Delta DVP-ES2 - Manual (Page 690)

D V P - E S 2 / E 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
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3> After the above setting is finished, double click the master, select ASDA-A2 Drive, and
click “>” to move A2 to the right list and download the configured data.
The mapping relation between master and slave:
DVP-ES2-C master register
Data transmission on
CANopen bus
A2 device
D6282
Low word of P1-09 of
servo
D6283
High word of P1-09 of
servo
D6284 P3-06 of servo
D6285 P4-07 of servo
D6032
Low word of P0-09 of
servo
D6033
High word of P0-09 of
servo
¾
Program control: D6282 is given the value K256 through WPL software. That is, the speed
command is set as 256r/min. See details in the following figure.
Program explanation:
While DVP-ES2-C is running for the first time, set the parameter P3-06 of servo drive to F.
—
When M0 turns from OFF to ON, write K256 to D6282 and then the value is written to P1-09
of servo parameter through RxPDO1.
—
When M1 turns from OFF to ON, turn P2-12 on and call the speed specified by parameter
P1-09 of servo for rotation.
—
When M1 turns from ON to OFF, the speed command becomes 0 and the motor stops
running.