Delta Electronics Network Device DVP01PU-S User Manual

R p fp c l r, Warning, Introduction

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Warning

This Instruction Sheet only provides descriptions for installation, wiring and trial run. For further infromation,

please refer to special module of PLC Application Manual.

DO NOT touch terminals when power on. Please must power OFF before wiring.
This 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.

DO 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.

Introduction

Model Explanation & and Peripherals

DVP01PU-S (positioning 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 SS/SA/SC/SX/SV series can
read/write DVP01PU-S via FROM/TO instrucitons. There are 49 CRs (Control Register) with 16-bit for each register in
DVP01PU-S. The 32-bits data is composed of 2 continuous CR number.

Product Profile & Outline (LED Indicator and Terminal Block)

Upper Row Lower Row

S/S

A-

START

B+

STOP

B-

DOG

CLR+

LSP

CLR-

LSN

FP+

PG0+

FP-

PG0-

RP+

●

R P

C LR

●

-0

S TA RT

P G0

L SN

L S P

D OG

S TOP

E RR OR

L . V

P OWE R

3.00

25.20

60.00

3.40

Unit: mm

A+

RP-

1. Status Indicator (Power, LV and ERROR) 2. Model name

3. DIN rail clip

4. Terminal

5. Terminal indicator

6. Mounting hole

7. Nameplate

8. Extension port to connect extension module

9. Extension unit/module clip

10. DIN rail track (35mm)

11. RS-485 communication port

12. Clip for combining extension modules

13. Power input

14. Extension port to connect extension module

15. Upper row terminals

16. Lower row terminals

LED Display

POW ER : Power indicator, +5V internal power

START : Start input

: Low voltage indicator

STOP : Stop input

lit when external input power is lower than 19.5V

DOG

: DOG (near point signal) input

ERROR : Error indicator (ON/OFF blinking).

: CW pulse output

It will blink when CR#39 is not 0.

: CCW pulse output

LSP

: Right limit input indicator

: A-phase input of manual pulse generator

LSN

: Left limit input indicator

: B-phase input of manual pulse generator

PG0

: Zero signal input indicator

CLR

: Output clear signal

Input/Output Terminal

Description

Terminal name

Content

Response

Power supply +24V, 0V

Power input/24V DC (-15 ~ +20%)
Current consumption 70

±10mA; Startup peak current 1.3 A

ENGLISH

Description

Terminal name

Content

Response

START

Start input terminal

4ms/12ms

STOP

Stop input terminal

4ms

LSP/LSN

Limit Stroke of right/left limit

1ms

A+, ΦA-

A-phase terminal (+, -) of manual pulse generator input (line driver input)

200kHz

B+, ΦB-

B-phase terminal (+, -) of manual pulse generator input (line driver input)

200kHz

PG0+, PG0-

Zero signal input terminal +, - (line driver input)

4ms

DOG

Offers two different functions depending on operation mode.
(1) It is near-point signal in zero return mode.
(2) It is start signal on interrupt 1st or interrupt 2nd speed mode.

1ms

Input

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)

4ms

FP+, FP-

FP/RP mode: CW pulse output

I/O mode: Output pulse

AB-phase mode: A-phase output

200kHz

Output

RP+, RP-

FP/RP mode: CCW pulse output

I/O mode: direction output

AB-phase mode: B-phase output

200kHz

Input/Output

Circuit

D VP0 1 PU -S

S TART

STO P

L SP

L SN

D OG

S/S

+2 4V

5-2 4V D C

+24 V DC IN

2 4V

F P+

F P-

RP +

RP -

C LR+

C LR -

A-p has e

ΦA+
ΦA-
ΦB+

P G 0+

PG 0 -

5-2 4 VD C

P LS

/P LS

S IG N

/S IG N

D I2

C O M-

VD D

C O M+

1 7

4 1

4 3

3 7

3 6

1 0

4 5

24V

B-p ha s e

ΦB-

D elt a S ervo

ASD A se ries

M a nu al p uls e ge n era to r

S hie ld ed c ab le

1. Please use 22-16AWG (1.5mm)

wiring (either single or multiple core)
for I/O wiring terminals. PLC
terminal screws should be tightened
to 1.95 kg-cm (1.7in-lbs). Use
copper conductors only, 60/75oC.

2. DO NOT arrange the wiring of I/O

signal wires or power supply in the
same wiring duct.

3. Make sure the terminals

power module and DVP01PU-S are
properly grounded or connected to
the cover of power distribution
cabinet.

4. DO NOT wire to null terminal .
5. Use only 60/75°C copper conductors.

Specifications

Functions

Item

Content

Power supply

24V DC (-15% ~ +20%); Current consumption 70±10mA; Startup peak current 1.3 A

Max. number of
connected axes

8 units; (SS/SA/SX/SC/SV series MPU can connect up to 8 extension modules without occupying any
I/O)

Distance
instruction

Distance value is set by CR
1. Setting range: -2,147,483,648 ~ +2,147,483,647; 2. Selectable unit: um, mdeg, 10

-4

inch, Pulse;

3. Selectable rate: 10

, 10

; 4. Selectable position: absolute and relative position instruction

Speed
instruction

Speed value is set by CR
1. Setting range: -2,147,483,648 ~ +2,147,483,647 (conversion value of 10 ~ 200 kPPS pulse)
2. Selectable unit: pulse/s, cm/min, 10deg/min, inch/min

External output

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 ~ 24V DC, less than 20mA)

External input

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, 24V DC±10%, 5±1mA)
Inputs: ΦA, ΦB (line driver or open collector transistor, 5 ~ 24V DC, 6 ~15mA)

Input: PG0 (line driver or open collector transistor, 5 ~ 24V DC, 6 ~ 15mA)

Pulse output
format

Three selectable modes: Pulse/Dir, FP (CW)/RP (CCW), A/B (all modes are line driver output).

Position
program & data
transmission

CR data can be read/write via FROM/TO intruction of PLC MPU. The 32-bit data is composed of 2
continuous CR number. The range of 16-bit CR is CR#0 ~ CR#48.

Connect to
DVP-PLC
series

Modules are numbered from 0 ~ 7 with 0 closet and 7 farthest to the MPU. Up to 8 modules can be
connected without occupying any digital I/O.

Others

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
immunity

Standard: IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC 68-2-27 (TEST Ea)

Approvals

CR (Control Register)

CR No.

HM LW

Content

Setting Range

#0 H’4190

○

R Model No.

System setting, Read-only (The model number of DVP01PU-S is H’0110.)

#2 #1 H’4191

○

R/W Pulse rate (A)

Range: 1 ~ +2,147,483,647 PPS/REV, factory setting: 2,000
Pulse/Revolution (PLS/REV)

#4 #3 H’4193

○

R/W Feed rate (B)

Range: 1 ~ +2,147,483,647 unit/REV, factory setting: 1,000 (unit*1/REV)

b15 b14 b13 b12 b11 b10 b9

b6 b5 b4 b3 b2 b1 b0

#5 H’4195

○

R/W

Parameter
setting
Factory setting:
H’0000

#7 #6 H’4196

○

R/W

Maximum
speed Vmax

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS) *2

Factory setting: 200,000 unit*1

#9 #8 H’4198

○

R/W

Bias speed
Vbias

Range: 0 ~ +2,147,483,647 unit*1 (0 ~ 200 kPPS pulse transfer value) *2
Factory setting: 0 unit*1

#11 #10 H’419A

○

R/W

JOG speed
V

JOG

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS pulse transfer value) *2
Factory setting: 5,000 unit*1

#13 #12 H’419C

○

R/W

Zero return
speed V

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS pulse transfer value) *2
Factory setting: 50,000 unit*1

#15 #14 H’419E

○

R/W

Zero return
deceleration
speed V

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS pulse transfer value) *2
Factory setting: 1,000 unit*1

#16 H’41A0

○

R/W

The number of
PG0 in zero
return mode N

Range: 0 ~ +32,767 PLS
Factory setting: 0 PLS

#17 H’41A1

○

R/W

The number of
pulse in zero
return mode P

Range: -32,768 ~ +32,767 PLS
Factory setting: 0 PLS

#18 H’41A2

○

R/W

Zero return
mode H Mode

b0: zero return mode,
b1: detect DOG falling-edge in zero return mode

#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 Tacc

Range: 10 ~ +32,767 ms

Factory setting: 100 ms

CR No.

HM LW

Content

Setting Range

#22 H’41A6

○

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 ~ 200 kPPS 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) V(II)

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS pulse transfer value) *2
Factory setting: 2,000 unit*1

b15 b14 b13 b12 b11 b10 b9 b8

b6 b5 b4 b3

b1 b0

#31 H’41AF

╳ R/W

Running
instruction
factory setting:
H’0000

)

b15 b14

b13

b12 b11~b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

#32 H’41B0

╳ R/W

Work mode
Factory setting:
H’0001

;

-s

#34 #33 H’41B1

╳ R/W

Current position
CP (PLS)

Range display: -2,147,483,648 ~ +2,147,483,647 PLS
Factory setting: 0 PLS

#36 #35 H’41B3

╳ R/W

Current speed
CS (PPS)

Range display: 0 ~ +2,147,483,647 PPS
Factory setting: 0 PPS

#37 H’41B5

╳ R/W

Communication
address and
Baud rate
setting

RS-485 communication address setting: setting range 01 ~ 254

Factory setting: K1. Baud rate setting: 4,800, 9,600, 19,200, 38,400, 57,600,
and 115,200 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)
b0: 4,800 bps (bit/sec.), b1: 9,600 bps (bit/sec.) (factory setting)
b2: 19,200 bps (bit/sec.), b3: 38,400 bps (bit/sec.)
b4: 57,600 bps (bit/sec.), b5: 115,200 bps (bit/sec.)
b6: reserved, b7: 0 for RTU, 1 for ASCII mode,
b8 ~ b15: communication address

b15 b14 b13 b12 b11 b10 b9 b8

b6 b5 b4 b3 b2

b1 b0

#38 H’41B6

○

R/W

Execution
status
factory setting:
H’XXXX

#39 H’41B7

╳ R Error code

Please refer to “Error Code & Troubleshooting” for detail.
Factory setting: H’0000

#40 H’41B8

╳ R/W

Electronic
gearing number
of MPG input

Please refer to the following explanation
Factory setting: H’1

#41 H’41B9

╳ R/W

Electronic
gearing
denominator of
MPG input

Please refer to the following explanation
Factory setting: H’1

#43 #42 H’41BA

╳ R/W

Input frequency
of manual
pulse generator

The input frequency of manual pulse generator
Factory setting: 0

#45 #44 H’41BC

╳ R/W

Accumulated
pulse input no.
of manual
pulse generator

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#40, #41). Factory
setting: 0.

Value

Response speed

≧5

4ms (factory setting)

32ms

108ms

256ms

#46 H’41BE

╳ R/W

Response
speed of
manual pulse
generator

1 or 0

500ms

When response speed setting is faster, the
instructions of pulse output and manual
pulse generator input will be more
synchronous. When response speed setting
is slower, the instruction of pulse output is
slower than the instruction of manual pulse
generator input. Factory setting: 5

bit #

Status

Description

START input

When START input is On, b0 is On.

STOP input

When STOP input is On, b1 is On.

DOG input

When DOG input is On, b2 is On.

PG0 input

When PG0 input is On, b3 is On.

LSP input

When LSP input is On, b4 is On.

LSN input

When LSN input is On, b5 is On.

A phase input

When A phase input is On, b6 is On.

B phase input

When B phase input is On, b7 is On.

#47 H’41BF

╳ R Terminal status

CLR output

When CLR output is On, b8 is On.

#48 H’41C0

○

R System version

System version is in hexadecimal. e.g. software V1.00 is for H’0100.

*1: Unit setting varies based on b0 and b1 setting of CR#5.
*2: Use max. Pulse output if upper limit is exceeded. Use min. pulse output if lower limit is exceeded.
※ CR#0 ~ CR48: user can use the corresponding addresses H

’

4190 ~ 41C0 to read/write data via RS-485

communication.
1. Baud rate supportive: 4,800, 9,600, 38,400, 57,600, and 115,200 bps.
2. Modbus ASCII/RTU: ASCII mode is 7 bits, even bit and 1 stop bit (7, E, 1). RTU mode is 8 bits, even bit

and 1 stop bit (8, E, 1).

3. Function code: 03’H for read data from CR; 06’H for write one word in CR; 10’H for write many words in

CR. It indicates DVP01PU-S hardware malfunction or error parameter setting when error LED flashes.
ERR code is recorded in CR#39.

Error Code & Troubleshooting

Error code

Description

Error code

Description

H’0000

No error

H’0014

JOG speed (V

JOG

) setting error

H’0001

Target position (I) setting error

H’0020

CW pulse is forbidden

H’0002

Target address (II) setting error

H’0021

CCW pulse is forbidden

H’0010

Running speed (I) setting error

H’0030

Low voltage

H’0011

Running speed (II) setting error

H’0080

Hardware error in internal memory

H’0012

Zero return deceleration (V

) setting error

H’0081

Data write in error in internal memory

H’0013

Zero return (V

) setting error

注意事項

本手冊主要提供 DVP01PU-S 定位模組安裝、配線回路及試機之參考，有關進一步的使用說明，請參考 DVP-PLC
應用技術手冊

【特殊模組篇】。

請勿在上電時觸摸任何端子。實施配線，務必關閉電源。

本機為開放型 (Open Type) 機殼，因此使用者使用本機時，必須將之安裝於具防塵、防潮及免於電擊/衝擊意
外之外殼配線箱內。另必須具備保護措施 (如: 特殊之工具或鑰匙才可打開) 防止非維護人員操作或意外衝擊
本體，造成危險及損壞。

交流輸入電源不可連接於輸入/出信號端，否則將造成嚴重的損壞，請在上電之前再次確認電源配線。

產品簡介

說明及週邊裝置

DVP01PU-S

脈波產生單元主要可應用于步進或伺服驅動系統之速度或位置控制，最高 200 kPPS 脈波輸出，內建

多種行程控制模式。透過 DVP-PLC SS/SA/SX/SC/SV 系列主機程式以指令 FROM/TO 來讀寫模組內之資料，模組
內具有 49 個 CR 暫存器，每個暫存器為 16 位。32 位

元

數值參數由兩個連續編號的 CR 所組成。

產品外觀與各部介紹（

（

（指示燈、端子台）

）

上排端子下排端子

S/S

A-

START

B+

STOP

B-

DOG

CLR+

LSP

CLR-

LSN

FP+

PG0+

FP-

PG0-

RP+

●

R P

C L R

●

-0

ST AR T

PG 0

L S N

L SP

D OG

ST OP

ER R OR

L . V

PO W ER

3.00

25.20

60.00

3.40

尺寸單位：mm

A+

RP-

電源、低電壓及運行指示燈

擴充機/擴充模組固定扣

機種型號

10. DIN

軌糟 (35mm)

3. DIN

軌固定扣

11. RS-485

通訊口

端子

12.

擴展機/擴展模組固定槽

端子指示燈

13.

電源輸入口

擴充機/擴充模組定位孔

14.

擴充機/擴充模組連接口

銘牌

15.

上排端子

擴充機/擴充模組連接口

16.

下排端子

面板指示燈

POWER

：電源指示燈，內部 +5V 電源正常

START

：啟動輸入指示燈

：低電壓指示燈，外部電源輸入小於

STOP

：停止輸入指示燈

19.5V

，該指示燈亮

DOG

：近點信號輸入指示燈

ERROR

：錯誤指示燈（On/Off 閃爍），當 CR#39

：正轉方向輸出指示燈

錯誤編號不為零時動作

：反轉方向輸出指示燈

LSP

：右極限輸入指示燈

ΦA

：手搖輪 A 相輸入指示燈

LSN

：左極限輸入指示燈

ΦB

：手搖輪 B 相輸入指示燈

PG0

：零點信號輸入指示燈

CLR

：清除信號輸出指示燈

繁體中文

輸入輸出端子信號

種類

端子

說明

回應特性

電源輸入供應 +24V, 0V,

輸入電源， 24V DC (-15 ~ +20%)，消耗電流 70±10mA，開機電流 1.3 A

START

啟動輸入

4ms/12ms

STOP

停止輸入

4ms

LSP/LSN

右極限輸入左極限輸入

1ms

ΦA+, ΦA-

手搖輪 A 相輸入+, -（差動信號輸入）

200kHz

ΦB+, ΦB-

手搖輪 B 相輸入+, -（差動信號輸入）

200kHz

PG0+, PG0-

零點信號輸入+, -（差動信號輸入）

4ms

DOG

依照運行模式不同有下列 2 種變化：1.原點復歸時為近點信號。2.一段速或二段速

插入啟動信號

1ms

輸入

S/S

輸入點 (START, STOP, DOG, LSP, LSN) 信號共用端

CLR+, CLR-

清除信號（Servo 驅動器內部偏差計數器清除信號）

4ms

FP+, FP-

正/反轉模式：正轉方向脈波輸出；脈波/方向：脈波輸出端；AB 相模式：A 相輸出 200kHz

輸出

RP+, RP-

正/反轉模式：反轉方向脈波輸出；脈波/方向：方向輸出端；AB 相模式：B 相輸出 200kHz

輸入/輸出回路配線

DVP01PU-S

START

STOP

LSP

LSN

DOG

S/S

+24V

5-24VDC

+24VDC

輸入

24V

FP+

FP-

RP+

RP-

CLR+

CLR-

台達伺服驅動器

隔離線

手搖輪脈波

相

ΦA+
ΦA-
ΦB+

PG0+

PG0-

5-24VDC

PLS

/PLS

SIGN

/SIGN

DI2

COM-

ASDA 列

系

VDD

COM+

24V

相

ΦB-

輸出/入配線端請使用
22-16AWG (1.5mm)

單蕊祼線

或多蕊線。PLC 端子鏍絲扭力
為 1.95 kg-cm (1.7lb-in)。

在配線時請勿將輸入點信號線
與輸出點或電源等動力線置於
同一線糟內。

請將電源模組之

端及

DVP01PU-S

定位控制模組之

端連接到系統接地點，再

將系統接點作第三種接地或接
到配電箱之機殼上。

空端子請勿配線。

只能使用 60/75°C 的銅導線。

規格

功能規格

項目

說明

電源輸入

24V DC (-15% ~ +20%)

，消耗電流 70 ±10mA，開機電流 1.3 A

最大連接台(軸)數

台（軸）；（不占任何 I/O 點數，SS/SA/SX/SC/SV 系列主機所能連接特殊擴充機台數總和為 8 台）

距離值

距離設定值由控制暫存器 (CR) 來設定，
1.

設定值：-2,147,483,648 ~ +2,147,483,647；

單位可選擇：um, mdeg, 10

-4

inch, Pulse

；

可選擇倍率：10

, 10

；

可選擇絕對位置或相對移動量

速度值

速度設定值由控制暫存器 (CR) 來設定，
1.

設定值：-2,147,483,648 ~ +2,147,483,647 (10 ~ 200kPPS 的脈波轉換值)；

單位可選擇：Pulse/s, cm/min, 10deg/min, inch/min

外部輸出點

全部採用光耦合作隔離，輸出/入信號皆附 LED 作為信號及致能的指示
輸出點：FP, RP 輸出差動驅動信號 5V
輸出點：CLR 為電晶體 NPN 開集極 5 ~ 24V DC, 20mA 以下

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