Delta Electronics DVP01PU-H Leaflet

#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 T

acc

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

#22 H’41A6 9 R/W Deceleration time T

dec

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)

V(II)

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse
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
factory setting: H’0000

CLR output (On/Of

CLR signal output mode

Current position = 0 (CP=0)

Sof

tware ST

ABS/REL

Coordinate

Zero return st

art

JOG-

JOG+

CCW pulse ST

CW pulse ST

Sof

tware ST

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

When b[1]=0→1 ,this is the same function as external input signal that forces to stop. When
external signal that forces to stop is inputted or when b[1]=0→1, PU will decelerate to stop.

0→1

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.
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.

0→1

JOG operation

mode

Speed

Tacc

Tdec

Vmax

Time

Vbias

JOG

Vjog

Zero return operation route

LSN

DOG

LSP

Hardware polarity switch

Zero point return direction

Zero point

[4]

[3]

[2]

[1]

bit #

Description

Timing

When b[7]=0, it is absolute position. When b[7]=1, it is relative position.

0/1

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

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.
When b[12]=1, CLR is common output point and the status(On/Off) is controlled by b[13].

0/1

13 When b[13]=0, CLR output point is Off. When b[13]=1, CLR output point is On.

0/1

b15 b14 b13 b12 b11 b10 b9 b8

b6 b5

b4 b3 b2 b1

#32 H’41B0

╳

R/W

Work mode

factory setting:

H’0001

Return to factory setting

MASK settin

LSP/LSN sto

p mode

Manual pulse generator range setting

mode

Manual pulse generator input operation

ariable speed operation mode st

art

Interrupt 2nd-speed position mode st

art

2nd-speed position mode st

art

Interrupt 1st-speed position mode st

art

1st-speed position mode st

art

bit

Description

When 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).

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).

1st

-speed position

operation m

ode

Speed

Tacc

Tdec

Vmax

Time

Vbias

Start

V(I)

P(I)

Interrupt 1st

-speed position

operation

mode

Speed

Tacc

Tdec

Vmax

Time

Vbias

Start

V(I)

P(I)

DOG

When 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.

When 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.

2nd

-sp

eed position

operation mode

Speed

Tacc

Tdec

Vmax

Time

Vbias

Start

V(I)

V(II)

P(II)

P(I)

Interrupt 2nd

-speed

position

operation mode

Speed

Tacc

Tdec

Vmax

Time

Vbias

Start

DOG

V(I)

V(II)

P(II)

When 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.

ariable speed operation mode

Speed

Tacc

Vmax

Time

Vbias

Start

Stop

V(I)

Vbias

Tdec

Zero return operation mode

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)

VCR

VRT

VCR

DOG

Isolate from DOG near signal

Contact DOG near signal

Zero return direction

The number of PG0 in zero return mode (N)

DOG falling-edge detecting

The number of pulse in zero return mode (P)

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
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.
b[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.

b[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.

9~11

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.
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.

b[12]=1: All parameters return to factory setting.

#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

#38 #37 H’41B5

╳

R/W

Current position

(unit*1)

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

, factory

setting: 0 unit*

#40 #39 H’41B7

╳

R/W

Current speed

(unit*1)

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

, factory setting: 0

unit*

#41 H’41B9 9 R/W

Communication

address

RS-485 communication address, range: 01~255, factory
setting: K1

#42 H’41BA 9 R/W Baud Rate Setting

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)
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

#43 H’41BB

╳

R/W

Execution status

factory setting:

H’XXXX

MPG input downward

MPG input upward

Route p

aused indication

Position completed indication

Error occurred flag

value overflow

Zero return is done

CCW pulse is outputting

CW pulse is outputting

tatus indication

bit #

Description

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

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

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

When 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.

When 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.

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
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
that PU is pause and it will execute the uncompleted route and b[7] will be cleared to 0 after STOP status is
off.

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

╳

Error code

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

#45 H’41BD

╳

R/W

Electronic gearing

numerator of MPG

input

Please refer to the following description. Factory setting: H’1

#46 H’41BE

╳

R/W

Electronic gearing

denominator of

MPG input

Please refer to the following description. Factory setting: H’1

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

B phase

Servo drive

Servo motor

Input pulse X

= output pulse

CR#45
CR#46

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.

#48 #47 H’41BF

╳

R/W

Input frequency of

manual pulse

generator

The input frequency of manual pulse generator, factory setting:

#50 #49 H’41C1

╳

R/W

Accumulated pulse

number 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#45, #46). Factory setting: 0.

#51 H’41C3

╳

R/W

Response speed

of manual pulse

generator

Value Response speed

≧

4ms (factory
setting)

4 32ms
3 108ms
2 256ms

1or 0 500ms

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

#52 H’41C4

╳

Terminal status

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

#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.

Error code

Description

Error code

Description

H’0000

No error

H’0013

Zero return deceleration (V

) setting error

H’0001

Target address (I) setting error

H’0014

JOG speed (V

JOG

) 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 (V

) setting error

H’0081

Data write in error in internal memory

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