Delta Electronics DVP01PU-H specifications Error Code & Troubleshooting, operationmode

#20

#19

H’41A3

9

R/W

Zero point setting (HP)

Range: 0 ~ ±999,999 unit*1, factory setting: 0 unit*1

#21

H’41A5

9

R/W

Acceleration time Tacc

Range: 10 ~ +32,767 ms, factory setting: 100 ms

#22

H’41A6

9

R/W

Deceleration time Tdec

Range: 10 ~ +32,767 ms, factory setting: 100 ms

#24

#23

H’41A7

R/W

Target position (I) P(I)

Range: -2,147,483,648 ~ +2,147,483,647 unit*1

╳

(-2,147,483,648 ~ +2,147,483,647 pulse transfer value) *2,

factory setting: 0 unit*1

#26

#25

H’41A9

╳

R/W

Running speed (I) V(I)

Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (10 ~ 200K

PPS pulse transfer value) *2, factory setting: 1,000 unit*1

#28

#27

H’41AB

R/W

Target position (II)P(II)

Range: -2,147,483,648 ~ +2,147,483,647 unit*1

╳

(-2,147,483,648 ~ +2,147,483,647 pulse transfer value) *2,

factory setting: 0 unit*1

#30

#29

H’41AD

╳

R/W

Running speed (II)

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse

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

#31

H’41AF

╳

R/W

Running instruction

CLR output (On/Off)

CLR signal output mode

Current position = 0 (CP=0)

Software START

ABS/REL Coordinate

Zero return start

CCW pulse STOP

CW pulse STOP

factory setting: H’0000

Software STOP

-

-

-

-

JOG-

JOG+

Error reset

bit

Description

Timing

#

0 When b[0]=1, Error reset. Error indicator is off and FLAG in CR (CR#43.b[5]) is cleared to 0.

0→1

		Tacc	Tdec	Interrupt 1st -speedposition		Tacc	Tdec
1st-speed position		Speed				Speed
	operation mode	Vmax			operation mode	Vmax
		V(I)	P(I)			V(I)	P(I)
						Vbias
		Vbias					Time
			Time			Start
		Start				DOG

2When 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.

3When b[3] is triggered and START ON, if the DOG external near point signal is executed during 1st-speed

position operation, the 2nd-speed position operation will be started immediately.

		Tacc			Tdec		operationposition mode	Tacc		Tdec
speed-2nd position		Speed				Interrupt2nd -speed		Speed
	operationmode	Start						DOG
			Vmax					Vmax
		P(I)	V(I)	P(II)	V(II)			V(I)	P(II)	V(II)
			Vbias					Vbias
										Time
					Time			Start

4When b[4] is triggered, it starts to execute variable speed operation and PU starts to send pulse as well.

The pulse direction is set by the sign bit of V(I) value.

bit # Description

0When b[0]=0, system is ready. When b[0]=1, PU is executing position control mode (Pulse is outputting).

1When b[1]=1, CW pulse is outputting.

2When b[2]=1, CCW pulse is outputting.

3When 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.

4When 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.

5When b[5]=1, PU error occurred. Error code is stored in CR#44.

6When 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

7that 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.
10	When b[10]=1, it means manual pulse generator inputs with counting downward.

#44	H’41BC	╳	R	Error code	Please refer to “Error Code & Troubleshooting” for detail.
					Factory setting: H’0000
#45	H’41BD		R/W	Electronic gearing	Please refer to the following description. Factory setting: H’1
		╳		numerator of MPG
				input
#46	H’41BE		R/W	Electronic gearing	Please refer to the following description. Factory setting: H’1
		╳		denominator of
				MPG input

z Input operation of manual pulse generator:

1.Manual pulse generator input operation is ON when b5 of CR#32 is set to 1.

1	When b[1]=0→1 ,this is the same function as external input signal that forces to stop. When	0→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.	1
3	When b[3]=1, CCW running is forbidden, CCW running instruction is disabled.	1
4	When b[4]= 0→1, CW pulse is generated in JOG+ mode.	1
5	When b[5]= 0→1, CCW pulse is generated in JOG- mode.	1
	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
6	point signal), DOG=Off.	0→1
	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.

	Tacc	Tdec
Variable speed operation mode	Speed
		Vmax
		V(I)
	0	Vbias
		Vbias	Time
			operationZeroreturnmode
	Start
	Stop

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 zero return mode N(CR#16). (4)the number of pulse in zero return mode P(CR#17).

Speed(PPS)	Isolate from DOG near signal
	Contact DOG near signal
VRT
VCR	Zero return direction
VCR

The number of pulse in zero return mode (P)

The number of PG0 in zero return mode (N)

DOG

DOG falling-edge detecting

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:

		Servo drive
A phase	Input pulse XCR#45	Servo motor
		FP
	CR#46
B phase	= output pulse	RP

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,

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.

modeoperationJOG	Tacc	Tdec	operationreturnZeroroute		Zero point return direction
	Speed			Hardware polarity switch
	Vmax			LSN		DOG	LSP
	Vjog
	Vbias			[4]	[3] Zero point	[2]	[1]
		Time
	JOG

	bit #	Description	Timing
7		When b[7]=0, it is absolute position. When b[7]=1, it is relative position.	0/1
	8	When b[8]=0→1, start running by the work mode of CR#32.	0t1
	10	When b[10]=0→1, current position (CP) is cleared to 0.	0t1
12		When b[12]=0, CLR outputs 130ms to Servo when zero return is completed. It is for the clear
		signal of servo internal error counter.	0/1
		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.	0/1

5	When b[5]= 0→1, manual pulse generator input is started. Please refer to the setting of CR#45~#51.
	When b[5]=1Æ0, 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
6	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.

7b[7]=1: The output pulse of manual pulse generator is limited between P(I) and P(II). When the output pulse is out of the range, it will be decelerated and then stopped outputting.

8b[8]=0: When motor is running, it will decelerate to stop if LSP/LSN signal is received.

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)

9~11	b[11~9]=K0(000) or other value: NO MASK function.
	b[11~9]=K1(001) : the rising-edge of input terminal ΦA± will trigger MASK.
	b[11~9]=K2(010) : the falling-edge of input terminal ΦA± will trigger MASK.
	b[11~9]=K3(011) : the rising-edge of input terminal ΦB± will trigger MASK.
	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.
#34 #33 H’41B1 ╳ R/W		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

CR#46) are proportional to each other.

#48 #47	H’41BF	╳ R/W	Input frequency of	The input frequency of manual pulse generator, factory setting:
			manual pulse
				0
			generator
			Accumulated pulse	The count value of CW manual pulse input is “ +” symbol, on
				the contrary, the CCW manual pulse input is “-“symbol. And the
#50 #49 H’41C1		╳ R/W	number of manual
				count value is nothing to do with the ratio setting of manual
			pulse generator
				electronic gearing (CR#45, #46). Factory setting: 0.
						When response speed setting is
				Value	Response speed
				≧5	4ms (factory	faster, the commands of pulse output
						and manual pulse generator input
					setting)
			Response speed			will be more synchronous. When
				4	32ms
#51	H’41C3	╳ R/W	of manual pulse			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
				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
#52	H’41C4	╳ R	Terminal status	b3	PG0 input	When PG0 input is On, b3 is On
				b4	LSP input	When LSP input is On, b4 is On

#32 H’41B0

╳

R/W

Work mode

factory setting:

H’0001

b15

b14

b13

b12

b11 b10 b9

b8

b7

b6

b5

b4

b3

b2

b1

b0

-

-

-

Return to factory setting

MASK setting

LSP/LSN stop mode

Manual pulse generator range setting

STOP mode

Manual pulse generator input operation

Variable speed operation mode start

Interrupt 2nd-speed position mode start

2nd-speed position mode start

Interrupt 1st-speed position mode start

1st-speed position mode start

#36 #35 H’41B3

╳ R/W

(PPS)

PPS

#38 #37

H’41B5

╳ R/W

Current position

Range display: -2,147,483,648~+2,147,483,647 unit*1, factory

(unit*1)

setting: 0 unit*1

#40 #39

H’41B7

╳ R/W

Current speed

Range display: 0 ~ +2,147,483,647 unit*1, factory setting: 0

(unit*1)

unit*1

#41

H’41B9

9 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

#42

H’41BA

9 R/W

Baud Rate Setting

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

b0

		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
#53 H’41C5 9 R	System version	System version: in hexadecimal system. Ex.: H’0100, the
		software version is V1.00.

*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.

bit
	Description
#

0When b[0] is triggered and START ON, it starts to execute 1st-speed position program. Step number and

speed are decided by P(I)& V(I).

1When 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

#43 H’41BB ╳ R/W

Execution status

MPG input downward

Route pausedindication

Position completedindication

Zero return is done

CCW pulse isoutputting

CW pulse isoutputting

factory setting:

MPG input upward

Error occurred flag

CP value overflow

Status indication

H’XXXX

-

-

-

-

-

-

Error code	Description	Error code	Description
H’0000	No error	H’0013	Zero return deceleration (VRT) setting error
H’0001	Target address (I) setting error	H’0014	JOG speed (VJOG) 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