DVP-ES2-EX2-SS2-SA2-SX2-Operation Manual

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DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming “Auto SDO Configuration” Used for doing one write action to the slave parameter via SDO and the write action is finished when the slave enters the operational state from pre-operational state. Up to 20 SDOs can be configured by “Auto SDO configuration”. “PDO Mapping” and “Properties” Used for setting the mapping parameter and transmission type of PDO. For the details on the function buttons mentioned above, please refer to Section 11.1.1 in the help file of CANopen Builder software. PDO Mapping: RxPDO1: the mapping parameter P1-09; transmission type 255. RxPDO2: the mapping parameter P3-06, P4-07; transmission type 255. TxPDO1: the mapping parameter P0-09; transmission type 1. PDO transmission type : PDO can be classified into RxPDO and TxPDO. RxPDO data are sent from master to slave and TxPDO data are sent from slave to master. 7-32
7 CANopen Function and Operation PDO transmission type can be synchronous transmission and asynchronous transmission. In synchronous transmission, master will send out the SYNC message in the fixed cycle. The length of the cycle is set in master properties dialog box with the default value: 50ms. In asynchronous transmission, the message is sent out once the PDO mapping parameter is changed. PDO Transmission types in details are introduced in the following table. Transmission Type Description Remark 0 RxPDO TxPDO Once any change for the mapped data happens, RxPDO data are sent out immediately. The data that slave receives are valid only when receiving the next SYNCH message. If no change for RxPDO data, they are not sent out. Once any change for the mapped data happens and slave receives the SYNC message, the data are sent out immediately. The TxPDO data are valid immediately after master receives them. If no change for TxPDO data, the data are not sent out. SYNCH SYNCH non-cycle N (N:1~240) RxPDO TxPDO After N messages are sent out and no matter whether the mapped data are changed, the data that slave receives will be valid only when receiving the next SYNCH message. After N messages are sent out and no matter whether the mapped data are changed, the data that master receives will be valid at once. SYNCH cycle RxPDO The mapped data are sent out immediately once changed and they are valid once they are received by slave. RxPDO data will not be sent out if no change for the data. 254 TxPDO Slave sends out the data once every one Event timer time and after that, the TxPDO data are not allowed to be sent out within an inhibit timer time. When Event timer and Inhibit timer are both equal to 0, TxPDO data are sent to master immediately once changed and the data that master receives will be valid at once. ASYNCH 255 Same as Type254 Note: 1> Synchronous transmission type can fulfill multi-axis motion at the same time. 2> If user is going to monitor the real-time changing parameter such as the actual rotation speed of the motor, we suggest TxPDO should be set as the synchronous transmission type in case the frequent changing of slave data causes to block the CANopen network. 7-33
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DVP-ES2/EX2/SS2/SA2/SX2/SE Operatio
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1 PLC Concepts DVP-ES2/EX2/SS2/SA2/
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7.4 Sending SDO, NMT and Reading Em
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PLC Concepts This chapter introduce
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1. PLC Concepts Scan time exception
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1. PLC Concepts 1.5 Ladder Logic Sy
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1. PLC Concepts Execution order of
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1. PLC Concepts Branch instruction
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1. PLC Concepts 1.6 Conversion betw
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1. PLC Concepts OR operation upward
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1. PLC Concepts Example 3: “Rever
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1. PLC Concepts Example 2 - Start F
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1. PLC Concepts Example 9 - Oscilla
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1. PLC Concepts Example 16 - Traffi
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1. PLC Concepts WPLSoft programming
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Programming Concepts DVP-ES2/EX2/SS
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2. Programming Concepts 32bit highs
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2. Programming Concepts 2.2 SS2 Mem
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2. Programming Concepts Specificati
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2. Programming Concepts 2.4 SX2 Mem
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2. Programming Concepts 2.6 PLC Bit
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2. Programming Concepts Binary Octa
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2. Programming Concepts Special M F
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2. Programming Concepts Accumulativ
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2. Programming Concepts M relays M1
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2. Programming Concepts Applicable
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2. Programming Concepts 1. X21 driv
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2. Programming Concepts X20 X21 A-p
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2. Programming Concepts Special D D
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2. Programming Concepts Special D D
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2. Programming Concepts 2.14 E, F I
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2. Programming Concepts 20 X0 CALL
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2. Programming Concepts 2.16 Applic
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2. Programming Concepts 2. D1008 sa
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2. Programming Concepts Function Gr
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2. Programming Concepts DABSR: 1. M
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2. Programming Concepts Content b7
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2. Programming Concepts Note: 1. Th
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2. Programming Concepts 5. The anal
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2. Programming Concepts D1140: Numb
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2. Programming Concepts D1442 D1458
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2. Programming Concepts M1416 M1417
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2. Programming Concepts accessible
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2. Programming Concepts M1002 MOV K
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2. Programming Concepts e) Commands
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Instruction Set This chapter explai
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3. Instruction Set execution time c
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3. Instruction Set Explanations: Th
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3. Instruction Set Program example:
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3. Instruction Set between MC/MCR w
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3. Instruction Set Timing Diagram:
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3. Instruction Set : IRET Interrupt
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3. Instruction Set Source: if there
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3. Instruction Set 1. X, Y, M, and
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3. Instruction Set 5. For counters
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3. Instruction Set Binary Floating
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3. Instruction Set The opposite dia
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3. Instruction Set API Mnemonic App
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3. Instruction Set API Mnemonics Ap
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3. Instruction Set Mnemonic Applica
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3. Instruction Set Program example
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3. Instruction Set *1: Y1 is dual o
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3. Instruction Set API Mnemonic Fun
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3. Instruction Set execute DI instr
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3. Instruction Set CJ Instruction P
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3. Instruction Set API Mnemonic Ope
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3. Instruction Set Program Example:
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3. Instruction Set 2. For clearing
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3. Instruction Set Program Example
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3. Instruction Set M1000 Y0 Y1 X0 Y
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3. Instruction Set M1000 1 2 3 FLT
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3. Instruction Set X0 REF Y0 K4 Pro
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3. Instruction Set Points to note:
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3. Instruction Set ‣ Table of set
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3. Instruction Set ‣ 6 comparator
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3. Instruction Set 9. Count value s
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3. Instruction Set DHSZ instruction
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3. Instruction Set 32. There is no
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3. Instruction Set 46. When M1113 =
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3. Instruction Set 66. There is no
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3. Instruction Set • When M1156/M
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3. Instruction Set Explanations: W
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3. Instruction Set 80. When S1 (zer
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3. Instruction Set 89. Zero return
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3. Instruction Set b) Ladder Diagra
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3. Instruction Set M1046: Indicates
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3. Instruction Set If X20 = ON, D12
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3. Instruction Set K2: With n = 2,
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3. Instruction Set The combination
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3. Instruction Set The conversion w
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3. Instruction Set 174. External wi
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3. Instruction Set 182. Please use
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3. Instruction Set VCC Pull-up resi
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3. Instruction Set X20 start signal
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3. Instruction Set Receiving data:
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3. Instruction Set Registers for re
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3. Instruction Set 3. The forward r
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3. Instruction Set Sending data: (P
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3. Instruction Set Flag Function Ac
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3. Instruction Set Special register
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3. Instruction Set Flag Function Ac
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3. Instruction Set COM1 COM2 COM3 F
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3. Instruction Set Value H0005 Erro
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3. Instruction Set Field Name Addre
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3. Instruction Set Timing diagram:
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3. Instruction Set n D K9 K10 K11 K
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3. Instruction Set D n K9 K10 K11 K
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3. Instruction Set 4. When n = 4, t
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3. Instruction Set Device No. S 3 +
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3. Instruction Set Device No. S 3 +
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3. Instruction Set 2. When control
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3. Instruction Set Example 2: Block
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3. Instruction Set 0 511 0rpm 3000
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3. Instruction Set Application 3: U
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3. Instruction Set From the figure
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3. Instruction Set 5. If rising-edg
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3. Instruction Set • In STOP inst
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3. Instruction Set a) Range of S 1
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3. Instruction Set Received data (r
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3. Instruction Set Program Example:
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3. Instruction Set M0 RST M1081 DFL
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3. Instruction Set 3. In ASCII or R
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3. Instruction Set Register Data De
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3. Instruction Set PLC data receivi
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3. Instruction Set ASCII mode (COM3
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3. Instruction Set RTU mode (M1143
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3. Instruction Set 4. Take the conn
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3. Instruction Set Registers for da
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3. Instruction Set PLC VFD-B,PLC tr
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3. Instruction Set 6. Please use NO
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3. Instruction Set Output in revers
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3. Instruction Set State 5: Current
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3. Instruction Set 11. Ramp-down ti
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3. Instruction Set D1232 D1233 D123
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3. Instruction Set 10. M1305 and M1
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3. Instruction Set X0 TSUB D0 D10 D
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3. Instruction Set 1, second data r
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3. Instruction Set M1002 MOV H81 D1
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3. Instruction Set Program example:
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3. Instruction Set 8. For pulse out
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20 segments 20 segments 3. Instruct
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3. Instruction Set that the arc has
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3. Instruction Set 3. Operation: Wh
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3. Instruction Set above). Place th
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3. Instruction Set Frequency Target
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3. Instruction Set EI M1002 MOV K10
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3. Instruction Set reset after CH0
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3. Instruction Set Function Explana
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3. Instruction Set M1540 Indicating
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3. Instruction Set Change target fr
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3. Instruction Set M0 EI DMOVP K100
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3. Instruction Set 6. Substitute th
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3. Instruction Set 9. The 16-bit co
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3. Instruction Set For A2-type only
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3. Instruction Set 6. S 1 +0 specif
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Communications This chapter introdu
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4. Communications − − − 7 dat
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4. Communications Field name ASCII
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4. Communications Exception code: E
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4. Communications Field Name Exampl
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4. Communications Feedback message:
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4. Communications 4.5 Command Code
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4. Communications 4.5.3 Command Cod
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4. Communications Field Name ASCII
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4. Communications Sent message: Fie
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Sequential Function Chart This chap
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5. Sequential Function Chart action
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5. Sequential Function Chart Action
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5. Sequential Function Chart Retur
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5. Sequential Function Chart S10 S
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5. Sequential Function Chart 5.5 Ty
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5. Sequential Function Chart Ladder
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Page 651 and 652: Troubleshooting This chapter offers
Page 653 and 654: 6. Troubleshooting Symptom Diagnosi
Page 655 and 656: 6. Troubleshooting Error code Descr
Page 657 and 658: CANopen Function and Operation This
Page 659 and 660: 7 CANopen Function and Operation St
Page 661 and 662: 7 CANopen Function and Operation
Page 663 and 664: 7 CANopen Function and Operation Pr
Page 665 and 666: 7 CANopen Function and Operation De
Page 667 and 668: 7 CANopen Function and Operation Th
Page 669 and 670: 7 CANopen Function and Operation In
Page 671 and 672: 7 CANopen Function and Operation
Page 673 and 674: 7 CANopen Function and Operation T
Page 675 and 676: 7 CANopen Function and Operation eq
Page 677 and 678: 7 CANopen Function and Operation E
Page 679 and 680: 7 CANopen Function and Operation Wh
Page 681 and 682: 7 CANopen Function and Operation D9
Page 683 and 684: 7 CANopen Function and Operation Co
Page 685 and 686: 7 CANopen Function and Operation It
Page 687: 7 CANopen Function and Operation 5)
Page 691 and 692: 7 CANopen Function and Operation 7.
Page 699 and 700: Appendix An introduction of install
Page 701 and 702: Appedndix A After the driver is ins
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