Delta DVP-ES2 - Manual (Page 578)

D V P - E S 2 / S X 2 / S S 2 / S A2 / S X 2 / S E O p e r a t i o n M a n u a l – P r o g r a m m i n g
3 - 4 6 2
API Mnemonic Operands Function
206 ASDRW
ASDA servo drive
R/W
Controllers
ES2/EX2 SS2 SA2
SE
SX2
Bit Devices Word devices Program Steps Type
OP X Y M S K H KnX KnY KnM KnS T C D E F
S
1
* * *
S
2
* * *
S *
ASDRW: 7 steps
PULSE 16-bit 32-bit
ES2/EX2 SS2
SA2
SE
SX2 ES2/EX2 SS2
SA2
SE
SX2 ES2/EX2 SS2
SA2
SE
SX2
Operands:
S
1
: Address of servo drive (K0~K254) S
2
: Function code S: Register for read/written data
Explanations:
1. ASDRW communication instruction supports COM2 (RS-485) and COM3 (RS-485)
2. S
1
: station number of servo drive. Range: K0~K254. K0 indicates broadcasting, i.e. PLC will
not receive feedback data.
3. S
2
: function code. Please refer to the table below.
4. S: Register for read/written data. Please refer to the table below for explanations.
5. Explanations of function code:
Exclusively for ASDA of A-type, AB type, A+ type, B type
Code Function Parameter Com. Addr. Read/Write data (Settings)
K0(H0) Status monitor P0-04 ~ P0-08 0004H ~
0008H
S+0 ~ S+4: Please refer to
explanations in ASDA manuals.
K1(H1) Block Data Read
Register
P0-09 ~ P0-16 0009H ~
0010H
S+0 ~ S+7: Please refer to
explanations in ASDA manuals.
B Type is not supported.
K2(H2) Block Data Write
Register
P0-09 ~ P0-16 0009H ~
0010H
S+0 ~ S+7: Please refer to
explanations in ASDA manuals.
B Type is not supported.
K3(H3) JOG Operation P4-05 0405H S: Range: 1~3000, 4999, 4998,
5000
K4(H4) Servo ON/OFF P2-30 021EH S: K1 = ON, Others = OFF
K5(H5) Speed Command
(3 sets)
P1-09 ~ P1-11 0109H ~
010BH
S+0 ~ S+2: Range:
-5000~+5000
K6(H6) Torque Command
(3 sets)
P1-12 ~ P1-14 010CH ~
010EH
S+0 ~ S+2: Range:
-300~+300