Delta AS Series Programming Manual page 1302

S
2
(only available for
values of lower 8-bit)
16#0023
16#002B
16#002F
16#0040
16#0021
16#0041
3. For S and S , refer to the object dictionary in the Delta servo / inverter operation manual or the object dictionary
3 4
from a third-party device that complies with CANopen DS301.
4. You should execute the COPRW instruction only after the INITC instruction is complete in case the parameters are
overwritten by the INITC instruction. Use the COPRW instruction for CANopen SDO communication. If the station
address of a slave exceeds the range 1–8 or 21-28, you can use the COPRW instruction to set, read, and write
slave-related parameters.
When you use Delta Special Driver & AS Remote mode / Delta Special Driver & CANopen DS301 and execute
COPPRW instruction (SDO communication), the communication timeout is shown below.
Baud rate (bps)
Communication timeout (ms)
When the mode is CANopen DS301, you can set the time of the COPRW timeout in the CANopen communication
setting option from HWCONFIG; default timeout is 100 ms.
5. SM1682 is set to ON when an error occurs during communication. In addition, SR658 retains the number of the axis
in which the error occurs and SR659 retains the error code. Refer to DRVIC instruction for details.
Note: When you use the COPRW instruction, you must edit the process for dealing with communication errors in
order to avoid invalid communication occurring as a result of unexpected communication errors.
6. The diagram below shows the timing of the COPRW instruction.
 When you enable the COPRW instruction for the first time, the instruction sends the command code immediately
if no other CANopen communication is using it.
 The instruction sends the command code.
 The code has been sent and the finish flag is set to ON.
Writing the 4-byte data; Expedited SDO
Writing the 2-byte data; Expedited SDO
Writing the 1-byte data; Expedited SDO
Reading the data. The data length is contained in the SDO response message;
Expedited SDO
Data and its length are specified by S
Reading the data and store the read data and its length in S
1M
#1
100
Ch ap te r 6 App l ied Ins tr uc ti ons
Description
; Normal SDO
5
5
500K 250K
100 200
; Normal SDO
125K 50K
400 500
6 - 1 0 2 3
6_