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#20 #19 H'41A3
R/W Zero point setting (HP) Range: 0 ~ ±999,999 unit*1, factory setting: 0 unit*1
#21 H'41A5
R/W Acceleration time T
Range: 10 ~ +32,767 ms, factory setting: 100 ms
acc
#22 H'41A6
R/W Deceleration time T
Range: 10 ~ +32,767 ms, factory setting: 100 ms
dec
Range: -2,147,483,648 ~ +2,147,483,647 unit*1
#24 #23 H'41A7
R/W Target position (I) P(I)
(-2,147,483,648 ~ +2,147,483,647 pulse transfer value) *2,
╳
factory setting: 0 unit*1
Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (10 ~ 200K
#26 #25 H'41A9
R/W Running speed (I) V(I)
╳
PPS pulse transfer value) *2, factory setting: 1,000 unit*1
Range: -2,147,483,648 ~ +2,147,483,647 unit*1
#28 #27 H'41AB
R/W Target position (II)P(II)
(-2,147,483,648 ~ +2,147,483,647 pulse transfer value) *2,
╳
factory setting: 0 unit*1
Running speed (II)
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse
#30 #29 H'41AD
R/W
╳
V(II)
transfer value) *2, factory setting: 2,000 unit*1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Running instruction
#31 H'41AF
R/W
╳
factory setting: H'0000
bit
Description
#
0
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
1
external signal that forces to stop is inputted or when b[1]=0→1, PU will decelerate to stop.
2
When b[2]=1, CW running is forbidden, CW running instruction is disabled.
3
When b[3]=1, CCW running is forbidden, CCW running instruction is disabled.
4
When b[4]= 0→1, CW pulse is generated in JOG+ mode.
5
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 point 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.
Tacc
Tdec
Speed
Hardware polarity switch
LSN
Vmax
Vjog
[4]
Vbias
Time
JOG
bit #
Description
7
When b[7]=0, it is absolute position. 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, 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.
b15 b14 b13 b12 b11 b10 b9 b8
Work mode
#32 H'41B0
R/W
factory setting:
╳
H'0001
bit
Description
#
When b[0] is triggered and START ON, it starts to execute 1st-speed position program. Step number and
0
speed are decided by P(I)& 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 updated version at http://www.delta.com.tw/industrialautomation
Tacc
Speed
Start
When b[2] is triggered and START ON, it starts to execute 1st-speed position operation and then the
2
2nd-speed position operation will be started immediately after 1st-speed operation is completed.
When b[3] is triggered and START ON, if the DOG external near point signal is executed during 1st-speed
3
position operation, the 2nd-speed position operation will be started immediately.
Tacc
Speed
P(I)
Start
Timing
When b[4] is triggered, it starts to execute variable speed operation and PU starts to send pulse as well.
4
0→1
Tacc
Speed
0→1
1
1
1
1
0
0→1
Start
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 0, manual pulse generator input 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
Zero point return direction
next position instruction immediately.
6
b[6]=1: When STOP is input, motor will decelerate to stop under running mode. When rerun instruction
DOG
LSP
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.
7
b[7]=1: The output pulse of manual pulse generator is limited between P(I) and P(II). When the output
[3]
[2]
[1]
Zero point
pulse is out of the range, it will be decelerated and then stopped outputting.
b[8]=0: When motor is running, it will decelerate to stop if LSP/LSN signal is received.
8
b[8]=1: When motor is running, it will stop immediately if LSP/LSN signal is received.
MASK setting (1st-speed operation, 2nd-speed operation, interrupt 1st-speed operation, interrupt
2nd-speed operation)
b[11~9]=K0(000) or other value: NO MASK function.
Timing
9~11
b[11~9]=K1(001) : the rising-edge of input terminal ΦA± will trigger MASK.
0/1
b[11~9]=K2(010) : the falling-edge of input terminal ΦA± will trigger MASK.
0 1
b[11~9]=K3(011) : the rising-edge of input terminal ΦB± will trigger MASK.
0 1
b[11~9]=K4(100) : the falling-edge of input terminal ΦB± will trigger MASK.
12
b[12]=1: All parameters return to factory setting.
0/1
#34 #33 H'41B1
R/W
0/1
╳
b7
b6
b5
b4
b3
b2
b1
b0
#36 #35 H'41B3
R/W
╳
#38 #37 H'41B5
R/W
╳
#40 #39 H'41B7
R/W
╳
#41 H'41B9
R/W
#42 H'41BA
R/W
#43 H'41BB
R/W
╳
Tdec
Tacc
Speed
Vmax
Vmax
V(I)
V(I)
P(I)
Vbias
Vbias
Start
Time
DOG
Tacc
Tdec
Speed
Vmax
Vmax
V(I)
P(II)
V(I)
P(II)
V(II)
Vbias
Vbias
Time
Start
DOG
The pulse direction is set by the sign bit of V(I) value.
Tdec
Description Chart: (1)DOG rising-edge is triggered in
normal mode. (2)DOG falling-edge detecting is On in zero
return mode (CR#18_b1,0=00). (3)the number of PG0 in
Vmax
zero return mode N(CR#16). (4)the number of pulse in
zero return mode P(CR#17).
V(I)
Speed(PPS)
Vbias
VRT
Time
VCR
VCR
Vbias
The number of pulse in zero return mode (P)
The number of PG0 in zero return mode (N)
DOG
DOG falling-edge detecting
Current position
Range display: -2,147,483,648~+2,147,483,647 PLS, factory
CP(PLS)
setting: 0 PLS
Current speed CS
Range display: 0 ~ +2,147,483,647 PPS, factory setting: 0
(PPS)
PPS
Current position
Range display: -2,147,483,648~+2,147,483,647 unit*
1
(unit*1)
setting: 0 unit*
1
Current speed
Range display: 0 ~ +2,147,483,647 unit*
, factory setting: 0
1
(unit*1)
unit*
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)
Baud Rate Setting
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 b0
Execution status
factory setting:
H'XXXX
bit #
Tdec
0
When b[0]=0, system is ready. When b[0]=1, PU is executing position control mode (Pulse is outputting).
1
When b[1]=1, CW pulse is outputting.
2
When b[2]=1, CCW pulse is outputting.
P(I)
When b[3]=1, zero return is completed. b[3] is cleared to 0 by user program. When PU is power on again,
3
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
4
Time
again or complete zero return, b[4] will be cleared to 0 automatically.
5
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
6
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
7
that PU is pause and it will execute the uncompleted route and b[7] will be cleared to 0 after STOP status is
off.
9
When b[9]=1, it means manual pulse generator inputs with counting upward.
Tdec
10
When b[10]=1, it means manual pulse generator inputs with counting downward.
#44 H'41BC
R
Error code
╳
V(II)
Electronic gearing
#45 H'41BD
R/W
numerator of MPG
╳
input
Time
Electronic gearing
#46 H'41BE
R/W
denominator of
╳
MPG input
Input operation of manual pulse 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 ΦA and ΦB. FP/RP I/O pulse
is as follows:
A phase
Input pulse X
Isolate from DOG near signal
Contact DOG near signal
= output pulse
B phase
Zero return direction
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
#48 #47 H'41BF
R/W
manual pulse
╳
generator
Accumulated pulse
#50 #49 H'41C1
R/W
number of manual
╳
pulse generator
Response speed
#51 H'41C3
R/W
of manual pulse
╳
generator
#52 H'41C4
R
Terminal status
╳
1
, factory
#53 H'41C5
R
System version
*1: 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
pulse if it's lower than the minimum range.
Error Code & Troubleshooting
It indicates 01PU hardware malfunction or error parameter setting when error LED flashes. ERR code is recorded in
CR#44.
Error code
Description
H'0000
No error
H'0001
Target address (I) setting error
H'0002
Target address (II) setting error
H'0010
Running speed (I) setting error
H'0011
Running speed (II) setting error
H'0012
Zero return deceleration (V
) setting error
CR
Description
Please refer to "Error Code & Troubleshooting" for detail.
Factory setting: H'0000
Please refer to the following description. Factory setting: H'1
Please refer to the following description. Factory setting: H'1
Servo drive
Servo motor
CR#45
FP
CR#46
R P
The input frequency of manual pulse generator, factory setting:
0
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.
When response speed setting is
Value Response speed
faster, the commands of pulse output
4ms (factory
≧5
and manual pulse generator input
setting)
will be more synchronous. When
4
32ms
response speed setting is slower, the
3
108ms
command of pulse output is slower
than the command of manual pulse
2
256ms
generator input. Factory setting: 5
1or 0 500ms
bit #
Status
Description
b0
START input
When START input is On, b0 is On
b1
STOP input
When STOP input is On, b1 is On
b2
DOG input
When DOG input is On, b2 is On
b3
PG0 input
When PG0 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
When A phase input is On, b6 is On
b7
B phase input
When B phase input is On, b7 is On
b8
CLR output
When CLR output is On, b8 is On
System version: in hexadecimal system. Ex.: H'0100, the
software version is V1.00.
Error code
Description
H'0013
Zero return deceleration (V
) setting error
RT
H'0014
JOG speed (V
) setting error
JOG
H'0020
CW pulse is forbidden
H'0021
CCW pulse is forbidden
H'0080
Hardware error in internal memory
H'0081
Data write in error in internal memory
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