Delta Electronics Pulse Generation Unit DVP01PU-H2 Instruction Sheet

1.
Warning
This instruction sheet provides information on the installation, wiring and trial operation of DVP01PU-H2. For more
detailed information, see "DVP-PLC Application Manual: Special Module".
DO NOT touch any terminal when the power is switched on. Switch off the power before wiring.
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.
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.
Introduction
Model Explanation and Peripherals
￭ ￭ ￭ ￭
DVP01PU-H2 pulse generation unit is mainly applied to the speed or position control of step or servo drive
system. The maximum output pulse of DVP01PU-H2 can be up to 200kPPS. DVP01PU-H2 is built in with
various route control modes. Through FROM/TO instructions in DVP-EH2 MPU program, the data in
DVP01PU-H2 can be read or written. There are 54 16-bit control registers (CR) in DVP001PU-H2. The
32-bit parameters are composed of 2 continuous CR#.
Product Profile (Indicators, Terminal Block, I/O Terminals)
￭ ￭ ￭ ￭
8
Unit: mm
○ DIN rail (35mm) ○ Terminals
1 6
○ Connection port for extension unit/module ○ Mounting hole
2 7
Model name I/O terminals
○ 3 ○ 8
○ 4 Status indicators ○ 9 Connection port for extension unit/module
DIN rail clip
○ 5
LED Indicators
￭ ￭ ￭ ￭
POWER : Power indicator, +5V internal power is normal START : Starting input indicator
LV : Low voltage indicator (on when the external STOP : Stopping input indicator
power supply is less than19.5V) DOG : DOG input indicator
ERROR : Error indicator (On/Off/flash). Flashes when FP : Forward pulse output indicator
CR#44 is not 0. RP : Reverse pulse output indicator
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
I/O Terminal Signals
￭ ￭ ￭ ￭
Type Terminal Description
Power supply +24V, 0V Power input: 24V DC (-15 ~ +20%), Current consumption: 100mA
START Starting input
STOP Stopping input
LSP/LSN Right/left limit input
Input
ΦA+, ΦA- MPG A-phase pulse input +, - (differential signal input)
ΦB+, ΦB- MPG B-phase pulse input +, - (differential signal input)
PG0+, PG0- Zero signal input +, - (differential signal input)
2 variations according to different operation modes:
Input DOG 1. DOG signal when in zero return
2. Interruption signal inserted in signal-speed or 2-speed sections
CLR+, CLR- Clearing signal (clearing signals in the error counter in servo drive)
FP/RP mode: forward pulse output; pulse/direction: pulse output;
FP+, FP-
Output A/B phase: A phase output
FP/RP mode: reverse pulse output; pulse/direction: direction output;
RP+, RP-
A/B phase: B phase output
Wiring
￭ ￭ ￭ ￭
1. Use O-type or Y-type terminals for the I/O wiring as shown in the figure. The torque of
Less than
screw at the PLC terminal should be 5 ~ 8 kg-cm (4.3 ~ 6.9 in-lbs).
6.8 mm
2. DO NOT place the wirings of input signals, output signals and power supply in the same
For M3.5
wire conduit.
Less than
3. Use only 60/75°C copper conductors.
6.8 mm
I/O Circuit
￭ ￭ ￭ ￭
+24VDC input
DVP01PU-H2
START 24V
STOP 0V
LSP
LSN FP+
DOG FP-
S/S RP+
+24V
RP-
MPG pulse
Shielding cable
Φ A +
CLR+
A phase
Φ A - CLR-
Φ B +
B phase
Φ B -
5-24VDC
PG0+
PG0-
Specifications
Item Description
24V DC (-15% ~ +20%); Current consumption: 140 ± 30mA, supplied by DVP-EH2 MPU or
Power supply
other self-prepared power supplier
Max. number of 8 modules (axes), which will not occupy any I/O points. DVP-EH2 series MPU is able to
connected modules/axes connect to max. a total of 8 extension modules.
Set up by CR. Range: -2,147,483,648 ~ +2,147,483,647; unit: um, mdeg, 10
Distance
0 1 2 3
multiplications: 10 , 10 , 10 , 10 ; options: absolute position or relative displacement
Set up by CR. Range: -2,147,483,648 ~ +2,147,483,647 (10 ~ 200kPPS pulse conversion);
Speed
unit: pulse/s, cm/min, 10deg/min, inch/min
Isolated by photocoupler. LED indicators for all I/O signals.
External output points Output points FP and RP are differential signal (5V).
Output point CLR is transistor NPN open collector (5 ~ 24V DC, less than 20mA).
Isolated by photocoupler. LED indicators for all I/O signals.
Input points START, STOP, LSP, LSN, DOG are contacts or transistor open collector (24V DC
External input points ± 10%, 5±1mA).
Input points ΦA and ΦB are differential or transistor open collector (5 ~ 24V DC, 6 ~ 15mA)
Input points PG0 is differential or transistor open collector (5 ~ 24V DC, 6 ~ 15mA)
Pulse output methods In 3 modes: Pulse/Dir, FP (CW)/RP (CCW), A/B; by differential output
Position control program Through FROM/TO instructions in DVP-EH2 MPU program, DVP01PU-H2 is able to read and
& data exchange with write the data in the CR. If the data are 32-bit, 2 CRs will be required to process the data.
MPU CR#0 ~ CR#53 are the built-in 16-bit control registers.
The modules are numbered from 0 to 7 automatically by their distance from MPU. No. 0 is the
When connected to
closest to MPU and No. 7 is the furthest. Maximum 8 modules are allowed to connect to MPU
DVP-PLC MPU in series
and will not occupy any digital I/O points.
Other Specifications
￭ ￭ ￭ ￭
ENGLISH
Environment
Operation: 0°C ~ 55°C (temperature); 50 ~ 95% (humidity); pollution degree 2.
Operation/storage
Storage: -25°C ~ 70°C (temperature); 5 ~ 95% (humidity)
International standards: IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC 68-2-27
Vibration/shock immunity
(TEST Ea)
Control Registers
CR#
Content
HW LW
#0 H'4190 ○ R Model name Set up by the system. DVP01PU-H2 model code = H'6110
Number of pulses required
Range: 1 ~ +2,147,483,647 PPS/REV
#2 #1 H'4191 R/W
○ for rotate motor for 1
Default = 2,000 pulses/revolution (PLS/REV)
revolution (A)
Range: 1 ~ +2,147,483,647 unit/REV
Distance the motor rotates
#4 #3 H'4193 ○ R/W
for 1 revolution (B) Default = 1,000 (unit*1/REV)
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Parameter setting
#5 H'4195 ○ R/W
Default = H'0000
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200kPPS pulse
#7 #6 H'4196 ○ R/W Maximum speed (V )
MAX conversion)*2. Default: 200,000 unit*1
Range: 0 ~ +2,147,483,647 unit*1 (0 ~ 200kPPS pulse
#9 #8 H'4198 ○ R/W Bias speed (V )
BIAS
conversion)*2. Default: 0 unit*1
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200kPPS pulse
#11 #10 H'419A ○ R/W JOG speed (V )
JOG conversion)*2. Default: 5,000 unit*1
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200kPPS pulse
#13 #12 H'419C ○ R/W Zero return speed (V )
RT
conversion)*2. Default: 50,000 unit*1
Zero return deceleration Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200kPPS pulse
#15 #14 H'419E ○ R/W
speed (V ) conversion)*2. Default: 1,000 unit*1
CR
The number of PG0 in Range: 0 ~ +32,767PLS
#16 H'41A0 ○ R/W
zero return mode (N)
Default: 0PLS
The number of pulses in Range: -32,768 ~ +32,767PLS
#17 H'41A1 ○ R/W
zero return mode (P)
Default: 0PLS
b0: zero return mode
Zero return mode
#18 H'41A2 ○ R/W
(H MODE) b1: detecting DOG falling edge in zero return mode
#20 #19 H'41A3 R/W Setup of zero point (HP) Range: 0 ~ ±999,999 unit*1. Default: 0 unit*1
○
#21 H'41A5 ○ R/W Acceleration time (T ) Range: 10 ~ +32,767ms. Default: 100ms
ACC
#22 H'41A6 ○ R/W Deceleration time (T ) Range: 10 ~ +32,767ms. Default: 100ms
DEC
Range: -2,147,483,648 ~ +2,147,483,647 unit*1
Response feature
#24 #23 H'41A7 R/W Target position (I) (P(I)) (-2,147,483,648 ~ +2,147,483,647 pulse conversion) *2.
╳
-
Default: 0 unit*1
15ms/50ms
Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (10 ~
15ms #26 #25 H'41A9 R/W Operation speed (I) (V(I))
╳
200kPPS pulse conversion)*2. Default: 1,000 unit*1
1ms
Range: -2,147,483,648 ~ +2,147,483,647 unit*1
200kHz
#28 #27 H'41AB R/W Target position (II) (P(II)) (-2,147,483,648 ~ +2,147,483,647 pulse conversion)*2.
╳
200kHz
Default: 0 unit*1
1ms
CR#
1ms
Content
130ms
HW LW
200kHz
200kHz
#30 #29 H'41AD R/W Operation speed (II) (V(II))
╳
Operation instruction
#31 H'41AF R/W
╳
Default: H'0000
Delta Servo Drive
ASDA series
VDD 17
24V
COM+ 11
/PLS 43
PLS 41 Work mode
#32 H'41B0 R/W
╳
SIGN 37
Default: H'0001
/SIGN 36
DI2 10
COM- 45
5-24VDC
#34 #33 H'41B1 R/W Current position CP (PLS)
╳
#36 #35 H'41B3 R/W Current speed CS (PPS)
╳
Current position CP
#38 #37 H'41B5 R/W
╳
(unit*1)
#40 #39 H'41B7 R/W Current speed CS (unit*1)
╳
Communica-
#41 H'41B9 ○ R/W
tion address setting
-4
inch, Pulse;
Communication speed
#42 H'41BA ○ R/W
(baud rate) setting
Execution status
#43 H'41BB R/W
╳
Default: H'XXXX
#44 H'41BC R Error code
╳
Numerator of MFG
#45 H'41BD R/W
╳
electronic gearing
Denominator of MFG
#46 H'41BE R/W
╳
electronic gearing
#48 #47 H'41BF R/W Input frequency of MPG
╳
Accumulated number of
#50 #49 H'41C1 R/W
╳
pulses by MPG
Response speed of MPG
#51 H'41C3 R/W
Setup range ╳
input
#52 H'41C4 R Terminal status
╳
#53 H'41C5 ○ R Firmware version
*1: The setting of unit is in accordance with b0 and b1 of CR#5.
*2: The module outputs the maximum pulses if the pulse conversion value exceeds the range and outputs the minimum pulses if the
conversion value falls below the range.
CR#0 ~ CR#53: The corresponding parameter addresses H'4190 ~ H'41C5 are for users to read/write data by
RS-485 communication. When using RS-485, th e user has to separate the module with MPU first.
a. Communication baud rate: 4,800/9,600/19,200/38,400/57,600/115,200bps
b. Modbus ASCII/RTU communication protocols: ASCII data format (7-bit, even bit, 1 stop bit (7, E, 1)); RTU
data format (8-bit, even bit, 1 stop bit (8, E, 1)).
c. Function: H'03 (read register data); H'06 (write 1 word datum to register); H'10 (write many word data to
register)
d. Latched CR should be written by RS-485 communication to stay latched. CR will not be latched if written
by MPU through TO/DTO instruction.
Error Code & Troubleshooting
ERROR LED will be on when hardware malfunction or incorrect parameter settings occur. The error code will
be recorded in CR#44.
Error code Explanation
H'0000 No error
H'0001 Incorrect target position (I)
H'0002 Incorrect target position (II)
H'0010 Incorrect operation speed (I)
H'0011 Incorrect operation speed (II)
H'0012 Incorrect V
CR
H'0013 Incorrect V
RT
注 意 事 項
Setup range
DVP01PU-H2
DVP-PLC
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200kPPS pulse
conversion)*2. Default: 2,000 unit*1 (Open Type)
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
產 品 簡 介
說 明 及 週 邊 裝 置
DVP01PU-H2
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
54 CR
產 品 外 觀 ( 指 示 燈 、 端 子 台 、 端 子 配 置
Range: -2,147,483,648 ~ +2,147,483,647PLS.
Default: 0PLS
Range: 0 ~ +2,147,483,647PPS.Default: 0PPS
Range: -2,147,483,648~+2,147,483,647 unit*1
Default: 0 unit*1
1
Range: 0 ~ +2,147,483,647 unit* . Default: 0 unit*1
Setting up RS-485 communication address. Range: 01 ~
254.
Default: K1
For setting up communication speed:
4,800/9,600/19,200/38,400/ 57,600/115,200bps.ASCII data
format: 7-bit, even bit, 1 stop bit (7, E, 1). RTU data format: 1
DIN (35mm)
8-bit, even bit, 1 stop bit (8, E, 1).
2
/
b0: 4,800bps. b1: 9,600 bps (Default).
3
b2: 19,200bps. b3: 38,400bps. b4: 57,600bps. b5:
115,200bps
4
b6 ~ b14: reserved. b15: 0=RTU mode; 1=ASCII mode
5
DIN
(Default).
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
面 板 指 示 燈
POWER +5V
LV
19.5V
ERROR (On/Off
LSP
See " Error Code & Troubleshooting" Default: H'0000
LSN
PG0
See explanations below. Default: H'1.
輸 入 輸 出 端 子 信 號
See explanations below. Default: H'1.
Input pulse frequency. Default: 0.
Accumulated by the number of pulse input from MPG. +24V, 0V,
Forward pulse is accumulated by "plus" and reverse pulse
START
is accumulated by "minus". The accumulated value will not
STOP
be affected by the settings in CR#45 and CR#46. Default:
LSP/LSN
0.
ΦA+, ΦA-
Response
Set value The faster the response speed, ΦB+, ΦB-
speed
the more synchronous the
PG0+, PG0-
≧ 5 4ms (default)
instruction pulse output and
MPG pulse input. The slower the
DOG
4 32ms
response speed, the more
3 108ms
possible the instruction pulse CLR+, CLR-
output lags behind MPG pulse
2 256ms
input. (Default: 5) FP+, FP-
1 or 0 500ms
bit # Status Description
RP+, RP-
b0 START input When START input is On, b0=On.
配 線
b1 STOP input When STOP input is On, b1=On.
b2 DOG input When DOG input is On, b2=On.
1.
b3 PG0 input When PG0 input is On, b3=On. 6 . 8 m m
以 下
b4 LSP input When LSP input is On, b4=On.
M 3 . 5 使 用
2.
b5 LSN input When LSN input is On, b5=On.
6 . 8 m m
3.
以 下
b6 When A phase input is On,
A phase input
b6=On.
輸 入 輸 出 回 路 配 線
／
b7 When B phase input is On,
B phase input
b7=On.
b8 CLR output When CLR output is On, b8=On.
Displayed in hex; e.g. V1.00 is indicated as H'0100.
手 搖 輪 脈 波
A 相
B 相
規 格
Error code Explanation
H'0014 Incorrect V
JOG
H'0020 FP is forbidden
H'0021 RP is forbidden
H'0030 Low voltage
H'0080 Hardware error in internal memory
H'0081 Incorrect written in data in internal memory
/
／
200kPPS
DVP-PLC EH2 FROM/TO
16 bits 32 CR
)
mm
8
6
7
8
9
/
START
STOP
DOG
) CR#44 FP
RP
ΦA A
ΦB B
CLR
24V DC (-15 ~ +20%) 100mA -
15ms/50ms
15ms
1ms
A +, - 200kHz
B +, - 200kHz
+, - 1ms
2
1ms
1. 2.
Servo 130ms
/ /
200kHz
AB A
/ /
200kHz
AB B
/ O Y PLC 5 ~ 8 kg-cm
(4.3 ~ 6.9 in-lbs)
60/75°C
+24 V DC 輸 入
DV P 01PU- H2 台 達 伺 服 驅 動 器
A S D A 系 列
S TA RT 24V VD D 17
24V
STO P 0V COM + 11
LS P
LS N FP + /PL S 43
DO G F P- PL S 41
S/ S RP + SIG N 37
+24 V
RP - 36
/SIG N
隔 離 線
Φ A + CL R+ DI 2 10
Φ A - CLR - COM - 45
5-24 V DC
Φ B +
Φ B -
5- 24VD C
PG0 +
PG0 -
24V DC (-15% ~ +20%) 140±30mA DVP-EH2
8 I/O DVP-EH2 8
-4
1. -2,147,483,648 ~ +2,147,483,647 2. um, mdeg, 10 inch, Pulse
0 1 2 3
3. 10 , 10 , 10 , 10 4.
1. -2,147,483,648 ~ +2,147,483,647 (10 ~ 200kPPS )
2. pulse/s, cm/min, 10deg/min, inch/min