Delta Electronics DVP01PU-H specifications Control Register, Introduction, Specifications

2006-12-08

http://www.delta.com.tw/industrialautomation/ 5011627802-1PE2

Position Control Module

Instruction Sheet

Warning

3This Instruction Sheet only provides descriptions for installation, wiring and trial run. For further infromation, please refer to special module of PLC Application Manual.

3Do NOT touch terminals when power on. Please turn off the power before wiring.

3This 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.

3Do 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.

LSP	: Right limit input indicator	ΦA	: A-phase input of manual pulse generator
LSN	: Left limit input indicator	ΦB	: B-phase input of manual pulse generator
PG0	: Zero signal input indicator	CLR	: Output clear signal

„Input/Output Terminal

Description	Terminal name	Explanation		Response
				character
Power supply	+24V, 0V	Power input/DC24V (-15~+20%)	-
		Current consumption 100mA
	START	Start input terminal		15ms/50ms
	STOP	Stop input terminal		15ms
	LSP / LSN	Input right/left limit		1ms
	ΦA+, ΦA-	A-phase terminal (+, -) of manual pulse generator input		200KHz
		(line driver input)
Input	ΦB+, ΦB-	B-phase terminal (+, -) of manual pulse generator input		200KHz
		(line driver input)
	PG0+, PG0-	Zero signal input terminal +, - (line driver input)		1ms
	DOG	Offers two different functions depending on operation mode.		1ms
		(1) It is near-point signal in zero return mode.
		(2) It is start signal on interrupt 1st or interrupt 2nd speed mode.
	S/S	Signal common terminal of these Inputs (START, STOP, DOG,	-
		LSP, LSN)
	CLR+, CLR-	Clear signal (clear signal of internal error counter for Servo drive)		130ms
		FP/RP mode: CW pulse output
Output	FP+, FP-	I/O mode: Output pulse		200KHz
		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

ItemDescription

Connect to DVP-PLC	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
in series
	not occupy any digital I/O points of the MPU.

2.2Other Specification

		Environmental specifications
Operation/Storage	1.	Operation: 0°C~55°C (Temperature), 50~95%(Humidity), pollution degree 2
	2.	Storage: -25°C~70°C (Temperature), 5~95%（Humidity）
Vibration/Shock	Standard: IEC1131-2, IEC 68-2-6 (TEST Fc)/ IEC1131-2 & IEC 68-2-27 (TEST Ea)
immunity
Antistatic spec.	All places between terminals and ground comply with the spec.

ZControl Register

	CR No.			DVP-01PU Position Control Unit
		Latched	Attribute
HW LW Address				Content	Setting Range
#0	H’4190	9	R	Model No.	System setting, Read-only (The model number of DVP-01PU is
					H’0110.)

		Pulse required to	Range: 1 ~ +2,147,483,647 PPS/REV, factory setting: 2,000
#2 #1 H’4191	9 R/W rotate motor for 1
			Pulse/Revolution (PLS/REV)
		revolution (A)
		Machine travel
#4 #3 H’4193	9 R/W	range while motor	Range: 1 ~ +2,147,483,647 unit/REV,
		rotate for 1	Factory setting: 1,000 (unit*1/REV)
		revolution (B)

XIntroduction

1.1Model Explanation and Peripherals

01PU (position control unit) is mainly applied to the speed/position control of step/servo driven system. The maximum output pulse can be up to 200 KPPS, and built-in various route control modes. The DVP-PLC EH series can read/write 01PU via

„Nameplate

Delta PLC model name
Power input specification	24Vdc 3W
Output module specification	Differential Line Driver

1.3Wiring

	1.		Please wire I/O by O-type or Y-type terminals as the specification shown at
Below 6.8
			left. The torque of PLC terminal screw should be 5~8 kg-cm (4.3~6.9 in-lbs).
		To suit M3.5 screw terminals 2.
			I/O signal wires or power supply should not run through the same multi-wire
Below 6.8			cable or conduit.
3.			Use copper conductors only, 60/75°C.

b15

b14

b13

b12

b11

b10

b9

b8

b7

b6

b5

b4

b3

b2

b1

b0

Parameter setting

START input polarity

START response time

Acceleration curve options

DOG trigger time

Zero return direction

LSN input polarity

LSP input polarity

Pulse output format

Position rate setting

#5 H’4195 9 R/W

Factory setting:

Pulse direction

H’0000

STOPpolarityinput

DOGpolarity

Unit setting

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.

Bar code, serial No,		01PU-H0T4320001
firmware version	VX.XX

„Input/Output Circuit

START

DVP01PU-H +24VDC IN

24V

Delta Servo

ASDA series

VDD 17 24V

b1

b0

Unit

Motor

Combined

Machine

b3

b2

Position rate

b5

b4

Pulse output

unit

unit

unit

setting

format

Position

0

0

Motor

pulse

um

0

0

100

0

0

FP + RP

0

1

Machine

pulse

m deg

0

1

101

0

1

Pulse + direction

-4

2

„Model & Serial Number

Model	Serial Number
DVP series	For EH series MPU
Number of channels
Model type
PU：Position control module

Production No. Production week Production year (2004) Production plant (Taoyuan) Version No.

Model name

STOP

LSP

LSN

DOG

S/S

+24V

Manual pulse generator

Shielded cable

ΦA+

A-phase

ΦA-

0V

FP+ FP- RP+ RP-

CLR+ CLR-

COM+ 11

PLS 41

/PLS 43

SIGN 37

/SIGN 36

DI2 10

COM- 45

1	0	Combined		pulse	10 inch		1	0	10	1	0	A/B Phase pulse
1	1		Speed	pulse/sec		cm/min	1	1	103	1	1
				pulse/sec		10deg/min
				pulse/sec		inch/min
bit #						Description

6	When b[6]=0: positive logic, LSP input signal is ON, LPS signal is given.
	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.
	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.

1.2Product Profile and Outline (LED Indicator and Terminal Block)

7

B-phase	ΦB+
	ΦB-

5-24VDC

9 When CW running is executed: if b[9]=0, CP value is increasing. If b[9]=1, CP value is decreasing.

10	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.

	10
1
	9
	4
2	8
	3

5-24VDC

PG0+

PG0-

YSpecifications

2.1Function Specifications

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).
14	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.
15	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.

	5	7	6	3
	Unit: mm
1.DIN rail track (35mm)	2.Mounting wire to connect extension module/extension unit
3.Model name	4.Status Indicator (Power, Run and ERROR)
5.DIN rail clip	6.Terminal
7.Mounting hole	8.Terminal layout
9.Extension port to connect extension module/unit	10. RS-485 communication port

„LED Display

POWER : Power indicator, +5V internal power		START : Start input
LV	: Low voltage indicator (lit when external	STOP	: Stop input
	input power is lower than 19.5V)	DOG	: DOG (near point signal) input
ERROR	: Error occurred indicator. It will blink when	FP	: CW pulse output
	CR#44 is not 0.	RP	: CCW pulse output

Item

Power supply

Max. number of connected axes

Distance instruction

Speed instruction

External output

External input

Pulse output format

Position program & data transmission

Description

DC24V(-15% ~ +20%), Current consumption 140±30mA

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, 10-4inch, Pulse; 3. Selectable rate: 100, 101, 102, 103;

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 output (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:ΦA, ΦB(line driver or open collector transistor, 5~24VDC, 6~15mA)

Input: PG0 (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.

#7	#6	H’4196	9	R/W	Maximum speed Vmax	Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS) *2
						Factory setting: 200,000 unit*1
#9	#8	H’4198	9	R/W	Bias speed Vbias	Range: 0 ~ +2,147,483,647 unit*1 (0 ~ 200K PPS pulse
						transfer value) *2Factory setting: 0 unit*1
#11	#10	H’419A	9	R/W	JOG speed VJOG	Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse
						transfer value) *2Factory setting: 5,000 unit*1
#13	#12	H’419C	9	R/W	Zero return speed VRT	Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse
						transfer value) *2Factory setting: 50,000 unit*1
					Zero return	Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse
#15	#14	H’419E	9	R/W	deceleration speed
						transfer value) *2, factory setting: 1,000 unit*1
					VCR
	#16	H’41A0	9	R/W	The number of PG0	Range: 0~+32,767 PLS, factory setting: 0 PLS
					in zero return mode N
	#17	H’41A1	9	R/W	The number of pulse	Range: -32,768 ~+32,767 PLS, factory setting: 0 PLS
					in zero return mode P
	#18	H’41A2	9	R/W	Zero return mode	b0: Zero return mode, b1: detect DOG falling-edge in zero
						return mode
bit #						Description

0b[0]=0: normal mode, b[0]=1: override mode

1b[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.