Asda Servo Drive R/W - Delta DVP-ES2 Operation Manual

API Mnemonic
206 ASDRW
Type Bit Devices
OP X Y M
S
1
S
2
S
Operands:
S : Address of servo drive (K0~K254)
1
Explanations:
1. ASDRW communication instruction supports COM2 (RS-485) and COM3 (RS-485)
2. S : station number of servo drive. Range: K0~K254. K0 indicates broadcasting, i.e. PLC will not
1
receive feedback data.
3. S : function code. Please refer to the table below.
2
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
K0(H0) Status monitor
Block Data Read
K1(H1)
Register
Block Data Write
K2(H2)
Register
K3(H3) JOG Operation
K4(H4) Servo ON/OFF
Speed Command
K5(H5)
(3 sets)
Torque Command
K6(H6)
(3 sets)
For A2-type only
Code Function
Status monitor
K16(H10)
(Read)
Status monitor
K17(H11)
selection (Write)
Mapping
K18(H12)
parameter (Write)
Operands
ASDA servo drive
R/W
Word devices
S K H KnX KnY KnM KnS T C D E F ASDRW: 7 steps
* *
* *
PULSE
ES2/EX2 SS2
S : Function code
2
Parameter
0004H ~
P0-04 ~ P0-08
0008H
0009H ~
P0-09 ~ P0-16
0010H
0009H ~
P0-09 ~ P0-16
0010H
P4-05 0405H
P2-30 021EH
0109H ~
P1-09 ~ P1-11
010BH
010CH ~
P1-12 ~ P1-14
010EH
Parameter
P0-09 ~ P0-13 0012H ~ 001BH
P0-17 ~ P0-20 0022H ~ 0029H
P0-25 ~ P0-28 0032H ~ 0039H
Function
*
*
*
16-bit
SA2 SA2
SX2 ES2/EX2 SS2
SE SE
S: Register for read/written data
Com. Addr. Read/Write data (Settings)
S+0 ~ S+4: Please refer to
explanations in ASDA manuals.
S+0 ~ S+7: Please refer to
explanations in ASDA manuals.
B Type is not supported.
S+0 ~ S+7: Please refer to
explanations in ASDA manuals.
B Type is not supported.
S: Range: 1~3000, 4999, 4998,
5000
S: K1 = ON, Others = OFF
S+0 ~ S+2: Range:
-5000~+5000
S+0 ~ S+2: Range:
-300~+300
Com. Addr. Read/Write data (Settings)
S+0 ~ S+9: Please refer to
explanations in ASDA-A2
manual.
S+0 ~ S+7: Please refer to
explanations in ASDA-A2
manual.
S+0 ~ S+7: Please refer to
explanations in ASDA-A2
manual.
3 . I ns t r uc ti on Se t
Controllers
ES2/EX2 SS2 SA2 SX2
SE
Program Steps
32-bit
SA2
SX2 ES2/EX2 SS2 SX2
SE
3 - 4 8 9