Delta Electronics Pulse Generation Unit DVP01PU-H2 User Manual

Warning, Introduction, Specifications

Warning

This instruction sheet provides information on the installation, wiring and trial operation of DVP01PU-H2. For more

detailed information, see “DVP-PLC Application Manual: Special Module”.

DO NOT touch any terminal when the power is switched on. Switch off the power before wiring.
DVP01PU-H2 is an OPEN-TYPE device and therefore should be installed in an enclosure free of airborne dust,

humidity, electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the device
(e.g. key or specific tools are required to oepn the enclosure) in case danger and damage on the device may occur.

DO NOT connect input AC power supply to any of the I/O terminals; otherwise serious damage may occur. Check all

the wiring again before switching on the power.

Introduction

￭￭￭￭ Model Explanation and Peripherals

DVP01PU-H2 pulse generation unit is mainly applied to the speed or position control of step or servo drive
system. The maximum output pulse of DVP01PU-H2 can be up to 200kPPS. DVP01PU-H2 is built in with
various route control modes. Through FROM/TO instructions in DVP-EH2 MPU program, the data in
DVP01PU-H2 can be read or written. There are 54 16-bit control registers (CR) in DVP001PU-H2. The
32-bit parameters are composed of 2 continuous CR#.

￭￭￭￭ Product Profile (Indicators, Terminal Block, I/O Terminals)

Unit: mm

T
D

-
C

+
C

○

DIN rail (35mm)

○

Terminals

○

Connection port for extension unit/module

○

Mounting hole

○

Model name

○

I/O terminals

○

Status indicators

○

Connection port for extension unit/module

○

DIN rail clip

￭￭￭￭ LED Indicators

POWER : Power indicator, +5V internal power is normal

START : Starting input indicator

: Low voltage indicator (on when the external

STOP : Stopping input indicator

power supply is less than19.5V)

DOG

: DOG input indicator

ERROR : Error indicator (On/Off/flash). Flashes when

: Forward pulse output indicator

CR#44 is not 0.

: Reverse pulse output indicator

LSP

: Right limit input indicator

: MPG A-phase pulse input indicator

LSN

: Left limit input indicator

: MPG A-phase pulse input indicator

PG0

: Zero signal input indicator

CLR

: Clearing signal output indicator

￭￭￭￭ I/O Terminal Signals

Type

Terminal

Description

Response feature

Power supply

+24V, 0V

Power input: 24V DC (-15 ~ +20%), Current consumption: 100mA

START

Starting input

15ms/50ms

STOP

Stopping input

15ms

LSP/LSN

Right/left limit input

1ms

A+, ΦA-

MPG A-phase pulse input +, - (differential signal input)

200kHz

B+, ΦB-

MPG B-phase pulse input +, - (differential signal input)

200kHz

Input

PG0+, PG0- Zero signal input +, - (differential signal input)

1ms

ENGLISH

Input

DOG

2 variations according to different operation modes:
1. DOG signal when in zero return
2. Interruption signal inserted in signal-speed or 2-speed sections

1ms

CLR+, CLR- Clearing signal (clearing signals in the error counter in servo drive)

130ms

FP+, FP-

FP/RP mode: forward pulse output; pulse/direction: pulse output;

A/B phase: A phase output

200kHz

Output

RP+, RP-

FP/RP mode: reverse pulse output; pulse/direction: direction output;

A/B phase: B phase output

200kHz

￭￭￭￭ Wiring

Less than
6.8 mm

For M3.5

1. Use O-type or Y-type terminals for the I/O wiring as shown in the figure. The torque of

screw at the PLC terminal should be 5 ~ 8 kg-cm (4.3 ~ 6.9 in-lbs).

2. DO NOT place the wirings of input signals, output signals and power supply in the same

wire conduit.

3. Use only 60/75°C copper conductors.

￭￭￭￭ I/O Circuit

DVP01PU-H2

START

STOP

LSP

LSN

DOG

S/S

+24V

5-24VDC

+24VDC input

24V

FP+

FP-

RP+

RP-

CLR+

CLR-

A phase

ΦA+
ΦA-
ΦB+

PG0+

PG0-

5-24VDC

PLS

/PLS

SIGN

/SIGN

DI2

COM-

VDD

COM+

24V

B phase

ΦB-

Delta Servo Drive

ASDA series

Shielding cable

MPG pulse

Specifications

Item

Description

Power supply

24V DC (-15% ~ +20%); Current consumption: 140 ± 30mA, supplied by DVP-EH2 MPU or
other self-prepared power supplier

Max. number of
connected modules/axes

8 modules (axes), which will not occupy any I/O points. DVP-EH2 series MPU is able to
connect to max. a total of 8 extension modules.

Distance

Set up by CR. Range: -2,147,483,648 ~ +2,147,483,647; unit: um, mdeg, 10

-4

inch, Pulse;

multiplications: 10

, 10

; options: absolute position or relative displacement

Speed

Set up by CR. Range: -2,147,483,648 ~ +2,147,483,647 (10 ~ 200kPPS pulse conversion);
unit: pulse/s, cm/min, 10deg/min, inch/min

External output points

Isolated by photocoupler. LED indicators for all I/O signals.
Output points FP and RP are differential signal (5V).
Output point CLR is transistor NPN open collector (5 ~ 24V DC, less than 20mA).

External input points

Isolated by photocoupler. LED indicators for all I/O signals.
Input points START, STOP, LSP, LSN, DOG are contacts or transistor open collector (24V DC
± 10%, 5±1mA).
Input points ΦA and ΦB are differential or transistor open collector (5 ~ 24V DC, 6 ~ 15mA)
Input points PG0 is differential or transistor open collector (5 ~ 24V DC, 6 ~ 15mA)

Pulse output methods

In 3 modes: Pulse/Dir, FP (CW)/RP (CCW), A/B; by differential output

Position control program
& data exchange with
MPU

Through FROM/TO instructions in DVP-EH2 MPU program, DVP01PU-H2 is able to read and
write the data in the CR. If the data are 32-bit, 2 CRs will be required to process the data.
CR#0 ~ CR#53 are the built-in 16-bit control registers.

When connected to
DVP-PLC MPU in series

The modules are numbered from 0 to 7 automatically by their distance from MPU. No. 0 is the
closest to MPU and No. 7 is the furthest. Maximum 8 modules are allowed to connect to MPU
and will not occupy any digital I/O points.

￭￭￭￭ Other Specifications

Environment

Operation/storage

Operation: 0°C ~ 55°C (temperature); 50 ~ 95% (humidity); pollution degree 2.
Storage: -25°C ~ 70°C (temperature); 5 ~ 95% (humidity)

Vibration/shock immunity

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

Control Registers

CR#

Content

Setup range

H’4190

○

Model name

Set up by the system. DVP01PU-H2 model code = H’6110

H’4191

○

R/W

Number of pulses required
for rotate motor for 1
revolution (A)

Range: 1 ~ +2,147,483,647 PPS/REV
Default = 2,000 pulses/revolution (PLS/REV)

H’4193

○

R/W

Distance the motor rotates
for 1 revolution (B)

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

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

H’4195

○

R/W

Parameter setting
Default = H’0000

t p

rit

t p

rit

tio

rit

r m

tio

ire

tio

ire

tio

t p

rit

t p

rit

t m

lti

lic

tio

iti

it s

tti

H’4196

○

R/W Maximum speed (V

MAX

)

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200kPPS pulse
conversion)*2. Default: 200,000 unit*1

H’4198

○

R/W Bias speed (V

BIAS

)

Range: 0 ~ +2,147,483,647 unit*1 (0 ~ 200kPPS pulse
conversion)*2. Default: 0 unit*1

#11 #10

H’419A

○

R/W JOG speed (V

JOG

)

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200kPPS pulse
conversion)*2. Default: 5,000 unit*1

#13 #12

H’419C

○

R/W Zero return speed (V

)

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200kPPS pulse
conversion)*2. Default: 50,000 unit*1

#15 #14

H’419E

○

R/W

Zero return deceleration
speed (V

)

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200kPPS pulse
conversion)*2. Default: 1,000 unit*1

#16

H’41A0

○

R/W

The number of PG0 in
zero return mode (N)

Range: 0 ~ +32,767PLS
Default: 0PLS

#17

H’41A1

○

R/W

The number of pulses in
zero return mode (P)

Range: -32,768 ~ +32,767PLS
Default: 0PLS

#18

H’41A2

○

R/W

Zero return mode
(H MODE)

b0: zero return mode
b1: detecting DOG falling edge in zero return mode

#20 #19

H’41A3

○

R/W Setup of zero point (HP)

Range: 0 ~ ±999,999 unit*1. Default: 0 unit*1

#21

H’41A5

○

R/W Acceleration time (T

ACC

)

Range: 10 ~ +32,767ms. Default: 100ms

#22

H’41A6

○

R/W Deceleration time (T

DEC

)

Range: 10 ~ +32,767ms. Default: 100ms

#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 conversion) *2.
Default: 0 unit*1

#26 #25

H’41A9

╳

R/W Operation speed (I) (V(I))

Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (10 ~
200kPPS pulse conversion)*2. Default: 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 conversion)*2.
Default: 0 unit*1

CR#

Content

Setup range

#30 #29

H’41AD

╳

R/W Operation speed (II) (V(II))

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

Operation instruction
Default: H’0000

l o

t m

r C

ftw

iti

lin

ftw

r r

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

#32

H’41B0

╳

R/W

Work mode
Default: H’0001

t t

tti

l P

t o

tio

ria

tio

tin

-s

iti

tio

-s

iti

tio

tin

-s

iti

tio

-s

iti

tio

#34 #33

H’41B1

╳

R/W Current position CP (PLS)

Range: -2,147,483,648 ~ +2,147,483,647PLS.
Default: 0PLS

#36 #35

H’41B3

╳

R/W Current speed CS (PPS)

Range: 0 ~ +2,147,483,647PPS.Default: 0PPS

#38 #37

H’41B5

╳

R/W

Current position CP
(unit*1)

Range: -2,147,483,648~+2,147,483,647 unit*1
Default: 0 unit*1

#40 #39

H’41B7

╳

R/W Current speed CS (unit*1) Range: 0 ~ +2,147,483,647 unit*

. Default: 0 unit*1

#41

H’41B9 ○

R/W

Communica-
tion address setting

Setting up RS-485 communication address. Range: 01 ~
254.
Default: K1

#42

H’41BA ○

R/W

Communication speed
(baud rate) setting

For setting up communication speed:
4,800/9,600/19,200/38,400/ 57,600/115,200bps.ASCII data
format: 7-bit, even bit, 1 stop bit (7, E, 1). RTU data format:
8-bit, even bit, 1 stop bit (8, E, 1).
b0: 4,800bps. b1: 9,600 bps (Default).
b2: 19,200bps. b3: 38,400bps. b4: 57,600bps. b5:
115,200bps
b6 ~ b14: reserved. b15: 0=RTU mode; 1=ASCII mode
(Default).

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

#43

H’41BB

╳

R/W

Execution status
Default: H’XXXX

t c

tin

t c

tin

iti

r o

rfl

t i

t in

tio

#44

H’41BC

╳

Error code

See “ Error Code & Troubleshooting” Default: H’0000

#45

H’41BD

╳

R/W

Numerator of MFG
electronic gearing

See explanations below. Default: H’1.

#46

H’41BE

╳

R/W

Denominator of MFG
electronic gearing

See explanations below. Default: H’1.

#48 #47

H’41BF

╳

R/W Input frequency of MPG

Input pulse frequency. Default: 0.

#50 #49

H’41C1

╳

R/W

Accumulated number of
pulses by MPG

Accumulated by the number of pulse input from MPG.

Forward pulse is accumulated by “plus” and reverse pulse
is accumulated by “minus”. The accumulated value will not
be affected by the settings in CR#45 and CR#46. Default:
0.

Set value

Response

speed

≧

4ms (default)

32ms

108ms

256ms

#51

H’41C3

╳

R/W

Response speed of MPG
input

1 or 0

500ms

The faster the response speed,
the more synchronous the
instruction pulse output and
MPG pulse input. The slower the
response speed, the more
possible the instruction pulse
output lags behind MPG pulse
input. (Default: 5)

bit #

Status

Description

START input

When START input is On, b0=On.

STOP input

When STOP input is On, b1=On.

DOG input

When DOG input is On, b2=On.

PG0 input

When PG0 input is On, b3=On.

LSP input

When LSP input is On, b4=On.

LSN input

When LSN input is On, b5=On.

A phase input

When A phase input is On,
b6=On.

B phase input

When B phase input is On,
b7=On.

#52

H’41C4

╳

Terminal status

CLR output

When CLR output is On, b8=On.

#53

H’41C5 ○ R

Firmware version

Displayed in hex; e.g. V1.00 is indicated as H’0100.

*1: The setting of unit is in accordance with b0 and b1 of CR#5.
*2: The module outputs the maximum pulses if the pulse conversion value exceeds the range and outputs the minimum pulses if the

conversion value falls below the range.

CR#0 ~ CR#53: The corresponding parameter addresses H’4190 ~ H’41C5 are for users to read/write data by
RS-485 communication. When using RS-485, th e user has to separate the module with MPU first.

a. Communication baud rate: 4,800/9,600/19,200/38,400/57,600/115,200bps
b. Modbus ASCII/RTU communication protocols: ASCII data format (7-bit, even bit, 1 stop bit (7, E, 1)); RTU

data format (8-bit, even bit, 1 stop bit (8, E, 1)).

c. Function: H’03 (read register data); H’06 (write 1 word datum to register); H’10 (write many word data to

d. Latched CR should be written by RS-485 communication to stay latched. CR will not be latched if written

by MPU through TO/DTO instruction.

Error Code & Troubleshooting

ERROR LED will be on when hardware malfunction or incorrect parameter settings occur. The error code will
be recorded in CR#44.

Error code

Explanation

Error code

Explanation

H’0000

No error

H’0014

Incorrect V

JOG

H’0001

Incorrect target position (I)

H’0020

FP is forbidden

H’0002

Incorrect target position (II)

H’0021

RP is forbidden

H’0010

Incorrect operation speed (I)

H’0030

Low voltage

H’0011

Incorrect operation speed (II)

H’0080

Hardware error in internal memory

H’0012

Incorrect V

H’0081

Incorrect written in data in internal memory

H’0013

Incorrect V

注意事項

本手冊主要提供 DVP01PU-H2 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-H2

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

內建多種行程控制模式。透過 DVP-PLC EH2 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 54 個 CR 暫存器，每個暫存器為 16 bits。32 位元數值參數由兩個連續編號的 CR 所組成。

產品外觀 (指示燈、端子台、端子配置)

尺寸單位：mm

DIN 軌糟 (35mm)

端子

擴充機/擴充模組連接口

固定孔

機種名稱

端子配置

電源、錯誤及轉換指示燈

擴充機/擴充模組連接座

DIN 軌固定扣

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#44

：正轉方向脈波輸出指示燈

錯誤編號不為零時動作

：反轉方向脈波輸出指示燈

LSP

：右極限輸入指示燈

ΦA

：手搖輪 A 相脈波輸入指示燈

LSN

：左極限輸入指示燈

ΦB

：手搖輪 B 相脈波輸入指示燈

PG0

：零點訊號輸入指示燈

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

響應特性

電源輸入供應 +24V, 0V,

輸入電源，24V DC (-15 ~ +20%)，消耗電流 100mA

START

啟動輸入

15ms/50ms

STOP

停止輸入

15ms

LSP/LSN

右極限輸入左極限輸入

1ms

ΦA+, ΦA-

手搖輪 A 相脈波輸入+, -（差動信號輸入）

200kHz

ΦB+, ΦB-

手搖輪 B 相脈波輸入+, -（差動信號輸入）

200kHz

PG0+, PG0-

零點訊號輸入+, -（差動信號輸入）

1ms

輸入

DOG

依照運轉模式不同有下列 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

CLR+, CLR-

清除信號（Servo 驅動器內部偏差計數器清除信號）

130ms

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

配線

6.8 mm

以下

6.8 mm

以下

M3.5 用

使

輸出/入配線端請使用 O 型或 Y 型端子，端子規格如左所示。PLC 端子鏍絲扭力為 5 ~ 8 kg-cm
(4.3 ~ 6.9 in-lbs)

。

在配線時請勿請輸入點信號線與輸出點或電源等動力線置於同一線糟內。

只能使用 60/75°C 的銅導線

輸入

／

輸出回路配線

DV P 01PU- H2

S TA RT

STO P

LS P

LS N

DO G

S/ S

+24 V

5-24 V DC

+24 V DC

輸入

24V

FP +

F P-

RP +

RP -

CL R+

CLR -

台達伺服驅動器

隔離線

手搖輪脈波

相

ΦA+
ΦA-
ΦB+

PG0 +

PG0 -

5- 24VD C

PL S

/PL S

SIG N

/SIG N

DI 2

COM -

ASDA 列

系

VD D

COM +

24V

相

ΦB-

規格

項目

說明

電源輸入

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

消耗電流 140±30mA；可由 DVP-EH2 主機取得或自備電源供應器。

最大連接台（軸）數

台（軸）；（不佔任何 I/O 點數，DVP-EH2 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來設定
1.

設定值：-2,147,483,648 ~ +2,147,483,647；2. 單位可選擇：um, mdeg, 10

-4

inch, Pulse

；

可選擇倍率：10

, 10

；4. 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來設定

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