Delta Electronics DVP01PU-H User's Manual
Contents
1. rs n Response Description Terminal name Explanation aaner Power input DC24V 15 20 Power supply 24s OM Current consumption 100mA 7 START Start input terminal 15ms 50ms STOP Stop input terminal 15ms LSP LSN_ Input right left limit ims At DA A phase terminal of manual pulse generator input 200KHz line driver input B phase terminal of manual pulse generator input Input Br OE line driver input ads PG0 PGO Zero signal input terminal line driver input ims Offers two different functions depending on operation mode DOG 1 It is near point signal in zero return mode ims 2 It is start signal on interrupt 1st or interrupt 2nd speed mode s s Signal common terminal of these Inputs START STOP DOG 2 LSP LSN CLR CLR Clear signal clear signal of internal error counter for Servo drive 130ms FP RP mode CW pulse output FP FP I O mode Output pulse 200KHz Output AB phase mode A phase output FP RP mode CCW pulse output RP RP I O mode direction output 200KHz AB phase mode B phase output 1 3 Wiring 1 Please wire I O by O type or Y type terminals as the specification shown at Beiowe sf up left The torque of PLC terminal screw should be 5 8 kg cm 4 3 6 9 in Ibs To suit M3 Betows e oo 5 screw terminals 2 I O signal wires or power supply should not run through the same multi wire cable or conduit 3 Use copper conductors only 60 75 C E Input Output Circuit M2. Bar code serial No 01PU H0T4320001 firmware version Nagas DELTA ELECTRONICS INC MADE IN XXXXXX a Model amp Serial Number Model Serial Number DVF 01 PU H 01PU H 0 T 4 320001 DVP series e _ For EH series MPU eo Production No Le Production week Le Production year 2004 __________ Production plant Taoyuan e Version No ie Model name Number of channels Model type ____1 PU Position control module 1 2 Product Profile and Outline LED Indicator and Terminal Block j 1 3 Eaz Unit mm 2 Mounting wire to connect extension module extension unit 4 Status Indicator Power Run and ERROR 1 DIN rail track 35mm 3 Model name 5 DIN rail clip 7 Mounting hole 6 Terminal 8 Terminal layout 9 Extension port to connect extension module unit 10 RS 485 communication port a LED Display START Start input Stop input POWER Power indicator 5V internal power LV Low voltage indicator lit when external STOP input power is lower than 19 5V DOG DOG near point signal input ERROR Error occurred indicator It will blink when FP CR 44 is not 0 RP CW pulse output CCW pulse output LSP Right limit input indicator OA LSN Left limit input indicator OB PGO Zero signal A phase input of manual pulse generator B phase input of manual pulse generator input indicator CLR Output clear signal a Input Output Terminal
3. 0000 No error H 0013 Zero return deceleration Vpr setting error H 0001 Target address I setting error H 0014 JOG speed Vjoc setting error H 0002 Target address II setting error H 0020 CW pulse is forbidden H 0010 Running speed I setting error H 0021 CCW pulse is forbidden H 0011 Running speed II setting error H 0080 Hardware error in internal memory H 0012 Zero return deceleration Vcr setting error H 0081 Data write in error in internal memory
4. CLR is common output point and the status On Off is controlled by b 13 13 When b 13 0 CLR output point is Off When b 13 1 CLR output point is On 32 H 41B0 gt lt R W factory setting b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 o a o A ion wo b2 Timing 0 1 0 gt 1 0 gt 1 0 1 o bo S 5 D Ss 2 8 sials N o fo o ke Ee D ia c amp 5 EE e Work mode z s 3 3 z g 8 2 s3 9 Se a es o E H 0001 D g 5 5 lslglc O E Q D fe gt E D O o o B d al o Fae ee peel ee S 2 8 g lol 8 8 3 8 Ez N 5 ne 5 2 2 o o Zz a Q a 2 z z aj a Ela lel je E x 2 S jaj 5 EAR a Q E Ol 2 Eis fay oO amp iE sy olez in 4 n cs gt fian Description Interrupt 1st speed position mode start 1st speed position mode start 0 When b 0 is triggered and START ON it starts to execute 1st speed position program Step number and speed are decided by P I amp V I 1 When b 1 is triggered START ON and DOG external near point signal is performed it starts to reload the value of the target position I P I The content of this instruction sheet may be revised without prior notice Please consult our distributors or download the most undated version at httn www delta com tw industrialautomation c i Tacc Tdec Fr Speed A e 2 ao 5 0 ge ao g oe o E c Qe Bs 99 5 af Bs p S o 1
5. When b 7 1 negative logic LSN input signal is OFF LSN signal is given 8 When b 8 0 zero return is executed to the direction of CP s decreasing value When b 8 1 zero return is executed to the direction of CP s increasing value 9 When CW running is executed if b 9 0 CP value is increasing If b 9 1 CP value is decreasing When b 10 0 DOG rising edge is triggered When b 10 1 DOG falling edge is triggered Interrupt 1st and interrupt 2nd speed position modes are enabled When b 11 0 positive logic DOG input signal is ON DOG near point signal is given 11 When b 11 1 negative logic DOG input signal is OFF DOG near point signal is given When in zero return mode interrupt 1st and interrupt 2nd speed position modes are enabled 12 When b 12 0 trapezoid acceleration line is chosen When b 12 1 S acceleration line is chosen 13 When b 13 0 15ms when b 13 1 50ms for noise filter When b 14 0 positive logic START input signal is ON START input When b 14 1 negative logic START input signal is OFF START input When b 15 0 positive logic STOP input signal is ON STOP input When b 15 1 negative logic STOP input signal is OFF STOP input Range 0 2 147 483 647 unit 1 10 200K PPS 2 Factory setting 200 000 unit 1 Range 0 2 147 483 647 unit 1 0 200K PPS pulse transfer value 2Factory setting 0 unit 1 Range 0 2 147 483 647 unit 1 10 200K PPS pulse transfer value 2Factory se
6. facto faster the commands of pulse output 25 i y d pul tor input setting and manual pulse generator inpu Response speed 4 32 will be more synchronous When 51 H41C3 XxX R W of manual pulse ms response speed setting is slower the generator 3 108ms command of pulse output is slower 2 256ms than the command of manual pulse generator input Factory setting 5 jor 0 500ms bit Status Description b0 START input b1 STOP input When START input is On b0 is On When STOP input is On b1 is On b2 DOG input When DOG input is On b2 is On 52 H41C4 s lt R Terminal status b3 PGO input When PGO input is On b3 is On b4 LSP input When LSP input is On b4 is On b5 LSN input When LSN input is On b5 is On b6 A phase input b7 B phase input b8 CLR output When A phase input is On b6 is On When B phase input is On b7 is On When CLR output is On b8 is On System version in hexadecimal system Ex H 0100 the i v ape ECS R software version is V1 00 System version Unit setting is according to the varying of b0 b1 unit setting of CR 5 2 Convert setting value to pulse unit 1 output the maximum pulse if it exceeds the maximum range 2 output the minimum ulse if its lower than the minimum range Error Code amp Troubleshooting It indicates 01PU hardware malfunction or error parameter setting when error LED flashes ERR code is recorded in CR 44 Error code Description Error code Description H
7. 1H a ime 2 Q Time gt o Start H E Start K DOG K 2 When b 2 is triggered and START ON it starts to execute 1st speed position operation and then the 2nd speed position operation will be started immediately after 1st speed operation is completed 3 When b 3 is triggered and START ON if the DOG external near point signal is executed during 1st speed 2nd speed position position operation the 2nd speed position operation will be started immediately Time operation mode Time Interrupt 2nd speed position operation mode Start__ a DOG 8 k Start_ A 4 When bf4 is triggered it starts to execute variable speed operation and PU starts to send pulse as well 34 33 H 41B1 gt lt R W Variable speed operation mode The pulse direction is set by the sign bit of V I value Ae Tace i Tdec Speed gt lt Description Chart 1 DOG rising edge is triggered in 1 normal mode 2 DOG falling edge detecting is On in zero return mode CR 18_b1 0 00 3 the number of PGO in zero return mode N CR 16 4 the number of pulse in zero return mode P CR 17 Speed PPS VRT iR lt lt Zeroreturn direction ver pee o o e gt The number of pulse in zero return mode P The number of PO in zeroretuen mode NFER TATE Start Doc Stop When b 5 0 1 manual pulse generator input is started Please refer to the setting of CR 45 51 5 When b 5 1 gt 0 manual pulse generator i
8. 3 647 PPS REV factory setting 2 000 Pulse Revolution PLS REV lt Latched Attribute Model No Pulse required to rotate motor for 1 revolution A Machine travel range while motor Range 1 2 147 483 647 unit REV rotate for 1 Factory setting 1 000 unit 1 REV revolution B 0 H 4190 lt 2 2 1 H4191 4 3 H4193 v R W b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO an i Ss gt e 3 Parameter setting gt o OF bes a 2 5 H 4195 V R W Factory setting A gis el _ 8 2 E 2 H 0000 Blslslelz e slslalel s s a 2 28 2 8 8 2 lsis 2 2 2 SiS Eja a 8 2 2a 2 2 E bilb ao A E So cle o 6 Q S6 S Slela oa 8lelzlal 8 2 L lt O 1 eizi v D FIiF J E O 9O 0 3 0 H 0 5 O S n n wn lt Q a a N a a a a b1 bo Unit Motor Combined Machine b3 b2 Position rate b5 b4 Pulse output unit unit unit setting format 0 0 Motor 6 pulse um 0 0 10 0 0 FP RP 0 1 Machine 5 pulse m deg 0 1 10 0 1 Pulse direction 1 0 pulse 10 inch 1 0 10 1 0 q 1 Combined WT pulse sec cmimin 1 1 10 q 1 estate o 7 2 pulse sec 10deg min N pulse sec inch min bit Description When b 6 0 positive logic LSP input signal is ON LPS signal is given 7 When b 6 1 negative logic LSP input signal is OFF LPS signal is given 7 When b 7 0 positive logic LSN input signal is ON LSN signal is given
9. LTA http www delta com tw industrialautomation LEME A Warning V This Instruction Sheet only provides descriptions for installation wiring and trial run For further infromation please refer to special module of PLC Application Manual 5011627802 1PE2 Position Control Module Instruction Sheet Y Do NOT touch terminals when power on Please turn off the power before wiring Y This is an OPEN TYPE PLC The PLC should be kept in an enclosure away from airborne dust humidity electric shock risk and vibration Also it is equipped with protective methods such as some special tools or keys to open the enclosure in order to prevent hazard to users or damage the PLC Y Do NOT connect the AC input power to any of the input output terminals or it may damage the PLC Check all the wiring prior to power up Introduction 1 1 Model Explanation and Peripherals 01PU position control unit is mainly applied to the Nameplate speed position control of step servo driven system The maximum output pulse can be up to 200 KPPS Delta PLC model name MODEL DVP01PU H and built in various route control modes The DVP PLC EH series can read write 01PU via FROM TO instrucitons There are 54 CRs Controlled Register in 01PU and 16 bits for each register The 32 bits data is composed of 2 continuous CR number Power input specification POWER INPUT 24Vdc 3W Output module specification OUTPUT MODULE Differential Line Driver
10. anual pulse 24VDC IN Delta Servo ASDA series DVP01PU H 24V generator A phasel B phasel 2 Specifications 2 1 Function Specifications Item Power supply Max number of connected axes Distance instruction Speed instruction External output External input Pulse output format Position program amp data transmission Shielded cable E ODAT Ar AK 5 24VDC w F AK 5 24VDC_ __ i PG0 w Ta PG0 w Description DC24V 15 20 Current consumption 140430mA Power is supplied from EH series or external power supply 8 units axes All I O points are not occupied There are 8 special extension units at most to connect to EH series Distance value is set by CR 1 Setting value 2 147 483 648 2 147 483 647 2 Selectable unit um mdeg 10 inch Pulse 3 Selectable rate 10 10 10 10 4 Selectable position absolute and relative position instruction Speed value is set by CR 1 Setting value 2 147 483 648 2 147 483 647 conversion value of 10 200KPPS pulse 2 Unit selectable pulse s cm min 10deg min inch min Photo coupler is for insulation and there are LED indications for all output input signals Outputs FP and RP line driver output 5V Output CLR is the type of NPN open collector transistor out
11. g Status indication bit WO N o A 48 50 p Description When b 0 0 system is ready When b 0 1 PU is executing position control mode Pulse is outputting When b 1 1 CW pulse is outputting When b 2 1 CCW pulse is outputting When b 3 1 zero return is completed b 3 is cleared to 0 by user program When PU is power on again b 3 will be cleared to 0 automatically When b 4 1 Current position CP PLS CR 34 33 that is 32 bit is overflow When PU is power on again or complete zero return b 4 will be cleared to 0 automatically When b 5 1 PU error occurred Error code is stored in CR 44 When PU starts to execute zero return or error reset only when error occurred it will clear b 6 to 0 When zero return or position control is completed it will set b 6 to 1 When PU is running STOP status is on PU will stop output and b 7 will be set to 1 at this time It means that PU is pause and it will execute the uncompleted route and b 7 will be cleared to 0 after STOP status is off When b 9 1 it means manual pulse generator inputs with counting upward When b 10 1 it means manual pulse generator inputs with counting downward Please refer to Error Code amp Troubleshooting for detail 44 H4IBC x R Factory setting H 0000 Error code Electronic gearing 45 H41BD X R W numerator of MPG input Electronic gearing denominator of MPG input Input operation of manual pul
12. nge 2 147 483 648 2 147 483 647 unit 1 R W Target position I P 1 factory setting 0 unit 1 R W Running speed 1 V I Range 2 147 483 648 2 147 483 647 unit 1 10 Range 2 147 483 648 2 147 483 647 unit 1 R W Target position II P II factory setting 0 unit 1 Running speed II RAY Vil transfer value 2 factory setting 2 000 unit 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 S II Q el2 T Ta pw Running instruction 5 T g g factory setting H 0000 5 ce gis E 2 z fo 7 Sit e oloje g 8j es 1 5 5 2 2 Wis a o n S eye f4 xj J lgislg l la Ola I I8 2 SISS Description When b 0 1 Error reset Error indicator is off and FLAG in CR CR 43 b 5 is cleared to 0 When b 1 0 1 this is the same function as external input signal that forces to stop When external signal that forces to stop is inputted or when b 1 0 1 PU will decelerate to stop When b 2 1 CW running is forbidden CW running instruction is disabled When b 3 1 CCW running is forbidden CCW running instruction is disabled When b 4 0 1 CW pulse is generated in JOG mode When b 5 0 1 CCW pulse is generated in JOG mode When b 6 0 1 zero return is performed Zero return is performed differently by the different current position CP as the four following conditions Position 1 Start position as the right picture below 1 is at the right of zero poin
13. nput is stopped Also b 5 can start running by activating START command b 6 0 When STOP is input motor will decelerate to stop under running mode When rerun instruction is received the distance that uncompleted will be neglected and motor will go to execute the next position instruction immediately b 6 1 When STOP is input motor will decelerate to stop under running mode When rerun instruction is received the distance that uncompleted will be done and then motor will go to execute the next position instruction b 7 0 The output pulse of manual pulse generator is unlimited T b 7 1 The output pulse of manual pulse generator is limited between P I and P Il When the output pulse is out of the range it will be decelerated and then stopped outputting 8 0 When motor is running it will decelerate to stop if LSP LSN signal is received 8 1 When motor is running it will stop immediately if LSP LSN signal is received ASK setting 1st speed operation 2nd speed operation interrupt 1st speed operation interrupt nd speed operation 11 9 K0 000 or other value NO MASK function 11 9 K1 001 the rising edge of input terminal DA will trigger MASK 11 9 K2 010 the falling edge of input terminal DA will trigger MASK 11 9 K3 011 the rising edge of input terminal B will trigger MASK 11 9 K4 100 the falling edge of input terminal Bz will trigger MASK 12 1 All parameters return to factory setting Zero return o
14. peration mode 3 DOG falling edge detecting zog TITOOOOnN 12 Current position Range display 2 147 483 648 2 147 483 647 PLS factory CP PLS setting 0 PLS 36 35 H 41B3 gt lt R W alae ete cs Range display 0 2 147 483 647 PPS factory setting 0 iti A Ss Pr 38 37 H 41B5 gt lt R W Current position Range display 2 147 483 648 2 147 483 647 unit factory unit 1 setting 0 unit Na maT ae 40 39 H41B7 x RIW Kn Range display 0 2 147 483 647 unit factory setting 0 41 H41B9 v R W Communication RS 485 communication address range 01 255 factory address setting K1 Baud rate setting 4800 9600 19200bps 38400 bps 57600 bps 115200 bps ASCII mode data format is 7Bit even bit and 1 stop bit 7 E 1 RTU mode data format is 8Bit even bit and 1 stop bit 8 E 1 b0 4800 bps bit sec b1 9600 bps bit sec factory setting b2 19200 bps bit sec b3 38400 bps bit sec b4 57600 bps bit sec b5 115200 bps bit sec b6 b14 reserved b15 0 1 RTU ASCII mode 1 factory setting b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO 42 H41BA V R W Baud Rate Setting Execution status factory setting H XXXX 43 H41BB x R W Position completed indication MPG input downward MPG input upward Route paused indication Error occurred flag CP value overflow Zero return is done CCW pulse is outputting CW pulse is outputtin
15. put 5 24VDC less than 20mA Photo coupler is for insulation and there are LED indications for all output input signals Input point START STOP LSP LSN DOG contact or open collector transistor 24VDC 10 5 1mA Inputs DA B line driver or open collector transistor 5 24VDC 6 15mA Input PGO line driver or open collector transistor 5 24VDC 6 15mA Three selectable modes Pulse Dir FP CW RP CCW A B all modes are line driver output The DVP PLC EH series can read write data in CR via FROM TO instrucitons The 32 bits data is composed of 2 continuous CR number The range of 16 bits CR is CR 0 CR 53 Item Description When DVP 01PU modules are connected to an MPU the modules are numbered from 0 to 7 0 is the closest and 7 is the farthest to the MPU 8 modules is the max and they do not occupy any digital I O points of the MPU Connect to DVP PLC in series 2 2 Other Specification Environmental specifications 1 Operation 0 C 55 C Temperature 50 95 Humidity pollution degree 2 Operation Storage 2 Storage 25 C 70 C Temperature 5 95 Humidity KETID Wa Standard IEC1131 2 IEC 68 2 6 TEST Fc IEC1131 2 amp IEC 68 2 27 TEST Ea Antistatic spec All places between terminals and ground comply with the spec Control Register DVP 01PU Position Control Unit CR No Content Setting Range HW LW Address System setting Read only The model number of DVP 01PU is H 0110 Range 1 2 147 48
16. se generator 1 Manual pulse generator input operation is ON when b5 of CR 32 is set to 1 2 2 phase A phase B phase can be input from the manual pulse generator to Aand OB FP RP I O pulse is as follows Di phase Servo motor TUU Le JUUL B phase 3 When it arrives the LSP LSN limit output will stop immediately When LSP is ON CCW is allowed When LSN is ON CW is allowed The position complete flag is not turned ON 4 Position complete indication CR 43 b6 Off When position is done the actual operation is expressed CR 43 b6 On 5 The PU output pulse pulse frequency of manual pulse generator and the electronic gearing CR 45 CR 46 are proportional to each other Input frequency of manual pulse generator Please refer to the following description Factory setting H 1 46 H 41BE X R W Please refer to the following description Factory setting H 1 Servo drive CR 45 Input pulse X FP LIL gt RP MMe CR 46 output pulse 47 H 41BF x R W The input frequency of manual pulse generator factory setting The count value of CW manual pulse input is symbol on the contrary the CCW manual pulse input is symbol And the count value is nothing to do with the ratio setting of manual electronic gearing CR 45 46 Factory setting 0 Accumulated pulse number of manual pulse generator 49 H 41C1 X R W Value Response speed When response speed setting is 4ms
17. t and DOG near point signal DOG Off 6 Position 2 Start position as the right picture below 2 is at the right of zero point DOG On Position 3 Start position as the right picture below 3 is at the left of zero point and DOG near point signal DOG Off and LSN hardware limit switch signal Off Position 4 Start position as the left picture below 4 is at the left of zero point and DOG near point signal DOG Off and LSN hardware limit switch signal On Speed Tace Tdec Zero point return direction Hardware polarity switch 2 147 483 648 2 147 483 647 pulse transfer value 2 200K PPS pulse transfer value 2 factory setting 1 000 unit 1 2 147 483 648 2 147 483 647 pulse transfer value 2 Range 0 2 147 483 647 unit 1 10 200K PPS pulse b2 b1 bO CW pulse STOP Software STOP Error reset Timing 0 1 ea e 0 1 Hardware polarity switch LSN DOG LSP JOG operation mode 7_ When b 7 0 it is absolute position JOG LY v gt Time Zero return operation route Description When b 7 1 it is relative position 8 When b 8 0 1 start running by the work mode of CR 32 10 When b 10 0 1 current position CP is cleared to 0 When b 12 0 CLR outputs 130ms to Servo when zero return is completed It is for the clear 12 signal of servo internal error counter When b 12 1
18. tting 5 000 unit 1 Range 0 2 147 483 647 unit 1 10 200K PPS pulse transfer value 2Factory setting 50 000 unit 1 Range 0 2 147 483 647 unit 1 10 200K PPS pulse transfer value 2 factory setting 1 000 unit 1 14 7 6 H 4196 VY R W Maximum speed Vmax 9 8 H 4198 v R W Bias speed Vpias 11 10 H 419A v R W JOG speed Voc 13 12 H 419C v R W Zero return speed Ver Zero return deceleration speed Vor The number of PGO in zero return mode N The number of pulse in zero return mode P 15 14 H419E v R W 16 H41A0 y R W Range 0 32 767 PLS factory setting 0 PLS Range 32 768 32 767 PLS factory setting 0 PLS b0 Zero return mode b1 detect DOG falling edge in zero return mode 17 H41A1 V R W 18 H41A2 V R W Zero return mode bit Description 0 b 0 0 normal mode b 0 1 override mode 1 b 1 0 DOG falling edge detecting is on in zero return mode b 1 1 DOG falling edge detecting is off in zero return mode 20 19 H 41A3 21 H 41A5 22 H 41A6 24 23 H 41A7 26 25 H 41A9 28 27 H 41AB 30 29 H 41AD 31 H41AF bit jo oO AVN x x x x x R W Zero point setting HP Range 0 999 999 unit 1 factory setting 0 unit 1 R W Acceleration time Tac Range 10 32 767 ms factory setting 100 ms R W Deceleration time Taec Range 10 32 767 ms factory setting 100 ms Ra
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