There are several ways to control one axis.
But If you need to control position (no speed or torque), the Step & direction way is normally the simplest and cheapest way.
The other advantage is that you don’t have to rack one’s brains thinking if that protocol is going to work or not, Step & direction is universal.

So our intention in this post, is show you the Delta PLC tools to control one axis trough step and direction:

As always the first is how to connect everything.
To communicate PLC and HMI you can check the HMI – 3 PLC Communication Example.
And to know how to connect the B series servodrive with out CPU, just follow the next Schem. (click on the picture to see it bigger)

Basically the configuration of the servo consist in match the servo inputs of the diagram with the internal configuration, but for better comprehension please check this video
Or simply download the configuration file Step & Direction

Once the hardware and configuration are finished, then you only need to download the following examples of HMI and PLC programs.
In this examples we use three kind of movements:

Relative Movement (DDRVI): We can move our servo some distance without saving any reference. (very useful for moving trays)
Absolute Movement (DDRVA): We can move our servo some distance always having reference where the home is (very useful for linear positioning applications)
Speed Movement (SPD): To mantain the servo in a constant speed. (useful on material handling applications)

One Axis Movements

All the Delta servo drives (and some inverters) have the possibility to manage them trough Step & Direction

Updated: Extended features for DDRVI and DDRVA instructions on the latest firmware versions.
Check the next link