Delta DVP-ES2 User Manual download pdf (Page 690)

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DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming

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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.

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Delta DVP-ES2 User Manual Page 690

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