DVP01PU H2 instruction en (EN)

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Unit setting unit Machine unit b3 b2 Multiplication of position data b5 b4 Description 0 1 machine pulse m deg 0 1 10 1 0 1 Pulse + direction 1 1 Combined pulse/sec cm/min 1 1 10 3 1 1 A/B phase pulse 10 #7 #6 H’4196 3 R/W Maximum speed (V #9 #8 H’4198 3 R/W Bias speed (V #11 #10 H’419A 3 R/W JOG speed (V #13 #12 H’419C 3 R/W Zero return speed (V speed (V CR ) 1 OFF. #24 #23 H’41A7 ╳ R/W #26 #25 H’41A9 ╳ R/W #28 #27 H’41AB ╳ R/W (V(II)) Operation/storage Operation: 0°C ~ 55°C (temperature); 50 ~ 95% (humidity); pollution degree 2 Storage: -40°C ~ 70°C (temperature); 5 ~ 95% (humidity) immunity International standards:

IEC1131-2, IEC 68-2-6 (TEST Fc)/IEC1131-2 & IEC 68-2-27 (TEST Ea) Multiplication of position data 8 #0 H’4190 3 R Model name Set up by the system. DVP01PU-H2 model code = H’6110 Pulse output methods 0 0 motor pulse um 0 0 10 0 0 0 FP + RP DVP01PU-H2 high-speed pulse output/position module Content Setup range Default = 2,000 pulses/revolution (PLS/REV) LSP input polarity pulse 10 -4 inch 1 0 10 2 1 0 6 b[6] = 0: positive logic enabled. When LSP input signal is ON, LSP signal will be generated. b[6] = 1: negative logic enabled. When LSP input signal is OFF, LSP signal will be generated. 7 b[7] = 0: positive logic enabled. When LSN input signal is ON, LSN signal will be generated. b[7] = 1:

negative logic enabled. When LSN input signal is OFF, LSN signal will be generated. 11 #18 H’41A2 3 R/W MODE) #20 #19 H’41A3 3 R/W Range: 1 ~ +2,147,483,647 PPS/REV Range:

1 ~ +2,147,483,647 unit/REV LSN input polarity 12 14 15 #21 H’41A5 3 R/W Acceleration time (T #22 H’41A6 3 R/W Deceleration time (T Zero return direction Revolution direction 9 Default = 1,000 (unit*1/REV) DOG trigger mode pulse/sec 10deg/min pulse/sec inch/min #16 H’41A0 3 R/W Environment Acceleration curve options DOG polarity bit # Description bit # START response time START input polarity 13 STOP input polarity required for rotate motor for 1 revolution (A) #4 #3 H’4193 3 R/W Distance the motor rotates for 1 revolution b1 b0 Unit Motor unit Combined #15 #14 H’419E 3 R/W #17 H’41A1 3 R/W 0 b[0] = 0: normal mode; b[0]=1:

overwrite mode #30 #29 H’41AD ╳ R/W Operation speed (II) Z Control Register #2 #1 H’4191 3 R/W Number of pulses #5 H’4195 3 R/W Parameter setting Default = H’0000 (B) Attribute Position Speed 3.2 Others Vibration/shock Latched CR# Address HW LW 1 0 Type Terminal Description Response feature Power supply +24V, 0V Power input: DC24V (-15 ~ +20%) Current consumption: 100mA - START Starting input 15ms/50ms ΦA+, ΦA- MPG A-phase pulse input +, - (differential signal input) 200KHz ΦB+, ΦB- MPG B-phase pulse input +, - (differential signal input) 200KHz START Starting input 15ms/50ms FP+, FP- FP/RP mode: forward pulse output; pulse/direction: pulse output; A/B phase:

A phase output 200KHz Output RP+, RP- FP/RP mode: reverse pulse output; pulse/direction: direction output; A/B phase: B phase output 200KHz 1. Use O-type or Y-type terminals for the I/O wiring as shown in the figure. The torque of screw at the PLC terminal should be 5 ~ 8 kg-cm (4.3 ~ 6.9 in-lbs). 2. DO NOT place the wirings of input signals, output signals and power supply in the same wire conduit. 3. Use only 60/75°C copper conductors. 1 , 10 2 , 10 3 ; options: absolute position or relative allowed to connect to MPU and will not occupy any digital I/O points. LSP : Right limit input indicator ΦA : MPG A-phase pulse input indicator LSN : Left limit input indicator ΦB :

MPG A-phase pulse input indicator PG0 : Zero signal input indicator CLR : Clearing signal output indicator STOP Stopping input 15ms LSP/LSN Right/left limit input 1ms PG0+, PG0- Zero signal input +, - (differential signal input) 1ms 1ms CLR+, CLR- Clearing signal (clearing signals in the error counter in servo drive) 130ms Delta Servo Drive ASDA series 24V 2 variations according to different operation modes: 1. DOG signal when in zero return 2.

Interruption signal inserted in signal-speed or 2-speed sections VDD 17 11 COM+ PLS 41 43 /PLS SIGN 37 36 /SIGN 10 DI2 45 COM- +24VDC input 5-24VDC Description 24V 0V FP+ FP- RP+ RP- CLR- CLR+ DVP01PU-H2 START STOP LSP LSN DOG S/S ™ I/O Terminal Signals DOG For M3.5 1.3 Wiring ™ I/O Circuit Input Less than 6.8 Less than 6.8 series 9 This instruction sheet provides information on the installation, wiring and trial operation of DVP01PU-H2. For more detailed information, see “DVP-PLC Application Manual”.

http://www.delta.com.tw/industrialautomation/ 5011653500-U2E0 Position Control Module 9 DVP01PU-H2 is an OPEN-TYPE device and therefore should be installed in an enclosure free of airborne dust, humidity, electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the device (e.g. key or specific tools are required to oepn the enclosure) in case danger and damage on the device may occur. 9 DO NOT connect input AC power supply to any of the I/O terminals; otherwise serious damage may occur. Check all the wiring again before switching on the power.

1.1 Model Explanation & Peripherals ™ DVP01PU-H2 pulse generation unit is mainly applied to the speed or position control of set or servo drive system. The maximum output pulse of DVP01PU-H2 can be up to 200 KPPS and DVP01PU-H2 is built in with various route control modes. Through FROM/TO instructions in DVP-EH2 MPU program, DVP01PU-H2 is able to read and write the data in the module. There are 54 16-bit control registers (CR) in DVP001PU-H2. The 32-bit parameters are composed of 2 continuous CR No.

0V START DOG LSN A - 24V S/S B - PG0- CLR- FP - RP - STOP LSP A + B + PG0+ CLR+ FP+ FP - 1 DIN rail (35mm) 6 Terminals 2007-01-12 Number of channels Production year (2006) Production plant (Taoyuan) 8 4 Status indicators 9 Connection port for extension unit/module ERROR : Error indicator (On/Off/flash). Flashes when FP : Forward pulse output indicator CR#44 is not 0. RP : Reverse pulse output indicator 9 DO NOT touch any terminal when the power is switched on. Switch off the power before wiring. Production No. Production week LV : Low voltage indicator (on when the external STOP : Stopping input indicator Version No. Model name POWER : Power indicator, +5V internal power is normal START :

Starting input indicator power supply is less than19.5V) DOG : DOG input indicator Differential Line Driver Instruction Sheet 24Vdc 3W 01PU-H20T6500001 VX.XXXX Barcode, Serial No., Version 1.2 Product Profile (Indicators, Terminal Block, I/O Terminals) 2 Connection port for extension unit/module 7 Mounting hole 3 Model name 8 I/O terminals For EH2 series MPU Unit: mm 5 DIN rail clip Delta PLC model name Power input specification Output module specification PU: Position control module Model type X Introduction ™ Model/Serial No. Explanation Warning ™ Nameplate Explanation DVP series ™ LED Indicators Power supply +24V, 0V Power input: DC24V (-15 ~ +20%) Current consumption:

Стр. 1

*1: The setting of unit is in accordance with b0 and b1 of CR#5. even bit, 1 stop bit (8, E, 1)). - #5 Action mode ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ max ◎ ◎ ◎ ◎ bias ◎ ◎ ◎ ◎ JOG - - - - - - acc ◎ ◎ dec ◎ ◎ ◎ - ◎ - ◎ - ◎ - ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ - - - ◎ - - - ◎ - - - ◎ - - - ◎ - - - ◎ H’0080 Hardware error in internal memory H’0081 Incorrect written in data in internal memory The content of this instruction sheet may be revised without prior notice.

Please consult our distributors or download the most updated version at http://www.delta.com.tw/industrialautomation Error code Explanation H’0020 FP is forbidden H’0021 RP is forbidden Description Interrupting 2-speed positioning 3 R Firmware version #4 #3 B Needs to be set up of the unit is machine or combined. MPG Accumulated number ╳ R/W Input frequency of ╳ R Terminal status Parameter Code #1 A RT CR P b[6] = 0: During the running of motor, when encountering STOP signal input, the motor will decelerate to stop. When the next motion instruction comes in, the motor will ignore the unfinished distance and immediately execute the distance in the next step.

b7 0 in progress) 3 7 unfinished route. b[6] = 1: During the running of motor, when encountering STOP signal input, the motor will decelerate to stop. When the next motion instruction comes in, the motor will complete the unfinished distance before executing the next positioning step. b[7] = 1: The range of MPG pulse output is limited within P(I) and P(II). When the range is exceeded, pulse deceleration will stop. MASK settings (single-speed positioning, 2-speed positioning, interrupting single-speed positioning, interrupting 2-speed positioning) b[11 ~ 9] = K0 (000) or other values: No MASK function b[11 ~ 9] = K1 (001):

Triggering MASK by the rising edge of input terminal ΦA±; b[11 ~ 9] = K2 (010): Triggering MASK by the b[11 ~ 9] = K3 (011): Triggering MASK by the rising edge of input terminal ΦB±; b[11 ~ 9] = K4 (100): Triggering MASK by the #33 #37 #41 4 zero return is completed, b[4] will be reset as “0”. 6 forbidden and reverse pulse will be allowed. If LSN is enabled, the reverse pulse will be forbidden and forward pulse will be b[8] = 0: During the running of motor, the motor decelerates to stop when encountering LSP/LSN signal inputs. b[8] = 1: During the running of motor, the motor stops immediately when encountering LSP/LSN signal inputs. #35 #39 b0: 4,800bps b1: 9,600bps (default) b2:

19,200bps b3: 38,400bps b4: 57,600bps b5: 115,200bps #44 H’41BC ╳ R Route pauses VCR 5 #45 H’41BD ╳ R/W allowed. The “positioning is completed” flag will not be enabled in this mode. b[5] = 1: Enabling MPG input operation (see CR#45 ~ #51 for settings) bit # Zero return ™ Work mode of Manual Pulse Generator (MPG) input 1. Set b5 of CR#32 as “1”, to enable the work mode of MPG input. #42 H’41BA 3 R/W Communication speed (baud rate) setting Time 1 b[1] = 1: Forward pulse output is in progress. 2 b[2] = 1: Reverse pulse output is in progress. 10 b[10] = 1: MPG pulse input (counting down) #46 H’41BE ╳ R/W Vbias #43 H’41BB ╳ R/W 9 b[9] = 1:

MPG pulse input (counting up) Speed Tacc 0 Start Stop output pulse. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Error reset b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Interrupting 2-speed positioning operation 2-speed positioning operation Interrupting single-speed positioning operation Single-speed positioning operation Software STOP bit # Description Timing 0 b[0] = 1: Error reset. ERROR indicator will be off and the flags in CR#43. b[5] will be reset as “0”. 0→1 1 b[1] = 0→1: The function is the same as external force STOP. PU single-axis position controller will stop positioning.

Given the external signal is in positioning operation, when b[1] goes from 0 to 1, the motor will decelerate to stop. 0→1 2 b[2] = 1: Forward running is forbidden; forward-running instruction will be invalid. An error message will appear if a forward-running instruction is given. 1 3 b[3] = 1: Reverse running is forbidden; reverse-running instruction will be invalid. An error message will appear if a reverse-running instruction is given. 1 4 b[4] = 1: JOG+ sends out forward pulses (CW) 1 5 b[5] = 1: JOG- sends out reverse pulses (CCW) 1 0→1 bit # Description Timing 7 b[7] = 0: absolute coordinate positioning; b[7] = 1: relative coordinate positioning 0/1 8 b[8] = 0→1:

starting work mode as set inCR#32 0→1 10 b[10] = 0→1: CP cleared as “0”. 0→1 12 b[12] = 0: When zero return is completed, CLR outputs130ms to servo as the clear signal for the error counter in the servo. b[12] = 1: CLR output point as general output point, controller by On/Off of b[13]. 0/1 13 b[13] = 0: CLR is off; b[13] = 1: CLR is ON. 0/1 0 When b[0] is triggered and START ON, the 1 st positioning program will start to execute. The number of motion steps and speed are determined by P(I) and V(I). 1 When b[1] is triggered and START ON, and the external DOG signal is enabled, the target position (I) P(I) will be reloaded and be seen as relative position.

DOG 2 When b[2] is triggered and START ON, after the 1 st positioning section locates the target location (I) P(I), the 2 nd positioning section will start immediately. 4 When b[4] is triggered, the 2-speed positioning program will start to execute. When receiving variable-speed motion instruction, PU pulse generator will send out pulses. The running direction will be determined by the sign bits in V(I). Stopping reverse pulses Stopping forward pulses b[6] = 0→1: Starting the execution of zero return. The motions of zero return vary depending on different current positions (CP). CP 1: Starting from position [1], to the right of zero and DOG; DOG = Off. (see the figure below) CP 2:

Starting from position [2], to the right of zero; DOG = On CP 3: Starting from position [3], to the left of zero and DOG; DOG = Off, LSN = OFF CP 4: Starting from position [4], to the left of zero and DOG; DOG = Off, LSN = ON LSN DOG LSP Speed Tacc Tdec Time 3 When b[3] is triggered, START ON and in the 1 st positioning section, after the external DOG signal is enabled, the 2 nd positioning section will start immediately.

Time Enabling JOG+ [4] [3] [2] [1] Variable speed operation V(I) P(I) Speed Tacc Tdec V(I) V(II) P(II) Enabling zero return Enabling JOG- Direction of zero return Manual Pulse Generator input operation Vbias Vbias Absolute position setup Zero STOP mode Vmax Vmax Software START - Manual Pulse Generator range LSP/LSN stop mode Clear CP Start Start DOG CLR signal output mode - MASK settings bit # Description CLR output On/Off Zero return motion Rest to factory setting Interrupting single-speed positioning Interrupting 2-speed positioning - Time Default: H’0001 - - - #31 H’41AF ╳ R/W Operation instruction - Speed Tacc Tdec Speed Tacc Tdec Time Time Default:

H’0000 V(I) P(I) Speed Tacc Tdec V(I) V(II) P(II) P(I) Vjog Vbias #32 H’41B0 ╳ R/W Work mode Vbias Vbias Vmax Vmax Vmax JOG Start Start 6 JOG motion Single-speed positioning 2-speed positioning b15 b14 b13 b12 b11 b10 b 9 b8 b 7 b6 b5 b4 b3 b 2 b1 b Operation instruction # 31 H’41AF ╳ R/W Default: H’0000 ed Vmax V(I) Vbias 0 Vbias Tim Vmax V(I) Vbias #50 #49 H’41C1 ╳ R/W MPG Accumulated number of pulses by MPG Accumulated by the number of pulse input from MPG. Forward pulse is accumulated by “plus” and reverse pulse is accumulated by “minus”. The accumulated value will not be affected by the settings in CR#45 and CR#46. Default: 0.

Стр. 2