Delta Electronics DVP01PU-H プリント
http://www.delta.com.tw/industrialautomation/
5011627802-1PE2
2006-12-08
Position Control Module
Instruction Sheet
Warning
3
This Instruction Sheet only provides descriptions for installation, wiring and trial run. For further infromation, please
refer to special module of PLC Application Manual.
refer to special module of PLC Application Manual.
3
Do NOT touch terminals when power on. Please turn off the power before wiring.
3
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.
3
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.
X
Introduction
1.1
Model 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
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.
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
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.
Nameplate
Power input specification
Delta PLC model name
24Vdc 3W
Differential Line Driver
01PU-H0T4320001
VX.XX
Output module specification
Bar code, serial No,
firmware version
Model & Serial Number
Serial Number
Production No.
Production week
Production week
Production plant (Taoyuan)
Version No.
Model name
Version No.
Model name
Model
DVP series
Number of channels
Model type
For EH series MPU
PU Position control module
：
Production year (2004)
1.2
Product Profile and Outline (LED Indicator and Terminal Block)
1
5
2
3
7
4
8
7
6
3
10
9
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
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
Current consumption 100mA
-
START
Start input terminal
15ms/50ms
STOP Stop
input
terminal
15ms
LSP / LSN
Input right/left limit
1ms
Φ
A+, ΦA-
A-phase terminal (+, -) of manual pulse generator input
(line driver input)
(line driver input)
200KHz
Φ
B+, ΦB-
B-phase terminal (+, -) of manual pulse generator input
(line driver input)
(line driver input)
200KHz
PG0+, PG0- Zero signal input terminal +, - (line driver input)
1ms
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.
(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)
LSP, LSN)
-
CLR+, CLR- Clear signal (clear signal of internal error counter for Servo drive)
130ms
FP+, FP-
FP/RP mode: CW pulse output
I/O mode: Output pulse
AB-phase mode: A-phase 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
I/O mode: direction output
AB-phase mode: B-phase output
200KHz
1.3 Wiring
Below 6.8
Below 6.8
To suit M3.5 screw terminals
1. Please wire I/O by O-type or Y-type terminals as the specification shown at
left. The torque of PLC terminal screw should be 5~8 kg-cm (4.3~6.9 in-lbs).
2. I/O signal wires or power supply should not run through the same multi-wire
cable or conduit.
3. Use copper conductors only, 60/75°C.
Input/Output Circuit
DVP01PU-H
START
STOP
LSP
LSN
LSN
DOG
S/S
+24V
5-24VDC
+24VDC IN
24V
0V
FP+
FP-
RP+
RP-
CLR+
CLR-
A-phase
Φ
A+
Φ
A-
Φ
B+
PG0+
PG0-
5-24VDC
PLS
/PLS
/PLS
SIGN
/SIGN
DI2
COM-
VDD
COM+
17
11
41
43
37
36
43
37
36
10
45
45
24V
B-phase
Φ
B-
Delta Servo
ASDA series
Manual pulse generator
Shielded cable
Y
Specifications
2.1 Function
Specifications
Item
Description
Power supply
DC24V(-15% ~ +20%), Current consumption 140±30mA
Power is supplied from EH series or external power supply.
Power is supplied from EH series or external power supply.
Max. number of
connected axes
connected axes
8 units (axes); (All I/O points are not occupied. There are 8 special extension units at
most to connect to EH series.)
most to connect to EH series.)
Distance instruction
Distance value is set by CR. 1. Setting value: -2, 147,483,648~+2,147,483,647;
2. Selectable unit: um, mdeg, 10
2. Selectable unit: um, mdeg, 10
-4
inch, Pulse; 3. Selectable rate: 10
0
, 10
1
, 10
2
, 10
3
;
4. Selectable position: absolute and relative position instruction
Speed 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
value of 10~200KPPS pulse); 2. Unit selectable: 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 (5~24VDC, less than
20mA)
Outputs: FP and RP (line driver output 5V)
Output: CLR is the type of NPN open collector transistor output (5~24VDC, 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, 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)
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)
Pulse output format
Three selectable modes: Pulse/Dir, FP(CW)/RP(CCW), A/B (all modes are line driver
output)
output)
Position program &
data transmission
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.
data is composed of 2 continuous CR number. The range of 16-bits CR is CR#0~CR#53.
Item
Description
Connect to DVP-PLC
in series
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
not occupy any digital I/O points of the MPU.
to 7. 0 is the closest and 7 is the farthest to the MPU. 8 modules is the max and they do
not occupy any digital I/O points of the MPU.
2.2 Other
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）
2. Storage: -25°C~70°C (Temperature), 5~95%（Humidity）
Vibration/Shock
immunity
Standard: IEC1131-2, IEC 68-2-6 (TEST Fc)/ IEC1131-2 & IEC 68-2-27 (TEST Ea)
Antistatic spec.
All places between terminals and ground comply with the spec.
Z
Control Register
DVP-01PU Position Control Unit
CR No.
HW LW
Address
Latched
Attribute
Content
Setting Range
#0 H’4190 9
R
Model No.
System setting, Read-only (The model number of DVP-01PU is
H’0110.)
H’0110.)
#2 #1 H’4191 9 R/W
Pulse required to
rotate motor for 1
revolution (A)
Range: 1 ~ +2,147,483,647 PPS/REV, factory setting: 2,000
Pulse/Revolution (PLS/REV)
Pulse/Revolution (PLS/REV)
#4 #3 H’4193 9 R/W
Machine travel
range while motor
rotate for 1
revolution (B)
Range: 1 ~ +2,147,483,647 unit/REV,
Factory setting: 1,000 (unit*1/REV)
Factory setting: 1,000 (unit*1/REV)
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
#5 H’4195 9 R/W
Parameter setting
Factory setting:
H’0000
ST
OP
input polarity
ST
AR
T
input
polarity
ST
AR
T
response time
Acceleration curve options
DOG polarity
DOG trigger time
Pulse direction
Zero return direction
LSN input polarity
LSP
input polarity
Pulse output format
Position rate setting
Unit setting
b1 b0
Unit
Motor
unit
Combined
unit
Machine
unit
b3 b2
Position rate
setting
b5 b4
Pulse output
format
0
0
Motor
pulse
um 0 0
10
0
0 0
FP + RP
0
1 Machine
pulse
m deg
0 1
10
1
0 1 Pulse + direction
1
0
Position
pulse
10
-4
inch 1 0
10
2
1 0
1
1
Combined
pulse/sec cm/min
1 1
10
3
1 1
A/B Phase pulse
pulse/sec
10deg/min
S
peed
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.
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.
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.
executed to the direction of CP’s increasing value.
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.)
interrupt 2nd speed position modes are enabled.)
11
When b[11]=0: positive logic, DOG input signal is ON, DOG near point signal is given.
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.
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).
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.
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.
When b[15]=1: negative logic, STOP input signal is OFF, STOP input.
#7 #6 H’4196 9 R/W Maximum speed V
max
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS) *2
Factory setting: 200,000 unit*1
Factory setting: 200,000 unit*1
#9 #8 H’4198 9 R/W
Bias speed V
bias
Range: 0 ~ +2,147,483,647 unit*1 (0 ~ 200K PPS pulse
transfer value) *2Factory setting: 0 unit*1
transfer value) *2Factory setting: 0 unit*1
#11 #10 H’419A 9 R/W
JOG speed V
JOG
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse
transfer value) *2Factory setting: 5,000 unit*1
transfer value) *2Factory setting: 5,000 unit*1
#13 #12 H’419C 9 R/W Zero return speed V
RT
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse
transfer value) *2Factory setting: 50,000 unit*1
transfer value) *2Factory setting: 50,000 unit*1
#15 #14 H’419E 9 R/W
Zero return
deceleration speed
V
CR
Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse
transfer value) *2, factory setting: 1,000 unit*1
transfer value) *2, factory setting: 1,000 unit*1
#16 H’41A0 9 R/W
The number of PG0
in zero return mode N
Range: 0~+32,767 PLS, factory setting: 0 PLS
#17 H’41A1 9 R/W
The number of pulse
in zero return mode P
Range: -32,768 ~+32,767 PLS, factory setting: 0 PLS
#18 H’41A2 9 R/W
Zero return mode
b0: Zero return mode, b1: detect DOG falling-edge in zero
return mode
return mode
bit #
Description
0
b[0]=0: normal mode, b[0]=1: override mode
1
b[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.
zero return mode.