Delta DVP01PU-S User manual

DVP-0150730-01
20230616

Warning
EN  DVP01PU-S is an OPEN-TYPE device. It should be installed in a control cabinet free of airborne dust, humidity,
electric shock and vibration. To prevent non-maintenance staff from operating DVP01PU-S, or to prevent an
accident from damaging DVP01PU-S, the control cabinet in which DVP01PU-S is installed should be equipped
with a safeguard. For example, the control cabinet in which DVP01PU-S is installed can be unlocked with a
special tool or key.
EN
 DO NOT connect AC power to any of I/O terminals, otherwise serious damage may occur. Please check all wiring
again before DVP01PU-S is powered up. After DVP01PU-S is disconnected, Do NOT touch any terminals in a
minute. Make sure that the ground terminal on DVP01PU-S is correctly grounded in order to prevent
electromagnetic interference.
FR
 DVP01PU-S est un module OUVERT. Il doit être installé que dans une enceinte protectrice (boitier, armoire, etc.)
saine, dépourvue de poussière, d’humidité, de vibrations et hors d’atteinte des chocs électriques. La protection
doit éviter que les personnes non habilitées à la maintenance puissent accéder à l’appareil (par exemple, une clé
ou un outil doivent être nécessaire pour ouvrir a protection).
FR
 Ne pas appliquer la tension secteur sur les bornes d’entrées/Sorties, ou l’appareil DVP01PU-S pourra être
endommagé. Merci de vérifier encore une fois le câblage avant la mise sous tension du DVP01PU-S. Lors de la
déconnection de l’appareil, ne pas toucher les connecteurs dans la minute suivante. Vérifier que la terre est bien
reliée au connecteur de terre afin d’éviter toute interférence électromagnétique.
Introduction
Model Explanation & 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 SX/SX2/SX3/SV2/SV3 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)
〈
RP
FP
CLR
〈
〈
〈
〈
DVP-01PU
START
PG0
A
B
LSN
LSP
DOG
STO P
ERROR
L.V
ss
POWER
3.0090.00
3.00
25.20 60.00 3.40
1
2
3
14
4
5
6
8
10
3
7
9
12
11
13
15
16
Unit: mm
Upper Row Lower Row
S/S
A-
START
B+
STOP
B-
DOG
CLR+
LSP
CLR-
LSN
FP+
PG0+
FP-
PG0-
RP+
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
POWER
: Power indicator, +5V internal power
START
: Start input
LV
: 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).
FP
: CW pulse output
It will blink when CR#39 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
ENGLISH

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
-
Description
Terminal name
Content
Response
Input
START
Start input terminal
4ms/12ms
STOP
Stop input terminal
4ms
LSP/LSN
Limit Stroke of right/left limit
1ms
ΦA+, ΦA-
A-phase terminal (+, -) of manual pulse generator input (line driver input)
200kHz
ΦB+, 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
S/S
Signal common terminal of these Inputs (START, STOP, DOG, LSP, LSN)
-
Output
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
RP+, RP-
FP/RP mode: CCW pulse output I/O mode: direction output
AB-phase mode: B-phase output
200kHz
Input/Output Circuit
CL R+
C LR-
10
44
GN D
DI2
S S/
+2 4V
PG0-
A+
A-
B-
B+
PG0+
24V
0V
FP +
FP -
RP +
RP -
A phase-
B phase-
ASD A-A2 Series
36
43
41
37
/P LS
PLS
/S IGN
SIG N
STA RT
ST OP
LSP
LSN
DO G
5-24VDC
5-24VDC
MP G pulse
De lta Ser vo
Shielde d cab 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 1.90kg-cm (1.65lb-in). 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 of
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; (PLC 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
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 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)

Item
Content
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), 5 ~ 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.
Content Setting Range
HM LW
Address
Latched
Attribute
#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)
#5 H’4195
○
R/W
Parameter
setting
Factory setting:
H’0000
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
STOP
input polarity
START input polarity
START 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
#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
VJOG
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 VRT
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 VCR
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

CR No.
Content Setting Range
HM LW
Address
Latched
Attribute
#21 H’41A5
○
R/W
Acceleration
time Tacc
Range: 10 ~ +32,767 ms
Factory setting: 100 ms
#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
#31 H’41AF ╳ R/W
Running
instruction
factory setting:
H’0000
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
- -
CLR output (On/Off)
CLR signal output mode
-
Current position = 0
-
Software START
ABS/REL Coordinate
Zero return start
JOG
-
JOG+
CCW pulse STOP
CW pulse STOP
Software STOP
Error reset
#32 H’41B0 ╳ R/W
Work mode
Factory setting:
H’0001
b15
b14
b13
b12
b11~b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
- -
Current position: C
R34, 33; current
speed: CR36, 35; display unit: 0

pulse, 1
unit
Return to
factory setting
MASK setting
LSP/LSN stop mode
Manual pulse generator range limitation
STOP mode
Manual pulse generator input operation
Variable speed operation mode start
Interrupt 2
nd-
speed position mode start
2nd-
speed position mode start
Interrupt 1
st-
speed position mode start
1st-
speed position mode start
#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
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
#38 H’41B6
○
R/W
Execution
status
factory setting:
H’XXXX
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
- - - - -
MPG input downward
MPG input upward
-
Route paused indication
Position completed
indication
Error occurred flag
CP value overflow
Zero return is done
CCW pulse is outputting
CW pulse is outputting
Status indication
#39 H’41B7 ╳ R Error code
Please refer to “Error Code & Troubleshooting” for detail.
Factory setting: H’0000

CR No.
Content Setting Range
HM LW
Address
Latched
Attribute
#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.
#46 H’41BE ╳ R/W
Response
speed of
manual pulse
generator
Value
Response speed
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
≧
5
4ms (factory setting)
4 32ms
3
108ms
2
256ms
1 or 0
500ms
#47 H’41BF ╳ R 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.
#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 (VCR) setting error H’0081 Data write in error in internal memory
H’0013
Zero return (V
RT
) 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 系列模組手
冊。
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 SX/SX2/SX3/SV2/SV3 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）
〈
RP
FP
CLR
〈
〈
〈
〈
DVP-01PU
START
PG0
A
B
LSN
LSP
DOG
STO P
ERROR
L.V
ss
POWER
3.0090.00
3.00
25.20 60.00 3.40
1
2
3
14
4
5
6
8
10
3
7
9
12
11
13
15
16
尺寸單位：mm
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+
A+ RP-
1. 電源、低電壓及運行指示燈 9. 擴充機/擴充模組固定扣
2. 機種型號 10. DIN 軌糟 (35mm)
3. DIN 軌固定扣 11. RS-485 通訊口
4. 端子 12. 擴展機/擴展模組固定槽
5. 端子指示燈 13. 電源輸入口
6. 擴充機/擴充模組定位孔 14. 擴充機/擴充模組連接口
7. 銘牌 15. 上排端子
8. 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
LV ：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 FP ：正轉方向輸出指示燈
錯誤編號不為零時動作 RP ：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 -
輸入
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
S/S 輸入點 (START, STOP, DOG, LSP, LSN) 信號共用端 -
輸出
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
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
CLR+
CL R-
10
44G ND
DI2
S S/
+24V
PG 0-
A+
A-
B-
B+
P G0+
24V
0V
FP+
FP -
RP +
RP -
手搖輪脈波
隔離線
A相
B相
台達伺服驅動器
A SD A-A2系列
36
43
41
37
/P LS
PLS
/ SI GN
S IG N
S TAR T
ST OP
LS P
LS N
DO G
5-24V DC
5-24V DC
1. 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1.90 kg-cm (1.65lb-in)。
2. 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。
3. 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。
4. 空端子 請勿配線。
5. 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8 台（軸）；（不占任何 I/O 點數，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；
2. 單位可選擇：um, mdeg, 10-4 inch, Pulse；
3. 可選擇倍率：100, 101, 102, 103；
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 (CR) 來設定，
1. 設定值：-2,147,483,648 ~ +2,147,483,647 (10 ~ 200kPPS 的脈波轉換值)；
2. 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：F P, R P 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
外部輸入點
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
輸入點：START, STOP, LSP, LSN, DOG 為接點或電晶體開集極 24V DC±10%, 5±1mA
輸入點：ΦA, ΦB 為差動或電晶體開集極 5 ~ 24V DC, 6 ~ 15mA
輸入點：PG0 為差動或電晶體開集極 5 ~ 24V DC, 6 ~ 15mA
脈波輸出方式 三種模式：Pulse/Dir, FP (CW)/RP (CCW), A/B；均採用差動輸出
定位控制程式與
主機資料交換
主機使用 PLC 程式搭配 FROM/TO 指令來讀取/寫入 CR 的資料內容，如果資料內容為 32 位元時，以 2
個CR 處理，內建 16 位控制暫存器區 CR#0 ~ CR#48
與DVP-PLC 主機
串接說明 模組編號以靠近主機順序自動編號由 0到7，最大可連接 8台，不佔用數字 I/O 點數
其他規格
環境規格
操作/儲存環境 1. 操作：0°C ~ 55°C（溫度），5 ~ 95%（濕度），污染等級 2
2. 儲存：-25°C ~ 70°C（溫度），5 ~ 95%（濕度）
耐振動/衝擊 國際標準規範 IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC 68-2-27 (TEST Ea)
控制暫存器 CR
CR 編號
內容 設定範圍
HW LW
通訊
位址
保
持
型
屬性
#0 H’4190
○
R 機種型號 系統內定，唯讀；機種編碼請參照機種型號列表 H’0110
#2 #1 H’4191
○
R/W 馬達轉一圈所需脈
波數 A
設定範圍 1 ~ +2,147,483,647 PPS/REV；初始值：2,000 脈波數/轉一圈
(PLS/REV)
#4 #3 H’4193
○
R/W 馬達轉一圈移動距
離B 設定範圍 1 ~ +2,147,483,647 unit/REV；初始值：1,000 (unit*1/REV)
#5 H’4195
○
R/W 參數設定
初始值：H’0000
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
STOP
輸入極性
START
輸入極性
START
回應時間
加速曲線選擇
DOG
極性
DOG
觸發啟動模式
旋轉方向 原點復歸方向
LSN
輸入極性
LSP
輸入極性
脈波輸出方式 位置資料倍率設定 單位系設定
#7 #6 H’4196
○
R/W 最高速度 Vmax 設定範圍 0 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS 的脈波轉換值) *2；
初始值：200,000 unit*1
#9 #8 H’4198
○
R/W 啟動速度 Vbias 設定範圍 0 ~ +2,147,483,647 unit*1 (0 ~ 200 kPPS 的脈波轉換值) *2;
初始值：0 unit*1
#11 #10 H’419A
○
R/W 寸動 JOG 速度 VJOG
設定範圍 0 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS 的脈波轉換值) *2；
初始值：5,000 unit*1
#13 #12 H’419C
○
R/W 原點復歸速度 VRT 設定範圍 0 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS 的脈波轉換值) *2；
初始值：50,000 unit*1
#15 #14 H’419E
○
R/W 原點復歸減速速度
VCR
設定範圍 0 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS 的脈波轉換值) *2；
初始值：1,000 unit*1
#16 H’41A0
○
R/W 原點復歸之零點
(PG0)信號數 N 設定範圍 0 ~ +32,767 PLS；初始值：0 PLS
#17 H’41A1
○
R/W 原點復歸之脈波信
號數 P 設定範圍 -32,768 ~ +32,767 PLS；初始值：0 PLS
#18 H’41A2
○
R/W 原點復歸模 H
MODE b0：原點復歸模式，b1：原點復歸 DOG 下降緣偵測

CR 編號
內容 設定範圍
HW LW
通訊
位址
保
持
型
屬性
#20 #19 H’41A3
○
R/W 原點位置定義 HP 設定範圍 0 ~ ±999,999 unit*1；初始值：0 unit*1
#21 H’41A5
○
R/W 加速時間 Tacc 設定範圍 10 ~ +32,767 ms；初始值：100 ms
#22 H’41A6
○
R/W 減速時間 Tdec 設定範圍 10 ~ +32,767 ms；初始值：100 ms
#24 #23 H’41A7
╳
R/W 目標位置(I) P(I) 設定範圍 -2,147,483,648 ~ +2,147,483,647 unit*1 (-2,147,483,648 ~
+2,147,483,647 脈波轉換值) *2；初始值：0 unit*1
#26 #25 H’41A9
╳
R/W 運轉速度(I) V(I) 設定範圍 -2,147,483,648 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS 的脈波轉
換值) *2；初始值：1,000 unit*1
#28 #27 H’41AB
╳
R/W 目標位置(II) P(II) 設定範圍 -2,147,483,648 ~ +2,147,483,647 unit*1 (-2,147,483,648 ~
+2,147,483,647 脈波轉換值) *2；初始值：0 unit*1
#30 #29 H’41AD
╳
R/W 運轉速度(II) V(II) 設定範圍 0 ~ +2,147,483,647 unit*1 (10 ~ 200 kPPS 的脈波轉換值) *2；
初始值：2,000 unit*1
#31 H’41AF
╳
R/W 運轉命令
初始值：H’0000
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
- -
CLR
輸出
On/Off
控制
CLR
信號輸出模式
-
現在位置歸零
-
軟體
START
絕對
/
相對座標設定
原點復歸啟動
JOG-
運轉
JOG+
運轉
反方向脈波停 正方向脈波停 軟體
STOP
錯誤重置
#32 H’41B0
╳
R/W 工作模式
初始值：H’0001
b15 b14 b13 b12 b11 ~ b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
- -
現在位置
CR34, 33,
現在速度
CR36, 35
顯示單位
(0pulse, 1unit)
復歸出廠設定
MASK
選擇設定
LSP/LSN
停止模式
手搖輪
MPG
範圍限制
STOP
模式
手搖輪
MPG
輸入操作
變速度運轉模式啟動 插入二段速定位運動模式啟動 連續兩段速定位運動模式啟動 插入單段速定位運動模式啟動 單段速定位運動模式啟動
#34 #33 H’41B1
╳
R/W 現在位置 CP(PLS) 顯示範圍：-2,147,483,648~+2,147,483,647 PLS；初始值：0 PLS
#36 #35 H’41B3
╳
R 現在速度 CS(PPS) 顯示範圍：0 ~ +2,147,483,647 PPS；初始值：0 PPS
#37 H’41B5
○
R/W 通訊位址及速率
(Baud Rate)設定
設定 RS-485 通訊位址，設定範圍 01 ~ 254。出廠設定值為 K1。
設定通訊速率，共有 4,800, 9,600, 19,200bps, 38,400 bps, 57,600 bps, 115,200
bps 六種。
ASCII 模式資料格式固定為 7Bit、偶位元、1 stop bit ( 7 E 1)，RTU 模式資
料格式固定為 8Bit、偶位元、1 stop bit ( 8 E 1)。
b0: 4,800 bps（位元/秒 ）。 b1: 9,600 bps（位元/秒 ）。 (出廠設定值)
b2: 19,200 bps（位元/秒 ）。 b3: 38,400 bps（位元/秒 ）。
b4: 57,600 bps（位元/秒 ）。 b5: 115,200 bps（位元/秒 ）。
b6: 保留。 b7: 0 為RTU 模式，1為ASCII 模式。
b8 ~ b15: 通訊位址。