Delta Electronics DVP01PU-H User Manual

2006-12-08

Power input specification

Differential Line Driver

01PU-H0T4320001

Output module specification

Serial Number

Production No.

Production week

Production plant (Taoyuan)

Model name

Model

Production year (2004)

occurred indicator. It will blink when

DVP01PU-H

+24VDC IN

VDD

COM+

11414337361045

24V

Delta Servo

ASDA series

1 0

0 1 1

http://www.delta .com.tw/indus trialautomati on/

Position Control Module

5011627802-1PE2

Instruction Sheet

Warning

This Instruction Sheet only provides descriptions for installation, wiring and trial run. For further infromation, please 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.

 Model & Serial Number

DVP series

Number of channels

Model type

：

PU Position control module

For EH series MPU

1.2 Product Profile and Outline (LED Indicator and Terminal Block)

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

LV : Low voltage indicator (lit when external

input power is lower than 19.5V)

ERROR : Error

CR#44 is not 0.

 Nameplate

Delta PLC model name

Bar code, serial No, firmware version

Unit: mm

START : Start input

STOP : Stop input

DOG : DOG (near point signal) input

FP : CW pulse output

RP : CCW pulse output

24Vdc 3W

VX.XX

Vers io n No .

LSP : Right limit input indicator

LSN : Left limit input indicator

PG0 : Zero signal input indicator

 Input/Output Terminal

Description Terminal name

Power supply +24V, 0V

LSP / LSN Input right/left limit 1ms

ΦA+, ΦA-

Input

ΦB+, ΦB-

PG0+, PG0- Zero signal input terminal +, - (line driver input) 1ms

CLR+, CLR- Clear signal (clear signal of internal error counter for Servo drive) 130ms

Output

1.3 Wiring

Below 6.8

To suit M3.5 screw terminals

Below 6.8

 Input/Output Circuit

Manual pulse generator

A-phase

B-phase

Y Specifications

2.1 Function Specifications

Item Description

Power supply

Max. number of connected axes

Distance instruction

Speed instruction

External output

External input

Pulse output format

Position program &

data transmission

ΦA

: A-phase input of manual pulse generator

ΦB

: B-phase input of manual pulse generator

CLR : Output clear signal

Explanation

Power input/DC24V (-15~+20%) Current consumption 100mA

Response

character

START Start input terminal 15ms/50ms

STOP Stop input terminal 15ms

DOG

S/S

FP+, FP-

A-phase terminal (+, -) of manual pulse generator input (line driver input) B-phase terminal (+, -) of manual pulse generator input (line driver input)

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. Signal common terminal of these Inputs (START, STOP, DOG, LSP, LSN)

FP/RP mode: CW pulse output I/O mode: Output pulse

200KHz

1ms

200KHz

AB-phase mode: A-phase output

RP+, RP-

FP/RP mode: CCW pulse output I/O mode: direction output

200KHz

AB-phase mode: B-phase output

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.

+24V

Shielded cable

5-24VDC

START

STOP

LSP

LSN

DOG

S/S

A+

A-

B+

B-

PG0+

PG0-

24V

FP+

FP-

RP+

RP-

CLR+

CLR-

5-24VDC

PLS

/PLS

SIGN

/SIGN

DI2

COM-

DC24V(-15% ~ +20%), Current consumption 140±30mA Power is supplied from EH series or external power supply. 8 units (axes); (All I/O points are not occupied. There are 8 special extension units at most to connect to EH series.) Distance value is set by CR. 1. Setting value: -2, 147,483,648~+2,147,483,647;

2. Selectable unit: um, mdeg, 10

4. Selectable position: absolute and relative position 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

-4

inch, Pulse; 3. Selectable rate: 100, 101, 102, 103;

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) 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) Three selectable modes: Pulse/Dir, FP(CW)/RP(CCW), A/B (all modes are line driver output) 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.

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.

2.2 Other Specification

Environmental specifications

Operation/Storage

Vibration/Shock

immunity

1. Operation: 0°C~55°C (Temperature), 50~95%(Humidity), pollution degree 2

2. Storage: -25°C~70°C (Temperature), 5~95%（Humidity）

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

CR No.

HW LW

Address

Latched

Attribute

H’4190 9 R

#2 #1 H’4191 9 R/W

#4 #3 H’4193 9 R/W

Pulse required to rotate motor for 1

revolution (A)

Machine travel

range while motor

revolution (B)

Parameter setting

H’4195 9 R/W

Factory setting:

0 0 Motor 0 1 Machine

Combined

pulse/sec 10deg/min

Unit

Motor

unit pulse pulse pulse

Position

Speed

bit #

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[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[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.

9 When CW running is executed: if b[9]=0, CP value is increasing. If b[9]=1, CP value is decreasing.

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.) 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. 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).

When b[14]=0: positive logic, START input signal is ON, START input. 14

When b[14]=1: negative logic, START input signal is OFF, START input.

When b[15]=0: positive logic, STOP input signal is ON, STOP input. 15

When b[15]=1: negative logic, STOP input signal is OFF, STOP input.

#7 #6 H’4196 9 R/W Maximum speed V

#9 #8 H’4198 9 R/W Bias speed V

#11 #10 H’419A 9 R/W JOG speed V

#13 #12 H’419C 9 R/W Zero return speed V

#15 #14 H’419E 9 R/W

#16 H’41A0 9 R/W

#17 H’41A1 9 R/W

deceleration speed

The number of PG0

in zero return mode N

The number of pulse

in zero return mode P

#18 H’41A2 9 R/W Zero return mode

bit #

0 b[0]=0: normal mode, b[0]=1: override mode

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.

DVP-01PU Position Control Unit

Content Setting Range

Model No.

rotate for 1

System setting, Read-only (The model number of DVP-01PU is H’0110.)

Range: 1 ~ +2,147,483,647 PPS/REV, factory setting: 2,000 Pulse/Revolution (PLS/REV)

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

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

H’0000

STOP input polarity

START input polarity

START response time

Acceleration curve options

DOG polarity

DOG trigger time

Pulse direction

Combined

pulse/sec cm/min 1 1

Machine

unit

um 0 0

m deg 0 1

10-4inch 1 0

Position rate

setting

100 0 101 0 102 1 103 1

pulse/sec inch/min

Description

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS) *2

max

Factory setting: 200,000 unit*1 Range: 0 ~ +2,147,483,647 unit*1 (0 ~ 200K PPS pulse

bias

transfer value) *2Factory setting: 0 unit*1 Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse

JOG

transfer value) *2Factory setting: 5,000 unit*1 Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse

Zero return

transfer value) *2Factory setting: 50,000 unit*1

Range: 0 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse transfer value) *2, factory setting: 1,000 unit*1

Range: 0~+32,767 PLS, factory setting: 0 PLS

Range: -32,768 ~+32,767 PLS, factory setting: 0 PLS

b0: Zero return mode, b1: detect DOG falling-edge in zero return mode

Description

Zero return direction

LSN input polarity

LSP input polarity

Pulse output format

Pulse + direction

A/B Phase pulse

Position rate setting

Pulse output

format FP + RP

Unit setting

#20 #19 H’41A3 9 R/W Zero point setting (HP) Range: 0 ~ ±999,999 unit*1, factory setting: 0 unit*1

Vbias

LSN

DOG

LSP

Zero point return direction

1st-speed position

operation m

ode

Vbias

Interrupt 1st

speed position

operation

mode

Vbias

2nd -sp

eed position

operation mode

Vbias

V(II)

P(II)

Interrupt 2nd

speed

position

operation mode

Vbias

V(II)

P(II)

Vbias

in zero

Speed(PPS)

Isolate from DOG near signal

: The output pulse of manual pulse generator is unlimited.

Servo drive

Servo motor

Input pulse X

≧5

faster, the commands of pulse output

, the

#21 H’41A5 9 R/W Acceleration time T #22 H’41A6 9 R/W Deceleration time T

#24 #23 H’41A7

╳

R/W Target position (I) P(I)

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

acc

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

dec

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

#28 #27 H’41AB

#30 #29 H’41AD

#31 H’41AF

bit

╳

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

╳

R/W Target position (II)P(II)

╳

Running speed (II)

R/W

Running instruction

R/W

factory setting: H’0000

V(II)

Range: -2,147,483,648 ~ +2,147,483,647 unit*1 (10 ~ 200K PPS pulse transfer value) *2, factory setting: 1,000 unit*1 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 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

CLR output (On/Off)

CLR signal output mode

Current position = 0 (CP=0)

Software START

ABS/REL Coordinate

Zero return start

JOG-

JOG+

CCW pulse STOP

CW pulse STOP

Description

When b[0]=1, Error reset. Error indicator is off and FLAG in CR (CR#43.b[5]) is cleared to 0. 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. 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.

Tac c Td ec

Vmax

Vjog

Hardware polarity switch

Time

Zero return operation route

[4] [3] [2] [1]

Zero point

Speed

JOG operation mode

JOG

bit #

Description

Timi ng

7 When b[7]=0, it is absolute position. When b[7]=1, it is relative position. 0/1 8 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].

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 b7 b6 b5 b4 b3 b2 b1 b0

factory setting:

R/W

Work mode

H’0001

Return to factory setting

MASK setting

LSP/LSN stop mode

Description

speed are decided by P(I)& V(I).

Manual pulse generator range setting

STOP mode

Manual pulse generator input operation

Variable speed operation mode start

Interrupt 2nd-speed position mode start

2nd-speed position mode start

#32 H’41B0

bit

When b[0] is triggered and START ON, it starts to execute 1st-speed position program. Step number and

╳

1 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).

The content of this instruction sheet may be revised without prior notice. Please consult our distributors or

Timi ng

0→1

0/1

Interrupt 1st-speed position mode start

Software STOP

Error reset

1st-speed position mode start

Speed

Start

When b[3] is triggered and START ON, if the DOG external near point signal is executed during 1st-speed

Speed

Start

When b[4] is triggered, it starts to execute variable speed operation and PU starts to send pulse as well.

Speed

Start

Variable speed operation mode

Stop

Tac c Td ec

Vmax

V(I) P(I)

Time

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.

position operation, the 2nd-speed position operation will be started immediately.

Tac c Td ec

Vmax

P(I)

V(I)

Tacc

Vmax

Time

The pulse direction is set by the sign bit of V(I) value.

Tdec

V(I)

Vbias

Time

Speed

Start

DOG

Description Chart: (1)DOG rising-edge is triggered in

normal mode. (2)DOG falling-edge detecting is On

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

The number of pulse in zero return mode (P)

The number of PG0 in zero return mode (N)

Zero return operation mode

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.

Tacc T dec

Speed

Start

DOG

Tac c Td ec

Vmax

zero return mode P(CR#17).

VRT

VCR

DOG

Vmax

V(I)

DOG falling-edge detecting

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

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. 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.

9~11

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.

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

#33 H’41B1

#34

#36 #35 H’41B3

#38 #37 H’41B5

#40 #39 H’41B7

#41 H’41B9 9 R/W

╳

Current position

R/W

Current speed CS

R/W

Current position

R/W

Current speed

R/W

Communication

#42 H’41BA 9 R/W Baud Rate Setting

Execution status

R/W

factory setting:

#43 H’41BB

╳

CP(PLS)

(PPS)

(unit*1)

address

H’XXXX

Range display: -2,147,483,648~+2,147,483,647 PLS, factory setting: 0 PLS Range display: 0 ~ +2,147,483,647 PPS, factory setting: 0 PPS Range display: -2,147,483,648~+2,147,483,647 unit*1, factory setting: 0 unit* Range display: 0 ~ +2,147,483,647 unit*1, factory setting: 0

unit*

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

MPG input downward

MPG input upward

Route paused indication

Position completed indication

Error occurred flag

P(I)

Time

Contact DOG near signal

Zero return direction

CP value overflow

Zero return is done

CCW pulse is outputting

bit #

Time

*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

[ Error Code & Troubleshooting

It indicates 01PU hardware malfunction or error parameter setting when error LED flashes. ERR code is recorded in CR#44.

CW pulse is outputting

Status indication

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

Description

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

5 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.

9 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

#45 H’41BD

#46 H’41BE

╳

R/W

╳

R/W

Error code

Electronic gearing

numerator of MPG

input

Electronic gearing

denominator of

MPG input

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

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

z 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 pha s e

B phase

= 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

#50 #49 H’41C1

#51 H’41C3

#52 H’41C4

╳

Input frequency of

R/W

manual pulse

generator

Accumulated pulse

number of manual

pulse generator

Response speed

of manual pulse

generator

R Terminal status

The input frequency of manual pulse generator, factory setting: 0

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.

Val ue Response speed

4ms (fa ct ory setting)

4 32ms

3 108ms

2 256ms

1or 0 500ms

bit #

b0 b1 b2 b3 b4 b5

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

When response speed setting is

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

b6 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

#53 H’41C5 9 R System version

System version: in hexadecimal system. Ex.: H’0100, the software version is V1.00.

pulse if it’s lower than the minimum range.

Error code

Description Error code

Description

H’0000 No error H’0013 Zero return deceleration (VRT) setting error

H’0001 Target address (I) setting error H’0014 JOG speed (V

) setting error

JOG

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 (VCR) setting error

H’0081 Data write in error in internal memory