Delta DVP-ES2 - Manual (Page 677)

7 C AN o p e n F u n c t i o n a n d O p e r a t i o n
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‹ Emergency response data
Response message
PLC device
High byte Low byte
D6000 ReqID=01 Status code =01
D6001 Reserved =0 Size =2A (Hex)
D6002
Message
header
Type =04 Node ID =02
D6003 Total number of data =1 Number of data stored =1
D6004 Datum 1=54 Datum 0=42
D6005 Datum 3=15 Datum 2=20
D6006 Datum 5=0 Datum 4=0
D6007 Datum 7=0 Datum 6=0
D6004 Datum 1=54 Datum 0=43
D6005 Datum 3=14 Datum 2=20
D6006 Datum 5=0 Datum 4=0
D6007
Message
data
Datum 7=0 Datum 6=0
7.4.4 Example on Sending SDO through the Ladder Diagram
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Control Requirement:
Read the value of P0-09 of servo in cycle through SDO.
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Hardware Connection:
DVP32ES2-C
PC
TAP-CN03
Y5 UP0 Y0 Y1 Y3 Y2 Y4 Y10 Y7 Y6 UP1 Y12 Y11 Y13
+24V L N NC X5 X1 S/S 24G X0 X3 X2 X4 X11 X7 X6 X10 X13 X12 X14 X15
Y16 Y15 Y14 Y17
X17 X16
ZP1 ZP0 CAN+ SG + D D - CAN-
ASDA-A2-xxxx-M
CANopen
CANopen
RS-232
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The Corresponding Relation between Slave Parameter and Index/Subindex
The index_subindex corresponding to P0-09 of servo is 2009_0. On the interface of the
network configuration software, right click the servo icon; select “Parameter Edit” and then the
following dialog box will appear. You can see the index_subindex corresponding to the servo
parameter in the dialog box.
For more details on how to operate the network configuration interface, please refer to section
11.1.1 of the help file of CANopen Builder software.