Delta Industrial Automation

Tips & Tricks


May 2012

Motion Control: Pick & Place (2 axis interpolation)

One of the most typical applications once you have some interpolation device in your hands is Pick & Place.
The objectie of the application is move some object from one point to another one, and you can´t find one single company that didn´t need in some way one variable of this application.

Of course application have multiple variables, and the most easy one is with linear movements.
Simple movements Pick & Place

But later engineers think how to save time with that process to make their machines faster.
And the easy way is to interpolate both axis following a semicircle as below.
Two axis interpolation

Because of the popularity of Pick & Place, in Delta we have several devices able to work like that. Further more our ASDA-A2 servodrive is able to do it by his own, with no extra PLC or motion controller.

But today I would like to share how to do that application with one of our standard CPU´s and ASDA-B servodrive controlled trough Step & Direction.
So in this case you can use the same program to control Servo systems, Steppers or even inverters.
The CPU´s able to interpolate two axis nowadays in Delta are: DVP-SA2, DVP-SX2 and DVP-SV.

Regarding the application, you can found how to connect the hardware in the following old post
Motion Control: HMI – PLC – B series Servo (1 axis movements)

And Regarding the Software, the keypoint is the DCIMA instruction.
check the following program
Pick & Place Example

And If you are still not fully convinced to use our PLC´s for Pick & Place.
Here is some video example of our system working!
Is not exactly a pick & place application, but uses the same instruction.

And don´t hesitate to Let us know about your experiences with Pick & Place

PLC – Indirect Indexing

Some of the Delta PLC programmers, sometimes wonders what are those E and F index that appears on the WPLSoft wizards.
What can I use them?
So let me told you that secondary letters can save you a lot of time!!!

E and F index are the tool to do indirect calls to variables, n the typical use is to create matrix of elements. It works like the typical pointer, where you can move it along the memory mapping.

Let´s take the below program as example:

Data register (D2000)  should be the analog data of an analog input for example, and this value should change on time basis.
Memory_reg register (D7000) is the starting register where I want to save the data loggin.

Then I use E register to change the destination register of  the adquired data in the following way
MOV D2000 D7000+E0

Second 0 -> MOV D2000 D7000
Second 1 -> MOV D2000 D70001
Second 2 -> MOV D2000 D70002

For better understanding, don’t hesitate to download the program and simulate  it.
E and F registers

Announcement: DOPSoft 1.00.07 release

Once again, new update of DOPSoft 1.00.07.

DOPSoft will be in near future the only one Delta HMI software so I recommend to everybody to take a look on this new version.
New image and many problems corrected to have finally a very stable product.

Check the new changes on the following announcement

Feel free to download the complete version FOR FREE on our website

DOPSOFT 1.00.07
eSERVER 1.00.17
eREMOTE 2.00.03

or on our FTP all at once
HMI Delta Suite May_2012

And Enjoy.

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