Delta DVP01PU-S Manual de usuario

DVP-0150730-01

20230616

Warning



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.



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.



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).



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)

〈

CLR

〈

DVP-01PU

START

PG0

LSN

LSP

DOG

STO P

ERROR

L.V

POWER

3.0090.00

3.00

25.20 60.00 3.40

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

: 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

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-

GN D

DI2

S S/

+2 4V

PG0-

A+

A-

B-

B+

PG0+

24V

FP +

FP -

RP +

RP -

A phase-

B phase-

ASD A-A2 Series

/P LS

PLS

/S IGN

SIG N

STA RT

ST OP

LSP

LSN

DO G

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

, 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)

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

H’4190

○

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)

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

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

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

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

╳

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

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

≧

4ms (factory setting)

4 32ms

108ms

256ms

1 or 0

500ms

#47

H’41BF

╳

R Terminal status

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.

CLR output When CLR output is On, b8 is On.

#48

H’41C0

○

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

) 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）

〈

CLR

〈

DVP-01PU

START

PG0

LSN

LSP

DOG

STO P

ERROR

L.V

POWER

3.0090.00

3.00

25.20 60.00 3.40

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；

相模式：

相輸出

200kHz

輸入/輸出回路配線

CLR+

CL R-

44G ND

DI2

S S/

+24V

PG 0-

A+

A-

B-

B+

P G0+

24V

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

/P LS

PLS

/ SI GN

S IG N

S TAR T

ST OP

LS P

LS N

DO G

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

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

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

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。

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