Bit0 motion control program is terminated Press RESET button to restart DVP10MC11T
by accident.
DVP10MC11T is in mode of
No need of action but wait the download is finished
Bit1 configuration and the configuration
and then 10MC will automatically restore to run.
data is being downloaded.
Redownload the configuration data to the controller
Node list is empty and slave has not
Bit2 after the network is configured through CANopen
been configured.
Builder software.
The configuration that the upper Check if the configured data is wrong and
Bit3
computer downloads is invalid redownload after revising configuration.
1. Check if CANopen bus connection is normal
2. Check if the baud rate of CANopen bus master is
Bit4 Buffer area sending data is full identical to that of slave.
3. Check if the two ends of CANopen bus have
been connected with terminal resistors.
1. Check if CANopen bus connection is normal
2. Check if the baud rate of CANopen bus master is
Bit5 Buffer area receiving data is full identical to that of slave
3. Check if the two ends of CANopen bus have
been connected with terminal resistors.
Power supply for DVP10MC11T is
Bit6 Check if power supply for DVP10MC11T is normal.
insufficient.
Repower on; return to factory for repair if the error
Bit7 Internal storage operation error
still exists
Repower on; return to factory for repair if the error
Bit8 GPIO operation error
still exists
Repower on; return to factory for repair if the error
Bit9 SRAM operation error
still exists
Some slave in CANopen network is
Bit10 Check if CANopen bus connection is normal.
offline

Bit11 The program in MC is running. --

The synchronization cycle set is too
Bit12 Enlarge the synchronization cycle period.
small
Bit13～
Reserved Reserved
Bit15

Note: D6512 is reserved for further development in the near future.

DVP-MC operating manual 2-13

2. System Function

2.3. System Work Principle

2.3.1. Axis Parameter Setting
MC function module in DVP10MC11T is mainly applied to control over drive axis. Therefore, the setting of
parameter of every drive axis is very crucial and the following is the main parameters to be set up.
 Node ID: axis number (which is the node address of the servo drive in CANopen network);
 Axis Type: Linear, Rotary;
 Ramp Type: To set the feature type in the process in which axis increases and decreases speed
 Software Limitation: To limit the maximum and minimum position of motion controller;
 Servo Gear Ratio Setting: The ratio decides how many units are needed for one circle the axis
rotates;
 Homing: It is used to set the mode and speed for homing;
 Maximum Values: To set the max. velocity, acceleration and deceleration of the axis;
 Cyclic Communication Data: To specify the servo drive parameters to be read by 10MC
 The axis parameters are mainly used for setting the feature of the axis and the setting could be
completed in the CANopen Builder software. The newly set axis parameters will go into effect only
after they are downloaded to DVP10MC11T.

 Axis Parameter Configuration

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 2. System Function

 Description of Axis Parameter:

Serial Default
Parameter Name Function Data Type
No Value
1 Node-ID Axis number; range:1-16 UINT -

“Node-ID” is the CANopen node address of servo drive.

2 Name Axis name String -

"Name" is the word commented on servo drive by software, which is only used for naming the servo
drive without actual meaning.

3 Axis type Axis type: linear axis/ rotary axis - Rotary axis

Linear Axis:

Notes for Linear Axis Model:

P1 Positive Limit
P2 Negative Limit
Servo Position
Rotary Axis :

Rotary Axis Mode（“Modulo”: 360）can not see the photo

Notes for Rotary Axis Mode:
P1 Positive Limit
P2 Negative Limit
Servo Position
R Home Position
Z Axis of servo motor
Difference between linear axis and rotary axis
The rotary axis regards modulo as its cycle, which is the difference between linear axis and rotary axis.
The position of terminal actuator of linear axis is 500 and the corresponding position of rotary axis is 140
which is the remainder of 500 divided by modulo (360).
The cycle used for equally dividing the
4 Modulo REAL 360
actual position of the terminal actuator.

DVP-MC operating manual 2-15

2. System Function

Serial Default
Parameter Name Function Data Type
No Value
Enables software limitation;
If the item is not selected, the maximum/
minimum position of the axis which
5 Software Limitation software limits is invalid. BOOL 0
If selected, the maximum/
minimum position of the axis limited by
software is valid.
The max. position of the axis limited by
6 Maximum Position REAL -
software
The mini. position of the axis limited by
7 Minimum Position REAL -
software
8 Acceleration Type Trapezoid/Sinus - Trapezoid

The servo motor presents the following features in process of acceleration and deceleration while
DVP10MC11T is controlling the servo drive.
Trapezoid:

Sinus:

To set the pulse quantity needed when

9 Unit Numerator motor rotates for one circle by adjusting UINT 128
unit numerator and unit denominator.
To set the pulse quantity needed when
10 Unit Denominator motor rotates for one circle by adjusting UINT 1
unit numerator and unit denominator.
How many pulses are needed when servo
11 Increment UINT 10000
motor rotates for one circle.
Adjusting the Unit Numerator and Unit Denominator parameters is to set the electronic gear proportion
of the servo drive. Electronic gear proportion is to set how many pulses servo drive receives while servo
motor rotates for a circle.
The resolution of A2 servo drive motor is 1280000 pulses/ circle;
Suppose the value of parameter 11 is N, N* (Unit Numerator/ Unit Denominator)=1280000

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 2. System Function

Serial Default
Parameter Name Function Data Type
No Value
Input rotations of This parameter and Output rotations of
12 UINT 1
gear gear decide the mechanism gear ratio.
Output rotations of This parameter and Input rotations of gear
13 UINT 1
gear decide the mechanism gear ratio.
The corresponding position units which
Unit per output
14 the terminal actuator moves while output UINT 10000
rotation
end of the gear rotates for a circle.
As illustrated below, Input rotation of gear =1, Output rotation of gear =2, it means the input mechanism
of gear box rotates for one circle and the output mechanism of gear box rotates for 2 circles. “Unit per
output rotation” represents the corresponding position (units) that ball screw moves while the output
mechanism of gear box rotates for one circle.
E.g. If output mechanism of gear rotates for one circle and ball screw moves 1mm and "Unit per output
rotation" is set to 1, through the relative position motion instruction the ball screw will move 1 unit, i.e.
the ball screw will move 1mm;
If “Unit per output rotation” is set to 1000, the ball screw will move 1 unit through the relative position
motion instruction, i.e. 1/1000mm actually. The unit of position in the motion control instruction, G codes
and electronic cam is Unit.

As mentioned above, set Unit per output rotation to 1, the ball screw will move 50 mm at the speed of
1mm/s and acceleration of 2mm/ s2.

The servo drive is set to homing mode;

15 Homing Mode range: 1~ 35. UINT 1
See appendix D for more details.
The speed from starting homing to finding
The first-phase
the home switch;Unit: rpm, setting range: UDINT 20
speed for homing
1-2000 rpm
16
The speed from finding the home switch
The second-phase
to reaching the mechanical home;Unit: UDINT 10
speed for homing
rpm, setting range: 1-500 rpm
17 Max. Velocity The available max. velocity; (Unit: unit) REAL 10000
The available max. acceleration; (Unit:
18 Max. Acceleration REAL 10000
unit)

DVP-MC operating manual 2-17

2. System Function

Serial Default
Parameter Name Function Data Type
No Value
The available max. deceleration; (Unit:
19 Max.Deceleration REAL 10000
unit)
Parameters 17~19 are used in the specific situation. E.g. The velocity, acceleration and deceleration of
G0 in instruction CNC; the velocity, acceleration and deceleration at which slave enters the state of
meshing with the master axis when Cam in; the velocity, acceleration and deceleration at which slave
follows the master to move when Gear in.
The current position of the servo drive
20 Position DINT
(Unit: Pulse)
The current speed of the servo drive
21 Velocity DINT
(Unit: 0.1 rpm)
The current torque of the servo drive
22 Torque INT
( Permille of the rated torque)

Above three parameters are used for setting DVP10MC11T to adjust PID of servo drive

The present current of the servo drive

23 Current INT
( Permille of the rated current)
User defines Servo drive parameters customized by
24
parameter users

“User defines parameter” is the servo drive parameter to be read. Its length is specified according to the
data type of the read parameter.
The byte parameter length is 1; the word parameter length is 2 and double-word parameter length is 4.
The method of calculating sub-index and index of the servo drive parameter is shown below:
Index= Servo drive parameter (Hex) + 2000 (Hex), Sub-index=0
For example: The index of servo drive parameter P6-10:
2000+060A (P6-10 hex.)=260A; sub-index: 0.

Cyclic communication data can be selected by users. The data length selected can not exceed 8 bytes
which can be calculated by computer automatically. The data length of position, speed, torque and
current are 4 bytes, 4 bytes, 2 bytes and 2 bytes respectively. The current value of cyclic communication
data selected by user can be read by the special registers related with axis. See appendix C for more
details.

2-18 DVP-MC operating manual

 2. System Function

2.3.2. Program Execution Principle

The program inside MC can be classified into the motion program and logic program. One single motion
program is executed in order of the instruction numbers from small to large. For many motion programs, they
are executed according to the program numbers from small to large. One single logic program is executed in
order of the instruction numbers from small to large. For many logic programs, they are executed according
to their numbers from small to large. Namely, the instructions in program 2 are executed after execution of
program 1 is finished and program 3, 4 and etc. are executed likewise.
The logic program which is a freely cyclical program will be executed again once it has finished being
executed. Motion program is a regular aborting program and is executed once every synchronization cycle.

See the program numbers marked in a red box and instruction numbers marked in red circles as below.

2.3.3. Relationship between Motion Program and Motion Bus

DVP10MC11T consists of two function modules: PLC module and MC motion control module. To enhance
the work efficiency, the two modules handle logic tasks and motion control tasks 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 synchronization cycle which is the cycle for updating the control and status data between motion
controller and servo drive. In one synchronization 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 synchronization 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

DVP-MC operating manual 2-19

2. System Function

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 synchronization cycle. In the
synchronization 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 CFC language). When motion control module detects
M2=on in a synchronization 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.

Figure 2.2.2 Motion control task list

2-20 DVP-MC operating manual

 2. System Function

In above figure, suppose MC_MoveAbsolute instruction is being executed but has not finished execution yet.
At the moment, if M3=on is detected, the execution of MC_MoveAbsolute instruction will be terminated and
MC_MoveRelative instruction starts being executed. Meanwhile, Abort bit M21=on which indicates an
accident occurs in MC_MoveAbsolute and so the instruction stops executing. The interrupted
MC_MoveAbsolute will be always in stop status. MC_MoveAbsolute instruction can be executed again
unless M2 turns Off  On once again.

DVP-MC operating manual 2-21

2. System Function

2.3.4. Setting the Synchronization Cycle Period

The synchronization cycle period is a very important parameter in the bus motion control. If the
synchronization period is not set properly, the servo may display AL303/AL302/AL301 fault alarm in
communication or the servo could not run normally.
Let’s first introduce the constitution of a synchronization period.
The motion control program is scanned at the very beginning of a synchronization period, and then the
control messages got through calculation are sent to all axes. So we can regard the synchronization period
as the time for execution of motion control program plus the time for communication between 10MC and all
servos.

The cycle period for execution of motion control program can refer to the value in D6501 with the unit: μs
(microsecond). 1000 microseconds are 1ms (millisecond).
The value is rounded up to an integer in the actual application. For example, the value in D6501 is
2567μs=2.5ms, in this case, we can regard 3ms as the time for program execution.

It is about 0.5ms for communication between 10MC and a servo.

We recommend that the value is rounded up to an integer in application. For example, 5 servos are
configured in application. And the communication ti
me is 5*0.5ms=2.5ms. In this case, we can regard 3ms as the time for communication. Therefore, we can get
the formulation: a synchronization time = an integer obtained by rounding up the value of D6501 + time for
communication between 10MC and all servos +1 (time reserved for a program change).

If the running time of the program is increased too much after the program changes, the preset
synchronization time will not fit any more. So the reserved time should be set to 1~2ms.
For example, the maximum time for execution of the program with D6501 is 1634ms and there are totally 5
servos in application. The reserved time for a program change is 1ms.

A synchronization cycle period= 2ms (obtained by rounding up D6501: 1634) + 3ms ((obtained by rounding
up 5*0.5) +1ms (reserved for a program change)

Note:
The method above is an estimated time, which is suitable for most applications. If you need a more precise
synchronization cycle period, the actual time can be recalculated by omitting the reserved time after
application development is completed.

The synchronization cycle period can be set in the following red box and will go into effect after being
downloaded.

2-22 DVP-MC operating manual

 2. System Function

DVP-MC operating manual 2-23

2. System Function

2.3.5. CNC Function

DVP10MC11T, a multi-axis motion controller, supports the standard CNC function and can execute G codes
dynamically and statically to achieve the simple numerical control of machine tool. Besides, it could also be
applied to the occasions where G codes are used to locate and path planning.
CANopen Builder software provides CNC G code editing function; user could edit G codes in the CNC editor
or import the G codes switched by other design software into this editor. When G codes are input in the code
list, the two-dimension chart of G codes is output in the preview window.
The software interface of CNC editor is shown as figure 2.3.1

Figure 2.3.1
DVP10MC11T could execute G codes in two ways. One is the way of statically downloading all G codes to
controller for run. The other one is dynamic way. When complicate objects are processed, the quantity of G
codes needed is quite huge and so the controller could not store all G codes. Then the dynamic way is
adopted and the G codes could be executed while being downloaded. DVP10MC11T provides the buffer
area which could store 100 rows of G codes to store the G codes the upper computer sends. In way of
dynamic download, the G codes the upper computer sends will not be stored and will be dumped after they
are executed. If the G codes downloaded need be latched when power off, user should adopt the way of
static download.
After G code editing is finished, it should be called for use in the motion control program. NC document is
called for use via DMC_NC in motion control program. The usage of DMC_NC can be seen in the relevant
instruction introduction. The input parameter NcTableID is to choose the NC document number to be
executed. CMC editor could edit 8 NC documents at the same time.
If user wants to execute G codes in dynamic way, the current chosen NC document number should be set to
0. At this moment, the controller will wait the upper computer to send G codes and the G codes will be
executed while being sent.

2-24 DVP-MC operating manual

 2. System Function

Figure 2.3.2
CNC editor provides the function of debugging of the current G codes so that user only need preset the target
position of the G codes to be executed. Also, CNC editor can provide the function of one single -step
execution of the current G-code document to ensure the correctness of debugging of G codes.
2.3.5.1. CNC Program Downloading and Debugging
When users use the motion control program to call CNC program, the value: 0 of parameter NcTableID of
DMC_NC indicates to download CNC program in dynamic way. CANopen Builder provides the following
tools for downloading and debugging
: Start to download dynamically CNC program which will be executed after controller receives the first
program.
: Make the current CNC program run and stop at the place selected by cursor, which is convenient for
user to debug the current CNC program.
: Single -step execution of CNC program; execute one row every time and when the current row
of program is executed, it will be displayed in yellow.
2.3.5.2. The Protocol for Dynamic Download of CNC Program
DVP10MC11T supports the open protocol for download of CNC program. User could autonomously develop
the process software in PC end to produce G codes and dynamically download the codes to DVP10MC11T
for execution.

DVP-MC operating manual 2-25

2. System Function

2.3.5.3. Message Format

The following is the format of the Modbus packet of CNC program downloaded dynamically.
Request message format:

0 1 2…n-1 n…n+1

Address Function Code 0x7A] G-Code string Parity

Address: The communication node ID of DVP10MC11T, default: 02

Function Code: Function code, 0x7A indicates to download CNC programs dynamically.
G-Code String: A complete row of CNC program character string presented in ASCII code value with the
symbol of “Enter” in the end.
For instance, suppose that the address of DVP10MC11T is 02, the G code character string to be download is
N00 G00 X10.0 Y10.0.
The request message (Hex) will be 027A4E303020473030205831302E30205931302E300D8E57
Explanation of message:
027A: Node ID and function code
4E303020: N00 [A blank space]
47303020: G00 [A blank space]
5831302E3020: X10.0 [A blank space]
5931302E300D: Y10.0 [A blank space]
8E57: CRC parity
Response message format:

0 1 2 3-4

Address Function Code [0x7A] ResposeCode Parity

Address: The node ID of DVP10MC11T, default: 02.

Function Code: Function code, 0x7A indicates to download CNC program dynamically.
Response Code:

00 Illegal function code

01 Success

02 In process of transmission

04 Illegal command

05 Time-out

06 Illegal length of the message received

07 Equipment is busy

08 The buffer area receiving data is full

2-26 DVP-MC operating manual

 2. System Function

2.3.6. CAM Function

The cam is the component with the curve profile or grooves. It transmits the motion to the follower near its
edge and the rack will turn periodically following the follower. The cam mechanism consists of a cam, follower
and rack. The following figure shows the cam profile made up of point A, B, C, and D. AB' is a follower which
is connected to the rack. δ4 is an inner angle of repose; δ2 is an external angle of repose. The radius of the
base circle is r0 and S is the cam curve.

Figure 2.3.3
The electronic cam is an analog cam of the mechanical cam by applying computer technology. Compared
with the mechanical cam, the electronic cam has many advantages of being easy to design and modify; cost
saving; higher efficiency and preciseness. Because the electronic cam is an analog cam, these defects of a
mechanical cam like being easy to be damaged and not fit for high-speed rotation and transmission can be
avoided for the electronic cam.
DVP10MC11T controller supports the function of the electronic cam. User can edit the cam curve in the cam
editor provided by CANopen Builder as follows.

Figure 2.3.4

DVP-MC operating manual 2-27

2. System Function

After the cam curve is finished editing, it should be called for use in the motion control program where
MC_CamTableSelect and MC_CamIn are included together as figure 2.3.5 shows.

Figure 2.3.5

2-28 DVP-MC operating manual

 3. System Installation

3. System Installation
This chapter focuses on the instructions of electrical specification and system installation. For the details of
peripheral devices, please refer to the user manual enclosed with the product or log on the website:
http://www.delta.com.tw.
3.1. Electrical Feature

 Electrical specification
Item Content
Voltage 24 VDC（-15% ~ +20%）
Current 2.5 A/30 VAC
Electrical
500 VDC（Secondary-PE）
isolation
Consumption
Max 8W
power
Vibration/shock
Standard:IEC61131-2,IEC 68-2-6 (TEST Fc)/IEC61131-2 & IEC 68-2-27 (TEST Ea)
immunity
Static electricity: 8KV Air Discharge
Interference
EFT: Power Line: 2KV, Digital I/O: 1KV
immunity
RS: 26MHz ~ 1GHz, 10V/m
Work: 0°C ~ 55°C （Temperature）, 50 ~ 95% （Humidity）, Pollution level 2
Environment
Storage: -25°C ~ 70°C （Temperature）, 5 ~ 95% （Humidity）
Weight About 240g

 Electrical specification for the input point

Item Content
Input channel
8 channels
number
Channel type High-speed digital input type for the 8 channels
Input terminals Terminal I0, I1, I2, I3, I4, I5, I6, I7
Common terminal
Terminal S/S used for connection of the plus or minus pole of supply power
for the input point
Input type Sink mode or Source mode
Input delay 2.5µS （ Off ->On ）, 5 µS （On -> Off ）
Input current 24 VDC, 5mA
The Shielded cable: 500m
Max cable length
The cable without a shield wire: 300m

DVP-MC operating manual 3-1

3. System Installation

 Electrical specification for the output point

Item Content
Input channel
4 transistors for output (Source)
number
Channel type High-speed digital output type for the 4 channels
Output terminals Terminal: Q0, Q1, Q2, Q3
Power voltage for
24 VDC（-15% ~ +20%）#1
output point
Output delay 2µS （ Off -> On）, 3µS （ On -> Off ）
Max switch
1KHZ
frequency
Resistance: 0.5A/1point （2A/ZP）
Max loading Inductance: 15W（30VDC）
Bulb: 2.5W（30VDC）
The Shielded cable: 500m
Max cable length
The cable without a shield wire: 300m
#1: UP and ZP must connect the auxiliary power 24VDC (-15%~20%).

3-2 DVP-MC operating manual

 3. System Installation

3.2. System Connection

3.2.1. Power and IO Wiring

 Power input
It is direct current input for DVP10MC11T MPU power and below items should be paid special attention to in
use.
1. The input power voltage is in the range from 20.4 VDC to 28.8VDC and the power is connected to
the two terminals: 24V and 0 and the earth terminal is connected to the ground. Besides, please note
that the positive pole and negative pole of the power must not be connected reversely otherwise any
damage on DVP10MC11T may be caused.
2. The earth terminal of DVP10MC11T MPU uses the cable above 1.6mm for grounding.
3. If the time for power-off is too long or power voltage is descended, DVP10MC11T will stop working,
output will turn off and communication with servo drive will also be terminated. DVP10MC11T cannot
make the communication with servo drive any more unless the power restores into normal status.

 Safety circuit wiring

DVP10MC11T controls servo drive and any action of its internal device is possible to influence the action of
external mechanical organization. So any malfunction of any device may cause the whole automatic control
system to lose control and even result in personal injury and death. Below protection devices are suggested
for use in power input circuit.

Figure 3.2.1

 AC power supply: 100～240VAC, 50/60Hz;

 Fuse for power loop protection;

 System circuit isolation device: use the switches of electromagnetic contactor and relay as the
isolation devices of system power circuit in case the system is unstable when power supply is
interrupted frequently
 Power indicator
 Emergent stop: To prevent sudden status happening, emergent stop button is set to cut system
power once accident occurs;

DVP-MC operating manual 3-3

3. System Installation

 Delta power module DVPPS02/24VDC ( It is recommended to adopt the power module DVPPS02 for
DVP10MC11T);
 DVP10MC11T body;
 Grounding
 Safety circuit

 Wiring of input and output points

Wiring of input circuit
The input signal of input point is direct-current power input in two ways of wiring: Sink mode and Source
mode. The following is the introduction of the two ways.
 Sink mode
The feature of Sink mode is that the current flows to the common terminal S/S. See the simplified model
as figure 3.2.2.

S/ S

I0

Figure 3.2.2
The relevant circuit for wiring is shown as figure 3.2.3

Figure 3.2.3
 Source mode
The feature of Source mode is that the current flows out from the common terminal S/S. See the simplified
model as figure 3.2.4

Figure 3.2.4

3-4 DVP-MC operating manual

 3. System Installation

The relevant circuit for wiring is shown as figure 3.2.5

Figure 3.2.5

Wiring of output circuit

The circuit plate for the transistor output in DVP10MC11T includes the diodes with the protection function of
counter potential. It is sufficient for application of the inductive load at low power and little higher frequency of
On/Off change. In the case of high power or high On/Off change frequency, please additionally connect the
suppression circuit according to the following figure to decrease the interference and prevent over-voltage or
over-heat from damaging the transistor output circuit.

D VP1 0MC 11 T

Figure 3.2.6
 24V direct current power

 Fuse protector for power circuit protection;

 Emergent stop button;

 Loading for switch, inductance and etc.

 Diode or equivalent component for suppression ( is not used but  when in smaller power).

 9V Zener diode, 5W ( and  are both used when in bigger power and frequent On/Off).

DVP-MC operating manual 3-5

3. System Installation

3.2.2. Connected to ASDA-A2 Series of Servo

There are multiple models for ASDA-A2 series of servo drive. ASDA-A2-●●●●-M supporting CANopen
communication can be used to create the CANopen motion control network with DVP10MC11T together. The
connection between DVP10MC11T and servo drive can be made with TAP-CB03 or TAP-CB05 cable through
CN6 port.
The relevant parameters are set below for connection between DVP10MC11T and servo drive:

Parameter Explanation Setting value Explanation of Setting

Setting of servo
P1-01 0B Servo drive is set as CANopen mode
control mode
For DVP10MC11T, the setting of this
parameter corresponds to the axis
P3-00 Setting of node ID Setting range: 1~16
number of servo in the CANopen
network
The corresponding baud rate of the
P3-01 Baud rate 0403 parameter value must correspond to
that of DVP10MC11T.

The wiring figure of DVP10MC11T and ASDA-A2-●●●●-M series of servo drive

Figure 3.2.7

Note:

1) Please refer to the user manual of servo for the method of wiring between ASDA-A2-●●●●-M series of
servo drive, servo motor and encoder.
2) Choose TAP-CB03 or TAP-CB05 or TAP-CB10 communication cable according to on-site status.
3) The two ends of the bus network are connected with terminal resistors TAP-TR01 which could be found in
the packing box of 10MC.

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 3. System Installation

3.2.3. Connecting the Extension Module to the Left Side of DVP10MC11T as

DeviceNet Master
1. Connecting DVPDNET-SL to DVP10MC11T
 Open the extension module clips on the top left and bottom left of DVP10MC11T and
install DVPDNET-SL along four mounting holes in the four angles of DVP10MC11T as figure 3.2.8.
 Press the clips respectively on the top left and bottom left of DVP10MC11T to fix the module tightly
and ensure that their contact is normal.
2

DVPDNET
DVP10MC

S/S
I0
I1
I2
I3
I4
I5
1 I6
I7

UP
ZP
Q0
Q1
Q2
Q3

Figure 3.2.8
2. Installing DVP10MC11T and DVPDNET-SL into the DIN rail
 Use standard 35mm DIN rail;
 Open DIN rail clips of DVP10MC11T and DVPDNET-SL and then insert the two modules in DIN
rail.
 Press the DIN rail clips into DVP10MC11T and DVPDNET-SL to fix the two modules in DIN rail as
figure below.
DVPDNET DVP10MC

S/S
I0
35mm DIN Rail
I1
I2
I3
I4
I5
I6
I7

UP
ZP
Q0
Q1
Q2
Q3

Figure 3.2.9

DVP-MC operating manual 3-7

3. System Installation

3.2.4. Connecting the Extension Module (DVP16SP11T) to the Right Side of

DVP10MC11T

1. Connecting DVP16SP11T to DVP10MC11T;

 Open the extension module clips on the top right and bottom right of DVP10MC11T and
install DVP16SP11T along four mounting holes in the four angles of DVP10MC11T as figure
3.2.10.
 Press the clips on the upper right and bottom right of DVP10MC11T to fix the module tightly
and ensure that their contact is normal.
2

DVP10MC

S/S
I0
I1
I2
I3
I4

D VP -16S P
I5
I6
I7
1

UP
ZP
Q0
Q1
Q2
Q3

Figure 3.2.10
2. Installing DVP10MC11T and DVP16SP11T in DIN Rail
 Use standard 35mm DIN rail;
 Open DIN rail clips of DVP10MC11T and DVP16SP11T and then insert the two modules in DIN
rail.
 Press the DIN rail clips into DVP10MC11T and DVP16SP11T to fix the two modules in DIN rail as
figure below.
DVP10MC

S/S 35mm DIN Rail

I0
I1
I2
D VP -16S P

I3
I4
I5
I6
I7

UP
ZP
Q0
Q1
Q2
Q3

Figure 3.2.11

3-8 DVP-MC operating manual

 4. Motion Control Instructions

4. Motion Control Instruction

4.1. Instruction Table

Class API Instruction Name Function Page

1 MC_MoveAbsolute Move absolutely 4-9

2 MC_MoveRelative Move relatively 4-15

3 MC_MoveAdditive Move additively 4-19

4 MC_MoveSuperImposed Superimposed motion 4-23

5 MC_MoveVelocity Velocity instruction 4-30

6 MC_Stop Stop instruction 4-33

7 MC_PassiveHome Homing instruction 4-36

8 MC_Power Power control instruction 4-39

Single-axis instruction

9 MC_Reset Reset instruction 4-40

10 MC_ReadStatus Read axis status 4-42

11 MC_ReadActualPosition Read actual position 4-43

12 MC_ReadAxisError Read axis error 4-44

13 MC_ReadParameter Read parameters 4-45

14 MC_WriteParameter Write parameters 4-47

15 DMC_SetTorque Set torque 4-48

16 DMC_ChangeMechanismGearRatio Revise mechanism parameter 4-50

17 DMC_DisableAxis Disable an axis 4-53

Detect deviation between the

18 DMC_PositionLag command position and feedback 4-55
position

64 MC_CamTableSelect Select cam table 4-57

Multi-axis instruction

65 MC_CamIn Cam-in instruction 4-59

66 MC_CamOut Cam-out instruction 4-78

67 DMC_CamSet Set cam 4-81

68 MC_GearIn Gear-in instruction 4-85

69 MC_GearOut Gear-out instruction 4-87

DVP-MC operating manual 4-1

4. Motion Control Instructions

Class API Instruction Name Function Page

70 MC-Phasing Phase shift 4-90

71 DMC-CapturePosition Capture position 4-93

72 DMC-VirtualAxis Create virtual axis 4-99

73 DMC-ExternalMaster Create external virtual master axis 4-101

74 DMC_CAM Switch Indicate cam operation stage 4-103

128 ADD Addition of 16-bit integer 4-107

129 ADD_DI Addition of 32-bit integer 4-107

130 ADD_R Addition of floating number 4-108

131 SUB Subtraction of 16-bit integer 4-108

132 SUB_DI Subtraction of 32-bit integer 4-109

133 SUB_R Subtraction of floating number 4-109

134 MUL Multiplication of 16-bit integer 4-110

135 MUL_DI Multiplication of 32-bit integer 4-110

136 MUL_R Multiplication of floating number 4-111

137 DIV Division of 16-bit integer 4-111

138 DIV_DI Division of 32-bit integer 4-112

139 DIV_R Division of floating number 4-112

Logic Instruction

140 AND Logic AND operation 4-113

141 OR Logic OR operation 4-113

142 XOR Logic XOR operation 4-114

143 NOT Logic NOT operation 4-114

144 CTU Up-counter 4-115

145 CTD Down-counter 4-117

146 CTUD Up/down-counter 4-119

147 TON_s On-delay timer（Unit:1s） 4-121

148 TOF_s Off-delay timer（Unit: 1s） 4-123

149 TONR_s Retentive on-delay timer（Unit:1s） 4-125

150 TON_ms On-delay timer（Unit:1ms） 4-127

151 TOF_ms Off-delay timer（Unit:1ms） 4-128

152 TONR_ms Retentive on-delay timer（Unit: 1ms） 4-129

153 CMP Comparison of 16-bit integers 4-130

154 CMP_DI Comparison of 32-bit integers 4-131

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 4. Motion Control Instructions

Class API Instruction Name Function Page

155 CMP_R Comparison of floating numbers 4-132

156 MOV Move 16-bit integer 4-133

157 MOV_DI Move 32-bit integer 4-134

158 MOV_R Move floating number 4-134

Move 16-bit integer to multiple

159 MOVF 4-135
registers

Move 32-bit integer to multiple

160 MOVF_DI 4-136
registers

Move floating number to multiple

161 MOVF_R 4-137
registers

Move multiple register data to the

162 MOVB 4-138
target registers

Move multiple bit device values to

163 MOV_BW 4-139
multiple registers

Move multiple register values to

164 MOV _WB 4-140
multiple bit devices

Compare 16-bit integer to the value

165 ZCP 4-141
in one zone

Compare 32-bit integer to the value

166 ZCP_DI 4-142
in one zone

Compare floating number to the

167 ZCP_R 4-143
value in one zone

168 SET Setting instruction 4-144

169 RESET Reset instruction 4-144

170 OUT Coil driving 4-145

171 R_Trig Rising edge triggering 4-145

172 F_Frig Falling edge triggering 4-147

173 ZRSTM Reset one zone of bit devices 4-148

174 ZRSTD Reset one zone of word devices 4-149

175 SQRT_R Square root of floating number 4-150

Remainder from 16-bit integer

176 MOD 4-150
division

Remainder from 32-bit integer

177 MOD_DI 4-151
division

DVP-MC operating manual 4-3

4. Motion Control Instructions

Class API Instruction Name Function Page

Remainder from floating number

178 MOD_R 4-151
division

Convert floating number into 16-bit

179 Real_To_Int 4-152
integer

Convert floating number into 32-bit

180 Real_To_Dint 4-152
integer

Convert 16-bit integer into floating

181 Int_To_Real 4-153
number

Convert 32-bit integer into floating

182 Dint_To_Real 4-153
number
16-bit integer index register
183 Offset 4-154
instruction
32-bit integer index register
184 Offset_DI 4-156
instruction

Floating-point number index register

185 Offset_R 4-158
instruction

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 4. Motion Control Instructions

Class API Instruction Name Function Page

220 APF_RotaryCut_Init Initialize rotary cut 4-165

Application function

221 APF_ RotaryCut_In Rotary cut-in 4-167

instruction

222 APF_ RotaryCut_Out Rotary cut-out 4-168

223 APF_FlyingShear_Init Initialize flying shear 4-175

224 APF_FlyingShear Flying shear instruction 4-177

260 DMC_NC CNC instruction 4-209

261 DNC_Group Build coordinate motion instruction group 4-214

DNC_Absolute（G90） In absolute mode

262 4-217
DNC_Relative（G91） In relative mode

263 DNC_MOV(G0) Rapid positioning instruction 4-218

264 DNC_LIN(G1) Linear interpolation instruction 4-219

Coordinate Motion Instruction

Clockwise circular/ helical interpolation

（G2）
DNC_CW（IJK） （The coordinates of center of a circle are
set）
265 4-221
Anticlockwise circular/ helical interpolation
DNC_CCW（IJK）（G3） （The coordinates of center of a circle are
set）
Clockwise circular/ helical interpolation
DNC_CW（R）（G2）
（Radius is set
266 4-223
Anticlockwise circular/ helical interpolation
（G3）
DNC_CCW（R）
（Radius is set）

DNC_XY（G17） XY plane selection

267 DNC_XZ（G18） XZ plane selection 4-225

DNC_YZ（G19） YZ plane selection

DVP-MC operating manual 4-5

4. Motion Control Instructions

4.2. Axis Status

When DVP10MC11T utilizes the motion control instruction to control every axis, there is one internal-run state
for every axis and axis states are switched by following the state machine instruction below. The state
machine defines the motion instructions that can be executed in all states and the states after the motion
instructions are executed. Using the motion instructions, user could judge if a certain instruction could be
used in current state through the state machine. The state machine of DVP10MC11T is shown as below and
the arrow points to the axis status.

4-6 DVP-MC operating manual

 4. Motion Control Instructions

Axis status can be judged according to the special register for axis status. For explanation of the special
register on an axis, please refer to appendix C. For example, the special register for the axis state of axis 1 is
D24606. All states of the axis correspond to the values as below.

State Value Remark State Value Remark

The state when Cam-in
Disable 0 No-execution state Cam_In 7
is completed
The state when Gear-in
StandStill 1 Pre-execution state Gear_In 8
is completed
ErrorStop 2 Error state CNC 9 CNC state
Stopping 3 Stop state Rotary A Rotary cutting state
The state when Gear-in
Homing 4 Homing state Gearing B has not been
completed
The state when Cam-in
Discrete 5 Discrete state Caming C has not been
completed
Continuous 6 Continuous state Fly Shear D Flying shear state

Note: The states of Cam_In, gear_In, Gearing, Caming belong to the synchronized state in the state machine
figure above.

4.3. Instruction Usage

 An instruction consists of two parts: instruction name and operand.

Instruction name Indicates the function of execution of the instruction

Operand Indicates the parameter processed by the instruction

 Instruction format

1. Instruction name

2. Input parameter 3.Output parameter

Note: Different functions for different instructions decide that the parameters are different. The
parameters of the left area in one instruction are to be set and the results from execution of
instruction are in the right area in the instruction.

DVP-MC operating manual 4-7

4. Motion Control Instructions

 Data type list

The data types in the motion control program for DVP10MC11T are

Serial Bit
Data type Lower limit Upper limit
No. number
1 BOOL 0 1 8
2 BYTE 0 255 8
3 WORD 0 65535 16
4 DWORD 0 4294967295 32
5 SINT -128 127 8
6 USINT 0 255 8
7 INT -32768 32767 16
8 UINT 0 65535 16
9 DINT -2147483648 2147483647 32
10 UDINT 0 4294967295 32
REAL( Positive
3.4x10-38 3.4x1038
number)
11 32
REAL(Negative 38 -38
-3.4x10 -3.4x10
number)
12 LREAL -1.79769313486231E308 1.79769313486232E308 64

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 4. Motion Control Instructions

4.4. Single-Axis Instruction Usage

4.4.1. MC_MoveAbsolute

API Controller
MC_MoveAbsolute Move absolutely
01 10MC11T
Explanation of the Instruction:
MC_MoveAbsolute is applied to control the terminal actuator to move to the target position relative to the zero
point at the given speed, acceleration and deceleration. Once this instruction is aborted in process of motion,
the uncompleted distance left will be ignored and the new instruction will be executed subsequently.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device

Axis The node address of servo drive UINT Constant, D

This instruction is executed when “Execute” turns Off M,I,Q,

Execute BOOL
->On. Constant

The target position for the terminal actuator with zero point
as the reference point.
Position REAL Constant, D
Unit: Unit. ( See section 2.3.1 on axis parameter setting)
For rotary axis, 0≤ Position< modulo.
Running speed of terminal actuator and this parameter is
Velocity REAL Constant, D
always positive. (Unit: unit/second).
Acceleration of terminal actuator and this parameter is
Acceleration REAL Constant, D
always positive.(Unit: unit/second2)
Deceleration of terminal actuator and this parameter is
Deceleration REAL Constant, D
always positive.(Unit: unit/second2)
The direction for servo motor rotation
0: the direction for the shortest distance ;
1: positive direction;
Direction INT Constant, D
-1: negative direction;
2: extends the current direction
The parameter will be effective only for rotary axis.

DVP-MC operating manual 4-9

4. Motion Control Instructions

Parameter Data Available

Explanation
name type device

When absolute position execution is finished, "Done" turns

Done BOOL M,Q
on; when “execute” is off, "Done" is reset.

When this instruction execution is aborted, "Abort" turns

Abort BOOL M,Q
on; when “Execute” is off, "Abort" is reset.
If any error is detected, "Error" turns on; when “Execute” is
Error BOOL M,Q
off, "Error" is reset.
ErrorID Error code. Please refer to selection 5.3. UINT D

Notes:
1. While MC_MoveAbsolute instruction is being executed, “Execute”: rising edge occurs, which does
not impact the execution of the instruction.
2. When the velocity, acceleration and deceleration of the instruction are read and written via human
man interface, their value types must be set as Double Word（Floating）
3. When direction values are different, motion directions of rotary axis are also different as follows.
Suppose the output unit of physical actuator is degree, the motion direction of rotary axis is
explained as below.

Direction: 1 (Positive direction) Direction: -1 (Negative direction)

Current position: 315° Current position: 315°

°
Target position: 90 Target position: 90°
Movement angle: 135° Movement angle: 225°

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 4. Motion Control Instructions

Direction: 0 (Shortest) Direction: 0 (Shortest)

Current position: 315° Current position: 315°

Target position: 90° Target position: 270°

Movement angle: 135° Movement angle: 45°

Direction: 2 (Extend current direction) Direction: 2(Extend current direction)

Rotary axis status: in state of negative rotation Rotary axis status: be motionless, in state of positive
before function block is executed. rotation before function block is executed.

Current position: 315° Current position: 315°

Target position: 90° Target position: 90°

Movement angle: 225° Movement angle: 135°

DVP-MC operating manual 4-11

4. Motion Control Instructions

 Program Example 1

Motion diagram as below:

Velocity Tar get position
500

Time
Position
Target position
5000

Time

M2(Execute)

M20(Done)

M21(Abort)

M22(Error)

 When M2 is Off  On, motion controller starts to control servo motor rotation. When the servo reaches
target position, M20 of "Done" will be OffOn.
 When M2 is On  Off, M20 of "Done" will be reset.
 After reaching the target position, as M2 turns OffOn again, the servo motor will not move since it has
reached the target position.

4-12 DVP-MC operating manual

 4. Motion Control Instructions

 Program Example 2

Two MC-MoveAbsolute instructions in the same task list are matched for use as follows.

DVP-MC operating manual 4-13

4. Motion Control Instructions

Motion diagram as below:

 When M2 is OffOn, motion controller starts to control servo motor rotation. When M3 turns OffOn,
the first MC_MoveAbsolute instruction is aborted, and M21 of "Abort" bit turns OffOn. Meanwhile, the
second MC_MoveAbsolute instruction is executed and servo action is performed according to the
parameter of the second MC_MoveAbsolute instruction. When servo reaches the target position of the
second MC_MoveAbsolute instruction, M30 of "Done" bit turns OffOn.
 When M3 turns On Off , M30 of "Done" bit is reset

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 4. Motion Control Instructions

4.4.2. MC_MoveRelative

API Controller
MC_MoveRelative Move relatively
02 10MC11T
Explanation of the Instruction:
MC_MoveRelative is applied to control the terminal actuator to move for a given distance with the current
position as the reference point at a given speed, acceleration, deceleration. Once this instruction is aborted in
process of motion, the uncompleted distance left will be ignored and the new instruction will be executed
subsequently.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The node address of servo drive UINT Constant, D
This instruction is executed when “Execute” turns Off –> M,I,Q,
Execute BOOL
On. Constant
The target distance for terminal actuator to move with the
Distance current position as the reference point. If the setting is REAL Constant, D
negative, servo will rotate reversely. Unit: Unit.

Running speed of terminal actuator and this parameter is

Velocity REAL Constant, D
always positive.(Unit: unit/second)

Acceleration of terminal actuator and this parameter is

Acceleration REAL Constant, D
always positive.(Unit: unit/second2)

Deceleration of terminal actuator and this parameter is

Deceleration REAL Constant, D
always positive.(Unit: unit/second2)
When relative position execution is completed,
Done BOOL M,Q
"Done" turns on; when “Execute” is off, "Done" is reset.
When this instruction execution is aborted, "Abort" turns
Abort BOOL M,Q
on; when “Execute” is off, "Abort" is reset.
If any error is detected, "Error" turns on; when “Execute”
Error BOOL M,Q
is off, "Error" is reset.
ErrorID Error code. Please refer to table 5.3. UINT D

Notes:
1. When MC_MoveRelative instruction is being executed, “Execute”: rising edge occurs, which does
not impact the execution of the instruction.

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4. Motion Control Instructions

2. When the velocity, acceleration and deceleration of the instruction are read via human machine
interface, their value types must be set as Double Word （Floating）

 Program Example 1

Motion diagram:

 When M2 turns Off→On, motion controller controls servo motor to rotate with current position as
reference point. After servo motor completes the set distance, M20 of "Done" bit turns Off→On.
 When M2 turns OnOff, M20 of "Done" bit is reset.
 Servo motor completes the set distance, M2 turns Off→On again, motion controller sends command
once again to control servo motor rotation, after servo motor completes the set distance, M20 of "Done"
bit turns Off→On once again

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 4. Motion Control Instructions

 Program Example 2

Two MC_MoveRelative instructions in the same task list are matched for use as follows.

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4. Motion Control Instructions

Motion diagram as below:

 When M2 turns Off→On, motion controller controls servo motor to rotate with initial position as
reference point. When M3 turns Off→On, the first relative position instruction is aborted and M21 of
"Abort" bit turns Off→On. Meanwile, servo motor starts to execute the second relative position
instruction with where the first relative position instruction is aborted as reference point. After servo
motor completes the set distance of the second instruction with the abort position as the initial position,
M30 of "Abort" bit turns Off→On.
 When M3 turns OnOff, M30 of "Done" bit is reset.

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 4. Motion Control Instructions

4.4.3. MC_MoveAdditive

API Controller
MC_MoveAdditive Move additively
03 10MC11T
Explanation of the Instruction:
MC_MoveAdditive is applied to control the terminal actuator to move for an additive distance at a given speed
and acceleration.
When the former instruction is related with position and it has not completed its given distance,
MC_MoveAdditive is executed to control the terminal actuator to move for the distance which includes the
uncompleted distance left by the former instruction and the distance given to this instruction. When execution
of this instruction is finished, the final position of the terminal actuation is the addition of the given distance for
the former and the current instruction.
If the former one is velocity instruction, MC_MoveAdditive will terminate the execution of velocity instruction,
move for the given distance at a given speed, acceleration and deceleration and then stop.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The node address of servo drive. UINT Constant, D
This instruction is executed when “Execute” turns Off –>
Execute BOOL M,I,Q, constant
On.
The additive distance of terminal actuator with the unit:
Distance REAL Constant, D
Unit..
Running speed of terminal actuator and this parameter is
Velocity REAL Constant, D
always positive.(Unit: unit/second)
Acceleration of terminal actuator and this parameter is
Acceleration REAL Constant, D
always positive. (Unit: unit/second2).
Deceleration of terminal actuator and this parameter is
Deceleration REAL Constant, D
always positive. (Unit: unit/second2).

When additive position execution is completed,

Done BOOL M,Q
"Done" turns on; when “Execute” is off, "Done" is reset.

When this instruction execution is aborted, "Abort" turns

Abort BOOL M,Q
on; when “Execute” is off, "Abort" is reset.
If any error is detected, "Error" turns on; when “Execute” is
Error BOOL M,Q
off, "Error" is reset.
ErrorID Error code. Please refer to table 5.3. UINT D

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4. Motion Control Instructions

Notes:
1. When MC_MoveAdditive instruction is being executed, “Execute”: rising edge occurs, which doe not
impact the execution of the instruction.
2. When the velocity, acceleration and deceleration of the instruction are read and written via human
machine interface, their value types must be set as Double Word（Floating).

 Program Example 1

Motion diagram as below:

 When M2 turns Off→On, motion controller controls servo motor to rotate with current position as
reference point. After servo motor completes the set distance, M20 of "Done" bit turns Off→On.
 When M2 turns OnOff, M20 of "Done" bit is reset.

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 4. Motion Control Instructions

 Servo motor completes the set distance, M2 turns Off→On again, motion controller sends command to
control servo motor rotation; after servo motor completes the set distance, M20 of "Done" bit turns
Off→On once again.

 Program Example 2

Two MC_MoveAdditive instructions in the same task list are matched for use as follows.

DVP-MC operating manual 4-21

4. Motion Control Instructions

Motion diagram as below:

 When M2 turns Off→On, motion controller controls servo motor to rotate with current position as
reference point. When M2 turns Off→On, the first MC_MoveAdditive instruction is aborted and M21 of
"Abort" bit turns Off→On. Meanwile, servo motor starts to execute the second MC_MoveAdditive
instruction to rotate. After servo motor reaches the set distance which is the total set distance of the first
and the second instruction, M30 of "Done" bit turns Off→On.
 When M3 turns OnOff, M30 of "Done" bit is reset.

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 4. Motion Control Instructions

4.4.4. MC_MoveSuperImposed

API Controller
MC_MoveSuperImposed Superimposed motion
04 10MC11T
Explanation of the Instruction:
MC_MoveSuperImposed is applied to control the terminal actuator to chase for a given distance at a given
speed, acceleration and deceleration in current motion status. When this instruction is executed, the
execution of the former instruction will not be terminated, the two instructions will be executed together, the
distance, velocity, acceleration and deceleration will enter the real-time superposition. When one of the two
instructions reaches the given velocity, the acceleration will become 0. When the execution of one instruction
is finished, the speed, acceleration and deceleration will not be superimposed any more and meanwhile, the
other instruction is still being executed independently.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The node address of servo drive UINT Constant, D
This instruction is executed when “Execute” turns from Off M,I,Q,
Execute BOOL
to On. Constant
The additive distance for terminal actuator with the unit:
Distance REAL Constant, D
Unit.
The additive speed for terminal actuator and this
Velocity REAL Constant, D
parameter is always positive.(Unit: unit/second)

Accelerati Additional acceleration of terminal actuator and this

REAL Constant, D
on parameter is always positive.(Unit: unit/second2)
Decelerati Additive deceleration of terminal actuator and this
REAL Constant, D
on parameter is always positive.(Unit: unit/second2)
When the execution of MC_MoveSuperImposed is
Done completed, "Done" turns on; when “Execute” is off, "Done" BOOL M,Q
is reset.
When this instruction execution is aborted, "Abort" turns
Abort BOOL M,Q
on; when “Execute” is off, "Abort" is reset.
When the instruction execution is aborted, "Busy" turns on;
Busy BOOL M,Q
when “Done” is on or “Execute” is off, “Busy” is reset.
If any error is detected, "Error" turns on; when “Execute” is
Error BOOL M,Q
off, "Error" is reset.

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4. Motion Control Instructions

Parameter Data Available

Explanation
name type device
ErrorID Error code. Please refer to section 5.3. UINT D

Notes:
1. When MC_MoveSuperImposed instruction is being executed, the rising edge occurs at “Execute”,
which has no impact on the execution of the instruction.
2. MC_MoveSuperImposed instruction can be executed for the slave axis specified in MC_GearIn
excluding the slave axis specified in MC_CamIn, APF_RotaryCut_In, APF_FlyingShear as well as
the axis specified in DMC_NC and DNC_Group.
3. You can refer to program example 3 on how to execute MC_MoveSuperImposed for the master or
slave axis specified in MC_CamIn, APF_RotaryCut_In and APF_FlyingShear so as to modify the
position while not affecting other axis motion.
4. When the velocity, acceleration and deceleration of the instruction are read and written via human
machine interface, their value types must be set as Double Word (Floating).

 Program Example 1

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 4. Motion Control Instructions

Motion diagram as below:

 When M2 turns Off→On, motion controller controls servo motor to rotate with current position as
reference point. After servo motor completes the target distance, M20 of "Done" bit turns Off→On.
 When M2 turns OnOff, M20 of "Done" bit is reset.
 Servo motor completes the set distance, M2 turns Off→On again, motion controller sends command to
control servo motor rotation, after servo motor completes the set distance, M20 of "Done" bit turns
Off→On once again.

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4. Motion Control Instructions

 Program Example 2

Two MC_MoveSuperImposed instructions in the same task list are matched in use as follows.

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 4. Motion Control Instructions

Motion diagram as below:

 When M2 turns Off→On, M22 of "Busy" turns Off→On and motion controller controls servo motor to
rotate with current position as reference point. When M3 turns Off→On, M32 of "Busy" turns Off→On;
the second MC_MoveSuperImposed instruction starts to be executed and the speed and acceleration of
servo motor enter the superposition state respectively. When the position of the second
MC_MoveSuperImposed instruction is completed, M30 of "Done" bit turns Off→On and M32 of "Busy"
turns On→Off. When the position of the first MC_MoveSuperImposed instruction is completed, M20 of
"Done" bit turns Off→On and M22 of "Busy" turns On→Off. The final distance is the addition of given
distances for the two instructions.
 When M2 turns OnOff, M20 of "Done" bit is reset. When M3 turns OnOff, M30 of "Done" bit is
reset.

 Program Example 3
 Make a conversion as the following figure shows by adding a virtual axis if the master axis specified in
MC_CamIn, APF_RotaryCut_In and APF_FlyingShear need modify the position through the execution
of MC_MoveSuperImposed while the slave axis motion is not affected. After the conversion is made,
MC_MoveSuperImposed execution for the original master axis does not affect the slave axis motion.

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4. Motion Control Instructions

Gear mast er axis （Vir t ual axis ）

C am ma ster axis
Cam ma ster axis （V ir tual axi s）
（Re al a xi s）

Axis 1
Au is 2

ar

E-
ge

ca
E - cam

E-

m
1
1：
A uis 3
Auis 2 A uis 3
Cam s lave axis
MC_Mls eSr merImmls ea Ge ar slave axis Cam slave axis
（Real axis ）
（Real axis ） （Real axis ）

 Make a conversion as the following figure shows by adding a virtual axis when the slave axis specified in
MC_CamIn, APF_RotaryCut_In and APF_FlyingShear need modify the position through the execution
of MC_MoveSuperImposed

C am mas ter axis

（Real axis ）
Cam mast er axis
Ax is 2
（Real axis ）

Ax is 2
E - cam

Cam slave axis （vir txal axis ）

E - ca m Ax is 3
Gear mas ter axis （vir txal axis ）

4:4 e-ge ar
Ax is 4

Cam slave axis Axis 4 MC_Mls eSr merImml sea

（Real axis ）
Ge ar slave axis
（r eal axis ）

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 4. Motion Control Instructions

 After DVP10MC11T makes the connection with all axes, axis 2 and axis 4 are enabled and virtual axis 3
is built.
 The e-cam relationship is established between the real axis 2 and virtual axis 3 as M2 changes from
OFF to ON. And the e-gear relationship between axis 3 and axis 4 is established with the gear rate of
1:1 as M3 changes from OFF to ON.
 The position of axis 4 is modified via MC_MoveSuperImposed as M4 changes from OFF to ON.

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4. Motion Control Instructions

4.4.5. MC_MoveVelocity

API Controller
MC_ MoveVelocity Velocity instruction
05 10MC11T
Explanation of the Instruction:
MC_MoveVelocity is applied to control the terminal actuator to move at the given acceleration and
deceleration and finally it moves at the constant speed when reaching the given velocity. The execution of
this instruction is completed after the speed of terminal actuator reaches the given speed but terminal
actuator will still keep moving at this speed.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device

Axis The node address of servo drive UINT Constant, D

This instruction is executed when “Execute” turns Off -> M,I,Q,

Execute BOOL
On. Constant
The running speed of terminal actuator and it is always
Velocity REAL Constant, D
positive.(Unit: unit/second)
Acceleration of terminal actuator and this parameter is
Acceleration REAL Constant, D
always positive.(Unit: unit/second2)
Deceleration of terminal actuator and this parameter is
Deceleration REAL Constant, D
always positive.(Unit: unit/second2)
Direction for servo motor rotation
1: positive direction;
Direction -1: negative direction; INT Constant, D
2: keeps the current direction (The current rotation
direction is positive when the motor stops.)
“Invelocity” bit is on when servo motor reaches the target
Invelocity position; “Invelocity” bit is reset when “Execute” turns On BOOL M,Q
 Off.
When the execution of this instruction is interrupted before
it reaches the target speed, "Abort" turns on;
when “Execute” turns off, “Abort” is reset;
Abort BOOL M,Q
when other instruction is executed after the velocity of this
instruction reaches the given velocity, “Abort” of this
instruction will not turn on.
Error If any error is detected, "Error" turns on; when “Execution” BOOL M,Q

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 4. Motion Control Instructions

Parameter Data Available

Explanation
name type device
turns from on to off, "Error" is reset.
ErrorID Error code. Please refer to selection 5.3. UINT D

Notes:
1. When MC-MoveVelocity instruction is being executed, “Execute”: rising edge occurs, which does not
impact the execution of the instruction.
2. When the velocity, acceleration and deceleration of the instruction are read via human machine
interface, their value types must be set as Double Word （Floating).

 Program Example 1

Motion diagram as below:

 When M2 turns Off→On, motion controller controls servo motor rotation; when servo motor reaches
target velocity, M20 of "Invelocity" turns Off→On.
 M20 of "Invelocity" is reset when M2 turns On→Off.

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4. Motion Control Instructions

 Program Example 2

Two MC_MoveVelocity instructions in the same task list are matched for use as follows.

Motion diagram as below:

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 4. Motion Control Instructions

 Motion controller controls servo motor rotation as M2 turns Off→On; M3 turns Off→On when servo
motor has not reached target speed; M21 of "Abort" of the first instruction turns Off→On and servo
motor accelerates to the speed of the second MC_MoveVelocity instruction to run; M30 of "Invelocity"
turns Off→On after servo motor is up to the target speed.
 M30 of "Invelocity" turns On→Off when M3 turns On→Off.

4.4.6. MC_Stop

API Controller
MC_Stop Stop instruction
06 10MC11T
Explanation of the Instruction:
MC_Stop controls the terminal actuator to decrease its speed at the given acceleration till it stops moving.
During execution of this instruction, an error will occur in them if other motion instructions are executed. The
instruction MC_Stop which is being executed will be aborted if another MC_Stop instruction with the same
axis number is executed.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The node address of servo drive UINT Constant, D
This instruction is executed when “Execute” turns Off –> M,I,Q,
Execute BOOL
On. Constant
Deceleration of terminal actuator and this parameter is
Deceleration REAL Constant, D
always positive. (Unit: unit/second2)
“Done” turns on as speed is decelerated to 0; “Done” bit is
Done BOOL M,Q
reset as “Execute” turns off.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns off, "Error" is reset.
ErrorID Error code. Please refer to table 5.3. UINT D
Notes:
1. When MC_Stop instruction is being executed, “Execute”: rising edge occurs, which does not impact the
execution of the instruction.
2. MC_Stop instruction can be executed for the slave axis specified by MC_ GearIn, MC_ CamIn and
APF_RotaryCut_In. The multi-axis relations are disabled when MC_Stop is exectuted. MC_Stop
instruction can not be executed for the slave axis specified by APF_FlyingShear, DMC_NC and
DNC_Group.
3. When the velocity, acceleration and deceleration of the instruction are read via human machine
interface, their value types must be set as Double Words (Floating).

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4. Motion Control Instructions

 Program Example 1

Motion diagram as below:

 When M0 turns Off→On, motion controller controls servo motor to decelerate; after servo motor
speed reaches 0, M10 of "Done" turns Off→On.
 M10 of "Done" is reset when M0 turns On→Off.

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 4. Motion Control Instructions

 Program Example 2

MC_MoveVelocity and MC_Stop in the same task list are matched for use as follows.

Motion diagram as below:

 When M2 turns Off→On, motor starts to rotate. When its rotation speed reaches the specified speed of
MC_MoveVelocity instruction, M20 turns Off→On. When M3 turns Off→On, MC_Stop starts being
executed. M30 of "Done" turns Off→On as the speed is decreased to 0.
 M30 of "Done" is reset as M3 turns On→Off.

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4. Motion Control Instructions

4.4.7. MC_PassiveHome

API Controller
MC_PassiveHome Homing instruction
07 10MC11T
Explanation of the Instruction:
MC_PassiveHome controls the servo motor to perform the homing action in mode and at the velocity that
axis parameter gives. The homing mode and velocity are set in the interface of axis parameters setting.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The node address of servo drive UINT Constant, D
This instruction is executed when “Execute” turns Off –> M,I,Q,
Execute BOOL
On. Constant
Servo home position offset, unit: Pulse. The setting value
and the actual home offset value are opposite. For
Position REAL Constant, D
example, if the actual home position offset is 50, Position
should be set to -50.
Deceleration of servo drive and this parameter is always
Deceleration REAL Constant, D
positive.(Unit: Pulse/second2)
“Done” turns on after homing is over; “Done” bit is reset
Done BOOL M,Q
as “Execute” turns off.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns off, "Error" is reset.
ErrorID Error code. See section 5.3. UINT D

Notes:
1. MC_PassiveHome is a special instruction and the servo inputs may need to connect home signals
and limit signals according to the homing mode selected.
2. While MC_PassiveHome instruction is being executed, “Execute”: rising edge occurs, which does not
impact the execution of the instruction.
3. When the deceleration of the instruction is read via human machine interface, its value type must be
set as Double Word (Floating).
4. Position parameter defines the offset between the mechanical zero point and servo zero point as the
figure below:

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 4. Motion Control Instructions

Mechanical
zero point, For different Position value, the servo will eventually stop at the mechanical
point A under the control of this instruction. But the reference zero point of the
A where the servo position makes the change as shown below.
photoelectric
sensor is.

The position
is where the
servo is after
the execution
of this As Position=10000, the reference zero point of the servo position is point B
instruction is and point A position is -10000;
As Position=15000, the reference zero point of the servo position is point C
finished. and point A position is -15000;
As Position= -10000, the reference zero point of the servo position is point D
and point A position is 10000.

 Example

Select an appropriate homing mode via the positions of the mechanism and photoelectric switch. When M1
turns off -> on, the motion controller controls the servo motor to rotate and drive the mechanism to return to
the mechanical zero point position A.
1) Hardware wiring

ASD-CNSCD050

CAN

ASD-BM-50A
VDD

Reverse rotation
DI7 COM+ COM-

Home switch

Home position A

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4. Motion Control Instructions

Note:
 During wiring, COM+ and VDD must be shorted.
 The brown terminal (24V+) of photoelectric switch is connected to COM+ its blue terminal (0V) is
connected to COM- and its black terminal ( Signal cable) is connected to DI7
 The DI7 function is set to the home switch, i.e. P2-16 is set to 124

2) Homing mode selection

It can be seen from the hardware wiring figure that the mechanism regards the home switch positon as
the mechanical zero point position A. The home switch is in low bit before finding the home; During the
mechanism is looking for the home, the servo rotates reversely at beginning and select homing mode 21
to achieve the homing.
The settings for homing in the correspoinding axis parameters are as follows.

Homing mode 21
The first-phase speed (To find the speed of home switch, Unit: r/m) 100
The second-phase speed (The speed to reach the mechanical zero
10
point after finding the home switch, Unit:r/m)
Note: The set axis parameters are valid after being downloaded.

3) Program control

 When M1 turns off -> on, the motion controller controls the servo motor to rotate and drive the
mechanism to return to the mechanical zero point position A.
 When meeting the home switch, the homing is finished and M11 is on.

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 4. Motion Control Instructions

4.4.8. MC_Power

API Controller
MC_Power Power control instruction
08 10MC11T
Explanation of the Instruction:
MC_Power is applied to enable or disable the corresponding servo axis.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Constant,
Axis The node address of servo drive UINT
D
M,I,Q,
Enable “Enable” turns Off –> On, this instruction is executed BOOL
Constant
When “AxisStart” turns on, “Enable” turns Off –> On and servo
drive is enabled;
AxisStart BOOL M,I,Q,
When “AxisStart” turns off , “Enable” turns Off –> On and servo
Constant
drive is disabled
“Status” turns on after axis is enabled; if “Enable” is off,
Status BOOL M,Q
“Status” is reset.
If any error is detected, "Error" turns on; when “Enable” turns
Error BOOL M,Q
On –> Off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

Notes:
1. The axis can not be powered off or powered on as servo motor is running. At this moment, if "Power
Off/On" action is performed, "Error" will turn on, but servo drive will not be impacted at all.
2. The motion control instructions can control the axis to do the corresponding motion after servo axis is
powered on. Except for the virtual axis, all motion control instructions can not be executed when axis
is powered off.

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4. Motion Control Instructions

4.4.9. MC_Reset

API Controller
MC_Reset Reset instruction
09 10MC11T
Explanation of the Instruction:
MC_Reset is applied to clear the axis error state in 10MC and the axis alarm information. When virtual axis or
axis configured in 10MC enters the state of ErrorStop which could be found via MC_ReadStatus, MC_Reset
just can be executed. Otherwise, the error will be alarmed by executing the instruction.
When axis alarms, offline or state machine switching problem happen, axis enters the state of ErrorStop and
the motion instructions being executed will stop being executed. When axis alarms, executing the instruction
could clear the alarm information of axis. After the execution of the instruction is finished, the axis status
enters the state of Disable. For axis status explanation, see section 4.2.
When D6532=1, the alarm axis enters the state of ErrorStop in 10MC after axis alarms (excluding the alarm
for meeting the limit in process of homing). After the instruction is executed, the axis alarm can be eliminated
if “Done” is on; If “Error” bit is on, the axis alarm can not be eliminated and check if the factor causing the
alarm still exists.
When D6532=0, the alarm axis will not enter the state of ErrorStop in 10MC after axis alarms and the axis
alarm information can not be cleared via the instruction.
After axis is enabled, the axis which is offline will enter the state of ErrorStop in 10MC. And 10MC will try to
make connection with the offline axis again. After the connection is made between 10MC and the offline axis
again, the instruction is executed successfully and then10MC could control the offline axis again.
When axis has not been enabled, there is no state change for the axis which is offline in 10MC. After the
connection is made between 10MC and the offline axis again, the motion instruction can be used for
controlling the axis without execution of the instruction.

Explanation of input and output parameter of the instruction:

Parameter Data Available

Explanation
name type device
Axis The node address of servo drive UINT Constant, D
This instruction is executed when “Execute” turns Off –> M,I,Q,
Execute BOOL
On. Constant
“Status” turns on after axis state in the controller is reset to
Status StandStill state; BOOL M,Q
“Execute” turns on -> off, “Status” is reset.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns on -> off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

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 4. Motion Control Instructions

 Exmaple

When M0 is on, MC_ReadStatus will detect the state of the axis of number 1. When the axis of number 1
enters the state of ErrorStop due to offline or alarm, the ErrorStop bit of MC_ReadStatus is on and MC_Reset
instruction is executed.

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4. Motion Control Instructions

4.4.10. MC_ReadStatus

API Controller
MC_ReadStatus Read axis status
10 10MC11T
Explanation of the Instruction:
MC_ReadStatus is applied to read the servo axis state in the controller. For the details on the axis state,
please refer to section 4.2.

Explanation of input and output parameter of the instruction:

Parameter Data Available

Explanation
name type device
Axis The node address of servo drive UINT Constant, D
M,I,Q,
Enable This instruction is executed when “Enable” turns on. BOOL
Constant
When status reading is completed, "Done" turns on; when
Done BOOL M,Q
“Enable” turns on -> off, "Done" is reset.
If any error is detected, "Error" turns on; when "Enable" turns
Error BOOL M,Q
on -> off, "Error" is reset.

ErrorID Error code. Please refer to section 5.3. UINT M,Q

“ErrorStop” turns on as axis in abnormal stop status;

ErrorStop BOOL M,Q
“ErrorStop” is reset as “Enable” turns on -> off.

“Stopping” turns on as axis is in normal stop status;”

Stopping BOOL M,Q
Stopping” is reset as “Enable” turns on -> off.

“StandStill” turns on as axis is in standstill status; “StandStill”

StandStil BOOL M,Q
is reset as “Enable” turns on -> off.

DiscreteMo “DiscreteMotion” bit is on as axis is in discrete motion status;

BOOL M,Q
tion “DiscreteMotion” is reset as “Enable” turns on -> off.

Continous “ContinousMotion” bit is on as axis is in continuous motion

BOOL M,Q
Motion status; “ContinousMotion” is reset as “Enable” turns on -> off.

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 4. Motion Control Instructions

Parameter Data Available

Explanation
name type device

“SynchronizeMotion” is on as axis is in synchronous motion

Synchroniz
status; “SynchronizeMotion” is reset as “Enable” turns on -> BOOL M,Q
eMotion
off.

“Homing” bit turns on as axis is in homing status; “Homing” is

Homing BOOL M,Q
reset as “Enable” turns on -> off.

Notes:
1. After the execution of this instruction is finished, the servo drive axis state will be reflected on the
corresponding bit device.
2. This instruction triggered by high level will read the axis state constantly when “Enable” is on.

4.4.11. MC_ReadActualPosition

API Controller
MC_ReadActualPosition Read actual position
11 10MC11T
Explanation of the Instruction:
MC_ReadActualPosition is applied to read the actual position of the terminal actuator. This instruction
triggered by high level will read the actual position of the terminal actuator constantly when “Enable” is on.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The node address of servo drive UINT Constant, D
M,I,Q,
Enable This instruction is executed as “Enable” turns on. BOOL
Constant
When actual position reading is completed, ""Done" turns on;
Done BOOL M,Q
when “Enable” turns on -> off, "Done" is reset.
I If any error is detected, "Error" turns on; when "Enable"
Error BOOL M,Q
turns on -> off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D
The actual position of the terminal actuator.
Position REAL D
(Unit: unit)

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4. Motion Control Instructions

4.4.12. MC_ReadAxisError

API Controller
MC_ReadAxisError Read axis error
12 10MC11T
Explanation of the instruction:
MC_ReadAxisError is applied to read the error information of the servo axis such as the alarm of an error or
the state if servo axis is offline or not and so on, which are displayed on the panel of the servo drive. This
instruction triggered by high level will read the axis error information when “Enable” is on.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Constant,
Axis The node address of servo drive UINT
D
M,I,Q,
Enable This instruction is executed when “Enable” turns on. BOOL
Constant
After axis error reading is completed, "Done" turns on; when
Done BOOL M,Q
“Enable” is off, "Done" is reset.
If any error is detected, "Error" turns on; when "Enable" turns
Error BOOL M,Q
off, "Error" is reset.
1. When “Done” is on, “Error ID” is 1xxx（hex）which indicates
the alarming of servo drive and xxx is the alarm code of servo
drive. Eg. If alarm code of servo drive is AL303, “Error ID” is
1303(hex).
2. When “Done” is on, “Error ID” is 2000（hex）which indicates
ErrorID servo drive is offline maybe because there is a problem on the UINT D
bus connection between 10MC and servo drive or the
interference in the field is two strong.
3. When “Error” is on, Error ID value indicates the error cause
for execution of the instruction. (For the explanation of ErrorID
values, see section 5.3.)

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 4. Motion Control Instructions

4.4.13. DMC_ReadParameter

API Controller
DMC_ReadParameter Read parameters
13 10MC11T
Explanation of the Instruction:
DMC_ReadParameter is applied to read the parameter value of the servo axis. User could specify the index
and sub-index of the parameter desired to be read.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The node address of servo drive UINT Constant, D
This instruction is executed when” Execute” turns Off –> M,I,Q,
Execute BOOL
On. Constant
Index To read the index of the parameter UINT Constant, D
Sub-Index To to read the sub-index of the parameter UINT Constant, D
When reading the parameter content is finished,
Done "Done" turns on; when “execute” turn on -> off, "Done" is BOOL M,Q
reset.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns on -> off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D
To read the data type of the parameter.
1: Byte
Data Type UINT D
2: word
4: Double Word.
Value The already read parameter value UDINT D
Notes:
1. The data type of D device is identical to that of the read parameter when “Value” uses D device and
the touch panel is used to monitor the parameter value.
2. How to get the corresponding index and subindex of a servo parameter:
Click “Parameter Edit” on the pull-down menu and find out the corresponding index and subindex of
the parameter as illustrated in the following figure. As figure 1 shows, the servo parameter P6-10
corresponds to subindex 260a (hex) and subindex 0, which are both hexadecimal values. You can
directly enter 9738 or 260AH in the CANopen Builder software. And the software will automatically
convert 260A into 9738 if you enter 260AH as figure 2 displays.

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4. Motion Control Instructions

Figure 1

Figure 2

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 4. Motion Control Instructions

4.4.14. DMC_WriteParameter

API Controller
DMC_WriteParameter Write parameters
14 10MC11T
Explanation of the Instruction:
DMC_WriteParameter is applied to set the parameter value of the servo axis. User could specify the index
and sub-index of the parameter to be set.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The node address of servo drive UINT Constant, D
M,I,Q,
Execute This instruction is executed when “Execute” turns off -> on. BOOL
Constant
Index To write the index of the parameter UINT Constant, D
Sub-Index To write sub-index of the parameter UINT Constant, D
To write the data type of the parameter.
1: Byte
Data Type UINT D
2 : word
4 : double word
Value The written parameter value UDINT D
When writing the parameter value is finished, "Done" turns
Done BOOL M,Q
on; when “Execute” turns on to off, "Done" is reset.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns on -> off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D
Notes:
1. "Data Type" must be the data type of the written parameter. If the filled value is incorrect, the
instruction will be alarmed that the error occurs with the error ID. The data type of D device is identical
to that of the written parameter when "Value" is D device and touch screen is used to input data.
2. For the calculation method of the index and sub-index, please refer to section 4.4.13

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4. Motion Control Instructions

4.4.15. DMC_SetTorque

API Controller
DMC_SetTorque Set torque
15 10MC11T
Explanation of the Instruction:
DMC_SetTorque is applied to set the torque of the servo axis. When this instruction is executed, the servo
axis works in mode of torque.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The node address of servo drive UINT Constant, D
M,I,Q,
Enable This instruction is executed when “Enable” is on. BOOL
Constant
For setting the size of the torque needed; the torque size is
denoted with the permillage, e.g. the setting is 30, so the set
TargetTorque torque is 30‰ the rated torque. When “Enable” is on, the INT Constant, D
torque size wil directly be changed following the changing
“TargetTorque”.
“InTorque” turns on as “Enable” is on;
InTorque BOOL M,Q
“InTorque” is reset as “Enable” is off
If any error is detected, "Error" turns on; when "Enable"
Error BOOL M,Q
turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT Constant, D

Notes:
1. When the input value of "TargetTorque" is positive, the servo will move forward; when "TargetTorque"
is negative, the servo will move reversely.
2. As “Enable” is on, this instruction remains in the effective status. The torque size will directly be
changed following the changing “TargetTorque”. This instruction can not be aborted by other
instructions including “Stop” instruction. When this instruction is reset, the execution of it will be
terminated and then other instruction can start to be executed.

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 4. Motion Control Instructions

 Program Example

M1

D0

M11

 When M1 of "Enable" is on, the instruction is in execution status and M11 is on. Torque size will
changed accordingly if D0 value is changed.
 When M1 of " Enable" is off, the instruction stops being executed and M11 is reset

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4. Motion Control Instructions

4.4.16. DMC_ChangeMechanismGearRatio

API Revise mechanism Applicable Model

DMC_ChangeMechanismGearRatio
16 parameter 10MC11T
Explanation of the Instruction:
The instruction is applied to change the terminal actuator parameters. User could change the parameters into
new ones same as the actual mechanism parameters via the instruction. After the instruction is enabled, the
modified parameter values are effective as DVP10MC11T is re-powered on. All axes must be at a standstill
when the instruction is enabled.
Users should know about every parameter of the instruction while using the instruction. Refer to section
11.1.1.1 in the software help for more details on the parameters. In addition, to avoid any damage, user
should make sure that the servo speed will not exceed its maximum value in the execution of other motion
instructions after the instruction is enabled.

Explanation of input and output parameter of the instruction:

Data Available
Parameter name Explanation
type device
Axis Node ID of the servo drive UINT Constant, D

M,I,Q,
Enable This instruction is executed when “Enable” is ON. BOOL
Constant
To constitute the mechanism gear ratio with OutputRotation
InputRotation REAL Constant, D
together
To constitute the mechanism gear ratio with InputRotation
OutputRotation REAL Constant, D
together.
How many units the corresponding terminal actuator moves
UnitsPerRotation when the output end of the gear box rotates for one circle. REAL Constant, D
(Unit: unit/rotation)
0: Rotary axis
AxisType UINT Constant, D
1: Linear axis

The cycle used to equally divide the terminal actuator

Modulo REAL Constant, D
position.

When Active=ON and Enable=ON, input parameters of the

M,I,Q,
Active instruction as axis parameters are effective after 10MC is BOOL
Constant
re-powered on.

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 4. Motion Control Instructions

Data Available
Parameter name Explanation
type device
When Active=OFF and Enable=ON, the axis parameters
configured in the CANopen Builder software as axis
parameters are effective after 10MC is re-powered on.
"Done” is on when the instruction execution is finished;
Done BOOL M,Q,
“Done” is reset when “Enable” turns off.

If any error is detected, "Error" turns on; when "Enable"

Error BOOL M,Q,
turns off, "Error" is reset.

ErrorID Error code. Please refer to selection 5.3. UINT D

Notes:
1. After the instruction is executed, the modified parameter values are effective as DVP10MC11T is
repowered on.
2. The V1.04 or above firmware supports this function.
The input parameters of the instruction correspond to the software parameters marked in the following red
box as the table shows below.
Input parameter of the instrument Axis parameter configured in the software

InputRotation Input rotations of gear

OutputRotation Output rotations of gear

UnitsPerRotation Units per output rotation

Module Module

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4. Motion Control Instructions

 Program Example

When the electronic gear ratio of the terminal actuator is changed from 1:1 to 1:2, the instruction can be used
to revise the axis parameters as below. The instruction is executed as M10 is ON. The instruction execution
succeeds as “Done” of the instruction is ON. The instruction execution fails as “Error” of the instruction is ON.
The revised parameters of the instruction will have been effective since DVP10MC11T is re-powered after the
instruction is executed.

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 4. Motion Control Instructions

4.4.17. DMC_DisableAxis

API Applicable Model

DMC_DisableAxis Disable an axis
17 10MC11T
Explanation of the Instruction:
The instruction is applied to disable the axes configured inside DVP10MC11T.
For example, actually only 9 axes among 10 axes configured in the controller are available and the
unavailable axis left which may be damaged can be controlled as a disabled axis via this instruction. That is,
the controller has no connection with the axis specified by the instruction any more.
The instruction can be performed only when the controller does not make any connection with the axis
specified by the instruction. Otherwise, an error will occur.
For example, axis 2 among the 10 axes configured inside the controller is damaged. The motion program
can’t be performed before the instruction is performed. Make sure the controller and all configured axes have
made connection before the motion program is performed. And so the motion control program can be
performed after the instruction is performed for axis 2.
It is recommended that the instruction should be included in the logic program.

Explanation of input and output parameter of the instruction:

Available
Parameter name Explanation Data type
device

Axis Node ID of the servo drive UINT Constant, D

This instruction is executed when “Executed” M,I,Q,

Execute BOOL
changes from OFF to ON. constant
"Done” is on when the instruction execution is
finished;
Done BOOL M,Q
“Done” is reset when “Executed” changes to
OFF.

If any error is detected, "Error" turns on; when

Error BOOL M,Q
"Execute" turns off, "Error" is reset.

ErrorID Error code. Please refer to selection 5.3. UINT D

Notes:
1. After DVP10MC11T is repowered on and the instruction is re-executed, the specified axis can be
disabled.
2. The V1.04 or above firmware supports this function.

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4. Motion Control Instructions

 Program Example
It is a logic program as marked in a red box below. DMC_DisableAxis instruction is written in the logic
program. The instruction is executed when M0 changes from OFF to ON. The instruction execution succeeds
when “Done” is ON and fails when “Error” is ON. You can change M0 value into 1 and re-download the
program so that the instruction will be performed every time the controller is powered on.

Change M0 value in the above figure into 1 as follows. The instruction will be performed every time the
controller is powered on.

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 4. Motion Control Instructions

4.4.18. DMC_PositionLag

API Detect deviation between the Applicable Model

DMC_PositionLag command position and feedback
position 10MC11T

Explanation of the Instruction:

OutOfRange output of the instruction changes to ON once the absolute deviation between the command
position and feedback position has been greater than the set value of Lag during a period of time specified by
Hold Time.
OutOfRange output of the instruction changes to OFF once it is detected that the absolute deviation between
the command position and feedback position is less than or equal to the set value of Lag.
As the set value of Hold Time is 0, OutOfRange output of the instruction changes to ON once the absolute
deviation between the command position and feedback position is greater than the set value of Lag;
OutOfRange output of the instruction changes to OFF once it is detected that the absolute deviation between
the command position and feedback position is less than or equal to the set value of Lag.

Explanation of input and output parameter of the instruction:

Parameter Available
Explanation Data type
name device

Axis Node ID of the servo drive UINT Constant, D

M,I,Q,
Enable This instruction is executed when “Enable” is ON. BOOL
Constant

Specify the allowed value of the absolute deviation

between the command position and feedback position.
Lag REAL Constant, D
Unit: unit.
The parameter value should be no less than 0.

Specify the time during which the Lag value is being

exceeded
Hold Time REAL Constant, D
Unit: second. 0.001 stands for 1ms.
The parameter value is no less than 0.

OutOfRange is ON while Enable is ON and the absolute

deviation between the command position and feedback
position has been greater than Lag value during the time
OutOfRange BOOL M,Q
specified by Hold Time.
OutOfRange is OFF when it is detected that the absolute
deviation is less than Lag value.

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4. Motion Control Instructions

Parameter Available
Explanation Data type
name device

Busy is ON as Enable is ON. Busy is OFF as Enable is

Busy BOOL M,Q
OFF.

If any error is detected, "Error" turns on; as "Enable" turns

Error BOOL M,Q
off, "Error" is reset.

ErrorID Error code. Please refer to selection 5.3. UINT D

Notes:
1. As the servo is not enabled, the instruction is invalid and OutOfRange is OFF even if the deviation
between the servo command position and feedback position is greater than Lag value. The instruction
is valid only when the servo is enabled.
2. OutOfRange of the instruction can be used to trigger MC_Stop instruction and make the axis which
need be stopped stop moving.
3. The V1.06 or above firmware supports this function.

 Program Example

 The absolute deviation between the command position and feedback position is greater than Lag value,
OutOfRange is ON and MC_Stop instruction is triggered to stop axis 1 and axis 2 again by the output.

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 4. Motion Control Instructions

4.5. Multi-Axis Instruction

4.5.1. MC_CamTableSelect

API Controller
MC_CamTableSelect Select Cam table
64 10MC11T
Explanation of the Instruction:
MC_CamTableSelect is applied to choose the cam curve and meanwhile to specify the mode when master
axis establishes the relation with the slave axis.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The slave axis number UINT Constant,D
The master axis number. We suggest that the master
axis number should be less than the slave axis number
Master so that the slave axis could better follow the master UINT Constant,D
axis for motion. The axis number can be set in order of
1~24 from small to large.
CamTableSelec Corresponds to serial number of CAM in CANopen
UINT Constant,D
t Builder software. Setting range: 1~16.
This instruction is executed when “Execute” turns Off M,I,Q,
Execute BOOL
–> On. Constant
Slave axis will perform electronic CAM motion
periodically as the parameter is 1; M,I,Q,
Periodic BOOL
Slave axis will perform electronic CAM motion only for Constant
a cycle as the parameter is 0.
Master axis is in absolute mode as the parameter is 1;
Master axis is in relative mode as the parameter is 0. M,I,Q,
MasterAbsolute BOOL
(This mode is explained in the note of MC_CamIn Constant
instruction).
Slave axis is in absolute mode as the parameter is 1;
Slave axis is in relative mode as the parameter is 0. M,I,Q,
SlaveAbsolute BOOL
(This mode is explained in the note of MC_CamIn Constant
instruction)
“Done” is on as setting cam parameter is successful;
Done BOOL M,Q
“Done” is reset as “Execute” is off.

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4. Motion Control Instructions

Parameter Data Available

Explanation
name type device
If any error is detected, "Error" turns on; when
Error BOOL M,Q
"Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

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 4. Motion Control Instructions

4.5.2. MC_CamIn

API Controller
MC_CamIn Cam-in instruction
65 10MC11T
Explanation of the Instruction:
MC_CamIn is applied to establish the cam relation between master axis and slave axis. When the cam
relation is established, this instruction can be used to specify the offset value, scaling and start mode of the
master axis and slave axis according to the application demand. After the execution of this instruction is
completed, slave axis will make the motion following the master axis in accordance with the cam curve.

Explanation of input and output parameter of the instruction:

Parameter Data Available

Explanation
name type device

Axis The slave axis number UINT Constant, D

The master axis number. We suggest that the master
axis number should be less than the slave axis number
Master so that the slave axis could better follow the master axis UINT Constant, D
for motion. The axis number can be set in order of 1~24
from small to large.
This instruction is executed when “Execute” turns Off M,I,Q,
Execute BOOL
–> On. Constant

MasterOffset The cam position offset of master axis. Unit: unit. REAL Constant, D

SlaveOffset The cam position offset of slave axis. Unit: unit. REAL Constant, D

The configuration parameter of master axis scaling,

MasterScaling REAL Constant, D
which is used for scaling the cam curve. (>0)
The configuration parameter of slave axis scaling,
SlaveScaling REAL Constant, D
which is used for scaling the cam curve. (>0)
Start mode:
0: start up by jumping to the positive target position
immediately;
StartMode UINT Constant, D
1: Start up by taking the shortest way;
2: start up toward the positive direction;
3: start up toward the negative direction.

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4. Motion Control Instructions

Parameter Data Available

Explanation
name type device

Corresponds to the node address of the electronic cam

CamTableID UINT Constant, D
in CANopen Builder software. Setting range: 1~16.

“InSync” turns on after master axis and slave axis

InSync establish the cam relation; BOOL M,Q
When “Execute” turns off, InSync is reset.
If any error is detected, "Error" turns on; when
Error BOOL M,Q
"Execute" turns off, "Error" is reset.。
ErrorID Error code. Please refer to section 5.3. UINT D
If “MC_CamTableSelect“ is executed and Periodic
parameter is 0 (non-cyclic):
EndOfProfile “EndOfProfile” turns on after the execution of BOOL M,Q
MC_CamIn is finished once; “EndOfProfile” is reset as
“Execute” turns off.

Notes:
1. In a cam system, to call one cam curve, "CamTableSelect" should be called to select the
corresponding cam table first and then "CamIn" is executed; if the cam curve is to be changed into
another one, “MC_CamTableSelect” is called again to select another cam table.
2. As axis is in absolute mode, the offset parameter (Master Offset or SlaveOffset) is valid but they can
not be negative value; as axis is in relative mode, the offset parameter is invalid.
3. Electronic cam curve can be edited in CANopen Builder software and it defines the corresponding
position relation between terminal actuators of master axis and slave axis with the unit: unit.
4. The position in the cam curve of master axis or slave axis is the remainder of actual axis position of
divided by modulo; after MC_CamIn is executed, the method of calculating the meshing point in the
cam curve is shown as below.

Slave position = f [(master position + master offset)/ master scaling]* slave scaling + slave offset
Method of calculating the master position in the above formula:
When master is in absolute mode, master position is the remainder of the current position of master
axis divided by modulo;
When master is in relative mode, master position is the starting point position of master axis in the
corresponding cam curve (usually 0).
“f” in above formula represents the cam curve relation between master and slave axis. (CAM).
5. If the instruction has been executed but not finsied yet, the rising edge which occurs at Execute does
not affect the instruction execution.
6. When the rising edge occurs at Execute after the instruction execution is finished, re-execute the
instruction.

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 4. Motion Control Instructions

7. The electronic cam operation will be disabled if other motion insturctions are executed for the slave
axis of the instruction in execution of this instruction.

8. Relations between master/slave axis modes and start modes.

Master axis is absolute and slave axis is absolute
 Relation explanation when master and slave axis are in absolute mode.
In the system where master and slave axis are in absolute mode, master axis starts moving
with the physical position of current point as the starting position when CamIn is executed.
Slave axis will make the cam motion following master axis with the current physical position
corresponding to master position as the starting position, which conforms to the
corresponding cam relation.

 StartMode parameters explanation

In the following figure, master and slave axis are both static before and after meshing. Point A
is the position of master and slave axis before meshing; Point B is the meshing point; C1 is
the preplanned cam curve and C2 is the electronic cam curve for actual motion.
 Start-up mode 0: start up by jumping to the positive target position immediately. In one
synchronization cycle, slave axis jumps from current position to the target position. The
meshing time is the shortest and the vibration is the strongest in process of meshing.

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4. Motion Control Instructions

<1> When master axis is in absolute mode, master position in cam curve = ( master
position 144 + master offset 0) / master scaling 1 =144.
<2> From cam curve, slave position is 164 when master position is 144. Calculation
method: f (144) =164.
<3> When slave axis is in absolute mode, slave position= 164* slave scaling 1 + slave
offset 0 =164
<4> Because startup mode 0 is to start up by jumping to the positive target position
direction immediately, slave axis need move from current position to the position
164 in the next cycle, i.e. actual position 524 and thus the coordinate of the
meshing point B is (144, 524). When master axis moves, following master axis,
slave axis starts to move from point B according to C2 curve.

 Start-up mode 1: start up toward the shortest distance and slave axis judges whether to
mesh toward the positive or negative direction according to the distance between current
position and target position. Slave axis moves from point A to point B to mesh with
master axis at the max. speed, max acceleration and max deceleration in the axis
parameters.

<1> When master axis is in absolute mode, master position in cam curve = (master
position 144 + master offset 0) / master scaling 1 =144.
<2> From cam curve, slave position is 164 when master position is 144. Calculation
method: f (144) =164.
<3> When slave axis is in absolute mode, slave position= 164* slave scaling 1 + slave
offset 0 =164
<4> Because startup mode 1 is to start up toward the shortest distance and the
position 164 in the current cycle is the most closest to current slave position, slave
axis need move from current position to the position 164 in the current cycle, i.e.
actual position 164 and thus the coordinate of the meshing point B is (144,164).
When master axis moves, following master axis, slave axis starts to move from
point B according to C2 curve.

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 4. Motion Control Instructions

 Start-up mode 2: start up toward positive direction. Slave axis moves from point A to
point B to mesh with master axis at the max. speed, max acceleration and max
deceleration.

<1> When master axis is in absolute mode, master position in cam curve = (master
position 144 + master offset 0) / master scaling 1 =144.
<2> From cam curve, slave position is 164 when master position is 144. Calculation
method: f (144) =164.
<3> When slave axis is in absolute mode, slave position= 164* slave scaling 1 + slave
offset 0 =164
<4> Because startup mode 2 is to rotate toward the positive direction, slave axis should
move from current position to the position 164 in the next cycle, i.e. actual position
524 and thus the coordinate of the meshing point B is (144,524). When master axis
moves, following master axis, slave axis starts to move from point B according to C2
curve.

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4. Motion Control Instructions

 Start-up mode 3: start up toward negative direction. Slave axis moves from point A to
point B to mesh with master axis at the max. speed, max acceleration and max
deceleration

<1> When master axis is in absolute mode, master position in cam curve = (master
position 144 + master offset 0) / master scaling 1 =144.
<2> From cam curve, slave position is 164 when master position is 144. Calculation
method: f (144) =164.
<3> When slave axis is in absolute mode, slave position= 164* slave scaling 1 + slave
offset 0 =164
<4> Because startup mode 3 is to rotate toward the negative direction, slave axis need
move from current position to the position 164 in the current cycle, i.e. actual
position 164 and thus the coordinate of the meshing point B is (144,164). When
master axis moves, following master axis, slave axis starts to move from point B
according to C2 curve.

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 4. Motion Control Instructions

 Master axis is absolute and slave axis is relative

 Relation explanation when master axis and slave axis are in absolute and relative mode
respectively
In the system where master and slave axis are in absolute and relative mode respectively,
master axis starts moving with the physical position of current point as the starting point of the
cam when “CamIn” is executed. Slave axis will make the cam motion following master axis
with the current physical position corresponding to the master position as the starting position,
which conforms to the corresponding cam relation).

 Explanation of StartMode parameters

In the following figure, master and slave axis are both static before and after meshing. Point A
is the position of master and slave axis before meshing; Point B is the meshing point; C1 is
the preplanned electronic cam curve and C2 is the electronic cam curve for actual motion.
 Start-up mode 0 : Start up by jumping to the positive target position immediately (Point A
overlaps with point B)
 Start-up mode 1: Start up by taking the shortest distance (Point A overlaps with point B)
 Start-up mode 2 : Start up toward the positive direction (Point A overlaps with point B)
 Start-up mode 3 : Start up toward the negative direction (Point A overlaps with point B)

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4. Motion Control Instructions

<1> When master axis is in absolute mode, master position in cam curve
= (master position 144 + master offset 0) / master scaling 1 =144.
<2> From cam curve, slave position is 164 when master position is 144. Calculation
method: f (144) =164.
<3> When slave axis is in relative mode, slave position= 164* slave scaling 1 =164
<4> When slave axis is in relative mode as well as any start-up mode, its actual position
at point B is 227 and the corresponding position in the cam curve is 164. And so the
coordinate of the meshing point B is (144,227). When master axis moves, following
master axis, slave axis starts to move from point B according to C2 curve
 Master axis is relative and slave axis is absolute
 Relation explanation when master and slave axis are in relative and absolute mode
respectively.
In the system where master and slave axis are in relative and absolute mode respectively,
master axis starts moving with the physical position of current point as the starting point of the
cam system when “MC_CamIn” is executed. Slave axis will start the cam motion following
master axis from its position corresponding to the starting point of master axis in the cam
system.

 StartMode parameters explanation:

In the following figure, master and slave axis are both static before and after meshing. Point A
is the position of master and slave axis before meshing; Point B is the meshing point; C1 is
the preplanned electronic cam curve and C2 is the electronic cam curve for actual motion.
 Start-up mode 2: Start up toward the positive direction. Slave axis moves in the positive
direction from point A to point B at the max. velocity, acceleration and deceleration in axis
parameters to mesh with master axis.

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 4. Motion Control Instructions

<1> When master axis is in relative mode, master position in cam curve
= (master position 0 + master offset 0) / master scaling 1 =0.
<2> From cam curve, slave position is 0 when master position is 0. Calculation method: f
(0) =0.
<3> When slave axis is in absolute mode, slave position= 0* slave scaling 1 + slave
offset 0 =0
<4> Because startup mode 2 is to rotate toward the positive direction, slave axis need
move from current position to the position 0 in the next cycle, i.e. actual position 360
and thus the coordinate of the meshing point B is (144, 360). When master axis
moves, following master axis, slave axis starts to move from point B according to C2
curve.
 Start-up mode 3: Start up toward the negative direction. Slave axis moves in the negative
direction from point A to point B at the max. velocity, acceleration and deceleration in axis
parameters to mesh with master axis.

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4. Motion Control Instructions

<1> When master axis is in relative mode, master position in cam curve = (master
position 0 + master offset 0) / master scaling 1 =0.
<2> From cam curve, slave position is 0 when master position is 0. Calculation method: f
(0) = 0.
<3> When slave axis is in absolute mode, slave position= 0* slave scaling 1 + slave
offset 0 =0
<4> Because startup mode 3 is to rotate toward the negative direction, slave axis need
move from current position to the position 0 in the current cycle, i.e. actual position 0
and thus the coordinate of the meshing point B is (144, 0). When master axis moves,
following master axis, slave axis starts to move from point B according to C2 curve.
 Start-up mode 1: start up toward the shortest distance and slave axis judges whether to
mesh toward the positive or negative direction according to the distance between current
position and target position. Slave axis moves from point A to point B to mesh with
master axis at the max. speed, acceleration and deceleration in the axis parameters.

<1> When master axis is in relative mode, master position in cam curve = (master
position 0 + master offset 0) / master scaling 1 =0.
<2> From cam curve, slave position is 0 when master position is 0. Calculation method: f
(0) =0.
<3> When slave axis is in absolute mode, slave position= 0* slave scaling 1 + slave
offset 0 = 0
<4> Because startup mode 1 is to start up toward the shortest distance and the position 0
in the next cycle is the most closest to current slave position, slave axis need move
in negative direction from current position to the position 0 in the next cycle, i.e.
actual position 360 and thus the coordinate of the meshing point B is (144, 360).
When master axis moves, following master axis, slave axis starts to move from point
B according to C2 curve.

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 4. Motion Control Instructions

 Start-up mode 0: start up by jumping to the positive target position immediately. In one
synchronization cycle, slave axis jumps from point A to the point B to mesh with master
axis.

<1> When master axis is in relative mode, master position in cam curve
= (master position 0 + master offset 0) / master scaling 1 = 0.
<2> From cam curve, slave position is 0 when master position is 0. Calculation method:
f (0) =0.
<3> When slave axis is in absolute mode, slave position= 0* slave scaling 1 + slave
offset 0 =0
<4> Because startup mode 0 is to start up by jumping to the positive target position
immediately, slave axis need move from current position to the position 0 in the next
cycle, i.e. actual position 360 and thus the coordinate of the meshing point B is (144,
360). When master axis moves, following master axis, slave axis starts to move from
point B according to C2 curve.

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4. Motion Control Instructions

 Master axis is relative and slave axis is relative

 Relation explanation when master axis and slave axis are both in relative mode
In the system where master and slave axis are both in relative mode, master axis starts
moving with the physical position of current point as the starting point of the cam system when
“CamIn” is executed. Slave axis will start the cam motion following master axis with current
physical position as the starting point.

 StartMode parameters explanation:

In the following figure, master and slave axis are both static before and after meshing. Point A
is the position of master and slave axis before meshing; Point B is the meshing point; C1 is
the preplanned electronic cam curve and C2 is the electronic cam curve for actual motion.
 Start-up mode 2 : Start up toward the positive direction (Point A overlaps with point B)
 Start-up mode 3 : Start up toward the negative direction (Point A overlaps with point B)
 Start-up mode 1: Start up by taking the shortest distance (Point A overlaps with point B)
 Start-up mode 0 : Start up by jumping to the positive target position immediately (Point A
overlaps with point B)

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<1> When master axis is in relative mode, master position in cam curve = (master
position 0 + master offset 0) / master scaling 1 = 0.
<2> From cam curve, slave position is 0 when master position is 0. Calculation method: f
(0) = 0.
<3> When slave axis is in relative mode, slave position= 0* slave scaling 1 = 0
<4> When slave axis is in relative mode as well as any start-up mode, its actual position
at point B is 227 and the corresponding position in the cam curve is 0. And so the
coordinate of the meshing point B is (144, 227). When master axis moves, following
master axis, slave axis starts to move from point B according to C2 curve.

9. Explanation of relation between scaling and offset

The same formula reflects the relation between scaling and offset as below.

Slave position = f [(master position + master offset)/ master scaling]* slave scaling + slave offset
When the axis is in absolute mode, Master Offset or Slave Offset is valid but must not be negative
value; when the axis is in relative mode, offset parameter is invalid. The scaling parameter is not
affected by the absolute/ relative mode of master and slave axis.

 Master scaling =1, slave scaling = 1, master offset = 0, slave offset = 0

360
Slave P osition

180

60

Master Position 360

Suppose cam is planned as above figure, master and slave scaling are both 1, offsets are 0,
the cam curve will not make any change.

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4. Motion Control Instructions

 Master scaling =1, slave scaling = 2, master offset = 0, slave offset = 0

360

S lave Position

120

Master Position 360

When master scaling =1, slave scaling = 2, master offset = 0, slave offset = 0, slave position is
twice that in original cam curve.

 Master scaling =1, slave scaling = 0.5, master offset = 0, slave offset = 0
360
Slave Position

90

30

Master Position 360

When master scaling =1, slave scaling = 0.5, master offset = 0, slave offset = 0, slave position
is half of that in original cam curve.

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 4. Motion Control Instructions

 Master scaling = 2, slave scaling = 1, master offset = 0, slave offset = 0

360
Slave Position

180

60

360 720
Master Position

When master scaling = 2, slave scaling = 1, master offset = 0, slave offset = 0, the cam curve
cycle is twice the original one and master axis takes 720°（360°*2）as the corresponding
current cycle.

 Master scaling = 0.5, slave scaling = 1, master offset = 0, slave offset = 0

360
S lave Position

180

60

180 360
Master Position

When master scaling = 0.5, slave scaling = 1, master offset = 0, slave offset = 0, the cam curve
cycle is half of the original one and master axis takes180°（360°/2）as the corresponding
current cycle.

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4. Motion Control Instructions

 Master scaling =1, slave scaling = 1, master offset = 0, slave offset = 40

360

Slave Position

220

100

60 100-60=40

Master Position 360

When master scaling = 1, slave scaling = 1, master offset = 0, slave offset = 40, slave position
is that in the original cam curve plus 40°

 Master scaling =1, slave scaling = 1, master offset = 200, slave offset = 0
360
Slave Position

200

180

60

360
Master Position

When master scaling = 1, slave scaling = 1, master offset = 200, slave offset = 0, slave
position shifts 200 corresponding to the master position. When master position is 0, slave
position is the 180 corresponding to the master position 200 in the original cam curve.

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 Electronic cam example

The electronic cam curve parameters have impact on the actual cam curve. The following are
explained in detail.
 The preplanned cam curve:

Conditions:
Parameter name Value& explanation
Modulo for master and slave axis 360
Scaling for master and slave axis 2
Master offset 30
Slave offset 30
Master axis: absolute/ relative Absolute
Slave axis: absolute/relative Absolute
Cycle/non-cycle Cycle
Start-up mode Jump to the positive target position

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4. Motion Control Instructions

 Calculation of the coordinate of the key point in the corresponding cam curve
Current position (30, 180), module is 360 and thus the point corresponding to the cam curve is
(30, 180), i.e. point A in the figure. The corresponding point position in cam curve can be
calculated via the following formula.
Slave position = f [(master position + master offset) / master scaling] * slave scaling + slave
offset
 Calculation of slave position:
Master position in the cam curve = (master position 30 + master offset 30) / master scaling 2 =
30
From cam curve, slave position is 30 when master position is 30. Calculation method: f (30) =
30.
Slave position= 30* slave scaling 2 + slave offset 30 =90
Therefore, the coordinate of the first point is (30, 90), i.e. point B in the figure after “MC_CamIn”
is executed.
While master axis is moving, slave axis will cyclically follow master axis to move according to
the cam curve with pint B as the starting point.
 Actual master and slave position corresponding to the terminal point of cam curve
Actual master position:
From step 2, master position need move 330 from position 30 to complete one cam cycle. Since
master scaling is 2, actually master axis need move another 660 from current position, i.e.
30+660=690.
Actual slave position:
From step 2, f (30) =30, therefore slave axis need move 330 so as to reach max. value. Since
slave scaling is 2, actually slave axis need move another 660 from current position before
reaching the max. value, i.e. 90+660=750.
Since slave scaling is 2, the difference between max. and min. of actual slave position is
360*2=720 and the actual slave position corresponding to terminal point of cam curve is
750-720=30. Therefore, the axis position corresponding to terminal point is (690, 30).
 Curve figure for actual motion:
Slave
Position

7 50

A
1 80
90
B
30
0 30 3 30 6 90 1 05 0 1 41 0 Master
Position

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 4. Motion Control Instructions

 When master and slave axis are in relative mode, the position curve figure for the actual motion
is displayed below:
Slave
Position
9 00

A
1 80

0 30 3 90 7 50 1110 1 47 0 Master
Position
 Derivation process of the coordinates of the key point is shown below:
 Current master position is 30; when master axis is in relative mode, master position
corresponding to cam curve is 0 and any offset is invalid.
 Master position in cam curve = ( master position 0 + master offset 0)/ master scaling 2 = 0
 It can be seen from cam curve that slave position is 0 when master position is 0. Calculation
method: f (0) =0.
 Slave position = 0* slave scaling 2 + slave offset 0 = 0. Therefore, after “MC_CamIn” is
executed, the coordinate of the first point is current point (30,180) which corresponds to the
point (0, 0) in the cam curve.
 Actual master and slave position corresponding the terminal point of cam curve
 Actual master position:
It can be seen from cam curve that master axis need move 360 from point (0, 0) to complete
one cam cycle. Since master scaling is 2, actually master axis need move another 720 from
current position to complete one cycle, i.e. 30+720=750.
 Actual slave position:
It can be seen from cam curve that slave axis need move 360 to reach the max. value starting
from point (0, 0). Since slave scaling is 2, actually slave axis need move another 720 from
current position so as to reach the max. value, i.e. 180+720=900.
The actual slave position corresponding to the terminal point of cam curve is 900-720=180 and
so the axis position corresponding to terminal point is (750,180).

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4. Motion Control Instructions

4.5.3. MC_CamOut

API Controller
MC_CamOut Cam-out instruction
66 10MC11T
Explanation of the instruction:
This instruction is applied to disconnect the cam relation between master and slave axis. After the cam
relation is disconnected, slave will keep moving at the speed when the cam relation is disconnected.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The slave axis number UINT Constant, D
M,I,Q,
Execute This instruction is executed when “Execute” Off –> On. BOOL
Constant
"Done" is on as executing "MC_CamOut" is finished;
Done BOOL M,Q
"Done" is reset as “Execute” is off.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D
Notes:
1. In E-Cam system, slave axis will keep running at the speed of the departure point if it succeeds
in escaping from cam relation via MC_CamOut instruction.
2. After two axes establish the electronic cam relationship, MC_Stop instruction can end the electronic
cam operation of the slave axis and the slave axis will stop moving once execution of MC_Stop
instruction is finished.
3. The sequence for execution of the instructions related with electronic cam:

MC_Power

MC_CamTableSelect E-Cam table selection

R esta rt E -C am

MC_CanIn Start E-Cam

MC_CamOut Exit from E-Cam

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 4. Motion Control Instructions

 Program Example
The following example describes the corresponding motion state when and after cam relation is established
or when cam relation is disconnected via CAM-related instructions.

When CamTableID is 2, the corresponding curve is planned as below:

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4. Motion Control Instructions

Motion curve:

Suppose the current physical positions of axis 2 and axis 1 are 0 and 90 respectively, i.e. point A below and
the two axes have been enabled. The motion curve is shown below after the cam function is performed.

 As M1 turns Off ->On, “CamTableSelect” is executed. M17 is on after the execution of

“CamTableSelect“ is finished.
 As M2 turns Off ->On, “CamIn” is executed. According to cam meshing method, we can see that slave
axis will jump from point A to point B immediately and meanwhile, M19 is on.
 As M3 turns Off ->On, master axis executes the velocity instruction and slave axis will start the motion
following master axis according to cam curve.
 As M4 turns Off ->On, “CamOut” is executed and the master-slave relation is disconnected; Slave axis
will move at the speed when master-slave relation is disconnected.
 As M5 turns Off ->On and M24 is on, slave axis stops moving and master axis moves at a constant
speed.

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 4. Motion Control Instructions

4.5.4. DMC_CamSet

API Controller
MC_CamSet Set cam
67 10MC11T
Explanation of the instruction:
The instruction is applied to modify the relevant parameters of the cam.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
“DMC_CamSet” instruction is executed as “Execute” turns M,I,Q,
Execute BOOL
Off –> On. Constant
The corresponding CAM (electronic CAM table) serial no.
CamTableID UINT Constant, D
in CANopen Builder software. Range: 1~16.
When “ActiveNewCam” is on and “Execute” is on the rising M,I,Q,
ActiveNewCam BOOL
edge, the revised cam curve is activated. Constant
Reserve —— —— ——
Done “Done” is set on after cam parameter setting is completed. BOOL M,Q
“Error” is set on if any error is detected; if “Execute” goes
Error BOOL M,Q
off from on, “Error” is reset.
ErrorID Error codes. Please refer to section 5.3. UINT D

Notes:
1. DVP10MC11T provides 2048 electronic cam key points and the parameter of every key point is set
via 4 registers. The key point register is used to modify electronic cam curve dynamically and its
register value can be revised through communication and program.

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4. Motion Control Instructions

The register number of the key point and the corresponding communication address are shown below.

Key Master axis position Slave axis position Velocity Acceleration

point MODBUS MODBUS MODBUS MODBUS
serial D register D register D register D register
address address address address
no. no. no no. no.
(hex) (hex) (hex) (hex)
D28672 2000 D32768 3000 D36864 4000 D40960 5000
1
D28673 2001 D32769 3001 D36865 4001 D40961 5001
D28674 2002 D32770 3002 D36866 4002 D40962 5002
2
D28675 2003 D32771 3003 D36867 4003 D40963 5003
D28676 2004 D32772 3004 D36868 4004 D40964 5004
3
D28677 2005 D32773 3005 D36869 4005 D40965 5005
D28678 2006 D32774 3006 D36870 4006 D40966 5006
4
D28679 2007 D32775 3007 D36871 4007 D40967 5007
D28680 2008 D32776 3008 D36872 4008 D40968 5008
5
D28681 2009 D32777 3009 D36873 4009 D40969 5009
D28682 200A D32778 300A D36874 400A D40970 500A
6
D28683 200B D32779 300B D36875 400B D40971 500B
D28684 200C D32780 300C D36876 400C D40972 500C
7
D28685 200D D32781 300D D36877 400D D40973 500D
D28686 200E D32782 300E D36878 400E D40974 500E
8
D28687 200F D32783 300F D36879 400F D40975 500F
D28688 2010 D32784 3010 D36880 4010 D40976 5010
9
D28689 2011 D32785 3011 D36881 4011 D40977 5011
D28690 2012 D32786 3012 D36882 4012 D40978 5012
10
D28691 2013 D32787 3013 D36883 4013 D40979 5013
D28692 2014 D32788 3014 D36884 4014 D40980 5014
11
D28693 2015 D32789 3015 D36885 4015 D40981 5015
D28694 2016 D32790 3016 D36886 4016 D40982 5016
12
D28695 2017 D32791 3017 D36887 4017 D40983 5017
… … … … … … … …
… … … … … … … … …
2047 D32764 2FFC D36860 3FFC D40956 4FFC D45052 5FFC
D32765 2FFD D36861 3FFD D40957 4FFD D45053 5FFD
2048 D32766 2FFE D36862 3FFE D40958 4FFE D45054 5FFE
D32767 2FFF D36863 3FFF D40959 4FFF D45055 5FFF

Note: The data type of the key point register is 32-bit floating number. To change the master axis position of
the key point serial no 2048, write the master axis position into D32766.

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 4. Motion Control Instructions

The key point number and its corresponding communication address can also be checked in the following
CANopen Builder software.

2. Suppose two cam curves are built in CANopoen Builder. There are 3 points for the first cam curve, 5
points for the second cam curve, and so there are totally 8 key points for the electronic cam curve
(the sum of the key points for the first cam curve plus the key points for the second cam curve). The
register parameter with serial no. 4 is the first point parameter of the second cam curve, for other
register parameters, the corresponding point of the second curve can be presumed in the same way
3. The revised key point parameter of electronic cam is effective immediately if “MC_ CamSet” is
executed first and then “MC_CamIn” is executed. Otherwise, The revised key point parameter of
electronic cam is ineffective till the old cam curve cycle is over

C1’
540

C1
360

180 360 180 360

Curve 1 is changed into curve 1´ as above in process of running.

From curve 1, you can see three key points of e- cam with the serial no 1, 2, and 3 respectively
corresponding to the special D in the following table.

Key point serial Master axis

Slave axis position Velocity Acceleration
no. position

1 D28672=0 D32768=0 D36864=0 D40960=0

2 D28674=180 D32770=360 D36866=0 D40962=0

3 D28676=360 D32772=0 D36868=0 D40964=0

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4. Motion Control Instructions

From the figures above, you can see the slave axis position of the second key point need be modified, i.e. the
value of D32770 need be done. Modify the value from 360 to 540 via the instruction "MOV-R".

The cam curve parameter table is shown below after being modified.

Key point serial Master axis Slave axis

Velocity Acceleration
no. position position

1 D28672=0 D32768=0 D36864=0 D40960=0

2 D28674=180 D32770=540 D36866=0 D40962=0

3 D28676=360 D32772=0 D36868=0 D40964=0

And then switch electronic cam curve by executing the instruction "DMC_CamSet".

Sequence chart as below:

 When M1= On and M0 turns off -> on, “DMC_CamSet” is executed; M10 turns On after the execution of
“DMC_CamSet” is finished , which indicates that the register value of e-cam key point has been
switched to the newest key point parameter. The revised parameter value will be ineffective till the
current cam cycle is over.
 Please carefully check the master axis position, slave axis position, velocity, and acceleration of the
cam key point which need be revised so as to make sure the new cam curve is reasonable.

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 4. Motion Control Instructions

4.5.5. MC_GearIn

API Controller
MC_GearIn Gear-in instruction
68 10MC11T
Explanation of the instruction:
The instruction is applied to establish the gear relation between master and slave axis. While the gear
relation is being established, the parameters like gear ratio can be set. After the gear relation is established,
slave axis will follow master axis to move at the given proportional relationship to accomplish the
synchronized control of master and slave axis. Master and slave axes could be real or virtual axis or the
external encoder master axis and etc.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The slave axis number UINT Constant, D
The master axis number. We suggest that the master axis
number should be less than the slave axis number so that
Constant,
Master the slave axis could better follow the master axis for gear UINT
D
motion. The axis number can be set in order of 1~24 from
small to large.
This instruction is executed when “Execute” turns Off –> M,I,Q,
Execute BOOL
On. Constant,
Numerator data of electronic gear (This parameter can not
RatioNumerator REAL Constant, D
be 0)

Denominator data of e-gear (this parameter can not be 0);

Ratio
when gear ratio is negative, it indicates the directions for
Denominator REAL Constant, D
the master and slave axis are opposite.
Gear ratio represents the ratio of the numbers of the teeth.

When Cam-in, the acceleration of the terminal actuator

Acceleration corresponding to slave axis, unit: Unit/ second2 (The REAL Constant, D
parameter is always positive).

When Cam-in, the deceleration of the terminal actuator

Deceleration corresponding to slave axis, unit: Unit/ second2 (The REAL Constant, D
parameter is always positive).

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4. Motion Control Instructions

Parameter Data Available

Explanation
name type device
When master axis makes the e-gear relation with slave
InGear axis, "InGear" is on; BOOL M,Q
As “Execute” turns on -> off, “InGear” is reset.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns on -> off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

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4.5.6. MC_GearOut

API Controller
MC_GearOut Gear-out instruction
69 10MC11T
Explanation of the instruction
The instruction is applied to disconnect the gear relation between master and slave axis. After disconnection,
slave will keep moving at the speed when the gear relation is disconnected.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The node address of slave axis. UINT D
The instruction is executed when “Execute" turns Off –>
Execute BOOL M,I,Q,Constant
On.
As executing "MC_GearOut" is finished, "Done" is on;
Done BOOL M,Q
As "Execute" is off, "Done" is reset.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

Notes:
1. After the execution of MC_GearOut is finished, other motion instructions can be executed for the
slave axis in the original gear relationship.
2. After master axis and slave axis establish the electronic gear relationship (via MC_GearIn), the slave
axis will keep on moving at the speed when it is disabled from the electronic gear relationship via
MC_GearOut instruction.
3. After master axis and slave axis establish the electronic gear relationship (via MC_GearIn), MC_Stop
can end the electronic gear operation of the salve axis and the slave axis will stop moving once
execution of MC_Stop is finished.
4. The sequence for execution of the instructions related with electronic gear

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4. Motion Control Instructions

MC_Power
Rebuild the gear relation after modifying
the parameters while gear operation is
being conducted

MC_GearIn Build gear relation

MC_GearOut Disconnect gear relation

Rebuild gear relation after disconnecting

the gear relation

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 4. Motion Control Instructions

 Program Example
The following example describes the corresponding motion state when and after gear relation is established
or when gear relation is disconnected via Gear-related instructions.

Motion curve:

 When M2 turns Off ->On, master axis starts to move.

 When M3 turns Off ->On, slave axis starts to move following master axis. When the velocity of slave axis
reaches 2 times the velocity of master axis, the execution of GearIn instruction is finished and
meanwhile, M17 turns Off -> On.
 When M4 turns Off ->On, master axis executes the stop instruction.
 In process of stop of master axis motion, when M5 turns Off->On, “MC_GearOut” is executed; after the
execution is finished, M22 turns Off->On and slave axis will keep moving at the speed when the gear
relation is disconnected.

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4. Motion Control Instructions

4.5.7. MC_Phasing

API Controller
MC_Phasing Phase shift
70 10MC11T
Explanation of the instruction
The instruction is applied to adjust the phase difference between master axis and slave axis. When the two
axes have established the master-slave relation, one virtual phase is superimposed to the master axis
through execution of this instruction so as to impact the slave axis. “MC_Phasing” can be executed only when
the two axes have made a relationship.

Explanation of input and output parameter of the instruction:

Parameter Data Available

Explanation
name type device

Slave The slave axis number UINT Constant, D

The master axis number. We suggest that the master axis

number should be less than the slave axis number so that
Master the slave axis could better follow the master axis for motion. UINT Constant, D
The axis number can be set in order of 1~24 from small to
large.
M,I,Q,
Execute The instruction is executed when "Execute" turns Off –> On. BOOL
constant

The virtual position shift occurring in the master axis.

Actual phase shift of master axis (Unit: pulse) =
PhaseShift*( the number of pulses / the number of turns) /
modulo
PhaseShift REAL Constant, D
If this parameter is positive value, it indicates to shift toward
the positive direction;
If this parameter is negative value, it indicates to shift toward
the negative direction.

As "MC_Phasing" is executed, adjust the speed of phase

Velocity shift. REAL Constant, D
Unit: unit/second, the parameter is always positive.

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 4. Motion Control Instructions

Parameter Data Available

Explanation
name type device

As "MC_Phasing" is executed, adjust the acceleration of

Acceleration
phase shift. REAL Constant, D
2
Unit: unit/second , the parameter is always positive.

As "MC_Phasing" is executed, adjust the deceleration of

Deceleration phase shift. REAL Constant, D
Unit: unit/second, the parameter is always positive.

As adjustment of phase shift is completed, “Done” is on;

Done BOOL M,Q
As "Execute" is off, "Done" is reset.

When executing "MC_Phasing" is aborted, "Abort" is on;

Abort BOOL M,Q
As "Execute" is off, "Abort" is reset.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

Notes:

1. PhaseShift regards the moment when Execute is ON after 10MC is powered ON or performs the
download as the reference point during the execution of “MC_Phasing” instruction.

2. In the gear relationship between master axis and slave axis, the shift of slave axis is calculated on basis
of RatioNumerator/ Ratiomenominator=1:1 no matter what RatioNumerator and Ratiomenominator
values of MC_GearIn instruction are during the execution of MC_Phasing instruction.

3. In the cam relationship built between master axis and slave axis, master axis and slave axis scales
according to MasterScaling and SlaveScaling values of MC_CamIn instruction to form the new cam
curve during the execution of MC_Phasing instruction. The shift of slave axis is calculated on basis of
the new cam curve.

 Program example
When the gear relation is built between two axes with the default values for axis parameters, the
MC_Phasing instruction has an impact on the slave speed and position.

1. As the following instruction figure shows, the gear relationship between master axis and slave axis is
established after M2 is ON and the ratios of master axis to slave axis in velocity and position are both
1:1.
The execution of "MC_Phasing" does not affect the motion of master axis but slave axis at the ratio of
1:1 if the master axis moves at a constant speed of 10000 and the velocity, acceleration and
deceleration and phase shift set in "MC_Phasing" instruction are virtually superimposed to master axis
when M0 turns off -> on.
Actual phase shift of master axis (Unit: pulse) = PhaseShift*( the number of pulses/the number of turns)
/ modulo= 1080*10000/360=30000. Since "MC_Phasing" instruction influences the motion of the slave
axis at the ratio of 1:1, the actual shift of the slave axis is 30000 as well. The master position is 30000 at
the moment and the slave position =(master position + actual phase shift of master axis)
=30000+30000= 60000.

DVP-MC operating manual 4-91

4. Motion Control Instructions

2. After M10 is ON, the value in D10 is changed into 0; when M0 turns off -> on again, the phase relation
between master axis and slave axis returns to the initial status since phase shift is 0. When M10 is ON,
master position is 63000 and slave position= master position = 63000.
 Instruction figure


 Sequence Diagram

Positi on

Sl ave po si tion

70 000
6 30 00
6 00 00
Ma ste r p ositi on

30 00 0

0
t
ve lo ci ty Sl ave velo ci ty

30 000

10 000

0
t
-10 000

M0（Exe cu te）

M1 0（ Don e）

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 4. Motion Control Instructions

4.5.8. DMC_CapturePosition

API Controller
DMC_CapturePosition Capture position
71 10MC11T
Explanation of the instruction:
The instruction is applied to capture the position of the terminal actuator and the captured position can be
applied in error correcting. It also supports multiple kinds of trigger methods and data source. Please perform
the very precise position capture in mode 1, 2, 3, 10 and 11. Mode 0 is for less precise position capture.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Constant,
Axis The axis number UINT
D
The signal of “TriggerInput” bit comes from the trigger signal
of the input point of DVP10MC11T.
When “Mode” is 0 or 10 and “TriggerInput” bit turns Off-> On,
position capture is executed.
And the “TriggerInput” bit can be only the input point: I0~I7 of
TriggerInput 10MC; BOOL I
When “Mode” is 11 and “TriggerInput” bit turns On-> Off,
position capture is executed.
And the “TriggerInput” bit can be only the input point: I0~I7 of
10MC;
When “Mode” is 1or 2, “TriggerInput” bit is invalid.
M,I,Q,
Execute This instruction is executed when “Execute” turns Off –> On. BOOL
constant
1. Window function is not started up as the parameter is 0; M,I,Q,
WindowOnly BOOL
2. Window function is started up as the parameter is 1. constant
“FirstPos” is the starting position of captured area after Constant,
FirstPos REAL
window function is started up D
“LastPos” is the end position of captured area after window Constant,
LastPos REAL
function is started up. D

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4. Motion Control Instruction

Parameter Data Available

Explanation
name type device
Mode 0: The trigger signal comes from the input point: I0~I7
of DVP10MC11T specified by TriggerInput bit. The captured
position is the actual position of the terminal actuator
connected to the axis. Mode 0 is applied for less precise
position capture. The precision of position capture via Mode 0
is between those via MC_ ReadActualPosition and other
capture mode. Please use mode 1, 2, 3, 10 and 11 for very
precise position capture.
Mode 1: The trigger signal comes from the high-speed input
point: DI7 of the drive. The captured position is the actual
position of the terminal actuator connected to the axis.
Mode 2: The trigger signal comes from the high-speed input
point: DI7 of the drive. The captured position is the value that
converted from the pulse number received at the interface
CN1 of servo drive via the axis parameter. For more details,
see item 4 in the following note.
Constant,
Mode Mode 3: The trigger signal comes from the high-speed input UINT
D
point: DI7 of the drive. The captured position is the value that
converted from the pulse number received at the interface
CN5 of servo drive via the axis parameter. For more details,
see item 4 in the following note.
Mode 10: The trigger signal comes from the input point: I0~I7
of DVP10MC11T specified by TriggerInput bit. The position
captured via the rising edge of the trigger bit is the value that
converted from the pulse number received at the interface of
the external ecoder of the controller via the axis parameter.
For more details, see item 4 in the following note.
Mode 11: The trigger signal comes from the input point: I0~I7
of DVP10MC11T specified by TriggerInput bit. The position
captured via the falling edge of the trigger bit is the value that
converted from the pulse number received at the interface of
the external ecoder of the controller via the axis parameter.
For more details, see item 4 in the following note.
When “Mask” is 0 or 1, every trigger signal is valid;
When “Mask” is N (N>1), position capture is executed after N
trigger signals are received. Constant,
Mask UINT
“Mask” should be between 0～255. D
If the window function is started up, only the trigger signal in
the window is valid.
"Done" is on as position is captured successfully;
Done BOOL M,Q
"Done" is reset as "Execute" is off.

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 4. Motion Control Instructions

Parameter Data Available

Explanation
name type device
"Busy" bit is on as "Execute" bit is on and position capture is
not completed yet;
Busy BOOL M,Q
"Busy" bit is reset as "Execute" bit is off or position capture is
completed.
"DMC_CapturePosition" instruction is aborted when being
Abort executed, "Abort" bit is on; BOOL M,Q
When "Execute" is off, "Abort" is reset.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D
The position captured after execution of the CapturePosition
Position REAL R
instruction is completed. Unit: unit

Notes:
1. When "FirstPos", "LastPos" and "Position" are set via human machine interface, their value type
should be set as Double Word (Floating).
2. "Execute" bit must turn Off -> On again so as to perform another position capture when position
capture is completed. According to different modes, position capture is performed by triggering of
I0~I7 of the controller or DI7 of servo drive.
3. The hardware wiring figure is shown below for position capture when I0~I7 of 10MC or DI7 of the
servo drive are used.

S/S
I0 -
I1
I2 Out
24V
+ -

Photoelectric
I3
L switch
I4
I5 +
I6
I7

ASD-CNSCD050

CAN Bus

The hardware wiring figure when using DI7

of servo drive for position capture

+ L Out -
ASD-BM-50A

Photoelectric switch

Note: The “Out”and “-” of the photoelectric switch are conducted when the photoelectric signal
comes.

DVP-MC operating manual 4-95

4. Motion Control Instruction

Position capture
1) The “Position” captured by using the DMC_Capture Position instruction is converted from other
value

Mode Data source

Mode 0, mode 1 The pulse number that servo motor feeds back to servo drive.

Mode 2 The pulse number received at the input terminal pulse、/pule、sign、

/sign or hpulse、 /hpule、hsign、/hsign of CN1 port of servo drive.

Mode 3 The pulse number received at the input terminal A 、/A、B 、/B of
CN5 port of servo drive.

Mode 10, mode 11 The pulse number received at the external encoder interface of
10MC.

2) The position captured by using the DMC_Capture Position instruction is converted according to
the axis parameter. For different modes, the conversion data sources are different. When
“Servo gear ratio setting” and “Mechanism gear ratio setting” in the axis parameters are as
following figure is and mode is 2, the pulse number received at the CN1 terminal: pulse、/pule、
sign、/sign is 435 and the captured position is 65.25. The calculation formula: 435×（3×1000）
÷（2×10000）=65.25. 1000, 2, 3 and1000 in the formula correspond to 1000, 2, 3, and 1000 in
the left figure below respectively. In other mode, the calculation method for the positon captured
via the instruction is same as above mentioned but the data source is different.

3) When Mode=10 or 11 in DMC_CapturePosition instruction, the captured position value can be

calculated according to the method mentioned above as well. In actual application, the position
capture is generally performed by building the external encoder master axis. When the input
parameters of DMC_ExternalMaster instruction are shown as left figure below and the pulse
number received at the external encoder interface of 10MC is 638, the position captured via
DMC_CapturePosition instruction is 95.4. The calculation formula: 638×（3×1000）÷（2×10000）
=95.4. 1000,2,3 and 1000 in the formula correspond to 1000,2,3 and1000 of the input
parameters of DMC_ExternalMaster instruction in the left figure below respectively. When I0
turns OFF->ON once in the DMC_CapturePosition instruction displayed in the right figure below,
the position capture is performed once.

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 4. Motion Control Instructions

Note:

When the instruction is used for position capture in mode 1, D6527 value is the pulse number that
servo motor feeds back to servo drive and the data type is 32-bit signed number. The instruction
utilizes I0 for position capture in mode 10, D6529 value is the pulse number received at the encoder
interface of 10MC and the data type is 32-bit signed number.
4. Introduction to WindowOnly
<1> When WindowOnly =1, FirstPos and LastPos are valid, which regards the actual terminal
actuator position as the reference point when “Execute” turns Off -> On. In the following figure,
FirstPos and LastPos are 100 and 300 respectively and the actual terminal actuator position is
100 when “Execute” turns Off -> On. And so when the actual actuator position is between
200~400, the actual position of the terminal actuator just can be captured by triggering of the
rising edge of TriggerInput bit or DI7 of servo drive.
<2> When the actual position of the terminal actuator is out of the window, the triggering of the
rising edge of the “TriggerInput” bit is invalid. When the actual position of terminal actuator is
above the lastPos and the rising edge of “TriggerInput” bit is not detected, “Error” bit of
CapturePosition instruction is on; position capture could be done again by triggering of the
rising edge of “TriggerInput” bit after “Execute” turns Off -> On again.

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4. Motion Control Instruction

5. Introduction to Mask
<1> As the figure shows below, one position capture is completed after the trigger times for rising
edge of the TriggerInput bit reach Mask value when Windowonly=1, “Execute” turns Off -> On,
and the actual position of terminal actuator is within the Window zone; The trigger of rising
edge of the TriggerInput bit is invalid when the actual position of terminal actuator is out of the
Window zone.
When the actual position of the terminal actuator exceeds LastPos and no position is captured,
the “Error” bit of CapturePosition instruction is on; position capture could be done again by
triggering of the rising edge of “TriggerInput” bit after “Execute” turns Off -> On again.
<2> When Windowonly=0 and “Execute” turns Off -> On, one position capture is completed after
the trigger times for rising edge of the TriggerInput bit reach Mask value (Mask=0 or 1, one
position capture is completed after the triggering of the rising edge of the TriggerInput bit
occurs once).

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 4. Motion Control Instructions

4.5.9. DMC_VirtualAxis

API Controller
DMC_VirtualAxis Create virtual axis
72 10MC11T
Explanation of the instruction:
The instruction is applied to constitute a virtual axis. DVP10MC11T supports max. 18 virtual axes. The motion
control method of virtual axes is same as the real axes. Through execution of the instructions related with
axes, the virtual axis establishes the relation of gear, cam and etc. with other virtual axis or real axis.

Explanation of input and output parameter of the instruction:

Parameter Data Available

Explanation
name type device

Axis The virtual axis number (Range: 1～18) UINT Constant,D

This instruction is executed when “Execute” turns Off M,I,Q,
Execute BOOL
–> On. constant
0: rotary axis;
Axis Type UINT Constant,D
1: linear axis.
The number of pulses needed when the virtual axis
UserUnit/Turn REAL Constant, D
rotates for a circle.

The cycle used to divide equally the terminal actuator

Modulo REAL Constant, D
position.

The allowed maximum speed. The parameter is

MaxVelocity REAL Constant, D
always positive, unit: unit/second.

The allowed maximum acceleration. The parameter is

MaxAcceleration REAL Constant, D
always positive, unit: unit/second2

Max The allowed maximum deceleration. The parameter is

REAL Constant, D
Deceleration always positive, unit: unit/second2
To constitute the mechanical gear ratio with
InputOfGear REAL Constant, D
OutputOfGear

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4. Motion Control Instruction

Parameter Data Available

Explanation
name type device

To constitute the mechanical gear ratio with

OutputOfGear REAL Constant, D
InputOfGear
The position that terminal actuator moves when motor
Units REAL Constant,D
rotates for one circle.

"Done” is on when virtual axis is established

Done successfully; BOOL M,Q
“Done” is reset when “Execute” turns off.

If any error is detected, "Error" turns on; when

Error BOOL M,Q
"Execute" turns off, "Error" is reset.

ErrorID Error code. Please refer to section 5.3. UINT D

Notes:
1. After virtual axis is established successfully, virtual axis can be controlled directly in no need of
executing "MC_Power" to make the servo enabled.
2. The virtual axis No. must be different from other axis No.
3. One virtual axis can be established only once and it will exist after establishment of "MC-VirtualAxis"
is completed. When "Execute" bit of ”MC-VirtualAxis" turns off -> on again, "Error" bit will turn on.
4. The explanation of virtual axis input parameters is the same as that of real axis parameters which can
be seen in section 2.3.1.

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 4. Motion Control Instructions

4.5.10. DMC_ExternalMaster

API Controller
DMC_ExternalMaster Create external virtual master axis
73 10MC11T
Explanation of the instruction:
The instruction is applied to constitute a virtual master axis which could not serve as slave axis but master
axis. DVP10MC11T supports max. 18 virtual master axes. The source of virtual master axis is the pulse
received at the encoder port or the variable of the internal register. Through execution of the instructions
related with axis, virtual master axis could establish the relation of gear, cam and etc. with other virtual axis or
real axis.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
Axis The virtual master axis number. （Range: 1～18） UINT Constant,D
This instruction is executed when “Execute” turns Off –> M,I,Q,
Execute BOOL
On. constant
As the parameter is 0, pulse comes from the set value of
External- “Source”; M,I,Q,
BOOL
Encoder As the parameter is 1, pulse comes from external pulser, constant
and “Source” is invalid.
When ExternalEncoder=1, usually, the data of virtual Constant,
Source DINT
master axis comes from the register inside the controller. D

0: Rotary axis Constant,

AxisType UINT
1: Linear axis D
The number of the pulses needed when the virtual axis
UserUnit/Turn REAL Constant,D
rotates for one circle or the variables of “Source”.
The cycle used to divide equally the terminal actuator Constant,
Modulo REAL
position. D
To constitute the mechanical gear ratio with Constant,
InputOfGear REAL
“OutputOfGear” D
Constant,
OutputOfGear To constitute the mechanical gear ratio with “InputOfGear” REAL
D

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4. Motion Control Instruction

Parameter Data Available

Explanation
name type device
The corresponding number of the units which the terminal
Constant,
Units actuator moves when the output terminal of gear box REAL
D
rotates for one circle.
"Done” is on when virtual axis is established successfully;
Done BOOL M,Q
"Done” is reset when “Execute” turns off.
If any error is detected, "Error" turns on; when "Execute"
Error BOOL M,Q
turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

Notes:
1. After virtual axis is established successfully, virtual axis can be controlled directly in no need of
executing "MC_Power" to make the servo powered on.
2. The virtual axis No. must be different from other axis No.
3. One virtual axis can be established only once and it will exist after establishment of "MC-VirtualAxis"
is completed. When "Execute" bit of ”MC-VirtualAxis" turns off -> on again, "Error" bit will turn on.
4. Virtual master axis will make the motion with the variable of the parameter value specified by Source
or the external encoder interface as the order; when variable is 0, virtual master axis will not rotate.

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 4. Motion Control Instructions

4.5.11. DMC_CamSwitch

API Applicable Model

DMC_CamSwitch Indicate cam operation stage
69 10MC11T
Explanation of the Instruction:
The instruction is applied to indicate the execution stage of the electronic cam operation. The corresponding
output of the instruction remains high for one full cycle when the electronic cam operation reaches or exceeds
one preset stage.

Explanation of input and output parameter of the instruction:

Available
Parameter name Explanation Data type
device
This instruction is executed when “Enable” M,I,Q,
Enable BOOL
changes from OFF to ON. constant

CamTableID Specify the electronic cam table number UINT Constant, D

Specify the execution stage of electronic cam

Percent 1 operation within one cam cycle. Range: REAL Constant, D
0~99.9999 (Unit: %)
Specify the execution stage of electronic cam
Percent 2 operation within one cam cycle. Range: REAL Constant, D
0~99.9999 (Unit: %)
Specify the execution stage of electronic cam
Percent 3 operation within one cam cycle. Range: REAL Constant, D
0~99.9999 (Unit: %)
Specify the execution stage of electronic cam
Percent 4 operation within one cam cycle. Range: REAL Constant, D
0~99.9999 (Unit: %)
Specify the execution stage of electronic cam
Percent 5 operation within one cam cycle. Range: REAL Constant, D
0~99.9999 (Unit: %)
Specify the execution stage of electronic cam
Percent 6 operation within one cam cycle. Range: REAL Constant, D
0~99.9999 (Unit: %)
Specify the execution stage of electronic cam
Percent 7 operation within one cam cycle. Range: REAL Constant, D
0~99.9999 (Unit: %)
Specify the execution stage of electronic cam
Percent 8 operation within one cam cycle. Range: REAL Constant, D
0~99.9999 (Unit: %)

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4. Motion Control Instruction

Available
Parameter name Explanation Data type
device
Indicates the execution stage of electronic cam
operation. When the electronic cam operation
output 1 BOOL M,Q
reaches or exceeds the stage set by Percent 1,
output 1 remain high for one full cycle.
Indicates the execution stage of electronic cam
operation. When the electronic cam operation
output 2 BOOL M,Q
reaches or exceeds the stage set by Percent 2,
output 2 remains high for one full cycle.
Indicates the execution stage of electronic cam
operation. When the electronic cam operation
output 3 BOOL M,Q
reaches or exceeds the stage set by Percent 3,
output 3 remains high for one full cycle.
Indicates the execution stage of electronic cam
operation. When the electronic cam operation
output 4 BOOL M,Q
reaches or exceeds the stage set by Percent 4,
output 4 remains high for one full cycle.
Indicates the execution stage of electronic cam
operation. When the electronic cam operation
output 5 BOOL M,Q
reaches or exceeds the stage set by Percent 5,
output 5 remains high for one full cycle.
Indicates the execution stage of electronic cam
operation. When the electronic cam operation
output 6 BOOL M,Q
reaches or exceeds the stage set by Percent 6,
output 6 remains high for one full cycle.
Indicates the execution stage of electronic cam
operation. When the electronic cam operation
output 7 BOOL M,Q
reaches or exceeds the stage set by Percent 7,
output 7 remains high for one full cycle.
Indicates the execution stage of electronic cam
operation. When the electronic cam operation
output 8 BOOL M,Q
reaches or exceeds the stage set by Percent 8,
output 8 remains high for one full cycle.
Notes:
1. A full electronic cam cycle is 100%.
2. DMC_CAM Switch can be used only when the electronic cam relationship is established successfully.
3. The V1.06 or above firmware supports this function

 Program example

Here is an introduction to the use of DMC_CamSwitch instruction. The electronic cam curve for this
example is shown as below with a cam cycle of 20,000.

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 4. Motion Control Instructions

Here is the program for reference.

The outputs of related devices are shown in the following figure after the above program is executed.

DVP-MC operating manual 4-105

4. Motion Control Instruction

1 0% 50% 9 0%
%

M10

M11

M21

M15

M25

M18

M28

 Axis 1 and axis 2 establish the e-cam relationship when M1 changes from OFF to ON.
 DMC_CamSwitch starts to be executed when M10 changes from OFF to ON.
 Output 1 has been high for one scan cycle when the e-cam operation reaches or exceeds Percent 1
value, that is, the master position of the cam curve is greater or equal to 2,000. M11 (Output 1) will be
ON for one scan cycle and then change into OFF. M21 is set to ON as Output1 is ON.
 Output 5 has been high for one scan cycle when the e-cam operation reaches or exceeds Percent 5
value, that is, the master position of the cam curve is greater or equal to 10,000. M15 (Output 5) will be
ON for one scan cycle and then change into OFF. M25 is set to ON as Output 5 is ON.
 Output 8 has been high for one scan cycle when the e-cam operation reaches or exceeds Percent 8
value, that is, the master position of the cam curve is greater or equal to 18,000. M18 (Output 8) will be
ON for one scan cycle and then change into OFF. M28 is set to ON as Output 8 is ON.

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 4. Motion Control Instructions

4.6. Logic Instruction

4.6.1. ADD

API Controller
ADD Addition of 16-bit integer
128 10MC11T
Explanation of the instruction:
ADD is used for addition operation of 16-bit integers. As EN is on, add S1 to S2 and their sum value is saved
in D register.

Explanation of input and output parameter of the instruction

Parameter Available
Explanation Data type
name device

EN “Add” instruction is executed as “EN” is on. BOOL M,I,Q, constant

S1 Augend INT Constant, D

S2 Addend INT Constant, D

D Sum INT D

4.6.2. ADD_DI

API Controller
ADD_DI Addition of 32-bit integer
129 10MC11T
Explanation of the instruction:
ADD_DI is used for addition operation of 32-bit integers. As EN is on, add S1 to S2 and their sum value is
saved in D register.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device

EN “Add_DI” instruction is executed as “EN” turns on BOOL M,I,Q, constant

S1 Augend DINT Constant,D

S2 Addend DINT Constant, D
D Sum DINT D

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4. Motion Control Instruction

4.6.3. ADD_R

API Controller
ADD_R Addition of floating number
130 10MC11T
Explanation of the instruction:
ADD_R is used for addition operation of 32-bit floating numbers. As EN is on, add S1 to S2 and their sum
value is saved in D register.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “Add_R” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Augend REAL Constant, D
S2 Addend REAL Constant, D
D Sum REAL D

4.6.4. SUB

API Controller
SUB Subtraction of 16-bit integer
131 10MC11T
Explanation of the instruction:
SUB is used for subtraction operation of 16-bit integers. As EN is on, subtract S2 from S1 and their result
value is saved in D register.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “SUB” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Minuend INT Constant, D
S2 Subtrahend INT Constant, D
D Remainder INT D

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 4. Motion Control Instructions

4.6.5. SUB_DI

API Controller
SUB_DI Subtraction of 32-bit integer
132 10MC11T
Explanation of the instruction:
SUB_DI is used for subtraction operation of 32-bit integers. As EN is on, subtract S2 from S1 and their result
value is saved in D register.

Explanation of input and output parameter of the instruction.

Parameter Data Available
Explanation
name type device
EN “SUB_DI” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Minuend DINT Constant, D
S2 Subtrahend DINT Constant, D
D Remainder DINT D

4.6.6. SUB_R

API Controller
SUB_R Subtraction of floating number
133 10MC11T
Explanation of the instruction:
SUB_R is used for subtraction operation of 32-bit floating number. As EN is on, subtract S2 from S1 and their
result value is saved in D register.

Explanation of input and output parameter of the instruction

Parameter Data Available
Explanation
name type evice
EN “SUB_R” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Minuend REAL Constant, D
S2 Subtrahend REAL Constant, D
D Remainder REAL D

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4. Motion Control Instruction

4.6.7. MUL

API Controller
MUL Multiplication of 16-bit integer
134 10MC11T
Explanation of the instruction:
MUL is used for multiplying operation of 16-bit integers. As EN is on, multiply S1 by S2 and their result
value is saved in D register.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MUL” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Multiplicand INT Constant, D
S2 Multiplier INT Constant, D
D Product INT D

4.6.8. MUL_DI

API Controller
MUL_DI Multiplication of 32-bit integer
135 10MC11T
Explanation of the instruction:
MUL_DI is used for multiplying operation of 32-bit integers. As EN is on, multiply S1 by S2 and their result
value is saved in D register.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MUL_DI” instruction is executed as “EN” turns on. BOOL M,I,Q, constant
S1 Multiplicand DINT Constant, D
S2 Multiplier DINT Constant, D
D Product DINT D

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 4. Motion Control Instructions

4.6.9. MUL_R

API Controller
MUL_R Multiplication of floating number
136 10MC11T
Explanation of the instruction:
MUL_R is used for multiplying operation of 32-bit floating number. As EN is on, multiply S1 by S2 and their
result value is saved in D register.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MUL_R” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Multiplicand REAL Constant, D
S2 Multiplier REAL Constant, D
D Product REAL D

4.6.10. DIV

API Controller
DIV Division of 16-bit integer
137 10MC11T
Explanation of the instruction:
DIV is used for division operation of 16-bit integer. As EN is on, divide S1 by S2 and their result value is
saved in D register.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “DIV” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Dividend INT Constant, D
S2 Divisor (0 is forbidden) INT Constant, D
D Quotient INT D

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4. Motion Control Instruction

4.6.11. DIV_DI

API Controller
DIV_DI Division of 32-bit integer
138 10MC11T
Explanation of the instruction:
DIV_DI is used for division operation of 32-bit integer. As EN is on, divide S1 by S2 and their result value is
saved in D register.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “DIV_DI” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Dividend DINT Constant, D
S2 Divisor (0 is forbidden) DINT Constant, D
D Quotient DINT D

4.6.12. DIV_R

API Controller
DIV_R Division of floating number
139 10MC11T
Explanation of the instruction:
DIV_R is used for division operation of 32-bit floating number. As EN is on, divide S1 by S2 and their result
value is saved in D register.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “DIV_R” instruction is executed as “EN” turns on BOOL M,I,Q, constant
S1 Dividend REAL Constant, D
S2 Divisor (0 is forbidden) REAL Constant, D
D Quotient REAL

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 4. Motion Control Instructions

4.6.13. AND

API Controller
AND Logic AND operation
140 10MC11T
Explanation of the instruction:
AND is used for logic AND operation of two bit devices.
When “EN” is on, AND operation of S1 and S2 is conducted and the result is saved to the bit device specified
by Q; when “EN” is off, the state of Q is unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “AND” is executed as “EN” turns on BOOL M,I,Q,constant
S1 Operand S1 BOOL M,I,Q,constant
S2 Operand S2 BOOL M,I,Q,constant
Q The result from AND operation of operand S1and S2 BOOL M,Q

4.6.14. OR

API Controller
OR Logic OR operation
141 10MC11T
Explanation of the instruction:
OR is used for logic OR operation of two bit devices.
When “EN” is on, OR operation of S1 and S2 is conducted and the result is saved to the bit device specified
by Q; when “EN” is off, the state of Q is unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “OR” is executed as “EN” turns on BOOL M,I,Q,constant
S1 Operand S1 BOOL M,I,Q,constant
S2 Operand S2 BOOL M,I,Q,constant
Q The result from OR operation of operand S1and S2 BOOL M,Q

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4. Motion Control Instruction

4.6.15. XOR

API Controller
XOR Logic XOR operation
142 10MC11T
Explanation of the instruction:
XOR is used for logic XOR operation of two bit devices.
When “EN” is on, XOR operation of S1 and S2 is conducted and the result is saved to the bit device specified
by Q; when “EN” is off, the state of Q is unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “XOR” is executed as “EN” turns on BOOL M,I,Q,constant
S1 Operand S1 BOOL M,I,Q,constant
S2 Operand S2 BOOL M,I,Q,constant
Q The result from XOR operation of operand S1and S2 BOOL M,Q

4.6.16. NOT

API Controller
NOT Logic NOT operation
143 10MC11T
Explanation of the instruction:
NOT is used for logical NOT operation of one bit device.
When “EN” is on, NOT operation of S is conducted and the result is saved to the bit device specified by Q;
when “EN” is off, the state of Q is unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “NOT” is executed as “EN” turns on BOOL M,I,Q,constant
S Operand S BOOL M,I,Q,constant
Q The result from NOT operation of operand S BOOL M,Q

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 4. Motion Control Instructions

4.6.17. CTU

API Controller
CTU Up counter
144 10MC11T
Explanation of the instruction:
CTU is used to achieve the function of upcounter.
When EN is on, R is off and the count-up input CU turns off -> on, the current value EV of the counter is
increased by 1; as the value of EV is greater than or equal to the preset value PV, the output CTU is on; as
EV reaches the maximum 4294967295, the counter stops counting. As R is on, CTU is reset and the current
value EV of the counter is cleared as 0.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
The execution condition of this instruction.
EN “CTU” instruction is executed as “EN” turns on; CTU BOOL M,I,Q,constant
and EV value keep unchanged as “EN” turns off.
Once “CU” turns off -> on, the current value of the
CU BOOL M,I,Q,constant
counter is added by 1.
When “R” turns on, the current value “EV” is cleared to 0
R BOOL M,I,Q,constant
and “CTU” is reset.
PV The preset value of the counter. UDINT Constant, D
When “EN” is on and the current value of “EV” is greater
CTU BOOL M,Q
than or equal to that of “PV”, “CTU” turns on.
The current value of the counter.
When “EN” turns on , “R” is off and the count-up input
EV CU turns off -> on, the current value is added by 1; as UDINT D
the value of “EV” is up to the maximum 4294967295,
the counter stops counting.

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4. Motion Control Instruction

 Program example
The value of "PV" is set as 5 and the current value is saved to "D0".

Sequence chart:

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 4. Motion Control Instructions

4.6.18. CTD

API Controller
CTD Down counter
145 10MC11T
Explanation of the instruction:
CTD is used to achieve the function of downcounter.
When EN is on and the loading input LD turns off -> on, the counter writes the preset value of PV into the
current value of EV and the output CTD is reset. Each time the count-down input CD turns off -> on , the
current value of EV is decreased by 1. When EV is decreased to 0, the output CTD turns on and the counter
stops counting.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
The execution condition of this instruction.
EN “CTU” instruction is executed as “EN” turns on; “CTD” BOOL M,I,Q, constant
and “EV” value keep unchanged as “EN” turns off.
When the count-down input “CD” turns off -> on, the
CD BOOL M,I,Q, constant
current value of the counter is decreased by1.
When “LD” turns off -> on, the counter writes the preset
LD value of “PV” into current value of “EV” and “CTD” is BOOL M,I,Q, constant
reset.
PV The preset value of the counter. UDINT Constant, D

When “EN” turns on and the current value of the counter

CTD BOOL M,Q
is decreased to 0, the output bit “CTD” turns on.

The current value of the counter.

When “EN” turns on and the count-down input “CD”
EV turns off -> on, the current value of the counter is UDINT D
decreased by 1; as the current value of the counter
decreased to 0, counting is stopped.

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4. Motion Control Instruction

 Program example
The value of "PV" is set to 5 and the current value is saved to "D0".

Sequence chart:

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 4. Motion Control Instructions

4.6.19. CTUD

API Controller
CTUD Up/down counter
146 10MC11T
Explanation of the instruction:
CTUD is used to achieve the function of upcounter or downcounter.
As EN is on, R is off and the count-up input CU turns off -> on, the current value EV of the counter is
increased by 1; as the count-down input CD turns off -> on, the current value EV of the counter is decreased
by 1; as the current value of the counter is greater than or equal to the preset value of the counter, CTUD is
on.
As R turns on, the output CTUD is reset and the current value EV of the counter is cleared as 0.
As EV is up to maximum 4294967295 and the countup bit CU turns off -> on, EV gets minimum 0; as EV
reaches minimum 0, the count-down input CD turns on -> off, EV gets maximum 4294967295.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
The execution condition of this instruction.
“CTUD” instruction is executed as “EN” turns on;
EN BOOL M,I,Q, constant
“CTUD” and “EV” value keep unchanged as “EN” turns
off.
As “CU” turns off -> on, the current value of the counter
CU BOOL M,I,Q, constant
is added by 1.
When “CD” turns off -> on, the current value of the
CD BOOL M,I,Q, constant
counter is reduced by 1.
When “R” turns on, the current value of the counter is
R BOOL M,I,Q, constant
reset to 0 and output “CTUD” turns off.
PV The preset value of the counter. UDINT Constant, D
The output bit “CTUD” turns on when the current value
CTUD of the counter is greater than or equal to the preset BOOL M,Q
value of the counter.
EV The current value of the counter. UDINT D

DVP-MC operating manual 4-119

4. Motion Control Instruction

 Program example
The value of "PV" is set to 5 and the current value is saved to "D0".

Sequence chart:

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 4. Motion Control Instructions

4.6.20. TON_s

API Controller
TON_s On-delay timer
147 10MC11T
Explanation of the instruction:
TON_s is used as an on-delay timer with 1s as the timing unit.
When EN is on, the input IN is On, the current value ET starts timing from 0 on; as the current value ET is
greater than or equal to the preset value PT, the output TON turns on. After ET reaches PT value, the timing
will not be stopped till ET reaches maximum 4294967295. When the input IN is off, the current value ET of
the timer is cleared as 0 and the output TON is reset. The preset value PT is effective immediately after
being changed.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
The execution condition of this instruction.
“TON_s” instruction is executed as “EN” turns on; the
EN BOOL M,I,Q, constant
output TON and the current value ET keep unchanged
as “EN” turns off.
As “IN” is on, the timer starts timing; as “IN” is off, the
IN current value ET of the timer is cleared as 0 and the BOOL M,I,Q, constant
output TON is reset.
PT Preset timing value of the timer UDINT Constant,D
“TON” is on as the current value of the timer is greater
TON BOOL M,Q
than or equal to the preset value PT.
ET The current value of the timer. UDINT D

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4. Motion Control Instruction

 Program example
“PT” is set as D10 and the current value is saved into D12 (ET).

Sequence chart:

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 4. Motion Control Instructions

4.6.21. TOF_s

API Controller
TOF_s Off-delay timer
148 10MC11T
Explanation of the instruction:
TOF_s is used as an off-delay timer with 1s as the timing unit.
When EN is On and the input IN is On, the output TOF turns On and the current value ET is cleared as 0.
When the input bit IN turns On -> Off, the current value ET starts timing from 0 on; as the current value ET is
greater than or equal to the preset value PT, the output TOF turns Off. After ET reaches PT value, the timing
will not be stopped till ET reaches maximum 4294967295. The preset value PT is effective immediately after
being changed.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
The execution condition of this instruction.
“TOF_s” instruction is executed as “EN” turns on; the
EN BOOL M,I,Q, constant
output TOF and the current value ET keep unchanged
as “EN” turns off.
As “IN” turns on -> off, the timer starts timing; as “IN”
IN BOOL M,I,Q, constant
turns on, TOF is on and ET is cleared as 0.
PT Preset value of the timer UDINT Constant
“TOF” is off as the current value of the timer is greater
TOF BOOL M,Q
than or equal to the preset value PT.
ET The current value of the timer. UDINT D

DVP-MC operating manual 4-123

4. Motion Control Instruction

 Program example
The value of “PT” is set as 20s and the current value is saved to D10 (ET).

Sequence chart:

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 4. Motion Control Instructions

4.6.22. TONR_s

API Controller
TONR_s Retentive on-delay timer
149 10MC11T
Explanation of the instruction:
TONR_s is a retentive on-delay timer with 1s as the timing unit.
When EN is on and IN is on, the current value ET of the timer starts timing;
When IN is off, the current value ET is maintained. When IN turns on once again, the timing is continued
based on the maintained value ET and the output TONR will be on when ET is greater than or equal to the
preset value PT. After ET reaches PT value, the timing will not be stopped till ET reaches maximum
4294967295.
When EN is off, the current value ET of the timer is cleared as 0 and the output bit is reset.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
The execution condition of this instruction.
“TONR_s” instruction is executed as “EN” turns on; the
EN BOOL M,I,Q, constant
output “TON” is reset and the current value “ET” is
cleared as 0 as “EN” turns off.
As “IN” is on, the timer starts timing; as “IN” is off, the
IN BOOL M,I,Q, constant
current value “ET” is maintained.
PT Preset value of the timer UDINT Constant,D
The current value “ET” is greater than or equal to the
TONR BOOL M,Q
prest value PT, “TONR” is on.
ET The current value of the timer. UDINT D

DVP-MC operating manual 4-125

4. Motion Control Instruction

 Program example
The vaule of PT is set as 50s and the current value is saved in the register D10.

Sequence chart:

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 4. Motion Control Instructions

4.6.23. TON_ms

API Controller
TON_ms On-delay timer
150 10MC11T
Explanation of the instruction:
TON_ms is an on-delay timer with 1ms as the timing unit.
When EN is on, the input IN is On, the current value ET starts timing from 0 on; as the current value ET is
greater than or equal to the preset value PT, the output TON turns on. After ET reaches PT value, the timing
will not be stopped till ET reaches maximum 4294967295. When the input IN is off, the current value ET of
the timer is cleared as 0 and the output TON is reset. The preset value PT is effective immediately after
being changed.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
The execution condition of this instruction.
“TON_ms” instruction is executed as “EN” turns on; the
EN BOOL M,I,Q, constant
output TON and the current value ET keep unchanged
as “EN” turns off.
As “IN” is on, the timer starts timing; as “IN” is off, the
IN current value ET of the timer is cleared as 0 and the BOOL M,I,Q, constant
output TON is reset.
PT Preset timing value of the timer UDINT Constant,D
“TON” is on as the current value of the timer is greater
TON BOOL M,Q
than or equal to the preset value PT.
ET The current value of the timer. UDINT D
Note: For the sequence chart of TON_ms, please refer to the program example of TON_s.

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4. Motion Control Instruction

4.6.24. TOF_ms

API Controller
TOF_ms Off-delay timer
151 10MC11T
Explanation of the instruction:
TOF_ms is used as an off-delay timer with 1ms as the timing unit.
When EN is On and the input IN is On, the output TOF turns On and the current value ET is cleared as 0.
When the input bit IN turns On -> Off, the current value ET starts timing from 0 on; as the current value ET is
greater than or equal to the preset value PT, the output TOF turns Off. After ET reaches PT value, the timing
will not be stopped till ET reaches maximum 4294967295. The preset value PT is effective immediately after
being changed.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
The execution condition of this instruction.
“TOF_ms” instruction is executed as “EN” turns on; the
EN BOOL M,I,Q, constant
output TOF and the current value ET keep unchanged
as “EN” turns off.
As “IN” turns on -> off, the timer starts timing; as “IN”
IN BOOL M,I,Q, constant
turns on, TOF is on and ET is cleared as 0.
PT Preset value of the timer UDINT Constant
“TOF” is off as the current value of the timer is greater
TOF BOOL M,Q
than or equal to the preset value PT.
ET The current value of the timer. UDINT D
Note: For the sequence chart of TOF_ms, please refer to the program example of TOF_s.

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 4. Motion Control Instructions

4.6.25. TONR_ms

API Controller
TONR_ms Retentive on-delay timer
152 10MC11T
Explanation of the instruction:
TONR_ms is a retentive on-delay timer with 1ms as the timing unit.
When EN is on and IN is on, the current value ET of the timer starts timing;
When IN is off, the current value ET is maintained. When IN turns on once again, the timing is continued
based on the maintained value ET and the output TONR will be on when ET is greater than or equal to the
preset value PT. After ET reaches PT value, the timing will not be stopped till ET reaches maximum
4294967295.
When EN is off, the current value ET of the timer is cleared as 0 and the output bit is reset.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
The execution condition of this instruction.
“TONR_ms” instruction is executed as “EN” turns on; the
EN BOOL M,I,Q, constant
output “TON” is reset and the current value “ET” is
cleared as 0 as “EN” turns off.
As “IN” is on, the timer starts timing; as “IN” is off, the
IN BOOL M,I,Q, constant
current value “ET” is maintained.
PT Preset value of the timer UDINT Constant,D
The current value “ET” is greater than or equal to the
TONR BOOL M,Q
prest value PT, “TONR” is on.
ET The current value of the timer. UDINT D
Note: For the sequence chart of TONR_ms, please refer to the program example of TONR_s.

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4. Motion Control Instruction

4.6.26. CMP

API Controller
CMP Comparison of 16-bit integers
153 10MC11T
Explanation of the instruction:
CMP is used for comparison of two 16-bit signed integers with the result value displayed in one of the three
output bit devices.
When EN is On, compare S1 less than or greater than, or equal to S2 with the result placed in the
corresponding LT, GT or EQ. When EN is Off, the status of the bit device where the comparison result is
placed will keep unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “CMP” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 The compared value 1 INT Constant,D
S2 The compared value 2 INT Constant,D
“LT” turns on as the operand S1 is less than the
LT BOOL M,Q
operand S2.
“GT” turns on as the operand S1 is greater than the
GT BOOL M,Q
operand S2.
“EQ” turns on as the operand S1 is equal to the operand
EQ BOOL M,Q
S2.

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 4. Motion Control Instructions

4.6.27. CMP_DI

API Controller
CMP_DI Comparison of 32-bit integers
154 10MC11T
Explanation of the instruction:
CMP-DI is used for comparison of two 32-bit signed integers with the result value displayed in one of the
three output bit devices.
When EN is On, compare S1 less than or greater than, or equal to S2 with the result placed in the
corresponding LT, GT or EQ. When EN is Off, the status of the bit device where the comparison result is
placed will keep unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “CMP_DI” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 The compared value 1 DINT Constant
S2 The compared value 2 DINT Constant
“LT” turns on as the operand S1 is less than the
LT BOOL M,Q
operand S2.
“GT” turns on as the operand S1 is greater than the
GT BOOL M,Q
operand S2.
“EQ” turns on as the operand S1 is equal to the operand
EQ BOOL M,Q
S2.

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4. Motion Control Instruction

4.6.28. CMP_R

API Controller
CMP_R Comparison of floating numbers
155 10MC11T
Explanation of the instruction:
CMP-R is used for comparison of two 32-bit floating number with the result value displayed in one of the three
output bit devices.
When EN is On, compare S1 less than or greater than, or equal to S2 with the result placed in the
corresponding LT, GT or EQ. When EN is Off, the status of the bit device where the comparison result is
placed will keep unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “CMP_R” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 The compared value 1 REAL Constant
S2 The compared value 2 REAL Constant
“LT” turns on as the operand S1 is less than the
LT BOOL M,Q
operand S2.
“GT” turns on as the operand S1 is greater than the
GT BOOL M,Q
operand S2.
“EQ” turns on as the operand S1 is equal to the operand
EQ BOOL M,Q
S2.

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 4. Motion Control Instructions

4.6.29. MOV

API Controller
MOV Move 16-bit integer
156 10MC11T
Explanation of the instruction:
MOV is used for sending the 16-bit integer to the target register.
When EN is On, the content of S will be moved to D without changing the original value in S.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOV” is executed as “EN” turns on. BOOL M,I,Q, constant
S The source where the data comes from. INT Constant
D The target register INT D
Note: This instruction is used for moving the 16-bit integer only.

 Program example

 When M0 turns Off -> On and keeps in ON status, this instruction will be being executed ever after for
sending the content of register D0 to register D100.
 When M0 turns On→Off, this instruction will stop execution.

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4. Motion Control Instruction

4.6.30. MOV_DI

API Controller
MOV_DI Move 32-bit integer
157 10MC11T
Explanation of the instruction:
MOV_DI is used for sending the 32-bit integer to the target register.
When EN is On, the content of S will be moved to D without changing the original value in S.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOV_DI” is executed as “EN” turns on. BOOL M,I,Q, constant
S The source where the data comes from. DINT Constant,D
D The target register DINT D

Note: This instruction is used for moving the 32-bit integer only.

4.6.31. MOV_R

API Controller
MOV_R Move floating number
158 10MC11T
Explanation of the instruction:
MOV_R is used for sending the 32-bit floating number to the target register.
When EN is On, the content of S will be moved to D without changing the original value in S.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOV_R” is executed as “EN” turns on. BOOL M,I,Q, constant
S The source where the data comes from. REAL Constant,D
D The target register REAL D
Note: This instruction is used for moving the floating number only.

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 4. Motion Control Instructions

4.6.32. MOVF

API Controller
MOVF Move 16-bit integer to multiple registers
159 10MC11T
Explanation of the instruction:
MOVF is used for sending one 16-bit integer to multiple target registers.
When EN is on, the content of S1 is sent to the zone with D as the starting register and the data length is
specified by S2. When the data length S2 is larger than maximum 64, it is counted as 64. And the part above
64 is invalid.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOVF” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 The source where the data comes from. INT Constant,D
The length of the transmitted zone, the max value for S2
S2 UINT Constant,D
is 64.
D The starting one of the target registers INT D
Note: This instruction can be used for multi-point transmission of 16-bit integer only.

 Program example

20 20
D10

20
D11

20 S2=5
D12

20
D13

20
D14

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4. Motion Control Instruction

4.6.33. MOVF_DI

API Move 32-bit integer to multiple Controller

MOVF_DI
registers
160 10MC11T
Explanation of the instruction:
MOVF_DI is used for sending one 32-bit integer to multiple target registers.
When EN is on, the content of S1 is sent to the zone with D as the starting register and the data length is
specified by S2. When the data length S2 is larger than maximum 64, it is counted as 64. And the part above
64 is invalid.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOVF_DI” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 The source where the data comes from. DINT Constant,D
The length of the transmitted zone, the max value for S2
S2 UINT Constant,D
is 64.
D The starting one of the target registers DINT D
Note: When the content of the register is 32-bit data, it will occupy two consecutive registers.

 Program example

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 4. Motion Control Instructions

4.6.34. MOVF_R

API Move floating number to multiple Controller

MOVF_R
registers
161 10MC11T
Explanation of the instruction:
MOVF_R is used for sending one 32-bit floating number to multiple target registers.
When EN is on, the content of S1 is sent to the zone with D as the starting register and the data length is
specified by S2. When the data length S2 is larger than maximum 64, it is counted as 64. And the part above
64 is invalid.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOVF_R” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 The source where the data comes from. REAL Constant,D
The length of the transmitted zone, the max value for S2
S2 UINT Constant,D
is 64.
D The starting one of the target registers REAL D
Note: This instruction can be used for multi-point transmission of the floating point only. For detailed
application, please refer to the example on MOVF instruction.

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4. Motion Control Instruction

4.6.35. MOVB

API Move multiple register data to the Controller

MOVB
target registers
162 10MC11T
Explanation of the instruction:
MOVB is used for sending multiple source register values to the corresponding multiple target registers.
When EN is on, the zone data with S1 as the starting register data is sent to the zone with D as the starting
register and the data length is specified by S2. When the data length S2 is larger than maximum 64, it is
counted as 64. And the part above 64 is invalid.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOVB” is executed as “EN” turns on. BOOL M,I,Q, constant
The starting register of the source zone where the data
S1 INT D
comes from.
The length of the transmitted zone, the max value for S2
S2 UINT Constant,D
is 64.
D The starting register of the target zone INT D

 Program example

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 4. Motion Control Instructions

4.6.36. MOV_BW

API Move multiple bit device values to Controller

MOV_BW
multiple registers
163 10MC11T
Explanation of the instruction:
MOV_BW is used for sending multiple bit device values to the word devices.
When EN is on, the bit device data with S1 as the starting bit device data is sent to the register zone with D as
the starting register and the bit device length is specified by S2. When the data length S2 is larger than
maximum 64, it is counted as 64. And the part above 64 is invalid.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOV_BW” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 The source where the data comes from. BOOL M,I,Q
The length of the bit device of the transmitted zone, the
S2 UINT Constant,D
max value for S2 is 64.
D The starting register of the target zone INT D
Note: If the bit device of the instruction exceeds the range of that of the controller, only the data in the bit
device within the valid range can be sent.

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4. Motion Control Instruction

4.6.37. MOV_WB

API Move multiple register values to Controller

MOV_WB
multiple bit devices
164 10MC11T
Explanation of the instruction:
MOV_WB is used for sending multiple word device values to the bit devices.
When EN is on, the register value with S1 as the starting one is sent to the bit device with D as the starting
one. The sent word device data length is specified by S2. When the data length S2 is larger than maximum
64, it is counted as 64. And the part above 64 is invalid.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOV_WB” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 Storage area for data source INT D
The length of the register of the transmitted zone, the
S2 UINT Constant,D
max value for S2 is 64.
D The starting one of the target bit device. BOOL M,Q
Note: If the register of the instruction exceeds the range of register of the controller, only the data in the
register within the valid range can be sent.

 Program example

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 4. Motion Control Instructions

4.6.38. ZCP

API Compare 16-bit integer to the Controller

ZCP
values in one zone
165 10MC11T
Explanation of the instruction:
ZCP is used for comparison of one 16-bit signed integer with one zone.
When EN is on, S is within the range from Low value to High value, Q=On and nQ=Off; if S value is out of the
range from Low value to High value, nQ =On and Q=Off;
When EN is Off, the status of Q and nQ keeps unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “ZCP” is executed as “EN” turns on. BOOL M,I,Q, constant
S The compared value INT Constant,D
Low The lower limit for zone comparison INT Constant,D
High The high limit for zone comparison INT Constant,D
As the instruction is executed and Low≤S ≤High, the “Q”
Q BOOL M,Q
bit is on.
As the instruction is executed and High＜S or S＜Low,
nQ BOOL M,Q
the “nQ” bit is on.

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4. Motion Control Instruction

4.6.39. ZCP_DI

API Compare 32-bit integer to the Controller

ZCP_DI
values in one zone
166 10MC11T
Explanation of the instruction:
ZCP_DI is used for comparison of the signed 32-bit integer with one zone.
When EN is on, S value is within the range from Low value to High value, Q=On and nQ=Off; if S value is out
of the range from Low value to High value, nQ =On, Q=Off;
When EN is Off, the status of Q and nQ keeps unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “ZCP_DI” is executed as “EN” turns on. BOOL M,I,Q, constant
S The compared value DINT Constant,D
Low The lower limit for zone comparison DINT Constant,D
High The high limit for zone comparison DINT Constant,D
As the instruction is executed and Low ≤S ≤High, the
Q BOOL M,Q
“Q” bit is on.
As the instruction is executed and High＜S or S＜Low,
nQ BOOL M,Q
the “nQ” bit is on.

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 4. Motion Control Instructions

4.6.40. ZCP_R

API Compare floating number to the Controller

ZCP_R
values in one zone
167 10MC11T
Explanation of the instruction:
ZCP_R is used for comparison of the 32-bit floating number with one zone.
When EN is on, S value is within the range from Low value to High value, Q=On and nQ=Off; if S value is out
of the range from Low value to High value, nQ =On, Q=Off;
When EN is Off, the status of Q and nQ keeps unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “ZCP_R” is executed as “EN” turns on. BOOL M,I,Q, constant
S The compared value REAL Constant,D
Low The lower limit for zone comparison REAL Constant,D
High The high limit for zone comparison REAL Constant,D
As the instruction is executed and Low≤S ≤High, the “Q”
Q BOOL M,Q
bit is on.
As the instruction is executed and High＜S or S＜Low,
nQ BOOL M,Q
the “nQ” bit is on.

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4. Motion Control Instruction

4.6.41. SET

API Controller
SET Setting instruction
168 10MC11T
Explanation of the instruction:
SET is used to set one single bit device to On status.
When EN of the instruction is on, Q is on; as EN is off, Q is still on.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “SET” is executed as “EN” turns on. BOOL M,I,Q, constant
The output bit Q is set to ON status as the instruction is
Q BOOL M,Q
executed.

4.6.42. RESET

API Controller
RESET Reset instruction
169 10MC11T
Explanation of the instruction:
RESET is used to reset one single bit device.
When EN of the instruction is on, Q is reset to Off state; as EN is off, Q status keeps unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “RESET” is executed as “EN” turns on. BOOL M,I,Q, constant
The output bit Q is reset when the instruction is
Q BOOL M,Q
executed.

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 4. Motion Control Instructions

4.6.43. OUT

API Controller
OUT Coil driving
170 10MC11T
Explanation of the instruction:
OUT is used to drive one single bit device.
When EN of the instruction is on, Q is On; when EN is off, Q is off.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “OUT” is executed as “EN” turns on. BOOL M,I,Q, constant
The output bit Q is set to On state when the instruction
Q BOOL M,Q
is executed.

4.6.44. R_Trig

API Controller
R_Trig Rising edge triggering
171 10MC11T
Explanation of the instruction:
R_Trig is used to trigger via CLK bit rising edge to make Q bit generate the high level for one scan cycle.
When EN is On and CLK turns off -> on, Q outputs the high level for one scan cycle.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “R_Trig” is executed as “EN” turns on. BOOL M,I,Q, constant
CLK The rising edge triggering bit BOOL M,I,Q, constant
The rising edge of CLK makes Q be in on status for one
Q BOOL M,Q
cycle when the instruction is being executed.

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4. Motion Control Instruction

 Program example
As I0=On and M0 turns off -> on via the trigger of the rising edge, ”R_Trig" instruction is executed;
"Q0“ outputs the pulse once and the length of the pulse is one scan cycle.

Sequence chart:

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 4. Motion Control Instructions

4.6.45. F_Trig

API Controller
F_Trig Falling edge triggering
172 10MC11T
Explanation of the instruction:
F_Trig is used to trigger via falling edge of CLK bit to make Q bit generate the high level for one scan cycle.
When EN is On and CLK turns on -> off, Q outputs the high level for one scan cycle.

Explanation of input and output parameter of the instruction

Parameter Data Available
Explanation
name type device
EN “F _Trig” is executed as “EN” turns on. BOOL M,I,Q, constant
CLK The falling edge triggering BOOL M,I,Q, constant
The falling edge of CLK makes Q be in on status for one
Q BOOL M,Q
cycle when the instruction is being executed.

 Program example
As I0=On and M0 turns on -> off via the trigger of the falling edge, "F_Trig" instruction is executed; "Q0"
outputs the pulse once and the length of the pulse is one scan cycle.

Sequence chart:

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4. Motion Control Instruction

4.6.46. ZRSTM

API Controller
ZRSTM Reset one zone of bit devices
173 10MC11T
Explanation of the instruction:
ZRSTM is used to reset multiple continuous bit devices.
When EN is on, the bit devices with S1 as the starting device are reset and the length of the reset bit devices
is specified by S2;
When EN is off, the status of the bit devices is unchanged. If the length specified by S2 exceeds maximum 64,
it is counted as 64 and the part above 64 is invalid.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “ZRSTM” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 The starting bit device reset BOOL M,Q
Specify the quantity of the bit device; the max value of
S2 UINT Constant, D
S2 is 64.

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 4. Motion Control Instructions

4.6.47. ZRSTD

API Controller
ZRSTD Reset one zone of registers
174 10MC11T
Explanation of the instruction:
ZRSTD is used to reset multiple continuous registers.
When EN is on, the registers with S1 as the starting register are cleared as 0; and the number of the registers
is specified by S2;
When EN is off, the values of the registers are unchanged.
If the length specified by S2 exceeds maximum 64, it is counted as 64 and the part above 64 is invalid.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “ZRSTD” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 The reset starting register INT D

Specify the quantity of the registers; the max value of

S2 UINT Constant, D
S2 is 64.

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4. Motion Control Instruction

4.6.48. SQRT_R

API Controller
SQRT_R Square root of floating number
175 10MC11T
Explanation of the instruction:
SQRT_R is used for arithmetic square root operation of 32-bit floating number.
When EN is on, arithmetic square root operation of the floating number specified by S is conducted and the
result is saved in D device.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “SQRT_R” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 Radicand REAL Constant, D
D Arithmetic square root REAL D
Note: Operand S1 must be the floating number. When S1 is equal to or less than 0, the result value stored in
D device is 0.

4.6.49. MOD

API Controller
MOD Get remainder of 16-bit integer
176 10MC11T
Explanation of the instruction:
MOD is used for getting the remainder of 16-bit integer through division operation.
When EN is on, divide S1 by S2 and the remainder of S1 is stored in D device.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOD” is executed as “EN” turns on. BOOL M,I,Q, Constant
S1 Dividend INT Constant, D
S2 Divisor INT Constant, D
D Remainder INT D
Note: Operand S1 and S2 must be 16-bit integers.

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 4. Motion Control Instructions

4.6.50. MOD_DI

API Controller
MOD_DI Get remainder of 32-bit integer
177 10MC11T
Explanation of the instruction:
MOD_DI is used for getting the remainder of 32-bit integer through division operation.
When EN is on, divide S1 by S2 and the remainder of S1 is stored in D device.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOD_DI” is executed as “EN” turns on. BOOL M,I,Q, Constant
S1 Dividend DINT Constant, D
S2 Divisor DINT Constant, D
D Remainder DINT D
Note: Operand S1 and S2 must be the 32-bit integers.

4.6.51. MOD_R

API Controller
MOD_R Get remainder of floating number
178 10MC11T
Explanation of the instruction:
MOD_R is used for getting the remainder of floating number through division operation.
When EN is on, divide S1 by S2 and the remainder of S1 is stored in D device.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
EN “MOD_R” is executed as “EN” turns on. BOOL M,I,Q, constant
S1 Dividend REAL Constant, D

S2 Divisor REAL Constant, D

D Remainder REAL D

Note: Operand S1 and S2 must be the floating numbers.

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4. Motion Control Instruction

4.6.52. Real_To_Int

API Convert floating number into Controller

Real_To_Int
179 16-bit integer
10MC11T
Explanation of the instruction:
Real_To_Int is used for converting 32-bit floating numbers into the signed 16-bit integer. When EN is on,
floating number S value is converted into the signed 16-bit integer which is stored in D device and S value
keeps unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
M,I,Q,
EN “Real_To_Int” is executed as “EN” turns on. BOOL
Constant
S The floating point to be converted REAL Constant, D
D The 16-bit integer which has been converted INT D

4.6.53. Real_To_DInt

API Convert floating number into Controller

Real_To_DInt
180 32-bit integer
10MC11T
Explanation of the instruction:
Real_To_DInt is used for converting 32-bit floating number into the signed 32-bit integer.
When EN is on, floating number S value is converted into the signed 32-bit integer which is stored in D device
and S value keeps unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
M,I,Q,
EN "Real_To_DInt” is executed as “EN” turns on. BOOL
Constant
S The floating point to be converted REAL Constant, D
D The 32-bit integer which has been converted DINT D

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 4. Motion Control Instructions

4.6.54. Int_To_Real

API Convert 16-bit integer into floating Controller

Int _To_Real
181 number
10MC11T
Explanation of the instruction:
Int_To_Real is used for converting the signed 16-bit integer into 32-bit floating number.
When EN is on, the signed 16-bit integer S value is converted into the 32-bit floating number which is stored
in D device and S value keeps unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
M,I,Q,
EN “Int_To_Real” is executed as “EN” turns on. BOOL
Constant
S The 16-bit integer to be converted INT Constant, D
D The floating number which has been converted REAL D

4.6.55. DInt_To_Real

API Convert 32-bit integer into floating Controller

DInt _To_Real
182 number
10MC11T
Explanation of the instruction:
DInt_To_Real is used for converting the signed 32-bit integer into 32-bit floating number.
When EN is on, the signed 32-bit integer S value is converted into the 32-bit floating number which is stored
in D device and S value is unchanged.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
M,I,Q,
EN “DInt_To_Real” is executed as “EN” turns on. BOOL
Constant
S The 32-bit integer to be converted DINT Constant, D
D The floating point which has been converted REAL D

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4. Motion Control Instruction

4.6.56. Offset

API 16-bit integer index register Controller

Offset
183 instruction
10MC11T
Explanation of the instruction:
Offset instruction is used for operation of 16-bit integer index register.
When EN is on, add the In_E value to S register address and the result is the address of source index
register; add the Out_E value to D register address and the result is the address of the destination index
register. The destination index register value changes with the changing source index register value. When S
is linked to the output pin of other instruction with a line, the In_E value is invalid; When D is linked to the
input pin of other instruction with a line, the Out _E value is invalid.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device

M,I,Q,
EN “Offset” is executed as “EN” turns on. BOOL
constant

S The start address of source register INT D

In_E Address offset length of source register INT D

Out_E Address offset length of destination register INT D

D The start address of destination register INT D

 Example 1

Program Explanation:
 When M0= on, S is D100; In_E=2 and the source index register address is D(100+2)=D102.
 When D is D200 and Out_E=3, the destination index register address is D(200+3)=D203 and
meanwhile, the content of D102 is moved to D203.

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 4. Motion Control Instructions

 Example 2

Program Explanation:
 When the input pin S of Offset instruction and the output pin D of MOV instruction are linked with a line,
the In_E value is invalid.
 When M1 is on, the source index register address of Offset instruction is the input device (S) address of
MOV function block, which is fixed to D500.
 The output D of Offset instruction is D600, Out_E= 6, the destination index register address is
D(600+6)=D606.
 Move the content of D500 to D606.
 When Out_E value changes, the content of D500 can be moved to different registers.

 Example 3

Program Explanation:
 The output pin D of Offset instruction and the input pin S of MOV instruction are linked with a line, the
Out_E value is invalid.
 When M2 is on, the input S of Offset instruction is D1000, In_E=350 and the source index register
address is D(1000+350)=D1350.
 The vaule of the source index register address is moved to the output D of Offset instruction and the
D1350 value is moved to D2000.
 When In_E value changes, the content of different registers can be moved to D2000.

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4. Motion Control Instruction

4.6.57. Offset_DI

API 32-bit integer index register Controller

Offset_DI
184 instruction
10MC11T
Explanation of the instruction:
Offset_DI is used for operation of 32-bit integer index register.
When EN is on, add the In_E value to S register address and the result is the address of source index
register; add the Out_E value to D register address and the result is the address of the destination index
register. The destination index register value changes with the changing source index register value. When S
is linked to the output pin of other instruction with a line, the In_E value is invalid; When D is linked to the
input pin of other instruction with a line, the Out _E value is invalid.

Explanation of input and output parameter of the instruction:

Parameter Available
Explanation Type
name device

M,I,Q,
EN “Offset_Dl” is executed as “EN” turns on. BOOL
constant

S The start address of source register DINT D

In_E The address offset length of source register INT D

Out_E The address offset length of destination register INT D

D The start address of destination register DINT D

 Example 1

Program Explanation:
 When M0 is on, S is D100; In_E= 3 and the source index register address is D(100+3)=D103;
 D is D200; Out_E= 5 and the destination index register address is D(200+5)=D205;
 At the moment, move the content of D103 to D205.

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 4. Motion Control Instructions

 Example 2

Program Explanation:
 When the input pin S of Offset_DI instruction and the output pin D of MOV_DI instruction are linked with
a line, the In_E value is invalid.
 When M1 is on, the source index register address of Offset_DI instruction is the input device (S) address
of MOV_DI function block, which is fixed to D300.
 The output D of Offset_DI instruction is D800, Out_E= 9, the destination index register address is
D(800+9)=D809.
 Move the content of D300 to D809.
 When Out_E value changes, the content of D300 can be moved to different registers.

 Example 3

Program Explanation:
 The output pin D of Offset_DI instruction and the input pin S of MOV_DI instruction are linked with a line,
the Out_E value is invalid.
 When M2 is on, the input S of Offset_DI instruction is D3200, In_E=5555 and the source index register
address is D(3200+5555)=D8755.
 The vaule of the source index register address is moved to the output D of MOV_DI instruction and the
D8755 value is moved to D700.
 When In_E value changes, the content of different registers can be moved to D700.

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4. Motion Control Instruction

4.6.58. Offset_R

API Floating-point number index Controller

Offset_R
185 register instruction
10MC11T
Explanation of the instruction:
Offset_R is used for operation of 32-bit floating-point number index register.
When EN is on, add the In_E value to S register address and the result is the address of source index
register; add the Out_E value to D register address and the result is the address of the destination index
register. The destination index register value changes with the changing source index register value. When S
is linked to the output pin of other instruction with a line, the In_E value is invalid; When D is linked to the
input pin of other instruction with a line, the Out _E value is invalid.

Explanation of input and output parameter of the instruction:

Parameter Available
Explanation Type
name device

M,I,Q,
EN “Offset_R” is executed as “EN” turns on. BOOL
constant

S The start address of source register REAL D

In_E The address offset length of source register INT D

Out_E The address offset length of destination register INT D

D The start address of destination register REAL D

Note:For the example of Offset_R, please refer to the program example of Offset_DI.

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 4. Motion Control Instructions

4.7. Application Instruction

4.7.1. Rotary Cut Technology

Rotary cut is the technology to cut the material in transmission vertically. The knife conducts cutting on the
cut surface periodically with the rotation of the rotary cut axis.

DVP10MC11T Feed axis Rotary cut axis

Rotary cut roller
Material (For cutting)

Feed roller
(For feeding material)

Note: The feed axis is to control the feed roller; the rotary cut axis is to control rotary cut roller with the knife
mounted on the rotary cut roller. The rotary cut function is usually used for cutting of the thin material or the
material of medium thinness and can be applied in packaging machine, cutting machine, punching machine,
printing machine etc.

Cutting Cutting Cutting

position position position

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4. Motion Control Instruction

4.7.2. Rotary Cut Parameters

Parameter
Explanation Instruction name
in figure

L The cutting length of the processed material FdAxis_CutLength

The radius of feed axis, i.e. the radius length of the

R1 FdAxis_Radius
feed roller.

The radius of rotary axis, i.e. the distance from

R2 RotAxis_Radius
center of the rotary roller to tool bit.

The number of the knife in the rotary roller. The

N RotAxis_KnifeNum
knife number is 1 in figure above.

P1 The starting position of the synchronous area. FdAxis_SyncStartPos

P2 The end position of the synchronous area. FdAxis_SyncStopPos

4.7.3. Control feature of rotary cut function

Rotary cut function is a type of special electronic cam function. The figure of cam curve is shown below for
continuous cutting.

Position of rotary cut axis

Position of feed axis

1) User can set the cutting length freely according to the technological requirement and the cutting length
could be less or more than the circumference of the cutter.
2) In the sync area, the knife and feed axis keep synchronous in speed to complete the cutting action.
3) DVP10MC11T supports the rotary roller with multiple knives.
4) The feed axis is able to make the motion at a constant speed, acceleration, or deceleration during
cutting.
5) When rotary cut relation is broken off, the knife stops at the zero point of the system, i.e. the entry
position for rotary cutting.

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 4. Motion Control Instructions

4.7.4. Introduction to the Cam with Rotary Cut Function

The function curve of the cam with rotary cut function could be divided into sync area and adjustment area.
Sync area: Feed axis and rotary axis make the motion at a fixed ratio (Linear speed of knife is usually equal
to that of the cut surface), and material cutting takes place in sync area.
Adjustment area: Due to different cutting length, position need be adjusted accordingly. Adjustment area can
be in the following three situations based on various cutting length.

 Short material cutting

When cutting length is less than the knife roller circumference, the rotary cut curve for any cycle is shown
below.
Rotary cut axis Sync area

Adjustment area
knife roller
Circumference of

Sync
area

Cutting length is less

than the knife roller
circumference Feed axis

End of sync Start of

area sync area
Cutting length

For the cutting of the short material, rotary cut axis must accelerate first in adjustment area, and then
decelerate to the synchronous speed.

 Equal length cutting

When the cutting length is equal to knife roller circumference, the rotary cut curve for any cycle is shown
below.

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4. Motion Control Instruction

Rotary cut axis Sync area

Adjustment area
knife roller
Circumference of

Sync
area

Cutting length equals the

knife roller circumference
Feed axis

End of sync Start of sync

area area
Cutting length

In this situation, feed axis and rotary cut axis in sync area and non-sync area keep synchronous in speed.
The rotary cut axis does not need to make any adjustment.

 Long material cutting

When the cutting length is greater than the knife roller circumference, the rotary cut curve for any cycle is
shown below.
Rotary cut axis
Sync area

Adjustment area
of knife roller
Circumference

Sync
area

Cutting length is greater than the

knife roller circumference
Feed axis

End of sync Start of sync

area area
Cutting length

In this situation, rotary cut axis should decelerate first in adjustment area and then accelerate to synchronous
speed. If the cutting length is far greater than rotary cut roller circumference, the roller may decelerate to 0
and then stay still for a while; finally, accelerate up to synchronous speed. The greater the cutting length is,
the longer the roller stays.

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 4. Motion Control Instructions

Additionally, when rotary cut function is started or broken off, the cam curves used are different.

 The entry curve

It is the rotary cut curve when rotary cut function is started
Rotary cut axis
Sync area

Adjustment area

Entry
point

Sync
area

Feed axis

End of sync Start of

area sync area
Cutting length

The curve is the rotary cut function entry curve. When the rotary cut function is started up, the rotary cut axis
will follow the feed axis to rotate according to the curve. The entry position is based on the rotary cut axis. For
the single knife, the cutting position is directly below the rotary cut roller if the entry position is over the rotary
cut roller in the following figure. Before the rotary cut function is started up, the knife must be turned to the
upper of the rotary roller. Otherwise, the cutting may happen in the adjustment area.

Knife

horizontal line
O

Cutting
position

When the rotary roller is mounted with multiple knives, the distance between knives should be the same and
the cutting position is at the center of the knife distance. See the two-knife figure below.

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4. Motion Control Instruction
Cutting
position

Knife 1 Knife 2
horizontal line
O

Cutting
position

 The end curve

It is the rotary cut curve when the rotary cut function is broken away.
Rotarycut axis
Sync area

Adjustment area

End point

Sync
area

Feed
axis

End of sync area Start of sync area

Cutting length

After the instruction “APF_RotaryCut_Out” is started up, the system will use the curve to make the rotary cut
axis break away from the rotary cut state. Eventually, the knife stops at the end position as shown in the
figure above.
The end position is based on the rotary axis. For the single knife, the end position is the entry position and it
is also right above the rotary cut roller.

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4.7.5. Rotary Cut Instructions

4.7.5.1. APF_RotaryCut_Init
API Controller
APF_RotaryCut_Init Initialize rotary cut
220 10MC11T
Explanation of the instruction:
The instruction is used for initializing the radius of rotary axis and feed axis, the cutting length, synchronous
area and etc if the rotary cut relation has not been established. After execution of the instruction is completed,
the relevant parameters are loaded so as to be called while the rotary cut relation is being established. If the
rotary cut relation has been established, the instruction is used for modifying the rotary cut parameters. And
the newly set parameters will be effective in the following period after the execution of the instruction is
finished.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
When “Execute” turns off -> on, the
Execute BOOL M,I,Q, constant
instruction is executed.

The radius of rotary cut axis, i.e. the distance

RotaryAxisRadius REAL Constant, D
from center of the rotary cut roller to the knife.
The number of the knife of rotary axis, i.e. the
RotaryAxisKnifeNum UINT Constant, D
number of knife mounted on the rotary roller
The radius of feed axis; i.e. the radius length
FeedAxisRadius REAL Constant, D
of the feed roller
CutLenth The cutting length of material REAL Constant, D
The start position of the sync area, i.e. the
SyncStartPos corresponding feed axis position when the REAL Constant, D
sync area starts.
The end position of the sync area, i.e. the
SyncStopPos corresponding feed axis position when the REAL Constant, D
sync area ends.
The number for a group of rotary cut
RotCutID instructions; a group of rotary cut instructions UINT Constant, D
use the uniform number. Setting range: 0~7.

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4. Motion Control Instruction

Parameter Data Available

Explanation
name type device
When parameter setting is completed,
Done "Done" turns on; when “Execute” turns off, BOOL M,Q
"Done" is reset.
When any error is detected, "Error" turns on;
Error BOOL M,Q
when "Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D
Note:
1. The value of "SyncStartPos" in sync area is always greater than "SyncStopPos" in sync area. As
below figure shows, the cutting length is 320; "SyncStartPos" is 310; "SyncStopPos": 10.

2. The limit for sync area is that it must not be larger than the half of cutting length. In above figure,
sync area is 20, and the half of the cutting length is 160.
3. The length parameters in the function are RotaryAxisRadius, FeedAxisRadius, CutLenth,
SyncStartPos, and SyncStopPos with the uniform unit. For example, if the unit for one of the
parameters is CM (centimeter), the units for other parameters must be CM as well.

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4.7.5.2. APF_RotaryCut_In

API Controller
APF_RotaryCut_In Rotary cut-in
221 10MC11T
Explanation of the instruction:
The instruction is used for establishing the rotary cut relation and specifying the axis number of the rotary axis
and feed axis according to the application requirement. After the execution of the instruction succeeds, the
rotary cut axis follows the feed axis to make the motion according to the rotary cut curve.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
When “Execute” turns off -> on, the instruction is
Execute BOOL Constant, D
executed.
RotaryAxis The rotary axis number UINT M,I,Q, constant
The feed axis number. We suggest that the feed axis
number should be less than the rotary axis number so
FeedAxis that the rotary axis could better follow the feed axis for UINT Constant, D
motion. The axis number can be set in order of 1~24
from small to large.
The number for a group of rotary cut instructions; a
RotCutID group of rotary cut instructions use the uniform number. UINT Constant, D
Setting range: 0~7.
When the execution of “APF_RotaryCut_In" is
Done completed, "Done" turns on; when “Execute” turns off, BOOL M,Q
"Done" is reset.
When any error is detected, "Error" turns on; when
Error BOOL M,Q
"Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

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4.7.5.3. APF_RotaryCut_Out

API Controller
APF_RotaryCut_Out Rotary cut-out
222 10MC11T
Explanation of the instruction:
The instruction is used for disconnecting the already established rotary cut relation between the rotary axis
and feed axis. After the rotary cut relation is disconnected, the knife of the rotary axis will stop at the entry
point and will not follow the feed axis any more. The instruction has no impact on the motion of the feed axis.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
When “Execute” turns off -> on, the instruction is
Execute BOOL Constant, D
executed.
RotaryAxis The axis number of rotary axis UINT M,I,Q, constant
The number for a group of rotary cut instructions; a
RotCutID group of rotary cut parameters use the uniform UINT constant, D
number. Setting range: 0~7
When “APF_RotaryCut_Out” execution is completed,
Done "Done" turns on; when “Execute” turns off, "Done" is BOOL M,Q
reset.
When any error is detected, "Error" turns on; when
Error BOOL M,Q
"Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D
Note:
1. Rotary cut function control sequence:

2. When the rotary cut function is executed, the rotary cut axis can only execute APF_RotaryCut_Out and
MC_Stop instruction and other instructions are invalid.

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4.7.6. Application Example of Rotary Cut Instructions

The section explains the setting of rotary cut parameters, establishment and disconnection of rotary cut
relation. The following is the program example.
The key parameters in the example:

Parameter Current value

RotaryAxis 15
FeedAxis 2
RotaryAxisRadius 10 (Unit: units)
RotaryAxisKnifeNum 1
FeedAxisRadius 20 (Unit: units)
CutLenth 30 (Unit: units)
SyncStartPos 19 (Unit: units)
SyncStopPos 1 (Unit: units)

Program Example

1）As M1 is on, the servo with the node address 2 turns "Servo On"; as M2 is on, the servo with the
node address 1 will turn "Servo On".

2）Set the rotary cut technology parameters of master axis and slave axis. Radius of rotary axis is 10,
knife quantity of rotary axis is 1, and cutting length of feed axis is 30.
The start position of synchronous area is 19, end position of synchronous area is 1, and the rotary
cut group number is 1. When M3 is on, rotary cut technology parameters will be initialized.

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4. Motion Control Instruction

3）When M4 is on, the rotary cut relation starts being established. When M40 is on, it indicates the
relation between rotary axis and feed axis is made successfully. Servo 2 is feed axis (master axis)
and servo 1 is rotary axis (slave axis). The servo of node ID 15 is the rotary cut axis.

4）When M5 is on, feed axis starts to execute the velocity instruction. At this moment, rotary axis
executes the rotary cut action based on the phase of feed axis.

5）When M6 is on, rotary axis starts to break away from feed axis. When M60 is on, it symbolizes
rotary axis breaks away from feed axis successfully. After rotary axis breaks away from feed axis, it
will return to the entry point and feed axis motion will not impact rotary axis any more.

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4.7.7. Flying Shear Technology

Flying shear is the technology to cut the material in transmission vertically. The slave axis starts to accelerate
from the wait position. After its speed is up to the synchronous speed, the follower of the lead screw and
material move at the same speed; they are relatively static; the Insync bit is on and the shear axis is triggered
to control the shear to do the cutting upward.
The structure figure of flying shear is shown as follows.

Shear Material

Lead screw
Feed roller
Motor box
Motor

Follower of
lead screw

DVP10MC11T Shear Slave Master

axis axis axis

After the cutting is completed, the shear will return to the motor box first and then slave axis will return to the
wait position. In continuous cutting, these actions will be executed in cycles.
The flying shear function is applied in cutting of the thick material usually.

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4. Motion Control Instruction

4.7.8. The technological parameters of flying shear function

The figure of flying shear function:

Parameter in
Description Name in the instruction
figure

The radius of master axis, i.e. the radius of the

R1 MasterRaduis
feed roller

The radius of slave axis, i.e. the radius of the

corresponding roller of slave axis.
R2 SlaveRadius
By adopting the lead screw, R2= Lead of the lead
screw / 2π=S/2π

The wait position of slave axis.

A After the flying shear function is started up, slave SlaveWaitPosition
axis will run to the position automatically.

The start position of master axis.

When master axis reaches this position, slave axis
B MasterStartPosition
will chase the master axis starting from the wait
position to realize the synchronous speed.

The corresponding master position when

C MasterSyncPosition
synchronous area starts.

The corresponding slave position when

D SlaveSyncPosition
synchronous area starts.

The corresponding slave position when

E SlaveEndPosition
synchronous area ends.

L The cutting length of material CutLength

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4.7.9. Control feature of flying shear function

Flying shear is a kind of special e-cam function. In continuous shearing, the flying shear curve for the first
cycle is shown below.
Slave axis Return area
Sync area
SlaveEndPosition
Acceleration
area
SlaveSyncPosition

SlaveWaitPosition

MasterSyncPosition
MasterStartPosition
CutLength Master axis

 Explanation of areas
Acceleration area: After the flying shear relation is established successfully and when master axis runs to
MasterStartPosition, slave axis starts to accelerate from static state and finally slave axis and master keeps
the synchronous speed. The process is named as the Acceleration area.
Sync area: In this area, slave axis and master axis run at the fixed speed ratio (1:1 usually). And the cutting of
material occurs in this area.
Return area: After the Sync area finishes, slave axis starts to decelerate and finally slave axis rotates
reversely to the SlaveWaitPosition and then stops. The process is named as the Return area.

 Steps for flying shear

1. After the flying shear function is started up, slave axis runs to the SlaveWaitPosition and stops there.
2. When master axis runs to the MasterStartPosition, slave starts to chase after master axis and the flying
shear function enters the acceleration area.
3. When the sync area starts, master axis is in the MasterSyncPosition and slave axis is in the
SlaveSyncPosition. Meanwhile, slave axis and master axis keep the synchronous speed and the
synchronous bits of relevant instructions turn on.
4. The shear axis will run according to user program after the sync bit is on
5. When slave axis reaches the SlaveEndPosition, the synchronous area ends and the sync bit is reset.
Meanwhile, slave axis starts to decelerate and the flying shear function enters the return area.
6. In the end, slave rotates reversely to the SlaveWaitPosition.

 Function feature
1. User could set up the cutting length freely according to the technological requirement
2. User could set up the position and length of the sync area freely according to the technological
requirement
3. In sync area, slave axis and master axis run at the fixed speed ratio (speeds are same usually). And the
cutting of material occurs in this area.
4. After the flying shear function is started up, slave axis runs following the phase of the master axis.
Therefore, master axis could move at a constant speed, acceleration, deceleration and irregular speed.
5. After flying shear function ends, slave axis will still return to the SlaveWaitPosition.

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4. Motion Control Instruction

 Reference zero point of master axis position

When the Enable bit of the flying shear instruction is on, the current position of master axis is regarded as the
reference zero point of master axis position. Therefore, the reference zero point of master axis position is
relative.

 Reference zero point of slave axis position

Slave axis always regards the servo zero point as the reference zero point of its position. Therefore, the
reference zero point of slave axis position is absolute.

 Shear axis
The function is to control the shear axis via the sync bit and so the shear axis could be the servo drive, AC
motor drive and etc. Severely speaking, the shear axis is excluded in the flying shear system and so user
could design it freely.

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4.7.10. Flying Shear Instructions

4.7.10.1. APF_FlyingShear_Init

API Controller
APF_ FlyingShear_Init Initialize flying shear
223 10MC11T
Explanation of the instruction:
The instruction is used for initializing the radius of master axis and slave axis, the cutting length, synchronous
area and etc if the flying shear relation has not been established. After execution of the instruction is
completed, the relevant parameters are loaded so as to be called while the flying shear relation is being
established. If the flying shear relation has been established, the instruction is used for modifying the flying
shear parameters. And the newly set parameters will be effective in the following cycle after the execution of
the instruction is finished.

Explanation of input and output parameter of the instruction:

Parameter Data Available

Explanation
name type device

When “Execute” turns off -> on, the instruction is M,I,Q,

Execute BOOL
executed. constant
The radius of master axis, i.e. the radius of the feed
MasterRadius REAL Constant, D
roller
The radius of slave axis, i.e. the radius of the
corresponding roller of slave axis.
SlaveRaduis REAL Constant, D
By adopting the lead screw, R2= Lead of the lead
screw / 2π

CutLength The cutting length of material REAL Constant, D

The start position of master axis.

When master axis reaches this position, slave axis
MasterStartPosition REAL Constant, D
will chase the master axis starting from the wait
position to realize the synchronous speed.

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4. Motion Control Instruction

Parameter Data Available

Explanation
name type device
The corresponding master position when
MasterSyncPosition REAL Constant, D
synchronous area starts.

The corresponding slave position when

SlaveSyncPosition REAL Constant, D
synchronous area starts.

The corresponding slave position when

SlaveEndPosition REAL Constant, D
synchronous area ends.
The wait position of slave axis.
SlaveWaitPosition After the flying shear function is started up, slave REAL Constant, D
axis will run to the position automatically.
The rotation speed of the terminal actuator of slave
SlaveVelocity axis, the parameter is always positive.(Unit: REAL Constant, D
unit/second)
The acceleration of the terminal actuator of slave
SlaveAcceleration axis, the parameter is always positive.(Unit: REAL Constant, D
unit/second2)
The deceleration of the terminal actuator of slave
SlaveDeceleration axis, the parameter is always positive.(Unit: REAL Constant, D
unit/second2)
The number for a group of the flying shear
FlyingShearID instructions; a group of flying shear parameters use UINT Constant, D
the uniform number. Setting range: 0~7
As the instruction execution is finished, “Done” is on;
Done BOOL M,Q
as “Execute” is off, “Done” is reset.
When any error is detected, "Error" turns on; when
Error BOOL M,Q
"Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D
Note:
1. The speed, acceleration and deceleration for the slave axis to move to the wait position are
specified by this instruction.
2. The value size of the relevant parameters should follow the relations below.

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 4. Motion Control Instructions

4.7.10.2. APF_FlyingShear

API Controller
APF_FlyingShear Flying shear instruction
224 10MC11T
Explanation of the instruction:
The instruction is used for establishing the flying shear relation and specifying the axis number of the master
and slave axis according to the application requirement. When the instruction is being executed, its output
device can display the zone where the flying shear is. The instruction is also used for disconnection of the
flying shear relation.

Explanation of input and output parameter of the instruction

Parameter Data Available

Explanation
name type device

When “Enable” turns off -> on, the instruction is

Enable executed. And then slave axis moves from current BOOL M,I,Q, constant
position to SlaveWaitPosition.

When "Start” bit is a high level, the shearing will be

done continuously; In the continuous shearing, if
“Start” bit turns from high to low level, the flying
Start BOOL M,I,Q, constant
shear relation will be disconnected automatically and
slave will stand still at the wait position after the
shearing action in current cycle is completed.
The master axis number. We suggest that the
master axis number should be less than the slave
MasterAxis axis number so that the slave axis could better UINT Constant, D
follow the master axis for motion. The axis number
can be set in order of 1~24 from small to large.
SlaveAxis The slave axis number UINT Constant, D
The number of a group of flying shear instructions;
a group of flying shear parameters use the uniform
FlyingShearID UINT Constant, D
number.
Setting range: 0~7
After “Done” is on, it indicates that the already
Done established flying shear relation is disconnected BOOL M,Q
successfully.

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4. Motion Control Instruction

Parameter Data Available

Explanation
name type device

After slave axis reaches the wait position, “Ready”

Ready bit is on; when slave axis reaches the synchronous BOOL M,Q
area, “Ready” is reset.

“Wait” turns on as chase area starts; “Wait” is reset

Wait BOOL M,Q
as chase area ends.

“Insync” turns on as synchronous area starts;

Insync BOOL M,Q
“Insync” is reset as synchronous area ends.

“Return” turns on as return area starts; “Return” is

Return BOOL M,Q
reset as return area ends.
When any error is detected, "Error" turns on; when
Error BOOL M,Q
"Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D
Note:
1. The flying shear function can be performed again after "Enable" and “Start” are on again. “Enable” is
used to establish the flying shear relation. If the flying shear relation is established successfully,
“Enable” bit is reset and “Start” bit still can control the flying shear relation.
2. "Start" is used to disconnect the flying shear relation. If “Start” bit is a high level, the shearing will be
done continuously; if the flying shear relation need be disconnected, reset “Start” bit.
3. The flying shear relation is disconnected successfully right after “Done” is on; if the shearing action is
done once again, “Enable” bit must be triggered again.
4. When the instruction “R_Trig” is used to control “Start” bit, the shearing will be performed for only one
cycle. After shearing is finished, “Done” is on; slave axis stops at the wait position and disconnects
the flying shear relation with the master axis.
5. The “Start” bit is triggered after “Wait” bit is on. Otherwise, the triggering is invalid.

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 4. Motion Control Instructions

4.7.11. Sequence Chart on Flying Shear Function

Master axis is in state of constant motion and the sequence chart is shown below:

Slave Sync area

axis

Master
axis

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4. Motion Control Instructions

4.7.12. Application Example of Flying Shear Instructions

This chapter describes the setting of the flying shear parameters, establishment of the flying shear relation
and disconnection of the flying shear relation. See the program example below.
The key parameters in the example:

Parameter Current value

MasterAxis 2
SlaveAxis 3
MasterRadius 18
SlaveRadius 30 (Unit: units)

CutLength 328 (Unit: units)

MasterStartPosition 50 (Unit: units)

MasterSyncPosition 80 (Unit: units)）
SlaveSyncPosition 50 (Unit: units)
SlaveEndPosition 70 (Unit: units)
SlaveWaitPosition 20 (Unit: units)

Program Explanation
When Error is On, it indicates that an error occurs in the current instruction.

1) When M0 is on, the servos with the station no. of 2 and 3 are Servo ON.

 When M1 is On, it indicates that the servo with the station no. of 3 is Servo ON successfully;
 When M20 is On, it indicates that the servo with the station no. of 2 is Servo ON successfully.

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 4. Motion Control Instructions

2) When M2 is on, the relevant parameters of flying shear function is imported so that APF_FlyingShear
is called for use.

 When M3 is On, it indicates that the relevant parameters of the flying shear function are imported
successfully.

3) M5 is set to the On state firstly; when M8 and M9 are both On, slave axis reaches the wait position
and the flying shear relation is established successfully.
After M8 and M9 are both on, M6 is set to the On state and then slave axis will conduct the shearing
following the master axis.

4) After M14 is on, master axis executes the velocity instruction MC_Move Velocity.
When M15 is on, master axis will make the constant motion and the system will conduct the shearing
continuously.

 If M6 of APF_FlyingShear is reset, slave axis will break away from the flying shear relation and
will stop at the wait position after the shearing is finished.

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4. Motion Control Instructions

4.8. Explanation of G Codes and Coordinate Motion Instruction

4.8.1. G Code Input Format

G codes that 10MC supports and the input format:

G Code Function Format

G0 Rapid positioning N_G0 X_Y_Z_A_B_C_P_Q_

G1 Linear interpolation N_G1 X_Y_Z_A_B_C_P_Q_ E_E_ F_

N_G2 X_Y_Z_A_B_C_P_Q_I_J_T_E_E_F_

Clockwise circular/ helical N_G2 X_Y_Z_A_B_C_P_Q_I_K_T_E_E_F_

G2
interpolation N_G2 X_Y_Z_A_B_C_P_Q_J_K_T_E_E_F_

N_G2 X_Y_Z_A_B_C_P_Q_R_T_ E_E_ F_

N_G3 X_Y_Z_A_B_C_P_Q_I _J_T_ E_E_F

Anticlockwise circular/ N_G3 X_Y_Z_A_B_C_P_Q_I_ K_T_ E_E_F

G3
helical interpolation N_G3 X_Y_Z_A_B_C_P_Q_J_K_T_ E_ E_F

N_G3 X_Y_Z_A_B_C_P_Q_R_T_ E_ E_ F_

G4 Dwell instruction N_G4 K_

N_G36 M0 K1
G36 Set/Reset
N_G36 M0 K0

N_G37 M_ K1
G37 Status judgment
N_G37 M_ K0

G17 XY plane selection N_G17

G18 ZX plane selection N_G18

G19 YZ plane selection N_G19

G90 Absolute mode N_G90

G91 Relative mode N_G91

Note:
The underline in the format box refers to the parameter value to be set. When inputting G codes in the CNC
program in the CANopen Builder software, N_ should be input to the left of G code; N_ means the row
number of G code in the NC program; only one G code can be input in one row. The input format of G code in
the CANopen Builder software: N0 G0 X100 Y100

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 4. Motion Control Instructions

4.8.2. Explanation of G Code Format

 G code Unit

The position unit of axis X_, Y_, Z_, A_, B_, C_, P_, Q_ in G code is consistent with that of axis
parameter. Please set the same physical unit for each axis. For example, the unit is set as mm. And thus
G0 X100.5 Y300 Z30.6 indicates that axis X, Y, Z move to the place of 100.5mm, 300mm, and
30.6mm respectively.

 G code parameter omitting

 One or more items among X_, Y_, Z_, A_, B_, C_, P_, Q_ in G0 instruction can be omitted.
 One or more items among X_, Y_, Z_, A_, B_, C_, P_, Q_, E_, E_, F_ in G1 instruction can be
omitted.
 One or more items among X_, Y_, Z_, A_, B_, C_, P_, Q_, E_, E_, F_ in G2 and G3 instruction
can be omitted except I_, J_, K_, R_.
 The parameters to the right of G4, G36, G37 instruction can not be omitted.
 The G code identifier such as G0, G1, G2, G3, G4, G36, G37, G17, G18, G19, G90, G91
can be omitted. The omitted instruction identifier in the first row is G0 by default in the CNC
program. The G code identifier omitted in the middle row is the G code instruction in the last
row by default. When the G code instructions in the two continuous rows are different, the G
code identifiers can not be omitted. Take the following as example:
N00 G0 X100 Y200
N01 X200 Y200
The G code in the first row above is G0 instruction; there is no instruction identifier in the
second row and so the default identifier is G0 for the second row. But N01 K04 can not be
written in the second row. I.e. the parameter in G code in the second row should comply
with G0 format.
 Only one G code can be written in the same row in CNC programming area in the CANopen
Builder software.

 Special function of G code

 D device can be used to represent the key value in G code.

For example, X_, Y_, Z_, A_, B_, C_, P_, Q_, E_, F_, I_, J_, K_, R_,T_,E_, F_ all can use D
device and “$” should be added to the right and left of D device. T means UNIT and others
are Real type.
Example: N0 G0 X$D0$ Y$D2$ Z$D4$ (D0=100, D2=200, D4=300)
Explanation: After the G codes are executed, axis X moves to 100 units; axis Y moves to
200 units and axis Z moves to 300 units
 M_ in G36 M_ can not be replaced by D device.
Example: N0 G36 M2 K1
Explanation: M2 can not be written into M$D0$ in the above example.

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4. Motion Control Instructions

 Defaults

Relative, absolute default: The default mode is absolute mode and could be set via G90/G91.

Plane default: The default plane is XY plane and could be switched via G17/G18/G19.

G0-related default: The velocity, acceleration, deceleration are the maximum velocity, maximum
acceleration, maximum deceleration respectively and can be modified via E, F parameter. E+ and E- in
G code can be input to set the different acceleration and deceleration.

Example: G1 X10000 Y32105.6 E+20000 E-90000

Explanation: When the instruction is executed, the cutter moves at the acceleration of 20000
units/second2 for speeding up and at the deceleration of 90000 units/second2 for reducing the speed

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4.8.3. Introduction to G Code Function

4.8.3.1 G90: Absolute Mode

 Function: After G90 is executed, the terminal position of each axis in G code is based on 0 unit and G91
can be used to switch into the relative mode. It is absolute mode for NC program by default.
 Format: N_G90
 Parameter Explanation:
N_: The row number of G code in NC program
 Example:
The initial positions of axis X and Y are both 3000 units and the axis parameters are both default values.
The G codes to be executed are as follows:
N0 G90
N1 G0 X6000 Y6000
After G codes are executed, the Y/X curve for the whole movement process is shown below:
Y
Position

6000 P2

3000 P1

X
O Position
3000 6000

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4. Motion Control Instructions

4.8.3.2 G91: Relative Mode

 Function: After G91 is executed, the terminal position of each axis in G code is counted in incremental
method beginning from the current position and G90 can be used to switch into the absolute mode.
 Format: N_G91
 Parameter Explanation:
N_: The row number of G code in NC program
 Example:
The initial positions of axis X and Y are both 3000 units and the axis parameters are both default values.
The G codes to be executed are as follows:
N0 G91
N1 G0 X6000 Y6000
After G codes are executed, the Y/X curve for the whole movement process is shown below:
Y
Position
9000 P2

3000
P1

X
O Position
3000 9000

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 4. Motion Control Instructions

4.8.3.3 G0: Rapid Positioning

 Function: Each axis moves from current position to the terminal position at the given speed. Maximum 8
axes can be controlled and each axis is independent with each other in motion. And the motion path
figure is displayed below.

 Format: N_G0 X_Y_Z_A_B_C_P_Q_

 Parameter explanation:
N_: The row number of G code in NC program.
X_: Specify the terminal position of axis X, Unit: unit, data type: REAL.
Y_: Specify the terminal position of axis Y, Unit: unit, data type: REAL.
Z_: Specify the terminal position of axis Z, Unit: unit, data type: REAL.
A_: Specify the terminal position of axis A, Unit: unit, data type: REAL.
B_: Specify the terminal position of axis B, Unit: unit, data type: REAL.
C_: Specify the terminal position of axis C, Unit: unit, data type: REAL.
P_: Specify the terminal position of axis P, Unit: unit, data type: REAL.
Q_: Specify the terminal position of axis Q, Unit: unit, data type: REAL.
 Instruction explanation:
 G0 can control one or more axes and other axis can be omitted.
 The speed, acceleration and deceleration of each axis in motion depend on their axis parameters
such as “maximum speed”, “maximum acceleration” and “maximum deceleration”.
 Absolute mode decided by G90: The terminal position of G0 is based on 0 unit.
 Relative mode decided by G91: The terminal position of G0 is an incremental value beginning from
the current position.

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4. Motion Control Instructions

 Absolute mode example:

The initial positions of axis X, Y are both 10000 units and their axis parameters are both
default value. The G codes to be executed are:
N0 G90
N1 G0 X50000 Y100000
After G codes are executed, the Y/X curve for the whole movement process is shown below:
Y
Position
100000

10000

Position
O 10000 50000 X

After G codes are executed, the Position/Time curve for the whole movement process is
shown below:
Position Y
100000

X
50000

10000
t

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 4. Motion Control Instructions

 Relative mode example:

The initial positions of axis X, Y are both 10000 units and their axis parameters are both
default value. The G codes to be executed are:
N0 G91
N1 G0 X50000 Y100000
After G codes are executed, the Y/X curve for the whole movement process is shown below:
Y
Position
110000

10000
Position
O 10000 60000 X

After G codes are executed, the Position/Time curve for the whole movement process is
shown below:
Position Y
110000

X
60000

10000
t

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4. Motion Control Instructions

4.8.3.4 G1: Linear Interpolation

 Function: The cutter starts off from one point and moves straight to the target position at a given speed.
The instruction can control up to 8 axes and all axes start up or stop simultaneously. Three axes control
the position of the cutter together as the figure shows below.

Vertical Milling Machine

Motion path figure:

 Format: N_G1 X_Y_Z_A_B_C_P_Q_ E_ E_F_

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 4. Motion Control Instructions

 Parameter explanation:
N_: The row number of G code in NC program
X_: Specify the terminal position of axis X, Unit: unit, data type: REAL.
Y_: Specify the terminal position of axis Y, Unit: unit, data type: REAL.
Z_: Specify the terminal position of axis Z, Unit: unit, data type: REAL.
A_: Specify the terminal position of axis A, Unit: unit, data type: REAL.
B_: Specify the terminal position of axis B, Unit: unit, data type: REAL.
C_: Specify the terminal position of axis C, Unit: unit, data type: REAL.
P_: Specify the terminal position of axis P, Unit: unit, data type: REAL.
Q_: Specify the terminal position of axis Q, Unit: unit, data type: REAL.
E_: Specify the acceleration and deceleration of the cutter. The positive number refers to the
2
acceleration; the negative number refers to the deceleration, unit: unit/second , data type: REAL. If
only the acceleration is specified, the deceleration is decided by the “maximum deceleration” in axis
X parameter; If only the deceleration is specified, the acceleration is decided by the “maximum
acceleration” in axis X parameter.
F: Specify the feed speed of the cutter, unit: unit/second, data type: REAL. When the cutter moves at a
constant speed, the combined speed of all axes in G code is equal to F value. The method of
calculation is shown below.

When two axes exist,=

F V12 + V2 2 .

F= V12 + V2 2 + V32
When three axes exist, .

For more axes, F value could be calculated in the same way as above.
 Instruction explanation:
 G1 can control one or more axes and other axis can be omitted.
 Both of E and F can be omitted. If there is only one row of code in the CNC programming area and
E, F are omitted, the velocity, acceleration, deceleration are decided by the parameters of X axis,
i.e. “maximum velocity”, “maximum acceleration”, “maximum deceleration” in the parameters of X
axis.
If there are multiple rows of codes and E and F in G1 code are omitted, the velocity, acceleration,
deceleration of the cutter are based on E and F in the previous rows of codes before the row where
G2 is. If the previous rows of G codes have not specified E and F, “maximum velocity”, “maximum
acceleration”, “maximum deceleration” in the parameters of X axis will be taken as reference.
 Absolute mode decided by G90: The terminal position of G1 is based on 0 unit.
 Relative mode decided by G91: The terminal position of G1 is an incremental value beginning from
the current position.
 Absolute mode example:
The initial positions of axis X, Y, Z are all 20000 units and their axis parameters are all default
value. The G codes to be executed are:
N0 G90
N1 G1 X50000 Y60000 Z70000
After G codes are executed, the Y/X curve for the whole movement process is shown below:

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4. Motion Control Instructions

70000

20000

20000 20000

60000
X 50000
Y

After G codes are executed, the Position/Time curves for the whole movement process are
shown below:

Position
Z
70000

Y
60000

X
50000

20000

t
O
 Relative mode example:
The initial positions of axis X, Y, Z are all 20000 units and their axis parameters are all default
value. The G codes to be executed are:
N0 G91
N1 G1 X50000 Y60000 Z70000

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 4. Motion Control Instructions

After G codes are executed, the Y/X curve for the whole movement process is shown below:
Z

90000

20000

20000 20000

80000
X 70000
Y

After G codes are executed, the Position/Time curve for the whole movement process is
shown below:
Position
Z
90000

80000 Y

70000 X

20000

t
O

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4. Motion Control Instructions

4.8.3.5 G2: Clockwise Circular/ Helical Interpolation

 Function:
Circular interpolation: The cutter conducts the cutting of the processed object in the clockwise direction
at the feed speed given by parameter F on the circular arc with the fixed radius or the fixed center of a
circle of the specified plane.
Helical interpolation: The cutter moves in the clockwise direction on the circular arc of the specified
plane，which is circular interpolation and simultaneously moves in the vertical direction of the specified
plane at the feed speed given by parameter F, which is linear interpolation.

 Format:
Format 1: N_G2 X_Y_Z_A_B_C_P_Q_I_J_(I_K_/J_K_)T_ E_E_F_
Format 2: N_G2 X_Y_Z_A_B_C_P_Q_R_T_ E_E_F_
 Parameter explanation:
N_: The row number of G code in NC program
X_Y_Z_: Specify the terminal positions of axis X, Y and Z corresponding to the terminal point of circular
arc; Unit: unit, data type: REAL.
A_B_C_P_Q_: Specify the terminal position of each added axis, Unit: unit, data type: REAL.
I_J_: Specify the coordinate position of the center of a circle of XY plane, Unit: unit, data type: REAL.
I_K_: Specify the coordinate position of the center of a circle of XZ plane, Unit: unit, data type: REAL.
J_K_: Specify the coordinate position of the center of a circle of YZ plane, Unit: unit, data type: REAL.
T_: Specify the quantity of one full circle, Unit: circle, data type: UINT.
E_: Specify the acceleration and deceleration of the cutter. The positive number refers to the
2
acceleration; the negative number refers to the deceleration, Unit: unit/second , data type: REAL.
F: Specify the feed speed of the cutter, Unit: unit/second, data type: REAL.
 Instruction explanation:
 Two axes among axis X, Y and Z make the circular interpolation on the plane specified by
instruction G17/G18/G19. The 3rd axis specifies the plane to make the linear interpolation
vertically.
 The added axis A, B, C, P and Q make the linear interpolation. The linear interpolation and circular
interpolation and start up or stop simultaneously.

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 4. Motion Control Instructions

 Both of E and F can be omitted. If there is only one row of code in the CNC programming area and
E,F are omitted, the velocity, acceleration, deceleration are decided by the parameters of X axis, i.e.
“maximum velocity”, “maximum acceleration”, “maximum deceleration” in the parameters of X axis.
If there are multiple rows of codes and E and F in G2 code are omitted, the velocity, acceleration,
deceleration of the cutter are based on E and F in the previous rows of codes before the row where
G2 is. If the previous rows of G codes have not specified E and F, “maximum velocity”, “maximum
acceleration”, “maximum deceleration” in the parameters of X axis will be taken as reference.
 In absolute mode for G90, the terminal point of circular arc is the absolute coordinate value
regarding 0 unit in their own directions as reference. In relative mode for G91, the terminal point of
circular arc is the incremental value of the start point of circular arc.
 No matter whether in the absolute mode or in relative mode, the coordinates of the center of a
circle I_J_(I_K_/J_K_) are always the relative coordinates with the start point as reference
 T is the quantity of the full circle; the path is the length of arc when T=0; the path is the
corresponding full circles plus the arc length when T is a constant.
 The difference between Format 2 and format 1 is that format 2 decides a segment of circular arc via
the start point, terminal point and radius. If the input value to the right of R parameter is positive
number (R+), the circular arc is the minor arc less than 180 degrees; if the input value to the right of
R parameter is negative number (R-), the circular arc is the major arc more than 180 degrees.
The following full lines are the motion path when G2 selects R+ and R- and the arrows on the arc
refer to the motion direction.
Terminal point

R-
R+

Start point

Clockwise motion
The coordinate relations on different planes:
Y Z Z
Start point Start point Start point
I I J

Terminal Terminal Terminal

J point K point K point

R R R
Center of a circle Center of a circle Center of a circle
O X O X O Y

a) XY plane circular arc a) XZ plane circular arc a) YZ plane circular arc

Please note the relations between the coordinate planes and I, J, K. Only two of I, J and K exist in
one circular arc instruction. Which two exist depends on the corresponding plane, e.g. on XY plane,
only I and J show.
The coordinate plane can be set by G17, G18 and G19. The circular and helical motion paths for
G2 on different coordinate planes are shown as below.

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4. Motion Control Instructions

G
Function Path figure
code

Z
Terminal point(X,Y,Z)
XY plane: When
there is no
variation for the
start point and
terminal point
corresponding to
G17 Z axis
coordinates, the Y
motion is circular Terminal point
interpolation.
Radius R
Otherwise, it is Radius R
helical Center of a circle(I,J)
Center of a circle(I,J)
interpolation.
Z=0
Start point Start point
Helical interpolation Circular interpolation

Z
Helical interpolation
XZ plane:
When there is no
sR

variation for the

diu

start point and

Ra

Circular interpolation Terminal point

terminal point Center(I,K) (X,Y,Z)
corresponding to
R

Start point
G18 Y axis Y
us
di

coordinates, the
Ra

motion is circular Terminal

Center(I,K)point(X,Z)
interpolation. Y=0
Otherwise, it is
helical
interpolation. Start point

Z Helical interpolation
YZ plane:
When there is no
variation for the
start point and Circular interpolation
Start point
terminal point Terminal point Center (J,K) Terminal
corresponding to (X,Y,Z) point (Y,Z)
Rad

X axis
G19 Center (J,K) Start point
coordinates, the
iu s

Ra

motion is circular
R

d iu

interpolation.
sR

Otherwise, it is X=0
helical
interpolation. X
Y

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 4. Motion Control Instructions

 Example 1
Specify the center of a circle and circular interpolation in absolute mode
Current position (1000, 3000), axis parameters: default values, the G codes to be executed:
N0 G90
N1 G17
N2 G2 X4000 Y2000 I1000 J-2000 E5000 F5000
After G codes are executed, the Y/X curve for the whole movement process is shown below:
Y Start point

3000

Terminal
point
J=-2000
2000

Center of a
circle
1000

I=1000

X
(0,0) 1000 2000 4000

 Example 2

Specify the center of a circle and circular interpolation in relative mode

Current position (1000, 3000), axis parameters: default values, the G codes to be executed:
N0 G91
N1 G17
N2 G2 X3000 Y-1000 I1000 J-2000
After G codes are executed, the Y/X curve for the whole movement process is shown below:
Y
Start point
3000

Terminal
point -1000

2000 J = -2000

Center of
a circle
1000

I = 1000
3000
X
(0, 0) 1000 2000 4000

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4. Motion Control Instructions

 Example 3

 Specify the center of a circle and circular interpolation with T in relative mode

Current position (2000, 0), axis parameters: default values, the G codes to be executed:
N0 G91
N1 G17
N2 G2 X-2000 Y2000 I0 J2000 T3
After G codes are executed, the path of the circular arc is 3 circles plus thick 1/4 of a circle and the Y/X
curve for the whole movement process is shown below:
Y
4000

2000
Terminal point Center of a circle

X
(0, 0) 2000 4000
Start point

 Example 4

The helical interpolation with the center of a circle specified by XY plane

Current position (0, 0), axis parameters: default values, the G codes to be executed:
N0 G17
N1 G91
N2 G2 X200 Y200 Z200 I100 J100 E+10000 E-20000 F1000
Instruction explanation:
While G2 is being executed, the axis regards 0 as the start point and axis parameters as the terminal
points; produces the circular arc in clockwise direction; finally the motion path is helical curve. The
projection on XY plane is an half of the circle with the center of a circle (100,100).

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 4. Motion Control Instructions

 Example 5

Omission format

The G codes to be executed:

N00 G0 X0 Y0 Z0
N01 G1 X100 Y100 Z100
N02 G2 I100 J100
N03 G91
N04 G2 I50 J50
Z Y

（200,200,200）

（200,200）
（150,150）

（100,100,100） （100,100）

X
0
Y
X

Instruction explanation:
The axis position is (100, 100,100) after execution of N01 row of instruction is finished;
In N02 row of instruction, there are only I and J parameters and other omitted parameter values are
based on the last instruction, i.e. N02 instruction: N02 X100 Y100 Z100 I100 J100; the start point and
terminal point are (100, 100, 100) and so the motion path is a full circle.
N03 row of instruction is G91 and the following rows of codes after G91 are in relative mode.
N04 row of instruction is equivalently N04 G2 X100 Y100 Z100 I50 J50. The terminal coordinates are
(200, 200, 200) due to the relative mode and the coordinates of the center of a circle for the projection
on XY plane are (150,150)

 Example 6

Helical interpolation with the radius specified by XY plane (Current position: 0)

The G codes to be executed:

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4. Motion Control Instructions

N1 G2 X200 Y200 Z200 R-200

N0 G0 X0 Y0 Z0
N1 G2 X200 Y200 Z200 R200
The motion path is a major arc while the first G2 code is executed and it is a minor arc while the
second G2 code is executed.
Z

200

（200,200）
0
X

 Example 7

The helical interpolation with T and the center of a circle specified by XY plane (Current position: 0)

The G codes to be executed:

N1 G2 X100 Y100 Z100 I50 J50 T2
Instruction explanation: The motion path is a helical curve and the projection on XY plane is a full circle
with the center of a circle (50, 50).

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 4. Motion Control Instructions

4.8.3.6 G3: Anticlockwise circular /helical interpolation

 Function explanation:
Circular interpolation: The cutter conducts the cutting of the processed object in the anticlockwise
direction at the feed speed given by parameter F on the circular arc with the fixed radius or the fixed
center of a circle of the specified plane.
Helical interpolation: The cutter moves in the anticlockwise direction on the circular arc of the specified
plane，which is circular interpolation and simultaneously moves in the vertical direction of the specified
plane at the feed speed given by parameter F, which is linear interpolation.

 Format:
Format1: N_G3 X_Y_Z_A_B_C_P_Q_I_J_(I_K_/J_K_)T_ E_E_F_
Format2: N_G3 X_Y_Z_A_B_C_P_Q_R_T_ E_E_F_
 Parameter explanation:
N_: The row number of G code in NC program
X_Y_Z_: Specify the terminal positions of axis X, Y and Z corresponding to the terminal point of circular
arc; Unit: unit, data type: REAL.
A_B_C_P_Q_: Specify the terminal positions of added axes, Unit: unit, data type: REAL.
I_J_: Specify the coordinate position of the center of a circle of XY plane, Unit: unit, data type: REAL.
I_K_: Specify the coordinate position of the center of a circle of XZ plane, Unit: unit, data type: REAL.
J_K_: Specify the coordinate position of the center of a circle of YZ plane, Unit: unit, data type: REAL.
T_: Specify the quantity of one full circle, Unit: circle, data type: UINT.
E_: Specify the acceleration and deceleration of the cutter. The positive number refers to the
2
acceleration; the negative number refers to the deceleration, Unit: unit/second , data type: REAL.
F: Specify the feed speed of the cutter, Unit: unit/second, data type: REAL.
 Instruction explanation:
 Two axes among axis X, Y and Z make the circular interpolation on the plane specified by
G17/G18/G19. The 3rd axis specifies the plane to make the linear interpolation vertically.
 The added axis A, B, C, P and Q make the linear interpolation. The linear interpolation and circular
interpolation and start up or stop simultaneously.
 Both of E and F can be omitted. If there is only one row of code in the CNC programming area and
E, F are omitted, the velocity, acceleration, deceleration are decided by the parameters of X axis,
i.e. “maximum velocity”, “maximum acceleration”, “maximum deceleration” in the parameters of X
axis.

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4. Motion Control Instructions

If there are multiple rows of codes and E and F in G2 code are omitted, the velocity, acceleration,
deceleration of the cutter are based on E and F in the previous rows of codes before the row where
G2 is. If the previous rows of G codes have not specified E and F, “maximum velocity”, “maximum
acceleration”, “maximum deceleration” in the parameters of X axis will be taken as reference.
 In absolute mode for G90, the terminal point of circular arc is the absolute coordinate value
regarding 0 unit in their own directions as reference. In relative mode for G91, the terminal point of
circular arc is the incremental value of the start point of circular arc.
 No matter whether in the absolute mode or in relative mode, the coordinates of the center of a
circle I_J_(I_K_/J_K_) are always the relative coordinates with the start point as reference
 T is the quantity of one full circle; the path is the length of the arc when T=0; the path is the
corresponding full circles plus the arc length when T is a constant.
 The difference between Format 2 and format 1 is that format 2 determines a segment of the circular
arc via the start point, terminal point and radius. If the input value to the right of R parameter is
positive number (R+), the circular arc is the minor arc less than 180 degrees; if the input value to
the right of R parameter is negative number (R-), the circular arc is the major arc more than 180
degrees.
The following full lines are the motion path when G3 selects R+ and R- and the arrows on the arc
refer to the motion direction.

The coordinate relations on different planes:

Y Z Z
Terminal point Terminal point Terminal point
Start point Start point Start point

R R R
Ce nter of

Ce nter of

Ce nter of

J K K
a c ir cl e

a c ir cl e

a c ir cl e

I l J

O X O X O Y

a) XY plane circular arc b) XZ plane circular arc C) YZ plane circular arc

Please note the relations between the coordinate planes and I, J, K. Only two of I, J and K exist in
one circular arc instruction. Which two exist depends on the corresponding plane, e.g. on XY plane,
only I and J show.
The coordinate plane can be set by G17, G18 and G19. The circular and helical motion paths for
G3 on different coordinate planes are shown as below.

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 4. Motion Control Instructions

G
Function Path figure
code
XY plane: When
there is some Z Terminal point(X,Y,Z)
variation for the
start point and
terminal point
corresponding to
Z axis
coordinates, the
motion is helical
G17 interpolation. Y
Otherwise, it is Terminal point(X,Y)
circular
interpolation on Center (I,J) Center (I,J)
s R R
XY plane. di u us
Ra di
Ra

Start point Start point Z=0

X
Helical interpolation Circular interpolation

XZ plane:
When there is Z
variation for the Helical interpolation
start point and
terminal point Terminal point(X,Y,Z)
corresponding to
Y axis ius R
Circular interpolation Ra d
coordinates, the
motion is helical Center (I,K)
nt

Terminal
poi

interpolation. point(X,Z)
G18
Otherwise, it is
rt

)
Y=0 I, K
Sta

circular nt er ( Y
Ce
Ra

interpolation on
di u

XZ plane.
sR

Start point

X
YZ plane:
Z
When there is
Helical interpolation
variation for the
start point and Circular interpolation
terminal point
Ra

corresponding to
di
us

Ra

X axis
R

di

coordinates, the
us

Start
Center(J,K)
R

G19 motion is helical Terminal point

interpolation. point(X,Y,Z) Center(J,K) Start point
Otherwise, it is Terminal point(Y,Z)
circular X=0
interpolation on
YZ plane. X
Y

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4. Motion Control Instructions

 Example 1
Specify the center of a circle and circular interpolation in absolute mode
Current position (4000, 2000), axis parameters: default values, the G codes to be executed:
N0 G90
N1 G17
N2 G3 X1000 Y3000 I-2000 J-1000
After G codes are executed, the Y/X curve for the whole movement process is shown below:

Y Terminal
point
3000

Start
point
2000

J=-1000

1000
Center of
a circle I=-2000

X
(0,0) 1000 2000 4000

 Example 2
Specify the center of a circle and circular interpolation in relative mode
Current position (4000, 2000), axis parameters: default values, the G codes to be executed:
N0 G91
N1 G17
N2 G3 X-3000 Y1000 I-2000 J-1000
After G codes are executed, the Y/X curve for the whole movement process is shown below:

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 4. Motion Control Instructions

3000
Terminal
point
1000
Start
point
2000

J=-1000

1000
Center of a I=-2000
circle
-3000
X
(0,0) 1000 2000 4000

 Example 3
Specify the center of a circle and circular interpolation with T in relative mode
Current position (2000, 0), axis parameters: default values, the G codes to be executed:
N0 G91
N1 G17
N2 G3 X-2000 Y2000 I0 J2000 T3

After G codes are executed, the motion path is the arc on XY plane and the arc length is (3+3/4）times
the circumference of a circle.
 Example 4
The helical interpolation with the center of a circle specified by XY plane
Current position (0, 0), axis parameters: default values, the G codes to be executed:

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4. Motion Control Instructions

N0 G17
N1 G3 X100 Y100 Z100 I50 J50 T2
Instruction explanation:
Since the variation of Z axis is 100, the motion path is helical curve and the projection on XY plane is a
full circle.
If there is no variation for Z axis, the motion path is the circular arc on XY plane with the center (50,50)
and the arc length of 2.5 times the circumference of a full circle.

 Example 5
The helical interpolation with the specified radius
The G codes to be executed:
N0 G0 X0 Y0 Z0
N1 G3 X200 Y200 Z200 R-200 T2
N2 G0 X0 Y0 Z0
N3 G3 X200 Y200 Z200 R200

Instruction explanation:
In this example, T is set in G2 code in N1 row and so the motion path for N1 row of the instruction is
the helical curve as the right thick curve in the figure above. Return to the origin after G0 in N2 row is
executed and then execute the N3 row of instruction. Since the T parameter is omitted in this row, the
T in last row is taken as reference. And the motion path is also the helical curve.

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 4. Motion Control Instructions

4.8.3.7 G17, G18, G19: to specify the circular interpolation plane

 Function:
The three instructions are used for deciding the selection of circular interpolation or helical interpolation
plane and have no impact on the linear interpolation.
While the program is being executed, the three work planes can be switched with each other. If no plane
option is set, the initial state of system is XY plane (G17).
 Format: N_G17
N_G18
N_G19
 Parameter Explanation:
N_: The row number of G code in NC program
 The figure of planes is shown as follows:

4.8.3.8 G4: Dwell Instruction

 Function: Dwell instruction
 Format: N_G4 K_
 Parameter explanation:
N_: The row number of G code in NC program
K_: Specify the delay time, unit: second. Range: 0.001 second ~100000 seconds
 Instruction explanation:
After the lathe completes the processing for some phase, the cutter need be stopped moving
temporarily. At this moment, G4 can be utilized to make the cutter stopped for a period of time.
Instruction example:
N00 G1 X10000
N01 G4 K10
N02 G1 X20000
Position

20000

10000

10 sec

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4. Motion Control Instructions

After execution of the instruction of number N00 is finished, the program will be delayed for 10 seconds
and afterwards, the instruction of number N02 will continue to be executed.
4.8.3.9 G36: Set/Reset Instruction
 Function: The instruction is used to make M device set or reset.
 Format: N_G36 M_ K1 or N_G36 M_ K0
 Parameter explanation:
N_: The row number of G code in NC program
M_ K1: Make the specified M device set
M_ K0: Make the specified M device reset

 Instruction example 1

G36 M0 K1
Set the bit device M0 to ON

 Instruction example 2

G36 M100 K0
Set the bit device M100 to OFF.
4.8.3.10 G37: Status Judgment Instruction
 Function: The instruction is used to judge the state of M device. When the state is same as the setting,
the following G codes will be executed. Otherwise, the waiting state will last.
 Format: N_G37 M_ K1 或 N_G37 M_ K0
 Parameter explanation:
N_: The row number of G code in NC program
M_ K1: If the specified M device is ON, execute the next CNC code; if the specified M device is OFF,
keep waiting here.
M_ K0: If the specified M device is OFF, execute the next CNC code; if the specified M device is ON,
keep waiting here.

 Instruction example

N00 G0 X0 Y0
N01 G37 M0 K1
N02 G1 X10000 Y34598
When the program is executed till N01, the system will judge the state of M0 device. If M0 is ON,
continue to execute the instruction of number N02; if M0 is OFF, the system will keep waiting.

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 4. Motion Control Instructions

4.8.4. DMC_NC

API Controller
DMC_NC CNC instruction
260 10MC11T
Instruction explanation:
The instruction is used for calling and executing NC program which can be input, edited and previewed in the
CANopen Builder software. It supports both static and dynamic download. The NC program downloaded
statically will be stored in DVP10MC11T and will not be lost when the power is off. The NC program
downloaded dynamically is executed while being downloaded and the program after being executed will be
dumped. The function is applied for processing the complicate workpiece. When the axes related to the
instruction are all in Standstill state, the instruction just can be executed. When the execution of the
instruction has not been finished, the axes are in CNC state and at the moment, they can not execute other
motion instruction unless the execution of the instruction is finished (Execution of the G codes in the specified
NC program is finished or is stopped). For the details on the axis state, please refer to section 4.2.

Explanation of input and output parameter of the instruction:

Parameter Data Available

Explanation
name type device

This instruction is executed when

Execute BOOL M, I, Q, constant
“Execute” turns Off ->On.
Axis_X The node address of X axis UINT Constant, D
Axis_Y The node address of Y axis UINT Constant, D
Axis_Z The node address of Z axis UINT Constant, D
Axis_A The node address of A axis UINT Constant, D
Axis_B The node address of B axis UINT Constant, D
Axis_C The node address of C axis UINT Constant, D
Axis_P The node address of P axis UINT Constant, D
Axis_Q The node address of Q axis UINT Constant, D
The number of the valid axis, no more
AxisNum UINT Constant, D
than 8.

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4. Motion Control Instructions

Parameter Data Available

Explanation
name type device

When “Pause” is on, execution of NC

program is stopped temporarily and the
Pause state value of axis is (9) unchanged; when BOOL M, I, Q
“Pause” is off, execution of NC program
will continue.
When “Stop” is on, execution of NC
Stop program is stopped and the state value of BOOL M, I, Q
axis is Stand Still.
When “ManualMode” is on, manual
ManualMode BOOL M, I, Q
function is started up.
ManualVelocity The feed speed in manual mode REAL Constant, D
RES Reserved
The CNC program number, range: 0~32.
If NcTableID=0, it indicates to dynamically
download NC program. When “Execute”
turns off-> on, the system will wait for the
superior equipment to send the NC code;
the code will be executed on being
received and will be dumped after
NcTableID execution is completed and afterwards,
the system will keep waiting for the UINT Constant, D
superior equipment to send the next NC
code.
DVP10MC11T can store 32 NC programs
with the serial number range: 1~32. When
the value of NcTableID is within 1~32 and
“Execute” turns off-> on, the NC code with
the corresponding number will be
executed.
When NC program is executed statically
and the execution of CNC codes in NC
program is finished, “Done” is on;
Done When NC program is executed statically BOOL M,Q
or dynamically and “Stop” bit is on, “Done”
is on after axis stops.
When “Execute” is off, “Done” is off.
If any error is detected, "Error" turns on;
Error BOOL M,Q
when "Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

Note:
1. Multiple DMC_NC instructions can be executed simultaneously and the called NcTableIDs can be
same or not. But make sure that the axis numbers of DMC_NC instruction being executed must be
different from each other.
2. AxisNum:
AxisNum gets effective according to the pins of Axis_X/Y/Z/A/B/C/P/Q from top to bottom. The node
address of the middle axis can not be omitted and repeated. If AxisNum is set to 5, set the
corresponding axis node addresses for Axis_X/Y/Z/A/B among the axis parameters. They could be
virtual axes. Axis_C/P/Q can be omitted. Only the valid axis exists in the G code in NC program.

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 4. Motion Control Instructions

3. Pause:
If CNC codes (G0/G1/G2/G3) in NC program are being executed, set “Pause” to ON and the
execution of the corresponding G0/G1/G2/G3 will be stopped temporarily at the deceleration in G
code. If “Pause” is on when G90/G91/G4/G36/G37/G17/G18/G19 is being executed, the next CNC
code will not be executed.
When “Pause” is off, the execution of the CNC codes, which have not been finished will continue.
The state value of axes will be unchanged after and before the pause function is executed.
4. Stop:
If the CNC codes (G0/G1/G2/G3) in NC program are being executed and then “Stop” is set to ON,
the execution of the corresponding G0/G1/G2/G3 will be stopped at the deceleration in the CNC
codes. When G90/G91/G4/G36/G37/G17/G18/G19 is being executed, the next CNC code will not be
executed.
Before NC program is executed again, reset “Stop” and then execute DMC_NC instruction again.
Please note that the current position of an axis must be consistent with the coordinate position of the
G code to be executed when NC program is executed again. If the instruction to be executed in CNC
codes is the circular instruction, consider if the current point, the terminal point of the arc, center of a
circle or radius can make up a circular arc in case of any abnormality.
5. Manual function:
After “Manualmode” is started up, the running speed of CNC code in NC program comes from the
parameter setting of manual velocity. When “ManualMode” is off, the execution of the CNC code,
which has not been completed can continue. The source of manual speed can be a constant or
some register.

 Program example 1

The example focuses on the usage of calling G codes statically and dynamically. For relative
information, please refer to section 2.3.3 on CNC function.
 Program:

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4. Motion Control Instructions

 Steps:
 When M20 and M21 turn off-> on, axis 1, axis 2 and axis 3 are enabled. After correct execution
is finished, M100, M102 and M104 are on.
 When D10 is set to 0 and then M0 set to ON, the G codes will be executed dynamically by
clicking the “Dynamic download” icon in the CANopen Builder software as below to download
G codes which are executed while being downloaded.

If D10 is set to 1 and then set M0 to ON, G codes will be executed statically and the CNC program
with ID 1 will be called directly and the G codes are executed from top to bottom one by one.

 Program example 2

The program mainly demonstrates the function of manual mode and consists of one virtual master
axis via ExternalMaster instruction. The source of the virtual master axis is the external encoder and
the execution of G codes in NC instruction is controlled through the variation on the encoder interface.

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 4. Motion Control Instructions

 Program:

 Steps:
 When M1 and M0 turn off-> on, axis 1, axis 2 and axis 3 are enabled. After correct execution is
finished, M100, M102 and M104 are on.
 When M2 turns off-> on, build a virtual master axis with the number: 4.
 When M3 turns off-> on, the G codes in NC program with the number: 1 starts to be executed.
 When M5 is on, start the manual function and the G codes which have not finished executed
yet in NC program will be executed with the D0 value as the speed command.
As D25366 value is the given speed of axis 4, the operation speed of G codes can be controlled
through the rotation speed of the external encoder.
The data type of D25366 is DINT and so the logic instruction DINT_To_Real is used for
conversion and the result is stored in D0.

Note: Currently, DMC_NC only supports the forward rotation of the encoder.

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4. Motion Control Instructions

4.8.5. Coordinate Motion Instructions

4.8.5.1 DNC_Group （Build Coordinate Motion Instruction Group）

API Build coordinate motion instruction Controller
DNC_Group
261 group 10MC11T

Instruction explanation:

The instruction is used to build the coordinate motion group through its parameter GroupID. The coordinate
motion instructions with the same GroupID can be executed after the coordinate motion group is built and the
coordinate motion instruction being executed can be paused or stopped through parameter “Pause” and
“Stop”.

After parameter “ManualMode” is started up, the “Velocity” values of the coordinate motion instructions with
same GroupID are invalid and the “ManualVelocity” value will be taken as the speed of coordinate motion
instructions.

Explanation of input and output parameter of the instruction:

Parameter Data Available

Explanation
name type device

This instruction is executed when “Execute”

Execute BOOL M, I, Q, constant
turns Off ->On.

Axis_X The node address of X axis UINT Constant, D

Axis_Y The node address of Y axis UINT Constant, D
Axis_Z The node address of Z axis UINT Constant, D
Axis_A The node address of A axis UINT Constant, D
Axis_B The node address of B axis UINT Constant, D
Axis_C The node address of C axis UINT Constant, D
Axis_P The node address of P axis UINT Constant, D
Axis_Q The node address of Q axis UINT Constant, D
AxisNum The number of the valid axis, no more than 8. UINT Constant, D

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 4. Motion Control Instructions

Parameter Data Available

Explanation
name type device
When “Pause” is on, the execution of the
coordinate motion instruction with the same
GroupID as that of DNC_Group will be paused.
Pause BOOL M, I, Q
When “Pause” is off, the execution of the
coordinate motion instruction with the same
GroupID as that of DNC_Group will continue.
When “Stop” is on, the execution of the
coordinate motion instruction with the same
Stop BOOL M, I, Q
GroupID as that of DNC_Group instruction will
be stopped.
When “ManualMode” is on, start the manual
ManualMode function; when “ManualMode” is off, close the BOOL M, I, Q
manual function.
ManualVelocity The speed in manual mode REAL Constant, D
The number of the coordinate motion
GroupID UINT Constant, D
instruction group, range: 0~7.
When “Stop” is on, “Done” is on; when
Done BOOL M,Q
“Execute” is off, “Done” is reset.
If any error is detected, "Error" turns on; when
Error BOOL M,Q
"Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

Note:

1. AxisNum
AxisNum value gets effective according to the pins of Axis_X/Y/Z/A/B/C/P/Q from top to bottom. The
node address of the middle axis can not be omitted and repeated. If AxisNum is set to 5, set the
corresponding axis node addresses for Axis_X/Y/Z/A/B among the axis parameters. They could be
virtual axes.
2. Pause
If the coordinate motion instruction is being executed, set “Pause” to ON and the execution of the
corresponding coordinate motion instruction will be stopped temporarily at the deceleration specified
in the coordinate motion instruction.
When “Pause” is off, the execution of the coordinate motion instruction, which have not been finished
will continue. The axis state value will keep unchanged after and before the pause function is
executed.

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4. Motion Control Instructions

3. Stop
If the coordinate motion instruction is being executed, set “Stop” to ON and the execution of the
corresponding coordinate motion instruction will be stopped at the deceleration in the coordinate
motion instruction and the state of each axis is Standstill.
If the coordinate motion instruction is executed again, reset “Stop” and then execute DNC_Group
instruction again. Please note that the current position of each axis must be consistent with the
terminal position of the coordinate motion instruction to be executed when coordinate motion
instruction is executed again. If the instruction to be executed is the circular instruction, consider if the
current point, the terminal point of arc, center of a circle or radius can make up a circular arc in case of
any abnormality.
4. ManualMode
After “Manualmode” is started up, the running speed of the corresponding coordinate motion
instruction comes from the parameter setting of manual velocity. When “ManualMode” is off, the
execution of the G code, which has not been completed can continue at the speed and acceleration
set in the original instruction. The source of manual speed can be a constant or some register.

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 4. Motion Control Instructions

4.8.5.2 Absolute/ Relative Mode Switching Instruction

API Controller
DNC_Absolute（G90） In absolute mode

262 10MC11T
DNC_Relative（G91） In relative mode

Instruction explanation:
The two instructions are used to specify the mode for dealing with the terminal position of each axis such as
absolute mode or relative mode. After the instruction “DNC_Group” with same GroupID is executed, the two
instructions just can be executed.
After DNC_Absolute (G90) is executed, the terminal position of each axis in the coordinate motion instruction
which is executed later is based on 0 unit and DNC_Relative (G91) can be used to switch to the relative
mode. It is absolute mode for the program by default.
After DNC_ Relative (G91) is executed, the terminal position of each axis in the coordinate motion instruction
which is executed later is calculated with the incremental value beginning from current position and
DNC_Absolute (G90) is used to switch to the absolute mode.

Explanation of input and output parameter of the instruction:

Parameter Data Available

Explanation
name type device
Execute This instruction is executed when
BOOL M, I, Q, constant
“Execute” turns Off ->On.
The number of the coordinate motion
instruction group, range: 0~7.
GroupID When the instruction is executed, the UINT Constant, D
group ID should be consistent with that
of DNC_Group.
When execution of the instruction is
Done finished, “Done” is on; when “Execute” BOOL M,Q
is off, “Done” is reset.
If any error is detected, "Error" turns on;
Error when "Execute" turns off, "Error" is BOOL M,Q
reset.
ErrorID Error code. Please refer to section 5.3. UINT D

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4. Motion Control Instructions

4.8.5.3 DNC_MOV(G0)（Rapid positioning instruction）

API Controller
DNC_MOV(G0) Rapid positioning instruction
263 10MC11T
Instruction explanation:
The instruction is used to do the rapid positioning of the servo axis in the specified group and control each
axis to move from current position to the terminal position at the specified speed. In motion, each axis is
independent with each other. The instruction is similar to G0 in function.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
This instruction is executed when “Execute”
Execute BOOL M, I, Q, constant
turns Off ->On.
X_Pos The terminal position of axis X, unit: unit. REAL Constant, D
Y_Pos The terminal position of axis Y, unit: unit. REAL Constant, D
Z_Pos The terminal position of axis Z, unit: unit. REAL Constant, D
A_Pos The terminal position of axis A, unit: unit. REAL Constant, D
B_Pos The terminal position of axis B, unit: unit. REAL Constant, D
C_Pos The terminal position of axis C, unit: unit. REAL Constant, D
P_Pos The terminal position of axis P, unit: unit. REAL Constant, D
Q_Pos The terminal position of axis Q, unit: unit. REAL Constant, D
The number of the coordinate motion instruction
group, range: 0~7.
GroupID UINT Constant, D
When the instruction is executed, the group ID
should be consistent with that of DNC_Group.
When parameter setting is finished, “Done” is on;
Done BOOL M,Q
when “Execute” is off, “Done” is reset.
If any error is detected, "Error" turns on; when
Error BOOL M,Q
"Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

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 4. Motion Control Instructions

Note:
1. The function of the instruction is same as that of G0 in G codes and the input parameters X_Pos~
Q_Pos in the instruction and the parameters of X_, Y_, Z_, A_, B_, C_, P_, Q_ in G0 have same
explanation. For more details on G0, please refer to section 4.8.3.3.
2. The state of the axis related to the instruction is Standstill. After “DNC_Group” is executed, the
instruction just can be executed and its GroupID must be same as that of DNC_Group.
3. The instruction can be switched to absolute mode via DNC_Absolute (90). In absolute mode, the
system will regard the position of each axis as absolute value for operation.
4. The instruction can be switched to relative mode via DNC_Relative (91). In relative mode, the system
will regard the position of each axis as incremental value beginning from current position for operation.
5. It is absolute mode for the instruction by default. Therefore, it is absolute mode for DNC_MOV (G0) if
DNC_Absolute (90) and DNC_Relative (91) have not been executed.

4.8.5.4 DNC_LIN(G1)（Linear Interpolation Instruction）

API Controller
DNC_LIN(G1) Linear interpolation instruction
264 10MC11T
Instruction explanation:
The instruction is used for linear interpolation and can control the cutter to move from current position to the
terminal position at the specified speed. The cutter always moves along the same straight line and all axes
which control the cutter are started up or stopped simultaneously.

Explanation of input and output parameter of the instruction:

Parameter Data Available

Explanation
name type device
This instruction is executed when “Execute” turns
Execute BOOL M, I, Q, constant
Off ->On.
X_Pos The terminal position of axis X, unit: unit. REAL Constant, D
Y_Pos The terminal position of axis Y, unit: unit. REAL Constant, D
Z_Pos The terminal position of axis Z, unit: unit. REAL Constant, D
A_Pos The terminal position of axis A, unit: unit. REAL Constant, D

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4. Motion Control Instructions

Parameter Data Available

Explanation
name type device
B_Pos The terminal position of axis B, unit: unit. REAL Constant, D
C_Pos The terminal position of axis C, unit: unit. REAL Constant, D
P_Pos The terminal position of axis P, unit: unit. REAL Constant, D
Q_Pos The terminal position of axis Q, unit: unit. REAL Constant, D
The number of the coordinate motion instruction
group, range: 0~7.
GroupID UINT Constant, D
When the instruction is executed, the group ID
should be consistent with that of DNC_Group.
When parameter setting is finished, “Done” is on;
Done BOOL M,Q
when “Execute” is off, “Done” is reset.
If any error is detected, "Error" turns on; when
Error BOOL M,Q
"Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

Note:
1. The function of the instruction is same as that of G1 in G codes and the input parameters
X_Pos~Deceleration in the instruction and the parameters of X_, Y_, Z_, A_, B_, C_, P_,
Q_,F_,E_,E_ in G1 have same explanation. For more details on G1, please refer to section 4.8.3.4.
2. The state of axes related to the instruction is Standstill. After “DNC_Group” is executed, the
instruction just can be executed and its GroupID must be same as that of DNC_Group.
3. The instruction can be switched to absolute mode via DNC_Absolute (90). In absolute mode, the
system will regard the position of each axis as absolute value for operation.
4. The instruction can be switched to relative mode via DNC_Relative (91). In relative mode, the
system will regard the position of each axis as incremental value beginning from current position for
operation.
5. It is absolute mode for the instruction by default. Therefore, it is absolute mode for DNC_LIN(G1) if
DNC_Absolute (90) and DNC_Relative (91) have not been executed.

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 4. Motion Control Instructions

4.8.5.5 Circular/ Helical Interpolation（The Coordinates of Center of a Circle are Set）

API Clockwise circular/ helical interpolation Controller

（G2）
DNC_CW（IJK）
（The coordinates of center of a circle are set）
Anticlockwise circular/ helical interpolation 10MC11T
265 （G3）
DNC_CCW（IJK）
（The coordinates of center of a circle are set）
Instruction explanation:
The two instructions are used for circular/helical interpolation. DNC_CW(IJK) (G2) is for clockwise motion
and DNC_CCW(IJK) (G3) is for anticlockwise motion.
Circular interpolation: The cutter performs the arc cutting of the processed workpieces at the feed speed
specified by parameter Velocity on the circular arc with the fixed center of a circle (IJ/IK/JK) on the specified
plane.
Helical interpolation: The cutter moves on the circular arc on the specified plane, which is circular
interpolation, and meanwhile makes the linear interpolation vertically on the specified plane at the feed
speed specified by parameter Velocity.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
This instruction is executed when
Execute BOOL M, I, Q, constant
“Execute” turns Off ->On.
The corresponding X-axis coordinates
X_Pos REAL Constant, D
of the terminal point of the circular arc
The corresponding Y-axis coordinates
Y_Pos REAL Constant, D
of the terminal point of the circular arc
The corresponding X-axis coordinates
Z_Pos REAL Constant, D
of the terminal point of the circular arc
The coordinate position of terminal
A_Pos REAL Constant, D
point of the added axis
The coordinate position of terminal
B_Pos REAL Constant, D
point of the added axis

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4. Motion Control Instructions

Parameter Data Available

Explanation
name type device
The coordinate position of terminal
C_Pos REAL Constant, D
point of the added axis
The coordinate position of terminal
P_Pos REAL Constant, D
point of the added axis
The coordinate position of terminal
Q_Pos REAL Constant, D
point of the added axis
The corresponding X-axis coordinates
I_Value REAL Constant, D
of the center of a circle
The corresponding Y-axis coordinates
J_Value REAL Constant, D
of the center of a circle
The corresponding Z-axis coordinates
K_Value REAL Constant, D
of the center of a circle
T_Value The quantity of the full circle UINT Constant, D
Velocity The feed speed of the circular arc REAL Constant, D
Acceleration Acceleration REAL Constant, D
Deceleration Deceleration REAL Constant, D
The number of the coordinate motion
instruction group, range: 0~7.
GroupID When the instruction is executed, the UINT Constant, D
group ID should be consistent with that
of DNC_Group.
When the execution of the instruction
is finished, “Done” is on; when
Done BOOL M,Q
“Execute”
turns off, “Done” is reset.
If any error is detected, "Error" turns
Error on; when "Execute" turns off, "Error" is BOOL M,Q
reset.
ErrorID Error code. Please refer to section 5.3. UINT D

Note:
1. The function of the instruction DNC_CW(IJK) (G2) and DNC_CCW(IJK) (G3) is same as that of G2
and G3 in G codes and the input parameters X_Pos~Deceleration in the instruction and the
parameters of X_, Y_, Z_, A_, B_, C_, P_, Q_, I_, J_, K_,T_, F_,E_,E_ in G2 and G3 have same
explanation. For more details on G2 and G3, please refer to section 4.8.3.5.
2. The state of axes related to the instruction is Standstill. After “DNC_Group” is executed, the
instruction just can be executed and its GroupID must be same as that of DNC_Group.
3. The instruction can be switched to absolute mode via DNC_Absolute (90). In absolute mode, the
terminal position of each axis is based on 0 unit.
4. The instruction can be switched to relative mode via DNC_Relative (91). In relative mode, the
terminal position of each axis is calculated as incremental value beginning from current position.

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 4. Motion Control Instructions

5. No matter whether in absolute mode or relative mode, the coordinates of the center of a circle
I_Value, J_Value, K_Value are always the relative coordinates with the start point as reference.
6. It is absolute mode for the instruction by default. Therefore, it is absolute mode for DNC_CW (IJK)
(G2) and DNC_CCW(IJK) (G3) if DNC_Absolute (90) and DNC_Relative (91) have not been
executed.

4.8.5.6 Circular/ Helical Interpolation（Radius is Set）

API Clockwise circular/ helical interpolation Controller
DNC_CW（R）（G2）
（Radius is set）
266 Anticlockwise circular/ helical interpolation 10MC11T
（G3）
DNC_CCW（R）
（Radius is set）

Instruction explanation:
The two instructions are used for circular/helical interpolation. DNC_CW(R) (G2) is for clockwise motion and
DNC_CCW(R) (G3) is for anticlockwise motion.
Circular interpolation: The cutter performs the arc cutting of the processed workpieces at the feed speed
specified by parameter Velocity on the circular arc with the fixed radius on the specified plane
Helical interpolation: The cutter moves on the circular arc on the specified plane, which is circular
interpolation, meanwhile, makes the linear interpolation vertically on the specified plane at the feed speed
specified by parameter Velocity.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
This instruction is executed when “Execute”
Execute BOOL M, I, Q, constant
turns Off ->On.
The corresponding X-axis coordinates of the
X_Pos REAL Constant, D
terminal point of the circular arc
The corresponding Y-axis coordinates of the
Y_Pos REAL Constant, D
terminal point of the circular arc
The corresponding Z-axis coordinates of the
Z_Pos REAL Constant, D
terminal point of the circular arc

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4. Motion Control Instructions

Parameter Data Available

Explanation
name type device
The coordinate position of terminal point of the
A_Pos REAL Constant, D
added axis
The coordinate position of terminal point of the
B_Pos REAL Constant, D
added axis
The coordinate position of terminal point of the
C_Pos REAL Constant, D
added axis
The coordinate position of terminal point of the
P_Pos REAL Constant, D
added axis
The coordinate position of terminal point of the
Q_Pos REAL Constant, D
added axis
The radius of the circular arc. Positive number is
R_Value REAL Constant, D
minor arc and negative number is major arc.
T_Value The quantity of the full circle UINT Constant, D
Velocity The feed speed of the circular arc REAL Constant, D
Acceleration Acceleration REAL Constant, D
Deceleration Deceleration REAL Constant, D
The number of the coordinate motion instruction
group, range: 0~7.
GroupID UINT Constant, D
When the instruction is executed, the group ID
should be consistent with that of DNC_Group.
When the execution of the instruction is finished,
Done “Done” is on; when “Execute” BOOL M,Q
turns off, “Done” is reset.
If any error is detected, "Error" turns on; when
Error BOOL M,Q
"Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

Note:

1. The function of the instruction DNC_CW(R) (G2) and DNC_CCW(R) (G3) is same as that of G2 and
G3 in G codes and the input parameters X_Pos~Deceleration in the instruction and the parameters
of X_, Y_, Z_, A_, B_, C_, P_, Q_, R_,T_, F_,E_,E_ in G2 and G3 have same explanation. For more
details on G2 and G3, please refer to section 4.8.3.5.
2. The state of axes related to the instruction is Standstill. After “DNC_Group” is executed, the
instruction just can be executed and its GroupID must be same as that of DNC_Group.
3. The instruction can be switched to absolute mode via DNC_Absolute (90). In absolute mode, the
terminal position of each axis is based on 0 unit.
4. The instruction can be switched to relative mode via DNC_Relative (91). In relative mode, the
terminal position of each axis is calculated as incremental value beginning from current position.
5. It is absolute mode for the instruction by default. Therefore, it is absolute mode for DNC_CW (R) (G2)
and DNC_CCW(R) (G3) if DNC_Absolute (90) and DNC_Relative (91) have not been executed.

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 4. Motion Control Instructions

4.8.5.7 Plane Selection Instruction

API DNC_XY（G17） XY plane selection Controller

DNC_XZ（G18） XZ plane selection
267 10MC11T
DNC_YZ（G19） YZ plane selection

Instruction explanation:
The three instructions are used for determining the circular/ helical interpolation plane selection and the three
work planes can be switched with each other while the program is being executed. If there is no plane
selection in the program, the initial plane of system is XY plane by default.

Explanation of input and output parameter of the instruction:

Parameter Data Available
Explanation
name type device
This instruction is executed when
Execute BOOL M, I, Q, constant
“Execute” turns Off ->On.
The number of the coordinate motion
instruction group, range: 0~7.
GroupID When the instruction is executed, the UINT Constant, D
group ID should be consistent with that of
DNC_Group.
When the execution of the instruction is
Done finished, “Done” is on; when “Execute” BOOL M,Q
turns off, “Done” is reset.
If any error is detected, "Error" turns on;
Error BOOL M,Q
when "Execute" turns off, "Error" is reset.
ErrorID Error code. Please refer to section 5.3. UINT D

Note:
1 The function of DNC_XY (G17), DNC_XY (G18) and DNC_XY (G19) is the same as that of G17,
G18 and G19 in G codes.
2 After “DNC_Group” is executed, the instruction just can be executed and its GroupID must be same
as that of DNC_Group.

DVP-MC operating manual 4-225

4. Motion Control Instructions

4.8.5.8 Program Example

 Program example 1: DNC_MOV (G0) in absolute mode

The initial positions of axis X and Y are both 10,000 units and the axis parameters are all default.
 The program to be executed:

 Program explanation:
 1. After the connection between DVP10MC11T and servo axis is made successfully, M7 and
M9 are on. After M7 is on, the servo axis of number 1 Servo On; after M9 is on, the servo
axis of number 2 Servo On.
 2. After M0 is on, DNC_Group instruction starts to construct the coordinate system.
 After M12 is on, each servo axis is switched to the absolute positioning mode. When M2 is
on, each axis enters the absolute mode.
 4. After M4 is on, DNC_MOV (G0) starts to be executed. When M5 is on, the execution of
DNC_MOV (G0) is finished.

4-226 DVP-MC operating manual

 4. Motion Control Instructions

 After the program is executed, the Y/X curve of the whole process is as below.

Y
Position
100000

10000
Position
O X
10000 50000

 After the program is executed, the Position/time curve of the whole process is as below.

Position Y
100000

X
50000

10000
t
O

DVP-MC operating manual 4-227

4. Motion Control Instructions

 Program example 2: DNC_MOV (G0) in relative mode

The initial positions of axis X and Y are both 10,000 units and the axis parameters are all default.
 The program to be executed:

 Program explanation:
 1. After the connection between DVP10MC11T and servo axis is made successfully, M7 and
M9 are on. After M7 is on, the servo axis of number 1 Servo On; after M9 is on, the servo
axis of number 2 Servo On.
 2. When M0 is on, DNC_Group starts to construct the coordinate system.
 3. After M12 is on, each servo axis is switched to the relative positioning mode. When M2 is
on, each axis enters the relative positioning mode.
 4. After M4 is on, DNC_MOV (G0) starts to be executed. When M5 is on, the execution of
DNC_MOV (G0) is finished.

4-228 DVP-MC operating manual

 4. Motion Control Instructions

 After the program is executed, the Y/X curve of the whole process is as below.
Y
Position
110000

10000
Position
O 10000 60000 X

 After the program is executed, the Position/time curve of the whole process is as below.

Position Y
110000

X
60000

10000
t
O

DVP-MC operating manual 4-229

4. Motion Control Instructions

 Program example 3: DNC_LIN (G1) in absolute mode

The initial positions of axis X, Y and Z are all 20,000 units and the axis parameters are all default.
 The program to be executed:

 Program explanation:
 After the connection between DVP10MC11T and servo axis is made successfully, M7 and
M9 are on. After M7 is on, the servo axis of number 1 Servo On; after M9 is on, the servo
axis of number 2 Servo On.
 After M0 is on, DNC_Group instruction starts to construct the coordinate system.
 After M12 is on, each servo axis is switched to the absolute positioning mode. When M2 is
on, each axis enters the absolute positioning mode.
 After M4 is on, DNC_ LIN (G1) starts to be executed. When M5 is on, the execution of
DNC_LIN (G1) is finished.

4-230 DVP-MC operating manual

 4. Motion Control Instructions

 After the program is executed, the Y/X curve of the whole process is as below.
Z

70000

20000

20000 20000

60000
X 50000
Y

 After the program is executed, the Position /time curve of the whole process is as below.

Position
70000 Z

60000 Y

50000 X

20000

t
O

DVP-MC operating manual 4-231

4. Motion Control Instructions

 Program example 4: DNC_LIN (G1) in relative mode

The initial positions of axis X, Y and Z are all 20,000 units and the axis parameters are all default.
 The program to be executed:

 Program explanation:
 1. After the connection between DVP10MC11T and servo axis is made successfully, M7 and
M9 are on. After M7 is on, the servo axis of number 1 Servo On; after M9 is on, the servo
axis of number 2 Servo On.
 2. When M0 is on, DNC_Group starts to construct the coordinate system.
 3. After M12 is on, each servo axis is switched to the relative positioning mode. When M2 is
on, each axis enters the relative positioning mode.
 4. After M4 is on, DNC_ LIN (G1) starts to be executed. When M5 is on, the execution of
DNC_LIN (G1) is finished.

4-232 DVP-MC operating manual

 4. Motion Control Instructions

 After the program is executed, the Y/X curve of the whole process is as below.

90000

20000

20000 20000

80000
X 70000
Y

 After the program is executed, the Position /time curve of the whole process is as below.

Position
Z
90000

Y
80000

X
70000

20000

t
O

DVP-MC operating manual 4-233

 5.Troubleshooting

5. Troubleshooting
5.1. LED Indicator Explanation
 POWER LED
POWER LED indicates if the power supply of DVP10MC11T is normal.
LED state Explanation How to deal with

Green LED on Power supply is normal --

Check if the power supply for DVP10MC11T is

LED off or flash Power supply is abnormal
normal.

 RUN LED
RUN LED indicates the state of PLC module.

LED state Explanation How to deal with

Green LED on PLC module is in run state. --

Switch PLC to the RUN state according to

LED off PLC module is in stop state.
demand

 ERR LED
ERR LED indicates the state of execution of PLC module program or the state of power supply of
DVP10MC11T.
LED state Explanation How to deal with

PLC module is in the state of normal

LED off --
work.

1. Judge the error cause according to the value

1. There are syntax errors in the of special register D1004 of PLC module.
program user writes in the PLC 2. Judge the position of program error according
Red LED flash module; to D1137 value.
2. Or PLC device or instruction For more details, please see the operation
exceeds the allowed range. manual of DVP-ES2/EX2/SS2/SA2/SX2
(Programming).

Red LED blinking DVP10MC11T power supply is Check if the power supply for DVP10MC11T is
quickly insufficient. normal.

ERR LED: red light flashes (1HZ)

ON
50 0ms 50 0ms

OFF

ERR LED: red light blinks quickly (10HZ)

100ms
ON

OFF
100ms

DVP-MC operating manual 5-1

5. Troubleshooting

 CAN LED
CAN LED indicates the state of MC module in CANopen network.
LED state Explanation How to deal with
Green light CANopen network is in stop PC is downloading the program and waiting that
single flash state. download is finished.
1. Check if CANopen network connection is correct.
2. Check if the configured slave in the network exists.
Green light CANopen network is in
3. The baud rates of DVP10MC11T and slaves are
blinking preoperational state
same.
4. Check if some slave is offline.
CANopen network is in Run --
Green light on
state.
1. Check if it is standard cable for CANopen bus
connection.
Red light single Bus error exceeds the alarm 2. Check if the terminal resistors have been
flash level connected to the two ends of CANopen bus.
3. Check if the interference around CANopen bus
cable is too strong.

1. Check if the wiring in CANopen network is correct.

Red light on Bus-Off 2. The baud rates of DVP10MC11T and slaves are
same.

CAN LED: green light single flashes

ON
20 0m s 10 00 ms
O FF

CAN LED: green light blinks

ON
20 0m s 20 0m s
O FF

CAN LED: red light single flashes.

ON
20 0m s 10 00 ms
O FF

 MTL
MTL LED indicates if MC module state is normal.

LED state Explanation How to deal with

No data has been configured in Via CANopen Builder software, configure and
Light off
MC module. program the controller and then re-download.

MC module is in Run state and

Green light on the motion control program is --
being executed.

5-2 DVP-MC operating manual

 5.Troubleshooting

LED state Explanation How to deal with

Green light The communication with the axis Check if the communication with each axis is
flash configured is not ready. normal.

After power on once again, return the goods to

Red light on Hardware error in MC module
factory for repair if the error still exists.
1. Check if the setting value for synchronization
cycle is too small. After increasing the
synchronization cycle value, re-download.
2. Check if there is slave offline in CANopen
Red light
MC module runs abnormally network.
blinking
3. Check if the motion control program is stopped
after it is executed.
4. Check if there are unsupportive instructions in
the program.

 Ethernet LED
DVP10MC11T has two Ethernet LED indicators like orange light and green light. Green light indicates the
Ethernet communication state and orange light indicates Ethernet baud rate.
LED State Indication
Light on Ethernet baud rate:100Mbps
Orange light
Light off Ethernet baud rate is 10Mbps or 10MC has not been put in Ethernet.

Light flash The Ethernet communication port for 10MC is receiving and sending data.

Green light
The Ethernet communication port for 10MC is not receiving and sending
Light off
data.

 COM 1 LED
COM1 LED is an indicator of RS-232 communication port of PLC module. It indicates the communication
state of RS-232 communication port of PLC module.
LED state Indication
Yellow light flash There is response data at RS-232 (COM1) port.
Light off There is no response data at RS-232 (COM1) port .

 COM 2 LED
COM2 LED is the indicatior of RS-485 shared by motion control module and PLC module to indicate the
state of RS-485 communication port.
RUN LED state Indication
Yellow light flash There is response data at RS-485 (COM2) port.

Light off There is no response data at RS-485 (COM2) port.

DVP-MC operating manual 5-3

5. Troubleshooting

 Input Point LED

There are 8 input-point LED indicators (I0~I7) for showing if DVP10MC11T’s digital input point is ON or OFF.

Input point LED state Indication

Green light on (I0~I7) Input point is ON.
Light off (I0~I7) Input point is OFF.

 Output Point LED

There are 4 output-point LED indicators (Q0~Q3) for showing if DVP10MC11T digital output point is ON or
OFF.

Output point LED state Indication

Green light on (Q0~Q3) Output point is ON.
Light off (Q0~Q3) Output point is OFF.

5.2. Status Word Instruction

When an error emerges in MC module of DVP10MC11T, user could judge the error cause according to the
values of D6511 and D6512. The indication of each bit of D6511 and D6512 is shown below.
Bit Indication when the value of each bit
How to deal with
device of D6511 is 1.
MC module is in error mode;
Bit0 The running motion control Press “Reset” key to restart DVP10MC11T.
program is terminated
The configuration data is being
No correction is needed and DVP10MC11T will
Bit1 downloaded to MC module by the
resume to run after download is finished.
PC.
Node list is empty and no slave is Via CANopen Builder, add the slave into the
Bit2
configured. node list of MC module and re-download.
Check if there is any error in configuration data;
The current configuration data is
Bit3 redownload it after configuration data is
invalid.
modified.
1. Check if CANopen bus connection is normal.
2. Check if the baud rates of master and slave of
Bit4 Buffer area sending the data is full. CANopen bus are same.
3. Check if the terminal resistors are connected
to the two ends of CANopen bus.
1. Check if CANopen bus connection is normal.
2. Check if the baud rates of master and slave of
Bit5 Buffer area receiving the data is full. CANopen bus are same.
3. Check if the terminal resistors are connected
to the two ends of CANopen bus.
Bit6 Power supply is insufficient. Check if 24V power supply is normal.
The internal memory operation After power on once again, return it to factory for
Bit7
error repair if the error still exists.

5-4 DVP-MC operating manual

 5.Troubleshooting

Bit Indication when the value of each bit

How to deal with
device of D6511 is 1.
After power on once again, return it to factory for
Bit8 GPIO operation error
repair if the error still exists.
After power on once again, return it to factory for
Bit9 SRAM operation error
repair if the error still exists.
There is some slave offline in
Bit10 Check if the CANopen bus connection is normal.
CANopen network
The program in MC module is
Bit11 --
running
Bit12 Reserved --
The setting value of the Enlarge the synchronization cycle value in
Bit13
synchronization cycle is too small CANopen Builder and then redownload.
The instruction does not match the
Bit14 Update the firmware
firmware of the controller
The program is overlarge in Check if the program, cam and G codes are
Bit15
capacity overlarge in capacity.

Note: D6512 is reserved for future development.

5.3. Error ID in Motion Instructions

Error ID Indication How to deal with
When the motion instruction is
1 Enable the axis via the MC_Power instruction.
executed, the axis is not enabled.
No correction is needed.
The motion instruction which has not
(The newly executed instruction can be executed
2 been finished execution is interrupted
normally, and the interrupted instruction will be
by other instruction.
stopped executing.
The node address of the servo drive
The station no. of the servo drive in the motion
3 in the motion instruction exceeds the
control instruction should be set between 1~18.
allowed range.
1. Check if the bus cable connection is normal or the
When the servo axis is offline in the
terminal resistors have been connected at both
CANopen communication or the axis ends of the bus on the CANopen network.
4 gives the alarm, the execution of the 2. Find the root causes why axis alarms and shoot
motion instruction which has not the trouble.
3. Execute the MC_Reset instruction after the
finished the execution yet stops above faults are eliminated.
The axis still reports the alarm after The factors causing the alarm still exist.
5 the MC_Reset instruction is Re-execute the MC_Reset instruction after the
executed. alarm factors are absolutely eliminated.
Check if the input parameter value in the motion
instruction is consistent with the instruction
The input parameter value in the
6 explanation.
motion instruction is invalid.
(When the acceleration of the MC_MoveVelocity
instruction is 0, this error will be alarmed)

DVP-MC operating manual 5-5

5. Troubleshooting

Error ID Indication How to deal with

Check if input format of G code is consistent with
10MC does not recognize the G code section 4.8 explanation.
in NC program. When the G2,G3 or coordinate motion instruction
9 The input parameter value in G code related with arc is executed,if the current point,
or coordinate motion instruction is the terminal point of arc, center of a circle or radius
invalid. can make up a circular arc in case of any
abnormality.
The axis that the motion instruction
Configure the axis to be operated to 10MC in the
10 controls has not been configured to
software and then redownload.
10MC
The MC_PassiveHome instruction is
No correction is needed.
interrupted by the MC_Stop
11 (The MC_Stop instruction can be executed
instruction when the execution of it
normally.)
has not finished
The DMC_CapturePosition
instruction did not receive any Check if the setting of the instruction window
12
capture signal in the window range range is proper.
and the capturing failed.
The DMC_SetTorque instruction can Only when the axis is in standstill state, the torque
13
not be executed. setting instruction can be executed.
10MC has made the connection with
The instruction DMC_DisableAxis can be executed
the configured axis and the
15 only when 10MC has not made the connection
instruction DMC_DisableAxis can
with the configured axis.
not be executed.
Check if the CANopen bus connection between
83 SDO reading and writing is time-out
10MC and the written and read slave is normal.
1. Check if the index/sub-index in the
DMC_ReadParameter / DMC_WriteParameter
instructions exists.
2. Check if the data type in the
85 SDO response error DMC_WriteParameter instruction is correct and
the written parameter value exceeds the
allowed range.
3. Check the error codes to get the detailed
information.
Refer to section 4.2 on the motion instruction
The execution of the motion switching.
112 instruction is not consistent with the (Other motion instruction can be executed only
state machine in the controller. when the “Execute” bit of the DMC_SetTorque
instruction is Off.)

When rotary cut initializing has not

After initializing is finished, execute
256 finished, APF_RotaryCut_In is
APF_RotaryCut_In.
executed.

5-6 DVP-MC operating manual

 5.Troubleshooting

Error ID Indication How to deal with

Parameter setting error in the rotary Check if the parameter setting of the instruction
257
cut instruction related with the rotary cut is proper.
Parameter setting error in the flying Check if the parameter setting of the instruction
258
shear instruction related with the flying shear is proper.

DVP-MC operating manual 5-7

 Appendix A

Appendix A Modbus Communication

 DVP10MC11T Modbus Communication Port:

DVP10MC11T covers two communication ports, COM1 and COM2.

COM1: COM1 is a RS-232 communication port possessed by PLC module supporting Modbus ASCII or
RTU mode. It can serve as Modbus master or slave to upload and download the program, monitor
PLC device, connect the human machine interface and etc.
COM2: COM2 is a RS-485 communication port supporting Modbus ASCII or RTU mode and is the
hardware port shared by motion control module and PLC. Via the port, the motion control module
and PLC can be accessed respectively according to their different node addresses. So the node
address of motion control module and PLC must be different when COM2 is used. When COM2 is
possessed by PLC module, it could serve as Modbus master or slave. When COM2 is possessed
by motion control module, it could only serve as Modbus slave.
The Pin definition of DVP10MC11T Modbus communication port:
The Pin definition of DVP10MC11T RS-232（COM1）:

Pin Signal Description

1, 2 +5V 5V Power positive pole
3 GND Grounding
4 Rx For receiving the data
5 Tx For sending the data
6 GND Grounding
7 NC Reserved

The Pin definition of DVP10MC11T RS-485（COM2）:

Pin Signal Description

1 + Signal+
2 _ Signal-
3 SG --

 DVP10MC11T Modbus Communication Port Setting

1. COM1 communication format is set by D1036 and the meaning for each bit of D1036 can be seen in table
1. its communication node adress is determined by D1121. If the value of D1121 is 1, it indicates that the
communication node address of PLC module is 1. The default communication format for COM1: Baud
rate=9600bps, Data bits=7, Parity=E, Stop bits=1, Mode=ASCII, Address=1
Note:
 After COM1 communication format is modified, if RUN/STOP switch of DVP10MC11T turns
RUN→STOP, the communication format keeps unchanged.
 After COM1 communication format is modified, DVP10MC11T power is switched on from off, COM1
will be restored to the communication format of factory setting

DVP-MC operating manual A-1

Appendix A

2. When COM2 is possessed by PLC, its format is set by D1120 and the meaning of each bit of D1120 can
be seen in table 1. its communication node adress is set by D1121. If the value of D1121 is 1, it indicates
that the communication node address of PLC module is 1. The default communication format for COM2:
Baud rate=9600bps, Data bits=7, Parity=E, Stop bits=1, Mode=ASCII, Address=1
Note:
 When COM2 serves as Slave communication port, no communication instrument is allowed to exist
in the program.
 After COM2 communication format is modified, if RUN/STOP switch of DVP10MC11T turns
RUN→STOP, the communication format keeps unchanged.
 After COM2 communication format is modified, DVP10MC11T power is switched on from off, COM2
will be restored to the communication format of factory setting.
3. When COM2 is possessed by motion control module, its format is set by D6516 of motion control module
and the meaning of each bit of D6516 can be seen in table 2. If the value of D6516 is revised, the
communication format will be changed immediately. The default communication format for COM2: Baud
rate=9600bps, Data bits=7, Parity=E, Stop bits=1, Mode=ASCII, Address=2.
Note:
 After COM2 communication format is modified, RUN/STOP switch of DVP10MC11T turns
RUN→STOP, the communication format keeps unchanged.
 After COM2 communication format is modified, DVP10MC11T power is switched on from off, the
communication format keeps unchanged.

A-2 DVP-MC operating manual

 Appendix A

Table 1
D1036 or
Explanation Communication format setting
D1120 bit no.
b0 Data length b0=0: 7 b0=1: 8
b2, b1=00 : None
b2, b1 Parity bit b2, b1=01 : Odd
b2, b1=11 : Even
b3 Stop bit b3=0：1 bit b3=1：2 bit
b7~b4=0001（H1） : 110bps
b7~b4=0010（H2） : 150bps
b7~b4=0011（H3） : 300bps
b7~b4=0100（H4） : 600bps
b7~b4=0101（H5） : 1200bps
b7~b4=0110（H6） : 2400bps
b7~b4 Baud rate
b7~b4=0111（H7） : 4800bps
b7~b4=1000（H8） : 9600bps
b7~b4=1001（H9） : 19200bps
b7~b4=1010（HA） : 38400bps
b7~b4=1011（HB） : 57600bps
b7~b4=1100（HC） : 115200bps
Selection of the start
b8 b8=0: none b8=1: D1124
character
Selection of the first
b9 b9=0: none b9=1: D1125
end character
Selection of the
b10 second end b10=0: none b10=1: D1126
character
b15~b11 Undefined

Explanation of relevant special M for communication at COM1 port :

Special M
Function Remark
no.
Selection of M1139=On, communication mode is RTU
M1139
ASCII/RTU mode M1139=Off, communication mode is RTU
Communication When M1138=On, Change the value of D1036, but the
M1138
format is retained communication format of COM1 is unchanged.

Explanation of relevant special M when COM2 port is possessed by motion control module:

Special M
Function Remark
no.
Selection of M1143=On, communication mode is RTU.
M1143
ASCII/RTU mode M1143=Off, communication mode is ASCII.
Communication When M1120=On, Change the value of D1120, but the
M1120
format is retained communication format of COM2 is unchanged.

DVP-MC operating manual A-3

Appendix A

Table 2

D6516 bit
Explanation D6516 Communication format setting
no.
b3~b0=0000（H0） Data bits =7, Parity =E, Stop bits =1

Communication b3~b0=0001（H1） Data bits =7, Parity=O, Stop bits =1

b3~b0
format b3~b0=0010（H2） Data bits =7, Parity =N, Stop bits =1
b3~b0=0100（H4） Data bits =8，Parity =N, Stop bits =2
b7~b4=0000（H0） 9600bps
b7~b4=0001（H1） 19200bps
b7~b4 Baud rate b7~b4=0010（H2） 38400bps
b7~b4=0011（H3） 57600bps
b7~b4=0100（H4） 115200bps
Communication
b15~b8 b15~b8=00000010（H2） Communication address is 2
address

 Example 1: the method of revising COM1 communication format.

To revise COM1 communication format, add the following program codes to the WPLSoft software. When
DVP10MC11T turns from STOP to RUN, PLC would detect if M1138 is on in the first scan cycle. If M1138
is on, the setting of COM1 will be revised according to D1036 value. In the following graph, COM1
communication format is revised into ASCII mode, 115200bps（Baud rate）, 7（Data bits）, E（Parity）,
1 （Stop bits）.

 Example 2: the method of revising COM2 communication format (COM2 is possessed by PLC）.

To revise COM2 communication format, add following program codes to WPLSoft software. When
DVP10MC11T turns from STOP to RUN, PLC would detect if M1120 is on in the first scan cycle. If M1120
is on, the setting of COM2 will be revised according to D1120 value. In the following graph, COM2
communication format is revised into ASCII mode, 57600bps（Baud rate）, 7（Data bits）, E（Parity）, 1
（Stop bits）.

A-4 DVP-MC operating manual

 Appendix A

 Example 3: the method of revising COM2 communication format (COM2 is possessed by motion control
module).

To revise COM2 communication format, add the following program codes to CANopen Builder software.
As below figure shows, a rising edge occurs in the program and K512 (H200) is sent to D6516. Meanwhile,
COM2 communication format is revised into ASCII mode, 9600bps（Baud rate）, 7（Data bits）, E（Parity）,
1 (Stop bits).

Note: For Modbus communication of DVP10MC11T PLC, please refer to < DVP-ES2/EX2/SS2/SA2/SX2
operating manual【Program】>.

 Example on Connection of DVP10MC11T into Modbus Network:

DVP10MC11T is connected to Modbus network via RS-485 as figure below:

4 4

3
2 2

5 5 6

2 2
2

Device no. 1 2 3 4 5 6

Device Modbus Communication AC motor Servo

VFD-CM08 DVP10MC11T
name master cable drive drive

 RS-485 Wiring:

1 D+ D- SG 2 D+ D- SG SG D+ D- 2

3 3

4 4
Figure 19

   
Master Slave Terminal resistor Shielded cable

Note:

DVP-MC operating manual A-5

Appendix A

1. It is suggested that the two ends of the bus should be connected with one resistor of 120Ω respectively.
2. To ensure the communication quality , the double shielded and twisted-pair cable is recommended
（20AWG）.
3. When the internal voltages of two devices are different, make SG（Signal Ground）of the two device
connected with each other to balance their SG voltages and make the communication more stable.

 ASCII Mode

1. Communication data structure

Field name Components Explanation

Start character STX Start character “:”, the corresponding ASCII code: 0x3A

Communication ADR 1
Communication address consists of two ASCII codes.
address ADR 0

CMD 1
Function code Function code consists of two ASCII codes.
CMD 0

DATA （0）

DATA （1）
Data Data content consists of 2n ASCII codes, n≤205.
……….

DATA （n-1）

LRC CHK 1
LRC Check LRC check consists of two ASCII codes.
LRC CHK 0

END1 End character consists of two ASCII codes.

End character END1 = CR （0x0D），
END0
END0 = LF （0x0A）

The corresponding relation between hexadecimal character and ASCII code:

Hexadecimal
“0“ “1“ “2“ “3“ “4“ “5“ “6“ “7“
character
ASCII code 0x30 0x31 0x32 0x33 0x34 0x35 0x36 0x37
Hexadecimal
“8“ “9“ “A“ “B“ “C“ “D“ “E“ “F“
character
ASCII code 0x38 0x39 0x41 0x42 0x43 0x44 0x45 0x46

2. ADR (Communication address)

The valid range of communication address: 0～254.

Communication address: 0 means the broadcast message is sent to all slaves and the slaves which have
received the message will not make any response. If communication address is not 0, slaves will respond
to master after receiving the message normally. For instance, ASCII codes for the communication address
of 16 are denoted below.
Decimal 16 is equal to hexadecimal 10. （ADR 1, ADR 0）=’10’， ‘1’=31H, ‘0’ = 30H
3. Function code and data

A-6 DVP-MC operating manual

 Appendix A

The data format is determined by function codes. E.g. to read the two continuous address data with
hexadecimal 0x1000 as the start address in DVP10MC11T. The communication address of DVP10MC11T
is 1, 0x1000 is the Modbus address of D0 in DVP10MC11T PLC.
The data explanation is shown as below:
PC→DVP10MC11T：
3A 30 31 30 33 31 30 30 30 30 30 30 32 45 41 0D 0A
DVP10MC11T→PC：
3A 30 31 30 33 30 34 30 30 30 31 30 30 30 32 46 35 0D 0A
Request message:
ASCII code corresponding to field
Field name Field character
character
Start character “:” 3A
“0” 30
Communication address: 01
“1” 31
“0” 30
Function code: 03
“3” 33
“1” 31
“0” 30
Start address: 0x1000
“0” 30
“0” 30
“0” 30
Data number “0” 30
（Counted by words）: 2 “0” 30
“2” 32
“E” 45
LRC check code: 0xEA
“A” 41
End character 1 “CR” 0D
End character 0 “LF” 0A

DVP-MC operating manual A-7

Appendix A

Response message:

ASCII code corresponding to field

Field name Field character
character
Start character “：” 3A
“0” 30
Communication address: 01
“1” 31
“0” 30
Function code: 03
“3” 33
Read data number “0” 30
（Counted by bytes） “4” 34
“0” 30
Read content of 0x1000 “0” 30
address “0” 30
“1” 31
“0” 30
Read content of 0x1001 “0” 30
address “0” 30
“2” 32
“F” 46
LRC check code: 0xF5
“5” 35

End character 1 “CR” 0D

End character 0 “LF” 0A

4. LRC check（Check sum）

LRC check code is the value by firstly getting the inverse values of every bit of the result value of addition
operation of the data from communication ID to the last data content (Hex.) and then adding 1 to the final
inverse value.
For instance, LRC check code value: 0xF6. The method of calculating LRC check code value:
0x01+0x03+0x10+0x00+0x00+0x02 = 0x16, the result is 0xEA by getting the inverse values of every bit of
0x16 and then adding 1 to the final inverse value.
ASCII code corresponding to field
Field name Field character
character
Start character “:” 3A
“0” 30
Communication address: 01
“1” 31
“0” 30
Function code: 03
“3” 33
“1” 31
Start data address: 0x1000 “0” 30
“0” 30
“0” 30

A-8 DVP-MC operating manual

 Appendix A

ASCII code corresponding to field

Field name Field character
character
“0” 30
Data number (Counted by “0” 30
words): 2 “0” 30
“2” 32
“E” 45
LRC check code: 0xEA
“A” 41
End character 1: LF CR 0D
End character 0: CR LF 0A

 Communication in RTU mode

1. Communication data structure

Start No input data for more than 10ms

Communication address Slave address: 8-bit binary address
Function code Function code: 8-bit binary address
Data（n-1）
Data content
…….
n × 8 bit binary data, n<=202
Data 0
Low byte of CRC check CRC check sum
High byte of CRC check CRC check sum is composed of two 8-bit binary data
End No input data for more than 10ms

2. Communication address

The valid communication address is 0～254. The communication address 0 indicates to broadcast the
message to all slaves and the slaves which have received the broadcast message do not make any
response. If the communication address is not 0, slaves will reply to master as normal. For example, to
communication with the slave with the communication address of 16, the address of the slave is set as
0x10 since decimal 16 is equal to hexadecimal 10.

3. Function code and data

The data format is determined by function codes. For example, to read the data of two continuous
addresses with 0x1000 as start address in DVP10MC11T, the address of DVP10MC11T is 1, 0x1000 is the
Modbus address of D0 in DVP10MC11T PLC.
The data in the communication cable and the explanation on them are shown below:
PC→DVP10MC11T: “01 03 10 00 00 02 C0 CB”
DVP10MC11T→PC: “01 03 04 01 00 02 00 FA AF”

DVP-MC operating manual A-9

Appendix A

Request message:

Field name Character

Start No input data for more than 10ms
Communication address 01
Function code 03
High byte of Modbus address 10
Low byte of Modbus address 00
Read high byte of data number 00
Read low byte of data number 02
Low byte of CRC check sum C0
High byte of CRC check sum CB
End No input data for more than 10ms

Response message:

Field name Character

Start No input data for more than 10ms
Communication address 01
Function code 03
Read data number（Counted by bytes） 04
Read high byte of data content 01
Read low byte of data content 00
Read high byte of data content 02
Read low byte of data content 00
Low byte of CRC check sum FA
High byte of CRC check sum AF
End No input data for more than 10ms

4. CRC check （check sum）

CRC check starts from “Communication address” to the last “Data content”. The calculation method is
shown below.
Step 1: Download a 16-bit hex register (CRC register) with the content value FFFF.
Step 2: Make the XOR operation between the 8-bit data of the first byte in the command and the 8-bit data
of the low byte in CRC register and then store the operation result in CRC register.
Step 3: Move the content value of CRC register by one bit towards the right and fill 0 in the highest bit.
Step 4: Check the value of the lowest bit in CRC register. If the value is 0, repeat the action of step 3; if 1,
make XOR operation between the content in CRC register and hex. A001 and then store the result
in CRC register.
Step 5: Repeat step 3 and step 4 till the content in CRC register is moved by 8 bits towards the right. At
this moment, the first byte of the command message is finished processing.

A-10 DVP-MC operating manual

 Appendix A

Step 6: Repeat the action of step 2 and step 5 for the next byte in the command message till all bytes are
finished processing. The last content in CRC register is CRC check value. When CRC check value
in command message is transmitted, the high and low byte in calculated CRC check value must
exchange with each other, i.e. the low byte is transmitted first.

Example on calculation of CRC check value with C language

Unsigned char* data  // Pointer of command message content
Unsigned char length  // Length of command message content
unsigned int crc_chk（unsigned char* data, unsigned char length）
{
int j;
unsigned int reg_crc=0Xffff;
while（length--）
{
reg_crc ^= *data++;
for （j=0;j<8;j++）
{
If （reg_crc & 0x01） reg_crc=（reg_crc>>1） ^ 0Xa001; /* LSB（b0）=1 */
else reg_crc=reg_crc >>1;
}
}
return reg_crc; // the value that sent back to the CRC register finally
}

DVP-MC operating manual A-11

Appendix A

 Device Address in DVP10MC11T

Device no. and the corresponding device address of motion control module in DVP10MC11T

Device
Device no. Explanation Address（hex） Attribute
name
I 0~7 0400~0407 Read only
Q 0~3 0500~0503 Read/write
Bit device register
M 0~1535 0800~0DFF Read/write

M 1536~4095 B000~B9FF Read/write

D 0~4095 1000~1FFF Read/write
Word device register for common
D 4096~5999 9000~976F Read/write
purpose
D 7000~24575 9B58~DFFF Read/write
D 6000~6226 9770~9852 Read/write

D 6250~6476 986A~994C Read only

D 6500~6508 9964~996C Read only

Word device register for special
D 6509 996D Read/write
purpose
D 6511~6514 996F~9972 Read only

D 6515~6516 9973~9974 Read/write

D 6517~6518 9975~9976 Read only

D 24576~24628 E000~E034 Read only

D 24832~24884 E100~E134 Read only

D 25088~25140 E200~E234 Read only

D 25344~25396 E300~E334 Read only

D 25600~25652 E400~E434 Read only
D 25856~25908 E500~E534 Read only

D 26112~26164 E600~E634 Read only

D 26368~264415 E700~E734 Read only

Axis parameter register
D 26624~26676 E800~E834 Read only
D 26880~26932 E900~E934 Read only

D 27136~27188 EA00~EA34 Read only

D 27392~27444 EB00~EB34 Read only

D 27648~27700 EC00~EC34 Read only

D 27904~27956 ED00~ED34 Read only

D 28160~28212 EE00~EE34 Read only

D 28416~28468 EF00~EF34 Read only

D 28672~45055 Cam key point register 2000~5FFF Read only

A-12 DVP-MC operating manual

 Appendix A

Device no. and the corresponding device address of PLC module in DVP10MC11T

Device name Device no. Type Address（hex）

S 000~255 bit 0000~00FF

S 256~511 bit 0100~01FF

S 512~767 bit 0200~02FF

S 768~1023 bit 0300~03FF

X 000~377 （Octal） bit 0400~04FF

Y 000~377 （Octal） bit 0500~05FF

T 000~255 bit 0600~06FF

C 000~199 bit 0E00~0EC7

C 200~255 bit 0EC8~0EFF

M 000~255 bit 0800~08FF

M 256~511 bit 0900~09FF

M 512~767 bit 0A00~0AFF

M 768~1023 bit 0B00~0BFF

M 1024~1279 bit 0C00~0CFF

M 1280~1535 bit 0D00~0DFF

M 1536~1791 bit B000~B0FF

M 1792~2047 bit B100~B1FF

M 2048~2303 bit B200~B2FF

M 2304~2559 bit B300~B3FF

M 2560~2815 bit B400~B4FF

M 2816~3071 bit B500~B5FF

M 3072~3327 bit B600~B6FF

M 3328~3583 bit B700~B7FF

M 3584~3839 bit B800~B8FF

M 3840~4095 bit B900~B9FF

T 000~255 Word 0600~06FF

C 000~199 Word 0E00~0EC7

C 200~255 double Word 0700~076F

D 000~255 Word 1000~10FF

D 256~511 Word 1100~11FF

D 512~767 Word 1200~12FF

D 768~1023 Word 1300~13FF

D 1024~1279 Word 1400~14FF

DVP-MC operating manual A-13

Appendix A

Device name Device no. Type Address（hex）

D 1280~1535 Word 1500~15FF

D 1536~1791 Word 1600~16FF

D 1792~2047 Word 1700~17FF

D 2048~2303 Word 1800~18FF

D 2304~2559 Word 1900~19FF

D 2560~2815 Word 1A00~1AFF

D 2816~3071 Word 1B00~1BFF

D 3072~3327 Word 1C00~1CFF

D 3328~3583 Word 1D00~1DFF

D 3584~3839 Word 1E00~1EFF

D 3840~4095 Word 1F00~1FFF

D 4096~4351 Word 9000~90FF

D 4352~4607 Word 9100~91FF

D 4608~4863 Word 9200~92FF

D 4864~5119 Word 9300~93FF

D 5120~5375 Word 9400~94FF

D 5376~5631 Word 9500~95FF

D 5632~5887 Word 9600~96FF

D 5888~6143 Word 9700~97FF

D 6144~6399 Word 9800~98FF

D 6400~6655 Word 9900~99FF

D 6656~6911 Word 9A00~9AFF

D 6912~7167 Word 9B00~9BFF

D 7168~7423 Word 9C00~9CFF

D 7424~7679 Word 9D00~9DFF

D 7680~7935 Word 9E00~9EFF

D 7936~8191 Word 9F00~9FFF

D 8192~8447 Word A000~A0FF

D 8448~8703 Word A100~A1FF

D 8704~8959 Word A200~A2FF

D 8960~9215 Word A300~A3FF

D 9216~9471 Word A400~A4FF

D 9472~9727 Word A500~A5FF

D 9728~9983 Word A600~A6FF

A-14 DVP-MC operating manual

 Appendix A

Device name Device no. Type Address（hex）

D 9984~9999 Word A700~A70F

 Modbus Function code

The function code and abnormality response code when COM2 port is possessed by motion control module
are listed in the following table.

Available
Function code Explanation
device
Read bit-device register value; the data of 256 bits at most can be read
0x02 M,I,Q
one time.
Read one single or multi word register value; the data of 64 words at
0x03 D
most can be read one time.
0x05 Write one single bit-device register value. M ,Q

0x06 Write one single word-device register value. D

Write multi bit-device register value; the data of 256 bits at most can be
0x0F M,Q
written one time.
Write multi word-device register value; the data of 64 words at most
0x10 D
can be written one time.

Abnormality
Explanation
response code

0x01 Unsupportive function code

0x02 Unsupportive Modbus address

0x03 The data length is out of the valid range.

The function code and abnormality response code when COM1 and COM2 ports are
possessed by PLC module in DVP10MC11T are listed in the following table.

Function code Explanation Available device

Read bit-device register value excluding the input
0x01 S, Y, M, T, C
point state
Read the bit-device register value including the input
0x02 S, X, Y, M,T, C
point state
0x03 Read one single or multi word device register value T, C, D

0x05 Write one single bit-device register value S, Y, M, T, C

0x06 Write one single word-device register value T, C, D

0x0F Write multi bit-device register value S, Y, M, T, C

0x10 Write multi word-device register value T, C, D

DVP-MC operating manual A-15

Appendix A

Abnormality response
Explanation
code
Illegal command code: command code in the command message PLC
0x01
receives is invalid.
Illegal device address: the address in the command message PLC receives is
0x02
invalid.
Illegal device value: the data content in the command message PLC receives
0x03
is invalid.
1. Check sum error
1.1 Check if the checksum value is correct
0x07 2. Illegal command message
2.1 Command message is too short
2.2 Command message exceed the range

Function code: 03 to read one single or multi word-device register value

Data structure of request message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 Function code Single byte

Byte2 Read the start address of the word devices in High byte

Byte3 DVP10MC11T Low byte

Byte4 Read the address number of the word devices in High byte
DVP10MC11T
Byte5 Low byte
（Counted by Words）
Byte6 Low byte of CRC check sum Low byte

Byte7 High byte of CRC check sum High byte

Data structure of response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 Function code Single byte

Read the address number of the word devices in
Byte2 DVP10MC11T Single byte
（Counted by Bytes）
Byte3 The address content of the word devices in High byte
Byte4 DVP10MC11T Low byte
… The address content of the word devices in High byte
… DVP10MC11T Low byte
Byte n The address content of the word devices in High byte
Byte n+1 DVP10MC11T Low byte

A-16 DVP-MC operating manual

 Appendix A

Data order Name Byte

Byte n+2 Low byte of CRC check sum Low byte
Byte n+3 High byte of CRC check sum High byte

Data structure of abnormality response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 0x80+ function code Single byte

Byte2 abnormality response code Single byte

Byte3 Low byte of CRC check sum Low byte

Byte4 High byte of CRC check sum High byte

Note: The byte number in response message is determined by the DVP10MC11T device address number to
be read in the request message. Thus n of “Byte n” in response message can be calculated through
reading DVP10MC11T device address number.
 Example: To read the address content of 0x1000, 0x1001 in DVP10MC11T via function code 03.
0x1000, 0x1001 are the Modbus address of D0 and D1 in DVP10MC11T respectively.
Suppose the value of D0 is 0x0100; D1 is 0x020
Request message: “ 01 03 10 00 00 02 C0 CB”
Response message: “01 03 04 01 00 02 00 FA AF”

Function code: 06 to write single word-device register value

Data structure of request message:

Data order Name Byte

Byte0 Modbus ID Single byte
Byte1 Function code Single byte
Byte2 High byte
DVP10MC11T device address where to write the value
Byte3 Low byte
Byte4 High byte
The written value
Byte5 Low byte
Byte6 Low byte of CRC check sum Low byte
Byte7 High byte of CRC check sum High byte

Data structure of response message:

Data order Name Byte

Byte0 Modbus ID Single byte
Byte1 Function code Single byte
Byte2 High byte
DVP10MC11T word device address where to write the
Byte3 value Low byte

DVP-MC operating manual A-17

Appendix A

Data order Name Byte

Byte4 High byte
The written value
Byte5 Low byte
Byte6 Low byte of CRC check sum Low byte

Byte7 High byte of CRC check sum High byte

Data structure of abnormality response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 0x80+ function code Single byte

Byte2 Abnormality response code Single byte

Byte3 Low byte of CRC check sum Low byte

Byte4 High byte of CRC check sum High byte

 Example: Write 0x0100 to 0x1000 address in DVP10MC11T via function code 06.。
Request message: “ 01 06 10 00 01 00 8C 9A”.
Response message: “ 01 06 10 00 01 00 8C 9A”.

Function code: 0x10 to write multi word-device register value

Data structure of request message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 Function code Single byte

Byte2 The start address of DVP10MC11T word device where High byte

Byte3 to write the value. Low byte

Byte4 The address number of DVP10MC11T word device High byte

Byte5 where to write the value.（Counted by words） Low byte

The address number of DVP10MC11T word device

Byte6 Single byte
where to write the value. （Counted by bytes）
Byte7 The address value written into DVP10MC11T word High byte

Byte8 device. Low byte

… The address value written into DVP10MC11T word High byte

… device. Low byte

Byte n The address value written into DVP10MC11T word High byte

Byte n+1 device. Low byte

A-18 DVP-MC operating manual

 Appendix A

Data order Name Byte

Byte n+2 Low byte of CRC check sum Low byte

Byte n+3 High byte of CRC check sum High byte

Data structure of response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 Function code Single byte

Byte2 The start address of DVP10MC11T word device where High byte

Byte3 to write the value. Low byte

Byte4 The address number of DVP10MC11T word device High byte

where to write the value.
Byte5 （Counted by Words） Low byte

Byte6 Low byte of CRC check sum Low byte

Byte7 High byte of CRC check sum High byte

Data structure of abnormality response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 0x80+ function code Single byte

Byte2 Abnormality response code Single byte

Byte3 Low byte of CRC check sum Low byte

Byte4 High byte of CRC check sum High byte

Note: How many bytes of data in request message are determined by the number of word-device address
where to write the value in the response message. Thus n of “Byte n” in request message can be
calculated through the number of device address where to write the value.
 Example: Write 0x0100 and 0x0200 to 0x1000 and 0x1001 address in DVP10MC11T respectively via
function code 0x10. 0x1000 and 0x1001 are Modbus address of D0 and D1 in DVP10MC11T.
Request message: “ 01 10 10 00 00 02 04 01 00 02 00 3E F3”
Response message: “01 10 10 00 00 02 45 08”.

DVP-MC operating manual A-19

Appendix A

Function code: 0x02 to read bit-device register value

The data structure of function code of 0x01 is the same as that of 0x02. So 0x01will not be introduced
additionally. When COM2 is possessed by PLC in DVP10MC11T, the input point status can not be read via
0x01 function code.
Data structure of request message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 Function code Single byte

Byte2 High byte

The start address of DVP10MC11T bit device to be read.
Byte3 Low byte
Byte4 High byte
The number of DVP10MC11T bit device to be read.
Byte5 Low byte

Byte6 Low byte of CRC check sum Low byte

Byte7 High byte of CRC check sum High byte

Data structure of response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 Function code Single byte

Byte2 Read byte number of bit device. Single byte

Byte3 Read state value of bit device. Single byte

… Read state value of bit device. Single byte

Byte n Read state value of bit device. Single byte

Byte n+1 Low byte of CRC check sum Low byte

Byte n+2 High byte of CRC check sum High byte

Data structure of abnormality response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 0x80+ function code Single byte

Byte2 Abnormality response message Single byte

Byte3 Low byte of CRC check sum Low byte

Byte4 High byte of CRC check sum High byte

A-20 DVP-MC operating manual

 Appendix A

Note:
The value of Byte 2 in response message is determined by Byte 4 and Byte 5. For example, the
number of the read bit device in request message is A. Dividing A by 8 produces B. If the quotient
is an integer, the byte number in response message is B; if the quotient is not an integer, the byte
number will be the integer part of the quotient plus 1.
 Example: Read the state value of M0~M19 in DVP10MC11T via function code 02. M0 address is 0x0800.
Suppose M0~M7=1000 0001, M8~M15=0001 1000, M16~M19=0110.
Request message: “01 02 08 00 00 14 7A 65”
Response message: “01 02 03 81 18 06 A2 64”

Function code: 0x05 to set one single bit-device register value

Data structure of request message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 Function code Single byte

Byte2 High byte

Modbus address of bit device
Byte3 Low byte

Byte4 High byte

The written value of bit device
Byte5 Low byte

Byte6 Low byte of CRC check sum Low byte

Byte7 High byte of CRC check sum High byte

Data structure of response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 Function code Single byte

Byte2 High byte

Modbus address of bit device
Byte3 Low byte

Byte4 High byte

The written value of bit device
Byte5 Low byte

Byte6 Low byte of CRC check sum Low byte

Byte7 High byte of CRC check sum High byte

DVP-MC operating manual A-21

Appendix A

Data structure of abnormality response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 0x80+ function code Single byte

Byte2 Abnormality response code Single byte

Byte3 Low byte of CRC check sum Low byte

Byte4 High byte of CRC check sum High byte

Note: The written value 0x0000 in the bit device in request or response message means that the value
written in the bit device is 0. 0xFF00 means that the value written in the bit device is 1.
 Example: The value of M0 in DVP10MC11T is set as 1 via function code 05; M0 address is 0x0800.
Request message: “01 05 08 00 FF 00 8E 5A”
Response message: “01 05 08 00 FF 00 8E 5A”

Function code: 0x0F, write multi bit-device register values

Data structure of request message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 Function code Single byte

Byte2 The start address of DVP10MC11T bit device where to High byte

Byte3 read state. Low byte

Byte4 The number of DVP10MC11T bit devices where to write High byte

Byte5 values. Low byte

Byte6 How many bytes for bit devices where to write values Single byte

Byte7 The value written in DVP10MC11T bit device Single byte

… The value written in DVP10MC11T bit device Single byte

Byte n The value written in DVP10MC11T bit device Single byte

Byte n+1 Low byte of CRC check sum Low byte

Byte n+2 High byte of CRC check sum High byte

A-22 DVP-MC operating manual

 Appendix A

Data structure of response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 Function code Single byte

Byte2 The start address of DVP10MC11T bit device where to write the High byte
Byte3 value Low byte
Byte4 High byte
The number of DVP10MC11T bit devices where to write the value
Byte5 Low byte

Byte6 Low byte of CRC check sum Low byte

Byte7 High byte of CRC check sum High byte

Data structure of abnormality response message:

Data order Name Byte

Byte0 Modbus ID Single byte

Byte1 0x80+ function code Single byte

Byte2 Abnormality response code High byte

Byte3 Low byte of CRC check sum Low byte
Byte4 High byte of CRC check sum High byte

Note: How many bytes of data in request message are determined by the number of bit device where to
write the value in the response message.
 Set DVP10MC11T M0~M7=1000 0001, M8~M15=0001 1000, M16~M19=0110 via function code 0F;
M0 address: 0x0800
Request message: “01 0F 08 00 00 14 03 81 18 06 8B F9”
Response message: “01 0F 08 00 00 14 57 A4”

 The Indication of Modbus Communication Port LED

COM1 LED is RS-232 communication port indicator used by PLC module to show RS-232
communication state.

LED state Indication

Yellow light flash There are response data at RS-232（COM1）port.

Off There are no response data at RS-232（COM1）port.

COM2 LED is RS-485 communication port indicator commonly used by motion control
module and PLC module to show RS-485 communication state.

RUN state Indication

Yellow light flash There are response data at RS-485（COM2）port

Off There are no response data at RS-485（COM2）port

DVP-MC operating manual A-23

 Appendix B

Appendix B Ethernet Communication

 Ethernet Communication Port in DVP10MC11T:

DVP10MC11T provides an Ethernet port possessed by motion control module supporting Modbus TCP
protocol. CANopen Builder software could be used to download CANopen motion control network
configuration, motion program, G codes and monitor devices via this port. DVP10MC11T can only serve as
slave in Ethernet network and also accept the access from 4 masters. Besides, this port supports auto jumper
function as well. When connected to computer or switchboard, DVP10MC11T does not need to be handled in
jumper specially. LED of Ethernet port is used to indicate the current connection state of Ethernet so that user
could check conveniently.
Pin Definition and LED Indicator Instruction
Pin Definition of Ethernet Communication Port in DVP10MC11T:

Terminal No. Definition Explanation RJ -45 figure

1 Tx+ Positive pole for transmitting data

2 Tx- Negative pole for transmitting data
3 Rx+ Positive pole for receiving data
4 -- N/C
5 -- N/C
6 Rx- Negative pole for receiving data
7 -- N/C
8 -- N/C

LED Indicator of Ethernet Communication Port in DVP10MC11T

DVP10MC11T possesses two Ethernet LED indicators like orange light and green light. Green light is to
indicate the communication state of Ethernet network; orange light is to indicate communication rate of
Ethernet network.
LED indicator State Indication
On The communication rate of Ethernet: 100Mbps。
Orange light The communication rate of Ethernet is 10Mbps or DVP10MC11TT
Off
is not connected to Ethernet.
Green light
The Ethernet port of DVP10MC11T is sending or receiving data.
Green light flash
Off The Ethernet port of DVP10MC11T is not sending or receiving data.

DVP-MC operating manual B-1

Appendix B

Figure of Ethernet connected with DVP10MC11T

3
4 4
2

2
2

2
5

Device no. and the corresponding device name in above figure are listed below.
Device no. 1 2 3 4 5
Device Ethernet
Ethernet communication cable Concentrator DVP10MC11T Computer
name master
Note:
Please use the shielded twisted pair as Ethernet communication cable.
The master of Ethernet network containing DVP10MC11T can be Delta Ethernet equipment such
as DVPEN01-SL, IFD9506, IFD9507 and touch panel with Ethernet port. The equipment supplied
from other vendors supporting Modbus TCP protocol as well as master function can also serve as
master of DVP10MC11T.

 Communication Setting of Ethernet connected with DVP10MC11T (Software

setting）

The dialog box for setting Ethernet parameters in CANopen Builder software is shown as below.

B-2 DVP-MC operating manual

 Appendix B

Explanation of Ethernet parameters setting:

name Equipment name which users could name by themselves.

IP Address The IP address of DVP10MC11T

There are Static and DHCP selections for DVP10MC11T Ethernet. If DHCP
IP Configuration (dynamic) is selected, the Ethernet parameters are obtained by DVP10MC11T itself;
if Static is selected, the parameters will be set by user.

Netmask Subnet mask of DVP10MC11T

Getway Gateway address of DVP10MC11T

 Modbus TCP Communication:

1. Modbus TCP message structure:

Data order Name Explanation

Byte0 High byte

Transaction identifier 0
Byte1 Low byte

Byte2 High byte

Protocol identifier 0
Byte3 Low byte

Byte4 High byte The number of bytes for

Modbus data length Modbus address and the
Byte5 Low byte data after it

Byte6 Modbus ID Single byte 0～0xFF

Byte7 Function code Single byte

Byte8 High byte

Device address in DVP10MC11T 0~0xFFFF
Byte9 Low byte

Byte10 High byte The byte number of Modbus

Modbus data data is determined by
Byte11 Low byte function code.
2. Modbus function code DVP10MC11T supports:
Function code Function Device
Read bit-device register value; maximum 256 bits of data could be
0x02 M,I,Q
read once.
Read one single or multi word-device register value; maximum 64
0x03 D
words of data could be read once.
0x05 Write one single bit-device register value. M ,Q

0x06 Write one single word-device register value D

Write multi bit-device register value; maximum 256 bits of data could
0x0F M,Q
be written once.
Write multi word-device register value; maximum 64 words of data
0x10 D
could be written.

DVP-MC operating manual B-3

Appendix B

3. Modbus abnormality response code DVP10MC11T supports:

Abnormality response code Indication

0x01 Unsupportive function code

0x02 Unsupportive Modbus address

0x03 Data length exceeds the range

4. Modbus Function Code:

Function code: 03 to read one single or multi word-device register value

Request message data structure:
Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Low byte

Byte7 Function code Single byte

Byte8 High byte

Read the start address of the word device in
Byte9 DVP10MC11T Low byte

Byte10 Read the device address number in High byte

DVP10MC11T
Byte11 （Counted by Words） Low byte

Response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 Function code Single byte

The data length of the read word device content
Byte8 value in DVP10MC11T Single byte
（Counted by Bytes）

B-4 DVP-MC operating manual

 Appendix B

Data order Name Byte

Byte9 High byte

Device address content in DVP10MC11T
Byte10 Low byte

… High byte
Device address content in DVP10MC11T
Byte n Low byte

Abnormality response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 0x80+ function code Single byte

Byte8 Abnormality response code Single byte

Note: How many bytes of data in response message depend on the read device address number in
DVP10MC11T in request message. So n value in Byte n in response message can be calculated through
reading device address number in DVP10MC11T.
 Example: To read the content of 0x1000 and 0x1001 address in DVP10MC11T
0x1000 and 0x1001 are the Modbus address of D0 and D1 in DVP10MC11T respectively. Suppose D0
value is 0x0100 and D1 is 0x0200.
Request message: “ 00 00 00 00 00 06 01 03 10 00 00 02”
Response message: “00 00 00 00 00 07 01 03 04 01 00 02 00”

DVP-MC operating manual B-5

Appendix B

Function code: 06 to write one single word-device register value

Request message data structure:
Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 Function code Single byte

Byte8 High byte

The word device address where to write value in
Byte9 DVP10MC11T Low byte

Byte10 The value written in word devices in High byte

Byte11 DVP10MC11T Low byte

Response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 Function code Single byte

Byte8 High byte

The word device address where to write value in
Byte9 DVP10MC11T Low byte

Byte10 The value written in word devices in High byte

Byte11 DVP10MC11T Low byte

Abnormality response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

B-6 DVP-MC operating manual

 Appendix B

Data order Name Byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 0x80+ function code Single byte

Byte8 Abnormality response code Single byte

 Example: To write value 0x0100 to 0x1000 address in DVP10MC11T via function code 06
Request message: “ 00 00 00 00 00 06 01 06 10 00 01 00”.
Response message: “ 00 00 00 00 00 06 01 06 10 00 01 00”.

Function code: 0x10 to write multiple word-device register values

Request message data structure:
Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 Function code Single byte

Byte8 High byte

The start address of word devices where to write values in
Byte9 DVP10MC11T Low byte

Byte10 The address number of word devices where to write values. High byte

Byte11 （Counted by Words） Low byte

The address number of word devices where to write values.
Byte12 Single byte
（Counted by Bytes）
Byte13 High byte
The address value written in word devices in DVP10MC11T
Byte14 Low byte

… High byte
The address value written in word devices in DVP10MC11T
Byte n Low byte

DVP-MC operating manual B-7

Appendix B

Response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 Function code Single byte

Byte8 The start address of word devices where to write values in High byte

Byte9 DVP10MC11T Low byte

Byte10 The address number of word devices where to write values. High byte

Byte11 （Counted by Words） Low byte

Abnormality response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 0x80+ function code Single byte

Byte8 Abnormality response code Single byte

Note:
How many bytes of data in response message depend on the read device address number in
DVP10MC11T in request message. So n value in Byte n in response message can be calculated
through reading device address number in DVP10MC11T.
 Example: To write 0x0100 and 0x0200 to 0x1000 and 0x1001 address via function code 06.
0x1000 and 0x1001 are the Modbus address of D0 and D1 in DVP10MC11T respectively.
Request message: “ 00 00 00 00 00 0B 01 10 10 00 00 02 04 01 00 02 00”
Response message: “00 00 00 00 00 06 01 10 10 00 00 02”

B-8 DVP-MC operating manual

 Appendix B

Function code: 0x02 to read bit-device register value

Request message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 Function code Single byte

Byte8 High byte

The start address of the read bit device in DVP10MC11T
Byte9 Low byte

Byte10 High byte

The number of the read bit device in DVP10MC11T
Byte11 Low byte

Response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 Function code Single byte

Byte8 The Byte number of the read bit device Single byte

Byte9 The status value of the bit device which has been read Single byte

… The status value of the bit device which has been read Single byte

Byte n The status value of the bit device which has been read Single byte

DVP-MC operating manual B-9

Appendix B

Abnormality response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 0x80+ function code Single byte

Byte8 Abnormality response code Single byte

Note: Suppose the number of the bit device to be read in DVP10MC11T in request message is A (Byte 10,
Byte 11), If A is divided by 8 with no remainder, the quotient is B; otherwise, the quotient is B +1. B or B+1
is the Byte number (Byte 8) of bit devices in response message.
The low bit（Byte 9）of the state value of the read bit device in response message is the state value of the
start address of bit devices in DVP10MC11T.
 Example: To read the state value of M0~M19 in DVP10MC11T via function code 02
The address of M0 is 0x0800; suppose M7...M0=1000 0001, M15...M8=0001 1000, M19...M16=0110
Request message: “ 00 00 00 00 00 06 01 02 08 00 00 14”
Response message: “00 00 00 00 00 06 01 02 03 81 18 06”

Function code: 0x05 to write one single bit-device register value

Request message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 Function code Single byte

Byte8 High byte

Modbus address of the bit device
Byte9 Low byte

B-10 DVP-MC operating manual

 Appendix B

Data order Name Byte

Byte10 High byte

The value written in bit device
Byte11 Low byte

Response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 Function code Single byte

Byte8 High byte

Modbus address of bit device
Byte9 Low byte

Byte10 High byte

The value written in bit device
Byte11 Low byte

Abnormality response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 0x80+ function code Single byte

Byte8 Abnormality response code Single byte

Note: The written value 0x0000 for bit device in request message or response message indicates be value
written in device is 0; the written value 0xFF00 for bit device indicates the value written in device is 1.
 Example: Set the value of M0 in DVP10MC11T as 1 via function code 05; the address of M0 is 0x0800.
Request message: “ 00 00 00 00 00 06 01 05 08 00 FF 00”
Response message: 00 00 00 00 00 06 01 05 08 00 FF 00”

DVP-MC operating manual B-11

Appendix B

Function code：0x0F to write multi bit-device register value

Request message data structure:
Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 Function code Single byte

Byte8 The start address of the bit devices where to write values in High byte

Byte9 DVP10MC11T Low byte

Byte10 The number of bit devices where to write values in High byte

Byte11 DVP10MC11T Low byte

The Byte number of bit devices where to write values in
Byte12 Single byte
DVP10MC11T
Byte13 The value written in bit device in DVP10MC11T Single byte

Byte n The value written in bit device in DVP10MC11T Single byte

Response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 Modbus data length Single byte

Byte5 High byte

ModbusID
Byte6 Low byte

Byte7 Function code Single byte

Byte8 High byte

The start address of the bit devices in DVP10MC11T
Byte9 Low byte

Byte10 The number of the bit devices where to write values in High byte

Byte 11 DVP10MC11T Low byte

B-12 DVP-MC operating manual

 Appendix B

Abnormality response message data structure:

Data order Name Byte

Byte0 High byte

Transaction identifier
Byte1 Low byte

Byte2 High byte

Protocol identifier
Byte3 Low byte

Byte4 High byte

Modbus data length
Byte5 Low byte

Byte6 Modbus ID Single byte

Byte7 0x80+ function code Single byte

Byte8 Abnormality response code Single byte

Note:
Suppose the number of the bit device where to be written in DVP10MC11T in request message is A (Byte
10, Byte 11), If A is divided by 8 with no remainder, the quotient is B; otherwise, the quotient is B +1. B or
B+1 is the Byte number (Byte12) of bit devices in request message.
The low bit（Byte 13）of the value to be written in the bit device in DVP10MC11T in request message is the
values of the start address (Byte8, Byte9) of bit devices in DVP10MC11T.

 Example: To set M0~M7=1000 0001,M8~M15=0001 1000, M16~M19=0110 in DVP10MC11T; the address

of M0 is 0x0800
Request message: “ 00 00 00 00 00 0A 01 0F 08 00 00 14 03 81 18 06”
Response message: “00 00 00 00 00 06 01 0F 08 00 00 14”

DVP-MC operating manual B-13

Appendix B

Devices in DVP10MC11T and the corresponding addresses are listed below:

Device
Device no. Explanation Address（hex） Attribute
name
I 0~7 0400~0407 Read only
Q 0~3 0500~0503 Read/write
Bit device register
M 0~1535 0800~0DFF Read/write
M 1536~4095 B000~B9FF Read/write
D 0~4095 1000~1FFF Read/write
Word device register for
D 4096~5999 9000~976F Read/write
common purpose
D 7000~24575 9B58~DFFF Read/write
D 6000~6226 9770~9852 Read/write
D 6250~6476 986A~994C Read only
D 6500~6508 9964~996C Read only
D 6509 Word device register for 996D Read/write
special purpose
D 6511~6514 996F~9972 Read only

D 6515~6516 9973~9974 Read/write

D 6517~6518 9975~9976 Read only

D 24576~24628 E000~E034 Read only

D 24832~24884 E100~E134 Read only

D 25088~25140 E200~E234 Read only

D 25344~25396 E300~E334 Read only

D 25600~25652 E400~E434 Read only

D 25856~25908 E500~E534 Read only

D 26112~26164 E600~E634 Read only

D 26368~264415 E700~E734 Read only

Axis parameter register
D 26624~26676 E800~E834 Read only

D 26880~26932 E900~E934 Read only

D 27136~27188 EA00~EA34 Read only

D 27392~27444 EB00~EB34 Read only

D 27648~27700 EC00~EC34 Read only

D 27904~27956 ED00~ED34 Read only

D 28160~28212 EE00~EE34 Read only

D 28416~28468 EF00~EF34 Read only

D 28672~45055 Cam key point register 2000~5FFF Read only

B-14 DVP-MC operating manual

 Appendix C

Appendix C Axis-Related Special Registers

 Special registers related with axis 1
Modbus
Special
address Function explanation Range Type Latched Attribute
D
（HEX）
D24576 E000 Type（0: rotary 1: linear） 0-1 UINT No Read only
D24577 E001 No Read only
Modulo -- DINT
D24578 E002 No Read only
Acceleration and
D24579 E003 deceleration type（0:T 1: S 0-2 UINT No Read only
2:JERK）
Numerator of electronic
D24580 E004 0 - 65535 UINT No Read only
gear
Denominator of electronic
D24581 E005 0 - 65535 UINT No Read only
gear
Software limit（0:disable,
D24582 E006 0-1 UINT No Read only
1:enable）
D24583 E007 -- No Read only
The positive position limit DINT
D24584 E008 -- No Read only
D24585 E009 -- No Read only
The negative position limit DINT
D24586 E00A -- No Read only
Homing mode; please refer
D24587 E00B 1-35 UINT No Read only
to appendix D
D24588 E00C Homing speed -- No Read only
UDINT
D24589 E00D (Unit: r/min) -- No Read only
D24590 E00E Maximum speed (Unit: -- No Read only
UDINT
D24591 E00F unit/second) -- No Read only
D24592 E010 Maximum acceleration -- No Read only
2 UDINT
D24593 E011 （Unit: unit/second ） -- No Read only

D24594 E012 Maximum deceleration -- No Read only

2 UDINT
D24595 E013 （Unit: unit/second ） -- No Read only
D24596 E014 Given position -- No Read only
DINT
D24597 E015 （Unit: pulse） -- No Read only
D24598 E016 Given speed (Unit: -- No Read only
DINT
D24599 E017 pulse/second) -- No Read only
D24600 E018 Given acceleration -- No Read only
DINT
D24601 E019 （Pulse/second2） -- No Read only
D24602 E01A Current position（Unit: -- No Read only
DINT
D24603 E01B pulse） -- No Read only
D24604 E01C Current position error -- No Read only
DINT
D24605 E01D （Unit: pulse） -- No Read only

DVP-MC operating manual C-1

Appendix C

Modbus
Special
address Function explanation Range Type Latched Attribute
D
（HEX）
Axis current state（see
D24606 E01E UINT No Read only
section 4.2）
D24613 E025 The pulse number needed -- No Read only
when servo motor rotates DINT
D24614 E026 for one circle) -- No Read only

The allowed error between

D24615 E027 the given and feedback -- UINT No Read only
pulse number

Current torque (Rated

D24619 E02B -- INT No Read only
torque permillage)
D24620 E02C Current speed （Unit: 0.1 -- No Read only
DINT
D24621 E02D r/min） No Read only

Present current（Rated
D24622 E02E -- INT No Read only
current permillage）

D24623 E02F -- No Read only

Custom parameter value DINT
D24624 E030 -- No Read only

D24625 E031 The phase of the terminal

0~modulo REAL No Read only
D24626 E032 actuator

D24627 E033 -2147483648

The position of the terminal
~ DINT No Read only
D24628 E034 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D register only when they are selected. For the method of
selecting the relevant parameter, see section 2.3.1.

C-2 DVP-MC operating manual

 Appendix C

 Special registers related with axis 2

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D24832 E100 Type（0: rotary 1: linear） 0-1 UINT No Read only
D24833 E101 No Read only
Modulo -- DINT
D24834 E102 No Read only

Acceleration and
D24835 E103 deceleration type（0:T 1: S 0-2 UINT No Read only
2:JERK）

D24836 E104 Numerator of electronic gear 0 - 65535 UINT No Read only

Denominator of electronic
D24837 E105 0 - 65535 UINT No Read only
gear

Software limit（0:disable,
D24838 E106 0-1 UINT No Read only
1:enable）
D24839 E107 -- No Read only
The positive position limit DINT
D24840 E108 -- No Read only
D24841 E109 -- No Read only
The negative position limit DINT
D24842 E10A -- No Read only
Homing mode; please refer to
D24843 E10B 1-35 UINT No Read only
appendix D
D24844 E10C Homing speed -- No Read only
UDINT
D24845 E10D (Unit: r/min) -- No Read only
D24846 E10E Maximum speed -- No Read only
UDINT
D24847 E10F （Unit: unit/ second） -- No Read only
D24848 E110 Maximum acceleration -- No Read only
2 UDINT
D24849 E111 （Unit: unit/ second ） -- No Read only
D24850 E112 Maximum deceleration -- No Read only
2 DINT
D24851 E113 （Unit: unit/ second ） -- No Read only
D24852 E114 -- No Read only
Given position（Unit: pulse） DINT
D24853 E115 -- No Read only
D24854 E116 Given speed -- No Read only
DINT
D24855 E117 (Unit: pulse/second） -- No Read only
D24856 E118 Given acceleration -- No Read only
DINT
D24857 E119 （Pulse/second2） -- No Read only
D24858 E11A -- No Read only
Current position (Unit: pulse) DINT
D24859 E11B -- No Read only
D24860 E11C Current position error (Unit: -- No Read only
DINT
D24861 E11D pulse) -- No Read only
Axis current state (See
D24862 E11E UINT No Read only
section 4.2）

DVP-MC operating manual C-3

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D24869 E125 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D24870 E126 -- No Read only
circle.
The allowed error between
D24871 E127 the given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D24875 E12B -- INT No Read only
permillage)
D24876 E12C Current speed (Unit: 0.1 -- No Read only
DINT
D24877 E12D r/min） -- No Read only
Present current (Rated
D24878 E12E -- INT No Read only
current permillage)
D24879 E12F -- No Read only
Custom parameter value DINT
D24880 E130 -- No Read only

D24881 E131 The phase of the terminal

0~ modulo REAL No Read only
D24882 E132 actuator

D24883 E133 -2147483648

The position of the terminal
~ DINT No Read only
D24884 E134 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-4 DVP-MC operating manual

 Appendix C

 Special registers related with axis 3

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D25088 E200 Type（0: rotary 1: linear） 0-1 UINT No Read only
D25089 E201 No Read only
Modulo -- DINT
D25090 E202 No Read only

Acceleration and
D25091 E203 deceleration type（0:T 1: S 0-2 UINT No Read only
2:JERK）

D25092 E204 Numerator of electronic gear 0 - 65535 UINT No Read only

Denominator of electronic
D25093 E205 0 - 65535 UINT No Read only
gear
Software limit（0:disable,
D25094 E206 0-1 UINT No Read only
1:enable）
D25095 E207 -- No Read only
The positive position limit DINT
D25096 E208 -- No Read only
D25097 E209 -- No Read only
The negative position limit DINT
D25098 E20A -- No Read only

Homing mode; please refer to

D25099 E20B 1-35 UINT No Read only
appendix D

D25100 E20C -- No Read only

Homing speed
UDINT
D25101 E20D (Unit: r/min) -- No Read only

D25102 E20E Maximum speed -- No Read only

UDINT
D25103 E20F （Unit: unit/ second） -- No Read only
D25104 E210 Maximum acceleration -- No Read only
2 UDINT
D25105 E211 （Unit: unit/ second ） -- No Read only
D25106 E212 Maximum deceleration -- No Read only
2 DINT
D25107 E213 （Unit: unit/ second ） -- No Read only
D25108 E214 -- No Read only
Given position（Unit: pulse） DINT
D25109 E215 -- No Read only
D25110 E216 Given speed -- No Read only
DINT
D25111 E217 (Unit: pulse/second） -- No Read only
D25112 E218 Given acceleration -- No Read only
DINT
D25113 E219 （Pulse/second2） -- No Read only

D25114 E21A -- No Read only

Current position (Unit: pulse) DINT
D25115 E21B -- No Read only
D25116 E21C Current position error (Unit: -- No Read only
DINT
D25117 E21D pulse) -- No Read only
Axis current state (See
D25118 E21E UINT No Read only
section 4.2）

DVP-MC operating manual C-5

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D25125 E225 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D25126 E226 -- No Read only
circle.
The allowed error between
D25127 E227 the given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D25131 E22B -- INT No Read only
permillage)
D25132 E22C Current speed (Unit: 0.1 -- No Read only
DINT
D25133 E22D r/min） -- No Read only
Present current (Rated
D25134 E22E -- INT No Read only
current permillage)
D25135 E22F -- No Read only
Custom parameter value DINT
D25136 E230 -- No Read only

D25137 E231 The phase of the terminal

0~ modulo REAL No Read only
D25138 E232 actuator

D25139 E233 -2147483648

The position of the terminal
~ DINT No Read only
D25140 E234 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-6 DVP-MC operating manual

 Appendix C

 Special registers related with axis 4

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D25344 E300 Type（0: rotary 1: linear） 0-1 UINT No Read only
D25345 E301 No Read only
Modulo -- DINT
D25346 E302 No Read only
Acceleration and deceleration
D25347 E303 0-2 UINT No Read only
type（0:T 1: S 2:JERK）
D25348 E304 Numerator of electronic gear 0 - 65535 UINT No Read only
D25349 E305 Denominator of electronic gear 0 - 65535 UINT No Read only
Software limit（0:disable,
D25350 E306 0-1 UINT No Read only
1:enable）
D25351 E307 -- No Read only
The positive position limit DINT
D25352 E308 -- No Read only
D25353 E309 -- No Read only
The negative position limit DINT
D25354 E30A -- No Read only
Homing mode; please refer to
D25355 E30B 1-35 UINT No Read only
appendix D
D25356 E30C Homing speed -- No Read only
UDINT
D25357 E30D (Unit: r/min) -- No Read only
D25358 E30E Maximum speed -- No Read only
UDINT
D25359 E30F （Unit: unit/ second） -- No Read only
D25360 E310 Maximum acceleration -- No Read only
2 UDINT
D25361 E311 （Unit: unit/ second ） -- No Read only
D25362 E312 -- No Read only
Maximum deceleration
DINT
D25363 E313 （Unit: unit/ second2） -- No Read only

D25364 E314 -- No Read only

Given position（Unit: pulse） DINT
D25365 E315 -- No Read only
D25366 E316 Given speed -- No Read only
DINT
D25367 E317 (Unit: pulse/second） -- No Read only
D25368 E318 Given acceleration -- No Read only
DINT
D25369 E319 （Pulse/second2） -- No Read only

D25370 E31A -- No Read only

Current position (Unit: pulse) DINT
D25371 E31B -- No Read only
D25372 E31C Current position error (Unit: -- No Read only
DINT
D25373 E31D pulse) -- No Read only
Axis current state (See section
D25374 E31E UINT No Read only
4.2）
D25381 E325 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D25382 E326 -- No Read only
circle.

DVP-MC operating manual C-7

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
The allowed error between the
D25383 E327 given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D25387 E32B -- INT No Read only
permillage)
D25388 E32C -- No Read only
Current speed (Unit: 0.1 r/min） DINT
D25389 E32D -- No Read only
Present current (Rated current
D25390 E32E -- INT No Read only
permillage)
D25391 E32F -- No Read only
Custom parameter value DINT
D25392 E330 -- No Read only

D25393 E331 The phase of the terminal

0~ modulo REAL No Read only
D25394 E332 actuator

D25395 E333 -2147483648

The position of the terminal
~ DINT No Read only
D25396 E334 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-8 DVP-MC operating manual

 Appendix C

 Special registers related with axis 5

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D25600 E400 Type（0: rotary 1: linear） 0-1 UINT No Read only
D25601 E401 No Read only
Modulo -- DINT
D25602 E402 No Read only
Acceleration and
D25603 E403 deceleration type（0:T 1: S 0-2 UINT No Read only
2:JERK）
Numerator of electronic
D25604 E404 0 - 65535 UINT No Read only
gear
Denominator of electronic
D25605 E405 0 - 65535 UINT No Read only
gear
Software limit（0:disable,
D25606 E406 0-1 UINT No Read only
1:enable）
D25607 E407 -- No Read only
The positive position limit DINT
D25608 E408 -- No Read only
D25609 E409 -- No Read only
The negative position limit DINT
D25610 E40A -- No Read only
Homing mode; please refer
D25611 E40B 1-35 UINT No Read only
to appendix D l
D25612 E40C Homing speed -- No Read only
UDINT
D25613 E40D (Unit: r/min) -- No Read only
D25614 E40E Maximum speed -- No Read only
UDINT
D25615 E40F （Unit: unit/ second） -- No Read only

D25616 E410 Maximum acceleration -- No Read only

2 UDINT
D25617 E411 （Unit: unit/ second ） -- No Read only
D25618 E412 Maximum deceleration -- No Read only
2 DINT
D25619 E413 （Unit: unit/ second ） -- No Read only
D25620 E414 -- No Read only
Given position（Unit: pulse） DINT
D25621 E415 -- No Read only
D25622 E416 Given speed -- No Read only
DINT
D25623 E417 (Unit: pulse/second） -- No Read only
D25624 E418 Given acceleration -- No Read only
DINT
D25625 E419 （Pulse/second2） -- No Read only

D25626 E41A Current position (Unit: -- No Read only

DINT
D25627 E41B pulse) -- No Read only
D25628 E41C Current position error (Unit: -- No Read only
DINT
D25629 E41D pulse) -- No Read only

DVP-MC operating manual C-9

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
Axis current state (See
D25630 E41E UINT No Read only
section 4.2）
D25637 E425 Pulse number needed -- No Read only
when servo motor rotates DINT
D25638 E426 -- No Read only
for one circle.
The allowed error between
D25639 E427 the given and feedback -- UINT No Read only
pulse number
Current torque (Rated
D25643 E42B -- INT No Read only
torque permillage)
D25644 E42C Current speed (Unit: 0.1 -- No Read only
DINT
D25645 E42D r/min） -- No Read only
Present current (Rated
D25646 E42E -- INT No Read only
current permillage)
D25647 E42F -- No Read only
Custom parameter value DINT
D25648 E430 -- No Read only

D25649 E431 The phase of the terminal

0~ modulo REAL No Read only
D25650 E432 actuator

D25651 E433 -2147483648

The position of the terminal
~ DINT No Read only
D25652 E434 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-10 DVP-MC operating manual

 Appendix C

 Special registers related with axis 6

Modbus
Special D address Function Range Type Latched Attribute
（HEX）
D25856 E500 Type（0: rotary 1: linear） 0-1 UINT No Read only
D25857 E501 No Read only
Modulo -- DINT
D25858 E502 No Read only
Acceleration and deceleration
D25859 E503 0-2 UINT No Read only
type（0:T 1: S 2:JERK）
D25860 E504 Numerator of electronic gear 0 - 65535 UINT No Read only
Denominator of electronic
D25861 E505 0 - 65535 UINT No Read only
gear
Software limit（0:disable,
D25862 E506 0-1 UINT No Read only
1:enable）
D25863 E507 -- No Read only
The positive position limit DINT
D25864 E508 -- No Read only
D25865 E509 -- No Read only
The negative position limit DINT
D25866 E50A -- No Read only
Homing mode; please refer to
D25867 E50B 1-35 UINT No Read only
appendix D
D25868 E50C Homing speed -- No Read only
UDINT
D25869 E50D (Unit: r/min) -- No Read only
D25870 E50E Maximum speed -- No Read only
UDINT
D25871 E50F （Unit: unit/ second） -- No Read only
D25872 E510 Maximum acceleration -- No Read only
2 UDINT
D25873 E511 （Unit: unit/ second ） -- No Read only
D25874 E512 Maximum deceleration -- No Read only
2 DINT
D25875 E513 （Unit: unit/ second ） -- No Read only
D25876 E514 -- No Read only
Given position（Unit: pulse） DINT
D25877 E515 -- No Read only
D25878 E516 Given speed -- No Read only
DINT
D25879 E517 (Unit: pulse/second） -- No Read only
D25880 E518 Given acceleration -- No Read only
DINT
D25881 E519 （Pulse/second2） -- No Read only

D25882 E51A -- No Read only

Current position (Unit: pulse) DINT
D25883 E51B -- No Read only
D25884 E51C Current position error (Unit: -- No Read only
DINT
D25885 E51D pulse) -- No Read only
Axis current state (See section
D25886 E51E UINT No Read only
4.2）
D25893 E525 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D25894 E526 -- No Read only
circle.

DVP-MC operating manual C-11

Appendix C

Modbus
Special D address Function Range Type Latched Attribute
（HEX）
The allowed error between the
D25895 E527 given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D25899 E52B -- INT No Read only
permillage)
D25900 E52C Current speed (Unit: 0.1 -- No Read only
DINT
D25901 E52D r/min） -- No Read only
Present current (Rated current
D25902 E52E -- INT No Read only
permillage)
D25903 E52F -- No Read only
Custom parameter value DINT
D25904 E530 -- No Read only

D25905 E531 The phase of the terminal

0~ modulo REAL No Read only
D25906 E532 actuator

D25907 E533 -2147483648

The position of the terminal
~ DINT No Read only
D25908 E534 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-12 DVP-MC operating manual

 Appendix C

 Special registers related with axis 7

Modbus
Special Latche
address Function Range Type Attribute
D d
（HEX）
D26112 E600 Type（0: rotary 1: linear） 0-1 UINT No Read only

D26113 E601 No Read only

Modulo -- DINT
D26114 E602 No Read only
Acceleration and deceleration type
D26115 E603 0-2 UINT No Read only
（0:T 1: S 2:JERK）
D26116 E604 Numerator of electronic gear 0 - 65535 UINT No Read only

D26117 E605 Denominator of electronic gear 0 - 65535 UINT No Read only

D26118 E606 Software limit（0:disable, 1:enable） 0-1 UINT No Read only

D26119 E607 -- No Read only

The positive position limit DINT
D26120 E608 -- No Read only

D26121 E609 -- No Read only

The negative position limit DINT
D26122 E60A -- No Read only
Homing mode; please refer to
D26123 E60B 1-35 UINT No Read only
appendix D
D26124 E60C Homing speed -- No Read only
UDINT
D26125 E60D (Unit: r/min) -- No Read only

D26126 E60E Maximum speed -- No Read only

UDINT
D26127 E60F （Unit: unit/ second） -- No Read only

D26128 E610 Maximum acceleration -- No Read only

UDINT
D26129 E611 （Unit: unit/ second2） -- No Read only
D26130 E612 Maximum deceleration -- No Read only
DINT
D26131 E613 （Unit: unit/ second2） -- No Read only
D26132 E614 -- No Read only
Given position（Unit: pulse） DINT
D26133 E615 -- No Read only
D26134 E616 Given speed -- No Read only
DINT
D26135 E617 (Unit: pulse/second） -- No Read only
D26136 E618 Given acceleration -- No Read only
DINT
D26137 E619 （Pulse/second2） -- No Read only

D26138 E61A -- No Read only

Current position (Unit: pulse) DINT
D26139 E61B -- No Read only
D26140 E61C -- No Read only
Current position error (Unit: pulse) DINT
D26141 E61D -- No Read only
Axis current state (See section
D26142 E61E UINT No Read only
4.2）

DVP-MC operating manual C-13

Appendix C

Modbus
Special Latche
address Function Range Type Attribute
D d
（HEX）
D26149 E625 -- No Read only
Pulse number needed when servo
DINT
D26150 E626 motor rotates for one circle. -- No Read only

The allowed error between the

D26151 E627 -- UINT No Read only
given and feedback pulse number
Current torque (Rated torque
D26155 E62B -- INT No Read only
permillage)
D26156 E62C -- No Read only
Current speed (Unit: 0.1 r/min） DINT
D26157 E62D -- No Read only
Present current (Rated current
D26158 E62E -- INT No Read only
permillage)
D26159 E62F -- No Read only
Custom parameter value DINT
D26160 E630 -- No Read only

D26161 E631
The phase of the terminal actuator 0~ modulo REAL No Read only
D26162 E632

D26163 E633 -2147483648

The position of the terminal
~ DINT No Read only
D26164 E634 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-14 DVP-MC operating manual

 Appendix C

 Special registers related with axis 8

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D26368 E700 Type（0: rotary 1: linear） 0-1 UINT No Read only
D26369 E701 No Read only
Modulo -- DINT
D26370 E702 No Read only
Acceleration and deceleration
D26371 E703 0-2 UINT No Read only
type（0:T 1: S 2:JERK）
D26372 E704 Numerator of electronic gear 0 - 65535 UINT No Read only
D26373 E705 Denominator of electronic gear 0 - 65535 UINT No Read only
Software limit（0:disable,
D26374 E706 0-1 UINT No Read only
1:enable）
D26375 E707 -- No Read only
The positive position limit DINT
D26376 E708 -- No Read only
D26377 E709 -- No Read only
The negative position limit DINT
D26378 E70A -- No Read only
Homing mode; please refer to
D26379 E70B 1-35 UINT No Read only
appendix D
D26380 E70C Homing speed -- No Read only
UDINT
D26381 E70D (Unit: r/min) -- No Read only
D26382 E70E Maximum speed -- No Read only
UDINT
D26383 E70F （Unit: unit/ second） -- No Read only
D26384 E710 Maximum acceleration -- No Read only
2 UDINT
D26385 E711 （Unit: unit/ second ） -- No Read only
D26386 E712 Maximum deceleration -- No Read only
2 DINT
D26387 E713 （Unit: unit/ second ） -- No Read only
D26388 E714 -- No Read only
Given position（Unit: pulse） DINT
D26389 E715 -- No Read only
D26390 E716 Given speed -- No Read only
DINT
D26391 E717 (Unit: pulse/second） -- No Read only
D26392 E718 Given acceleration -- No Read only
DINT
D26393 E719 （Pulse/second2） -- No Read only

D26394 E71A -- No Read only

Current position (Unit: pulse) DINT
D26395 E71B -- No Read only
D26396 E71C Current position error (Unit: -- No Read only
DINT
D26397 E71D pulse) -- No Read only
Axis current state (See section
D26398 E71E UINT No Read only
4.2）
D26405 E725 -- No Read only
Unit number per turn DINT
D26406 E726 -- No Read only

D26407 E727 The allowed position error -- UINT No Read only

DVP-MC operating manual C-15

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D26411 E72B Current torque -- INT No Read only

D26412 E72C -- No Read only

Current speed (Unit: 0.1 rpm) DINT
D26413 E72D -- No Read only

Present current (permillage of

D26414 E72E -- INT No Read only
rated current)

D26415 E72F -- No Read only

Custom parameter value DINT
D26416 E730 -- No Read only

D26417 E731 The phase of the terminal

0~ modulo REAL No Read only
D26418 E732 actuator

D26419 E733 -2147483648

The position of the terminal
~ DINT No Read only
D26420 E734 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-16 DVP-MC operating manual

 Appendix C

 Special registers related with axis 9

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）

D26624 E800 Type（0: rotary 1: linear） 0-1 UINT No Read only

D26625 E801 No Read only

Modulo -- DINT
D26626 E802 No Read only
Acceleration and
D26627 E803 deceleration type（0:T 1: S 0-2 UINT No Read only
2:JERK）
D26628 E804 Numerator of electronic gear 0 - 65535 UINT No Read only
Denominator of electronic
D26629 E805 0 - 65535 UINT No Read only
gear
Software limit（0:disable,
D26630 E806 0-1 UINT No Read only
1:enable）
D26631 E807 -- No Read only
The positive position limit DINT
D26632 E808 -- No Read only
D26633 E809 -- No Read only
The negative position limit DINT
D26634 E80A -- No Read only
Homing mode; please refer to
D26635 E80B 1-35 UINT No Read only
appendix D
D26636 E80C Homing speed -- No Read only
UDINT
D26637 E80D (Unit: r/min) -- No Read only
D26638 E80E Maximum speed -- No Read only
UDINT
D26639 E80F （Unit: unit/ second） -- No Read only
D26640 E810 Maximum acceleration -- No Read only
2 UDINT
D26641 E811 （Unit: unit/ second ） -- No Read only
D26642 E812 Maximum deceleration -- No Read only
2 DINT
D26643 E813 （Unit: unit/ second ） -- No Read only
D26644 E814 -- No Read only
Given position（Unit: pulse） DINT
D26645 E815 -- No Read only
D26646 E816 Given speed -- No Read only
DINT
D26647 E817 (Unit: pulse/second） -- No Read only

D26648 E818 Given acceleration -- No Read only

DINT
D26649 E819 （Pulse/second2） -- No Read only

D26650 E81A -- No Read only

Current position (Unit: pulse) DINT
D26651 E81B -- No Read only
D26652 E81C Current position error (Unit: -- No Read only
DINT
D26653 E81D pulse) -- No Read only

DVP-MC operating manual C-17

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
Axis current state (See
D26654 E81E UINT No Read only
section 4.2）

D26661 E825 Pulse number needed when -- No Read only

servo motor rotates for one DINT
D26662 E826 circle. -- No Read only

The allowed error between

D26663 E827 the given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D26667 E82B -- INT No Read only
permillage)
D26668 E82C Current speed (Unit: 0.1 -- No Read only
DINT
D26669 E82D r/min） -- No Read only
Present current (Rated
D26670 E82E -- INT No Read only
current permillage)
D26671 E82F -- No Read only
Custom parameter value DINT
D26672 E830 -- No Read only
D26673 E831 The phase of the terminal
0~ modulo REAL No Read only
D26674 E832 actuator
D26675 E833 -2147483648
The position of the terminal
~ DINT No Read only
D26676 E834 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-18 DVP-MC operating manual

 Appendix C

 Special registers related with axis 10

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D26880 E900 Type（0: rotary 1: linear） 0-1 UINT No Read only
D26881 E901 No Read only
Modulo -- DINT
D26882 E902 No Read only
Acceleration and deceleration
D26883 E903 0-2 UINT No Read only
type（0:T 1: S 2:JERK）
D26884 E904 Numerator of electronic gear 0 - 65535 UINT No Read only
D26885 E905 Denominator of electronic gear 0 - 65535 UINT No Read only
Software limit（0:disable,
D26886 E906 0-1 UINT No Read only
1:enable）
D26887 E907 -- No Read only
The positive position limit DINT
D26888 E908 -- No Read only
D26889 E909 -- No Read only
The negative position limit DINT
D26890 E90A -- No Read only
Homing mode; please refer to
D26891 E90B 1-35 UINT No Read only
appendix D
D26892 E90C Homing speed -- No Read only
UDINT
D26893 E90D (Unit: r/min) -- No Read only
D26894 E90E Maximum speed -- No Read only
UDINT
D26895 E90F （Unit: unit/ second） -- No Read only
D26896 E910 Maximum acceleration -- No Read only
2 UDINT
D26897 E911 （Unit: unit/ second ） -- No Read only
D26898 E912 -- No Read only
Maximum deceleration
DINT
D26899 E913 （Unit: unit/ second2） -- No Read only

D26900 E914 -- No Read only

Given position（Unit: pulse） DINT
D26901 E915 -- No Read only
D26902 E916 Given speed -- No Read only
DINT
D26903 E917 (Unit: pulse/second） -- No Read only
D26904 E918 Given acceleration -- No Read only
DINT
D26905 E919 （Pulse/second2） -- No Read only

D26906 E91A -- No Read only

Current position (Unit: pulse) DINT
D26907 E91B -- No Read only
D26908 E91C Current position error (Unit: -- No Read only
DINT
D26909 E91D pulse) -- No Read only
Axis current state (See section
D26910 E91E UINT No Read only
4.2）
D26917 E925 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D26918 E926 -- No Read only
circle.

DVP-MC operating manual C-19

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
The allowed error between the
D26919 E927 given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D26923 E92B -- INT No Read only
permillage)
D26924 E92C -- No Read only
Current speed (Unit: 0.1 r/min） DINT
D26925 E92D -- No Read only
Present current (Rated current
D26926 E92E -- INT No Read only
permillage)
D26927 E92F -- No Read only
Custom parameter value DINT
D26928 E930 -- No Read only

D26929 E931 The phase of the terminal

0~ modulo REAL No Read only
D26930 E932 actuator

D26931 E933 -2147483648

The position of the terminal
~ DINT No Read only
D26932 E934 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-20 DVP-MC operating manual

 Appendix C

 Special registers related with axis 11

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）

D27136 EA00 Type（0: rotary 1: linear） 0-1 UINT No Read only

D27137 EA01 No Read only

Modulo -- DINT
D27138 EA02 No Read only
Acceleration and deceleration
D27139 EA03 0-2 UINT No Read only
type（0:T 1: S 2:JERK）
D27140 EA04 Numerator of electronic gear 0 - 65535 UINT No Read only
D27141 EA05 Denominator of electronic gear 0 - 65535 UINT No Read only
Software limit（0:disable,
D27142 EA06 0-1 UINT No Read only
1:enable）
D27143 EA07 -- No Read only
The positive position limit DINT
D27144 EA08 -- No Read only
D27145 EA09 -- No Read only
The negative position limit DINT
D27146 EA0A -- No Read only
Homing mode; please refer to
D27147 EA0B 1-35 UINT No Read only
appendix D
D27148 EA0C Homing speed -- No Read only
UDINT
D27149 EA0D (Unit: r/min) -- No Read only
D27150 EA0E Maximum speed -- No Read only
UDINT
D27151 EA0F （Unit: unit/ second） -- No Read only
D27152 EA10 Maximum acceleration -- No Read only
2 UDINT
D27153 EA11 （Unit: unit/ second ） -- No Read only
D27154 EA12 Maximum deceleration -- No Read only
2 DINT
D27155 EA13 （Unit: unit/ second ） -- No Read only
D27156 EA14 -- No Read only
Given position（Unit: pulse） DINT
D27157 EA15 -- No Read only
D27158 EA16 Given speed -- No Read only
DINT
D27159 EA17 (Unit: pulse/second） -- No Read only
D27160 EA18 Given acceleration -- No Read only
DINT
D27161 EA19 （Pulse/second2） -- No Read only

D27162 EA1A -- No Read only

Current position (Unit: pulse) DINT
D27163 EA1B -- No Read only
D27164 EA1C Current position error (Unit: -- No Read only
DINT
D27165 EA1D pulse) -- No Read only
Axis current state (See section
D27166 EA1E UINT No Read only
4.2）
D27173 EA25 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D27174 EA26 -- No Read only
circle.

DVP-MC operating manual C-21

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
The allowed error between the
D27175 EA27 given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D27179 EA2B -- INT No Read only
permillage)
D27180 EA2C -- No Read only
Current speed (Unit: 0.1 r/min） DINT
D27181 EA2D -- No Read only
Present current (Rated current
D27182 EA2E -- INT No Read only
permillage)
D27183 EA2F -- No Read only
Custom parameter value DINT
D27184 EA30 -- No Read only
D27185 EA31 The phase of the terminal
0~ modulo REAL No Read only
D27186 EA32 actuator

D27187 EA33 -2147483648

The position of the terminal
~ DINT No Read only
D27188 EA34 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-22 DVP-MC operating manual

 Appendix C

 Special registers related with axis 12

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D27392 EB00 Type（0: rotary 1: linear） 0-1 UINT No Read only
D27393 EB01 No Read only
Modulo -- DINT
D27394 EB02 No Read only
Acceleration and deceleration
D27395 EB03 0-2 UINT No Read only
type（0:T 1: S 2:JERK）
D27396 EB04 Numerator of electronic gear 0 - 65535 UINT No Read only
D27397 EB05 Denominator of electronic gear 0 - 65535 UINT No Read only
Software limit（0:disable,
D27398 EB06 0-1 UINT No Read only
1:enable）
D27399 EB07 -- No Read only
The positive position limit DINT
D27400 EB08 -- No Read only
D27401 EB09 -- No Read only
The negative position limit DINT
D27402 EB0A -- No Read only
Homing mode; please refer to
D27403 EB0B 1-35 UINT No Read only
appendix D
D27404 EB0C Homing speed -- No Read only
UDINT
D27405 EB0D (Unit: r/min) -- No Read only
D27406 EB0E Maximum speed -- No Read only
UDINT
D27407 EB0F （Unit: unit/ second） -- No Read only
D27408 EB10 Maximum acceleration -- No Read only
2 UDINT
D27409 EB11 （Unit: unit/ second ） -- No Read only
D27410 EB12 -- No Read only
Maximum deceleration
DINT
D27411 EB13 （Unit: unit/ second2） -- No Read only

D27412 EB14 -- No Read only

Given position（Unit: pulse） DINT
D27413 EB15 -- No Read only
D27414 EB16 Given speed -- No Read only
DINT
D27415 EB17 (Unit: pulse/second） -- No Read only
D27416 EB18 Given acceleration -- No Read only
DINT
D27417 EB19 （Pulse/second2） -- No Read only

D27418 EB1A -- No Read only

Current position (Unit: pulse) DINT
D27419 EB1B -- No Read only
D27420 EB1C Current position error (Unit: -- No Read only
DINT
D27421 EB1D pulse) -- No Read only
Axis current state (See section
D27422 EB1E UINT No Read only
4.2）
D27429 EB25 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D27430 EB26 -- No Read only
circle.

DVP-MC operating manual C-23

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
The allowed error between the
D27431 EB27 given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D27435 EB2B -- INT No Read only
permillage)
D27436 EB2C -- No Read only
Current speed (Unit: 0.1 r/min） DINT
D27437 EB2D -- No Read only
Present current (Rated current
D27438 EB2E -- INT No Read only
permillage)
D27439 EB2F -- No Read only
Custom parameter value DINT
D27440 EB30 -- No Read only

D27441 EB31 The phase of the terminal

0~ modulo REAL No Read only
D27442 EB32 actuator

D27443 EB33 -2147483648

The position of the terminal
~ DINT No Read only
D27444 EB34 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-24 DVP-MC operating manual

 Appendix C

 Special registers related with axis 13

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D27648 EC00 Type（0: rotary 1: linear） 0-1 UINT No Read only
D27649 EC01 No Read only
Modulo -- DINT
D27650 EC02 No Read only
Acceleration and deceleration
D27651 EC03 0-2 UINT No Read only
type（0:T 1: S 2:JERK）
D27652 EC04 Numerator of electronic gear 0 - 65535 UINT No Read only
D27653 EC05 Denominator of electronic gear 0 - 65535 UINT No Read only
Software limit（0:disable,
D27654 EC06 0-1 UINT No Read only
1:enable）
D27655 EC07 -- No Read only
The positive position limit DINT
D27656 EC08 -- No Read only
D27657 EC09 -- No Read only
The negative position limit DINT
D27658 EC0A -- No Read only
Homing mode; please refer to
D27659 EC0B 1-35 UINT No Read only
appendix D
D27660 EC0C Homing speed -- No Read only
UDINT
D27661 EC0D (Unit: r/min) -- No Read only
D27662 EC0E Maximum speed -- No Read only
UDINT
D27663 EC0F （Unit: unit/ second） -- No Read only
D27664 EC10 Maximum acceleration -- No Read only
2 UDINT
D27665 EC11 （Unit: unit/ second ） -- No Read only
D27666 EC12 -- No Read only
Maximum deceleration
DINT
D27667 EC13 （Unit: unit/ second2） -- No Read only

D27668 EC14 -- No Read only

Given position（Unit: pulse） DINT
D27669 EC15 -- No Read only
D27670 EC16 Given speed -- No Read only
DINT
D27671 EC17 (Unit: pulse/second） -- No Read only
D27672 EC18 Given acceleration -- No Read only
DINT
D27673 EC19 （Pulse/second2） -- No Read only

D27674 EC1A -- No Read only

Current position (Unit: pulse) DINT
D27675 EC1B -- No Read only
D27676 EC1C Current position error (Unit: -- No Read only
DINT
D27677 EC1D pulse) -- No Read only
Axis current state (See section
D27678 EC1E UINT No Read only
4.2）
D27685 EC25 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D27686 EC26 -- No Read only
circle.

DVP-MC operating manual C-25

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
The allowed error between the
D27687 EC27 given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D27691 EC2B -- INT No Read only
permillage)
D27692 EC2C -- No Read only
Current speed (Unit: 0.1 r/min） DINT
D27693 EC2D -- No Read only
Present current (Rated current
D27694 EC2E -- INT No Read only
permillage)
D27695 EC2F -- No Read only
Custom parameter value DINT
D27696 EC30 -- No Read only

D27697 EC31 The phase of the terminal

0~ modulo REAL No Read only
D27698 EC32 actuator

D27699 EC33 -2147483648

The position of the terminal
~ DINT No Read only
D27700 EC34 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-26 DVP-MC operating manual

 Appendix C

 Special registers related with axis 14

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D27904 ED00 Type（0: rotary 1: linear） 0-1 UINT No Read only
D27905 ED01 No Read only
Modulo -- DINT
D27906 ED02 No Read only

Acceleration and
D27907 ED03 deceleration type（0:T 1: S 0-2 UINT No Read only
2:JERK）

D27908 ED04 Numerator of electronic gear 0 - 65535 UINT No Read only

Denominator of electronic
D27909 ED05 0 - 65535 UINT No Read only
gear

Software limit（0:disable,
D27910 ED06 0-1 UINT No Read only
1:enable）
D27911 ED07 -- No Read only
The positive position limit DINT
D27912 ED08 -- No Read only
D27913 ED09 -- No Read only
The negative position limit DINT
D27914 ED0A -- No Read only
Homing mode; please refer
D27915 ED0B 1-35 UINT No Read only
to appendix D
D27916 ED0C Homing speed -- No Read only
UDINT
D27917 ED0D (Unit: r/min) -- No Read only
D27918 ED0E Maximum speed -- No Read only
UDINT
D27919 ED0F （Unit: unit/ second） -- No Read only
D27920 ED10 Maximum acceleration -- No Read only
2 UDINT
D27921 ED11 （Unit: unit/ second ） -- No Read only
D27922 ED12 Maximum deceleration -- No Read only
2 DINT
D27923 ED13 （Unit: unit/ second ） -- No Read only
D27924 ED14 -- No Read only
Given position（Unit: pulse） DINT
D27925 ED15 -- No Read only
D27926 ED16 Given speed -- No Read only
DINT
D27927 ED17 (Unit: pulse/second） -- No Read only
D27928 ED18 Given acceleration -- No Read only
DINT
D27929 ED19 （Pulse/second2） -- No Read only

D27930 ED1A -- No Read only

Current position (Unit: pulse) DINT
D27931 ED1B -- No Read only
D27932 ED1C Current position error (Unit: -- No Read only
DINT
D27933 ED1D pulse) -- No Read only
Axis current state (See
D27934 ED1E UINT No Read only
section 4.2）

DVP-MC operating manual C-27

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D27941 ED25 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D27942 ED26 -- No Read only
circle.
The allowed error between
D27943 ED27 the given and feedback -- UINT No Read only
pulse number
Current torque (Rated
D27947 ED2B -- INT No Read only
torque permillage)
D27948 ED2C Current speed (Unit: 0.1 -- No Read only
DINT
D27949 ED2D r/min） -- No Read only
Present current (Rated
D27950 ED2E -- INT No Read only
current permillage)
D27951 ED2F -- No Read only
Custom parameter value DINT
D27952 ED30 -- No Read only

D27953 ED31 The phase of the terminal

0~ modulo REAL No Read only
D27954 ED32 actuator

D27955 ED33 -2147483648

The position of the terminal
~ DINT No Read only
D27956 ED34 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-28 DVP-MC operating manual

 Appendix C

 Special registers related with axis 15

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D28160 EE00 Type（0: rotary 1: linear） 0-1 UINT No Read only
D28161 EE01 No Read only
Modulo -- DINT
D28162 EE02 No Read only
Acceleration and deceleration
D28163 EE03 0-2 UINT No Read only
type（0:T 1: S 2:JERK）
D28164 EE04 Numerator of electronic gear 0 - 65535 UINT No Read only
D28165 EE05 Denominator of electronic gear 0 - 65535 UINT No Read only
Software limit（0:disable,
D28166 EE06 0-1 UINT No Read only
1:enable）
D28167 EE07 -- No Read only
The positive position limit DINT
D28168 EE08 -- No Read only
D28169 EE09 -- No Read only
The negative position limit DINT
D28170 EE0A -- No Read only
Homing mode; please refer to
D28171 EE0B 1-35 UINT No Read only
appendix D
D28172 EE0C Homing speed -- No Read only
UDINT
D28173 EE0D (Unit: r/min) -- No Read only
D28174 EE0E Maximum speed -- No Read only
UDINT
D28175 EE0F （Unit: unit/ second） -- No Read only
D28176 EE10 Maximum acceleration -- No Read only
2 UDINT
D28177 EE11 （Unit: unit/ second ） -- No Read only
D28178 EE12 Maximum deceleration -- No Read only
2 DINT
D28179 EE13 （Unit: unit/ second ） -- No Read only

D28180 EE14 -- No Read only

Given position（Unit: pulse） DINT
D28181 EE15 -- No Read only
D28182 EE16 Given speed -- No Read only
DINT
D28183 EE17 (Unit: pulse/second） -- No Read only
D28184 EE18 Given acceleration -- No Read only
DINT
D28185 EE19 （Pulse/second2） -- No Read only

D28186 EE1A -- No Read only

Current position (Unit: pulse) DINT
D28187 EE1B -- No Read only

D28188 EE1C Current position error (Unit: -- No Read only

DINT
pulse)
D28189 EE1D -- No Read only
Axis current state (See section
D28190 EE1E UINT No Read only
4.2）

DVP-MC operating manual C-29

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D28197 EE25 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D28198 EE26 circle. -- No Read only

The allowed error between the

D28199 EE27 given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D28203 EE2B -- INT No Read only
permillage)
D28204 EE2C -- No Read only
Current speed (Unit: 0.1 r/min） DINT
D28205 EE2D -- No Read only
Present current (Rated current
D28206 EE2E -- INT No Read only
permillage)
D28207 EE2F -- No Read only
Custom parameter value DINT
D28208 EE30 -- No Read only

D28209 EE31 The phase of the terminal

0~ modulo REAL No Read only
D28210 EE32 actuator

D28211 EE33 -2147483648

The position of the terminal
~ DINT No Read only
D28212 EE34 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-30 DVP-MC operating manual

 Appendix C

 Special registers related with axis 16

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
D28416 EF00 Type（0: rotary 1: linear） 0-1 UINT No Read only
D28417 EF01 No Read only
Modulo -- DINT
D28418 EF02 No Read only
Acceleration and
D28419 EF03 deceleration type（0:T 1: S 0-2 UINT No Read only
2:JERK）
D28420 EF04 Numerator of electronic gear 0 - 65535 UINT No Read only
Denominator of electronic
D28421 EF05 0 - 65535 UINT No Read only
gear

Software limit（0:disable,
D28422 EF06 0-1 UINT No Read only
1:enable）

D28423 EF07 -- No Read only

The positive position limit DINT
D28424 EF08 -- No Read only

D28425 EF09 -- No Read only

The negative position limit DINT
D28426 EF0A -- No Read only
Homing mode; please refer to
D28427 EF0B 1-35 UINT No Read only
appendix D
D28428 EF0C Homing speed -- No Read only
UDINT
D28429 EF0D (Unit: r/min) -- No Read only
D28430 EF0E Maximum speed -- No Read only
UDINT
D28431 EF0F （Unit: unit/ second） -- No Read only
D28432 EF10 Maximum acceleration -- No Read only
2 UDINT
D28433 EF11 （Unit: unit/ second ） -- No Read only
D28434 EF12 Maximum deceleration -- No Read only
2 DINT
D28435 EF13 （Unit: unit/ second ） -- No Read only
D28436 EF14 -- No Read only
Given position（Unit: pulse） DINT
D28437 EF15 -- No Read only
D28438 EF16 Given speed -- No Read only
DINT
D28439 EF17 (Unit: pulse/second） -- No Read only
D28440 EF18 Given acceleration -- No Read only
DINT
D28441 EF19 （Pulse/second2） -- No Read only

D28442 EF1A -- No Read only

Current position (Unit: pulse) DINT
D28443 EF1B -- No Read only
D28444 EF1C Current position error (Unit: -- No Read only
DINT
D28445 EF1D pulse) -- No Read only

DVP-MC operating manual C-31

Appendix C

Modbus
Special
address Function Range Type Latched Attribute
D
（HEX）
Axis current state (See
D28446 EF1E UINT No Read only
section 4.2）
D28453 EF25 Pulse number needed when -- No Read only
servo motor rotates for one DINT
D28454 EF26 -- No Read only
circle.
The allowed error between
D28455 EF27 the given and feedback pulse -- UINT No Read only
number
Current torque (Rated torque
D28459 EF2B -- INT No Read only
permillage)
D28460 EF2C Current speed (Unit: 0.1 -- No Read only
DINT
D28461 EF2D r/min） -- No Read only
Present current (Rated
D28462 EF2E -- INT No Read only
current permillage)
D28463 EF2F -- No Read only
Custom parameter value DINT
D2864 EF30 -- No Read only

D28465 EF31 The phase of the terminal

0~ modulo REAL No Read only
D28466 EF32 actuator

D28467 EF33 -2147483648

The position of the terminal
~ DINT No Read only
D28468 EF34 actuator
2147483647

Note: The axis parameter values such as Position, Velocity, Torque, Current and User-defined
parameter can be read via special D only when they are selected. For the method of selecting
the relevant parameter, see section 2.3.1.

C-32 DVP-MC operating manual

 Appendix D

Appendix D Explanation of Homing Modes

DVP10MC11T provides many homing modes from which user can choose the appropriate one in accordance
with on-site condition and technical requirement.

 Mode 1 Homing which depends on the negative limit switch and Z pulse.
Circumstance 1: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed when the negative limit switch is OFF. The motion direction changes and
the axis moves at the second-phase speed when the axis encounters that the negative limit
switch is ON. Where the first Z pulse is met is the home position when the negative limit
switch is OFF.

Circumstance 2: MC_Home instruction is executed and the axis moves in the positive direction at the
second-phase speed when the negative limit switch is ON. Where the first Z pulse is met is
the home position when the negative limit switch is OFF.

Circ ums tanc e 1 Sta rt point

1 Pos itive direc tion

St art point

Circums ta nce 2 1 Pos itive direc tion

Z pulse

Nega tive limit s wit ch

Homing on the negative limit switch and Z pulse (: mode 1)

 Mode 2 Homing which depends on the positive limit switch and Z pulse
Circumstance 1: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the positive limit switch is OFF. The motion direction changes and
the axis moves at the second-phase speed when the axis encounters that the positive limit
switch is ON. Where the first Z pulse is met is the home position while the positive limit
switch is OFF.

Circumstance 2: MC_Home instruction is executed and the axis moves in the negative direction at the
second-phase speed when the positive limit switch is ON. Where the first Z pulse is met is
the home position while the positive limit switch is OFF.

DVP-MC operating manual D-1

Appendix D

Circu msta nce 1 Start

point

Negativ e 2
direct io n

Circums tan ce 2 Negativ e 2 Sta rt p oint

direct io n

Z pulse

Po sitiv e limit
switc h
Homing on the positive limit switch and Z pulse (: mode 2)

 Mode 3 and mode 4 Homing which depends on the home switch and Z pulse
Mode 3
Circumstance 1: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the home switch is OFF. The motion direction changes and the axis
moves at the second-phase speed when the axis encounters that the home switch is ON.
Where the first Z pulse is met is the home position when the home switch is OFF.

Circumstance 2: MC_Home instruction is executed and the axis directly moves in the negative direction at the
second-phase speed when the home switch is ON. Where the first Z pulse is met is the
home position while the home switch is OFF.

Mode 4
Circumstance 1: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the home switch is OFF. The axis moves at the second-phase speed
when the axis encounters that the home switch is ON. Where the first Z pulse is met is the
home position.

Circumstance 2: MC_Home instruction is executed and the axis moves in the negative direction at the
second-phase speed when the home switch is ON. The motion direction changes and the
axis moves at the second-phase speed when the axis encounters that the home switch is
OFF. Where the first Z pulse is met is the home position.

D-2 DVP-MC operating manual

 Appendix D

Circ umst anc e 1 Start

point

Negat iv e 3
direc tion
Circ ums tanc e 2 Negat iv e 3 St art point
direc tion

Circ ums tanc e 1 St art 4 Pos itiv e

point direc tion
Start point
Circ umst anc e 2

4 Pos itiv e
direc tion

Z p ulse

Home s wit ch

Homing on the home switch and Z pulse (: mode 3; : mode 4)

 Mode 5 and mode 6 Homing which depends on the home switch and Z pulse

Mode 5
Circumstance 1: MC_Home instruction is executed and the axis moves in the positive direction at the
second-phase speed when the home switch is ON. Where the first Z pulse is met is the
home position while the home switch is OFF.

Circumstance 2: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed when the home switch is OFF. The motion direction changes and the axis
moves at the second-phase speed when the home switch is ON. Where the first Z pulse is
met is the home position when the home switch is OFF.

Mode 6
Circumstance 1: MC_Home instruction is executed and the axis moves in the positive direction at the
second-phase speed when the home switch is ON. The motion direction changes and the
axis moves at the second-phase speed when the home switch is OFF. Where the first Z
pulse is met is the home position.

Circumstance 2: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed when the home switch is OFF. The axis moves at the second-phase speed
and where the first Z pulse is met is the home position while the home switch is ON.
.

DVP-MC operating manual D-3

Appendix D

Circ ums tanc e 1 St art 5 Po sitiv e d irec tion

point

Circums tan ce 2 St art po int

5 Pos itiv e direc tion

St art
Circ umst anc e 1 point

Negat ive direct ion

6

Circ ums tanc e 2 Negat ive direct ion

6 S tart point

Z puls e

Home s witc h

Homing on the home switch and Z pulse (: mode 5; : mode 6)

 Mode 7~ mode 10 Homing which depends on the home switch, positive limit switch and Z pulse

Mode 7
Circumstance 1: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the home switch is OFF. The motion direction changes and the axis
moves at the second-phase speed when the home switch is ON. Where the first Z pulse is
met is the home position when the home switch is OFF.

Circumstance 2: MC_Home instruction is executed and the axis moves in the negative direction at the
second-phase speed when the home switch is ON. Where the first Z pulse is met is the
home position when the home switch is OFF.

Circumstance 3: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the home switch is OFF. The motion direction changes and the axis
moves at the first-phase speed when the home switch is OFF and the positive limit switch is
ON. The axis starts to move at the second-phase speed when the home switch is ON. Where
the first Z pulse is met is the home position when the home switch is OFF.

D-4 DVP-MC operating manual

 Appendix D

Circums ta nce 1 St art

point

Nega tive 7
direc tion

Circums tan ce 2 Nega tive 7 St art point

direc tion

Circ umst anc e 3 St art p oint

Ne gativ e 7
dire ct io n

Z pu ls e

Home s witc h

P osit iv e limit s wit ch

Homing on the home switch, positive limit switch and Z pulse (: mode 7)

Mode 8
Circumstance 1: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the home switch is OFF. The axis moves at the second-phase speed
when the home switch is ON and where the first Z pulse is met is the home position.

Circumstance 2: MC_Home instruction is executed and the axis moves in the negative direction at the
second-phase speed when the home switch is ON. The motion direction changes and the
axis moves at the second-phase speed when the home switch is OFF. And where the first Z
pulse is met is the home position.

Circumstance 3: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the home switch is OFF. The motion direction changes and the axis
moves at the first-phase speed when the home switch is OFF and the positive limit switch is
ON. The axis still moves at the first-phase speed when the home switch is ON. The motion
direction changes and the axis moves at the first-phase speed when the home switch is OFF.
The axis moves at the second-phase speed and where the first Z pulse is met is the home
position when the home switch is ON.

DVP-MC operating manual D-5

Appendix D

Circums ta nce 1 S tart 8 P os it iv e dire ct ion

po in t

Circ ums tanc e 2 Start point

8 P os it iv e dire ct ion

Circ ums tanc e 3

St art
po int

8 Pos itive direct io n

Z puls e

Home s wit ch

Pos it ive limit s wit ch

Homing on the home switch, positive limit switch and Z pulse (: mode 8)

Mode 9
Circumstance 1: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the home switch is OFF. The axis moves at the second-phase speed
when the home switch is ON. The motion direction changes and the axis moves at the
second-phase speed when the home switch is OFF. And where the first Z pulse is met is the
home position.

Circumstance 2: MC_Home instruction is executed and the axis moves in the positive direction at the
second-phase speed when the home switch is ON. The motion direction changes and the
axis moves at the second-phase speed when the home switch is OFF. And where the first Z
pulse is met is the home position.

Circumstance 3: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the home switch is OFF. The motion direction changes and the axis
moves at the first-phase speed when the home switch is OFF and the positive limit switch is
ON. The axis moves at the second-phase speed and where the first Z pulse is met is the
home position when the home switch is ON.

D-6 DVP-MC operating manual

 Appendix D

Circ umst anc e 1 St art

point

Negat ive 9
direc tion

Circ ums tanc e 2 Start

point

Negat ive 9
direc tion
Sta rt
Circ ums tanc e 3 point
Negat ive 9
direc tion

Z puls e

Home s witc h

Pos itive limit switc h

Homing on the home switch, positive limit switch and Z pulse (: mode 9)

Mode 10
Circumstance 1: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the home switch is OFF. The axis moves at the second-phase speed
when the home switch is ON. And where the first Z pulse is met is the home position while
the home switch is OFF.

Circumstance 2: MC_Home instruction is executed and the axis moves in the positive direction at the
second-phase speed when the home switch is ON. And where the first Z pulse is met is the
home position while the home switch is OFF.

Circumstance 3: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed when the home switch is OFF. The motion direction changes and the axis
moves at the first-phase speed when the home switch is OFF and the positive limit switch is
ON. The motion direction changes and the axis moves at the second-phase speed when the
home switch is ON. Where the first Z pulse is met is the home position while the home switch
is OFF.

DVP-MC operating manual D-7

Appendix D

Circ umst anc e 1 Sta rt 10 Pos it ive direc tion

point

Circ umst anc e 2 St art 10 Pos itiv e direc tion

point

Circ ums tanc e 3 St art

point

10 P osit iv e direct io n

Z puls e

Ho me s wit ch

P osit iv e limit switc h

Homing on the home switch, positive limit switch and Z pulse (: mode 10)

 Mode 11~ mode 14 Homing which depends on the home switch, negative limit switch and Z pulse

Mode 11
Circumstance 1: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed when the home switch is OFF. The motion direction changes and the axis
moves at the second-phase speed when the home switch is ON. And where the first Z pulse
is met is the home position while the home switch is OFF.

Circumstance 2: MC_Home instruction is executed and the axis moves in the positive direction at the
second-phase speed while the home switch is ON. And where the first Z pulse is met is the
home position while the home switch is OFF.

Circumstance 3: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed while the home switch is OFF. The motion direction changes and the axis
moves at the first-phase speed while the home switch is OFF and the negative limit switch is
ON. The axis moves at the second-phase speed when the home switch is ON. Where the
first Z pulse is met is the home position while the home switch is OFF.

D-8 DVP-MC operating manual

 Appendix D

St art point
Circ umst anc e 1

11 Pos itive direc tion

Circu mst ance 2 Start 11 Pos itiv e direc tion

point

St art
Circ umst anc e 3 point

11 Pos itiv e direc tion

Z pulse

Home s wit ch

Nega tive limit s wit ch

Homing on the home switch, negative limit switch and Z pulse (○

11 : mode 11)

Mode 12
Circumstance 1: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed when the home switch is OFF. The axis moves at the second-phase speed
when the home switch is ON. And where the first Z pulse is met is the home position.

Circumstance 2: MC_Home instruction is executed and the axis moves in the positive direction at the
second-phase speed while the home switch is ON. The motion direction changes and the
axis moves at the second-phase speed while the home switch is OFF. And where the first Z
pulse is met is the home position.

Circumstance 3: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed while the home switch is OFF. The motion direction changes and the axis
moves at the first-phase speed while the home switch is OFF and the negative limit switch is
ON. The axis still moves at the first-phase speed when the home switch is ON. The motion
direction changes and the axis moves at the first-phase speed while the home switch is OFF.
The axis moves at the second-phase speed while the home switch is ON. And where the first
Z pulse is met is the home position.

DVP-MC operating manual D-9

Appendix D

Circums ta nce 1 Nega tive 12 S tart

direc tion p oin t

Circums ta nce 2 Sta rt

point

Neg ative 12
d irec tion

Circums tan ce 3 St art

point

Negat iv e 12
direc tion

Z pulse

Home
s wit ch

Nega tive
limit s wit ch

Homing on the home switch, negative limit switch and Z pulse (○

12 : mode 12)

Mode 13
Circumstance 1: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed while the home switch is OFF. The axis moves at the second-phase speed
while the home switch is ON. The motion direction changes and the axis moves at the
second-phase speed while the home switch is OFF. And where the first Z pulse is met is the
home position.

Circumstance 2: MC_Home instruction is executed and the axis moves in the negative direction at the
second-phase speed while the home switch is ON. The motion direction changes and the
axis moves at the second-phase speed while the home switch is OFF. And where the first Z
pulse is met is the home position.

Circumstance 3: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed while the home switch is OFF. The motion direction changes and the axis
moves at the first-phase speed while the home switch is OFF and the negative limit switch is
ON. The axis moves at the second-phase speed and where the first Z pulse is met is the
home position when the home switch is ON.

D-10 DVP-MC operating manual

 Appendix D

Circumsta nce 1 S tart

po in t
13 Posit ive direct ion

Circumsta nce 2 St art

point

13 Positive direction

Circumstan ce 3 St art
point
13 Positive direction

Z pulse

Home
swit ch

Nega tive
limit swit ch

Homing on the home switch, negative limit switch and Z pulse (○

13 : mode 13)

Mode 14
Circumstance 1: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed while the home switch is OFF. The axis moves at the second-phase speed
once the home switch is ON. And where the first Z pulse is met is the home position while the
home switch is OFF.

Circumstance 2: MC_Home instruction is executed and the axis moves in the negative direction at the
second-phase speed while the home switch is ON. Where the first Z pulse is met is the home
position while the home switch is OFF.

Circumstance 3: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed while the home switch is OFF. The motion direction changes and the axis
moves at the first-phase speed while the home switch is OFF and the negative limit switch is
ON. The motion direction changes again and the axis moves at the second-phase speed
when the home switch is ON. Where the first Z pulse is met is the home position while the
home switch is OFF.

DVP-MC operating manual D-11

Appendix D

Circums ta nce 1 Negat iv e 14 St art

direct ion po int

Circums ta nce 2 Negat iv e 14 St art

direct ion po in t

Circums tan ce 3 S tart

po in t

Negat iv e 14
direct ion

Z pulse

Home
s wit ch

Nega tive
limit s wit ch

Homing on the home switch, negative limit switch and Z pulse (○

14 : mode 14)

 Mode 15 and mode 16 are reserved for future development.

 Mode 17~mode 30 Homing which has nothing to do with Z pulse

In mode 17~mode 30 which are respectively similar to mode1~mode 14 mentioned previously, the axis has
nothing to do with Z pulse but the relevant home switch and limit switch status while returning to the home
position. Mode 17 is similar to mode 1, mode 18 is similar to mode 2, mode 19 & mode 20 is similar to mode 3,
mode 21 & mode 22 is similar to mode 5, mode 23 & mode 24 is similar to mode 7, mode 25 & mode 26 is
similar to mode 9, mode 27 & mode 28 is similar to mode 11, and mode 29 & mode 30 are similar to 13.

Take mode 19 and mode 21 for example:

Mode 19
Circumstance 1: MC_Home instruction is executed and the axis moves in the positive direction at the
first-phase speed while the home switch is OFF. The motion direction changes and the axis
moves at the second-phase speed once the home switch becomes ON. And where the axis
stands is the home position at the moment the home switch becomes OFF.

Circumstance 2: MC_Home instruction is executed and the axis directly moves in the negative direction at the
second-phase speed while the home switch is ON. And where the axis stands is the home
position at the moment the home switch becomes OFF.

D-12 DVP-MC operating manual

 Appendix D

St art
Circ umst anc e 1 point
Nega tive 19
direc tion

Circ ums tanc e 2 Ne gativ e 19 Sta rt

dire ct ion point

Home s wit ch

Homing on the home switch (○

19 : mode 19)

Mode 21
Circumstance 1: MC_Home instruction is executed and the axis moves in the negative direction at the
first-phase speed while the home switch is OFF. The motion direction changes and the axis
moves at the second-phase speed once the home switch becomes ON. And where the axis
stands is the home position at the moment the home switch becomes OFF.

Circumstance 2: MC_Home instruction is executed and the axis moves in the positive direction at the
second-phase speed while the home switch is ON. And where the axis stands is the home
position at the moment the home switch becomes OFF.

Sta rt
Circ ums tanc e 1 point
21 Pos it ive direct ion

Circ ums tanc e 2 Start 21 Pos itive direc tion

point

Home switc h

Homing on the home switch (○

21 : mode 21)

 Mode 31 and mode 32 Reserved for future development.

 Mode 33 ~ mode 34 Homing which depends on Z pulse
In mode 33, MC_Home instruction is executed and the axis moves at the second-phase speed in the negative
direction. And the place where the axis stands is the home position once the first Z pulse is met.

In mode 34, MC_Home instruction is executed and the axis moves at the second-phase speed in the positive
direction. And the place where the axis stands is the home position once the first Z pulse is met.

DVP-MC operating manual D-13

Appendix D

33

34

Z p u lse

Homing on Z pulse (○
33 : mode 33, ○
34 : mode 34)

 Mode 35 Homing which depends on the current position

In mode 35, MC_Home instruction is executed, the axis does not move and its current position is regarded
as the home position.

D-14 DVP-MC operating manual

 Appendix E

Appendix E PLC Module Devices

Item Range

Control method Stored program, cyclic scan system

Input/output method Batch processing method ( when END instruction is executed)

Execution speed LD command - 0.54µs, MOV command - 3.4µs

Program language Instruction list+ Ladder diagram+SFC

Program capacity 15872 steps

X External input relay X0~X377, octal code, 256 points Total 480+14
points (*4)
Y External output relay Y0~Y377, octal code, 256 points

M0~M511, 512 points (*1)M768~M999，232 points

General purpose
Auxiliary relay

(*1)M2000~M2047，48 points (*1)

Total 4096
M
M512~M767, 256 points (*2) points
Latched
M2048~M4095, 2048 points (*2)
Bit relay

Special purpose M1000~M1999, 1000 points, some are latched.

T0~T126, 127 points (*1)

100ms (M1028=On, T128~T183, 56 points
T64~T126 is10ms) T184~T199 ( used by sub-program), 16 points (*1)
(*1)
Timer

T250~T255( accumulated type), 6 points (*1) Total 256

T
points
10ms (M1038=On, T200~T239, 40 points (*1)
T200~T245 is 1ms) T240~T245(accumulated type), 6 points (*1)
T127, 1 points (*1)
1ms
T246~T249(accumulated type), 4 points (*1)
C0~C111, 112 points (*1)
16-bit counting up C128~C199, 72 points (*1)
Counter

Total 232
C C112~C127, 16 points (*2)
points
32-bit counting C200~C223, 24 points (*1)
up/down C224~C231, 8 points (*2)
Bit relay

Initialized step point S0~S9, 10 points (*2)

S10~S19, 10 points (used by matching IST
Zero return
command) (*2)
Step

Total 1024
S Latched S20~S127, 108 points (*2)
points
General purpose S128~S911, 784 points (*1)

Used for alarming S912~S1023, 112 points (*2)

DVP-MC operating manual E-1

Appendix E

Item Range

T Timer current value T0~T255, 256 words

C0~C199, 16-bit counter, 200 words

C Counter current value
C200~C254, 32 -bit counter, 55 words
Word

D0~D407, 408 words (*1)

General purpose D600~D999, 400 words (*1)
D3920~D9999, 6080 words (*1)
register

Data

D408~D599, 192 words (*2)

Latched
D2000~D3919, 1920 words (*2) Total
D
register

Special purpose D1000~D1999, 1000words, some are latched. 1000 words

Used by special
D9900~D9999, 100 words (*1)
module
Used for changing
E0~E7, F0~F7, 16 words (*1)
address
N Used by main circuit loop N0~N7, 8 points

P Pointer P0~P255, 256 points

Pointer

Interruption

Timed interruption I602~I699, I702~I799, 2 points (time base = 1ms)

I Communication
I140(COM1), I150(COM2), 2points (*3)
interruption

K-32,768 ~ K32,767 (16-bit operation),

Constant

K Decimal
K-2,147,483,648 ~ K2,147,483,647 (32-bit operation).
H0000 ~ HFFFF (16-bit operation),
H hexadecimal
H00000000 ~HFFFFFFFF (32-bit operation).
COM1: built-in RS-232 (master/ slave), the commonly used
Communication port program editing COM port.
COM2: Built-in RS-485 (master/ slave).
Max. 8 analog extension modules connected to the right side of
PLC.
Special extension module
Max. 7 high-speed extension modules connected to the left side of
PLC.

Notes:
1) Non- latched area can not be modified.
2) Latched area can not be modified.
3) COM1: built-in RS-232 communication port; COM2: built-in RS-485 communication port.

E-2 DVP-MC operating manual

 Appendix F

Appendix F Frequently Asked Questions

Question 1: How is the problem of AL303/ AL302/ AL301 fault alarm in the servo solved while
DVP10MC11T is controlling the servo motion?

Answer:

1. Make sure that the CAN cable is Delta standard cable and there are TAP-TR01 terminal resistors
respectively connected to both ends of the CAN cable.
2. Make sure to properly connect the shielded-layer wire of the CAN bus cable to the ground.
3. Check if the servo’s P3-09 value is 5055H.
4. Check if the setting of a synchronization cycle is appropriate. Refer to section 2.3.4 for the setting method of
a synchronization cycle

Question 2: Are there latched devices inside both of the PLC module and motion control module in
DVP10MC11T?

Answer:
The PLC module and motion control module inside DVP10MC11T both have latched devices.

The latched devices inside the PLC module are listed in the following table:

Device type Range

M512~M767, 256 points

M2048~M4095, 2048 points

S0~S9, 10 points
S10~S19, 10 points
Bit
S20~S127,108 points
S912~S1023, 112 points
C112~C127, 16 points
C224~C231, 8 points
C112~C127 (16-bit counter), 16 words
C224~C231 (32-bit counter), 8 double words
Word or Double word
D408~D599,192 words
D2000~D3919,1920 words

The latched devices inside the motion control module are listed in the following table:
Device type Range
M3000~ M3999, the number of latched bit devices are specified by
Bit
D6520, Maximum number: 1000. The default value in D6520 is 0.
D7000~D9999, the number of latched word devices are specified by
Word
D6519, Maximum number: 3000. The default value in D6519 is 0.

Question 3: How is the servo motor speed limited under torque mode?

Answer:
The servo speed is limited by external input terminals of the servo drive or P4-07 value under torque mode (using
DMC_SetTorque instruction to control the servo rotation).

DVP-MC Operating Manual F-1

Appendix F

Under torque mode, set up the parameters as below:

Servo parameter Function Parameter value Meaning

Enable/disable
P1-02 1 Speed limit is enabled
speed limit
DI1 terminal is for the speed
P2-10 DI1 terminal 114
function setting limit
DI2 terminal is for the speed
P2-11 DI2 terminal 115
function setting limit
The servo speed is set by
P1-09 Rotation speed of 10000 (Unit:0.1r/min) users according to actual
the servo
need.
The servo speed is set by
P1-10 Rotation speed of 20000 (Unit: 0.1r/min) users according to actual
the servo
need.
The servo speed is set by
P1-11 Rotation speed of 30000 (Unit: 0.1r/min) users according to actual
the servo
need.

The rotation speed of the servo can be selected via DI1 and DI2 under torque mode as follows.
Servo parameter setting for switching
Speed selection DI2 DI1
DI1 and DI2 on or off
The servo runs at the speed
P3-06=F,P4-07=1 0(off) 1(on)
specified by P1-09.
The servo runs at the speed
P3-06=F,P4-07=2 1(on) 0(off)
specified by P1-10.
The servo runs at the speed
P3-06=F,P4-07=3 1(on) 1(on)
specified by P1-11.
Note:
The DI input signals of the servo drive can come from external hardware terminals (DI1 ~ DI8, EDI9 ~
EDI14) or software SDI1 ~ 14 (corresponding to bit 0 ~ bit13 of parameter P4-07), which are determined by
P3-06. If the value of the corresponding bit of P3-06 is 1,the DI input signals come from software SDI
(P4-07); If the vaue of the corresponding bit of P3-06 is 0,the DI input signals come from external hardware
terminals (DI1 ~ DI8, EDI9 ~ EDI14).

Question 4: How is the servo torque limited under CANopen mode？

Answer:
Under CANopen mode, the servo torque is limited by external input terminals or P4-07 value of the servo drive
when P1-01 servo parameter value is B and 10MC does not use DMC_SetTorque instruction to control the servo
motion.

Under CANopen mode, set up the parameters as shown in the following table：
Servo
Function Parameter value Meaning
parameter
Enable/disable
P1-02 10 Torque limit is enabled.
speed limit
DI1 terminal DI1 terminal is for the torque
P2-10 116
function setting limit
DI2 terminal DI2 terminal is for the torque
P2-11 117
function setting limit
10
The torque limit of The servo torque is set by users
P1-12 (Unit:%, percentage of the
the servo according to actual need.
rated torque)

F-2 DVP-MC Operating Manual

 Appendix F

Servo
Function Parameter value Meaning
parameter
20
The torque limit of The servo torque is set by users
P1-13 (Unit:%, percentage of the
the servo according to actual need.
rated torque)
50
The torque limit of The servo torque is set by users
P1-14 (Unit:%, percentage of the
the servo according to actual need.
rated torque)
Under CANopen mode, the torque limit of the servo can be selected via DI1 and DI2 when motion instructions
are used to control the servo motion as follows：
Servo parameter setting for switching
Torque selection DI2 DI1
DI1 and DI2 on or off
The servo runs according to the
P3-06=F，P4-07=1 0（off） 1（on）
torque limit specified by P1-12.
The servo runs according to the
P3-06=F，P4-07=2 1（on） 0（off）
torque limit specified by P1-13.
The servo runs according to the
P3-06=F，P4-07=3 1（on） 1（on）
torque limit specified by P1-14.
Notes:
1. The setting value of P4-07 could not be 0 for limiting torque in the above table. If the setting value is 0, 10MC
will not be able to control the servo motion.
The above parameter setting causes inconvenience that the values of P3-06 and P4-07 have to be reset
every time the servo is powered on. There is an easy method of setting the parameter by setting P2-10 to
016, P2-11 to 017 and P3-06 to 0 (without external wiring for DI1 and DI2) and the output torque limit of the
servo to the value of P1-14. By doing so, the value of P3-06 will not need to be reset and will be 0 by default
after the servo is repowered on.
2. The DI input signals of the servo drive can come from external hardware terminals (DI1 ~ DI8, EDI9 ~ EDI14)
or software digital inputs SDI1 ~ 14 (corresponding to bit 0 ~ bit13 of parameter P4-07), which is determined
by P3-06. If the corresponding bit value of P3-06 is 1, the DI input signals come from SDI (P4-07). And the
corresponding bit value of P3-06 is 0, the DI input signals come from external hardware terminals (DI1 ~ DI8,
EDI9 ~ EDI14).

Question 5: How does the servo move when reaching a limit under DVP10MC11T’s control?

Answer:
You can judge whether the servo reaches a limit or not via MC_ReadAxisError. MC_Reset is executed first and
then MC_Power is executed to make the servo enabled and move in the negative direction when the servo
reaches a limit
The servo can move in the negative direction rather than in the positive direction after the above operation is
performed if the servo limit alarm is not eliminated.
The servo can move in both positive and negative directions after the above operation is performed if the servo
limit alarm is eliminated.

Program example:
MC_Reset instruction is executed when 10MC detects that the servo reaches the positive limit and MC_Power
instruction is executed to make the servo enabled 100ms later. MC_MoveRelative instruction is executed to
make the servo move reversely away from the positive limt after the servo is enabled.

DVP-MC Operating Manual F-3

Appendix F

Question 6: How does DVP10MC11T match the absolute servo in use?

Answer:
Hardware connection

DVP 10MC11T
CANop en

PC A2 se rvo drive
TAP-TR01

Ethern et

Firmware version:
Firmware version of 10MC: No limit.
Firmware version of the servo: above 1.045_24 (Major version_minor version)

F-4 DVP-MC Operating Manual

 Appendix F

Servo parameter setting

Servo parameter Setting value Meaning
P2-69 1 The servo position is absolute.
P1-44 and P1-45 values can be retained after the
P3-12 100(Hex.)
power for the servo is switched off.
P3-01 400(Hex.) The baud rate at CAN port of the servo is 1M.
The communication station address of the servo at
P3-00 User-defined
its CAN port
P1-01 B(Hex.) The servo control mode for option
If any servo alarm occurs such as AL062 or AL289, write 271 for P2-08 and 1 for P2-71 of the servo. Eventually,
power on the servo again.

Notes:
1. The setting values of P1-44 and P1-45 are respectively equal to the values of Unit Numerator and Unit
Denominator as marked in the following red box and then are saved via Set key on the servo keypad.

2. The servo runs and then stops under DVP10MC11T’s control while the setting values of P1-44 and P1-45 are
respectively equal to the values of Unit Numerator and Unit Denominator as marked in the following red box.
Under this circumstance, the servo is repowered after being powered off and the servo position keeps
unchanged. If the setting values of P1-44 and P1-45 are not respectively equal to the values of Unit
Numerator and Unit Denominator, the servo’s current position is not the same as that before power off after
being repowered.

DVP-MC Operating Manual F-5

Appendix F

MEMO

F-6 DVP-MC Operating Manual