Delta DVP-15MC Series - Page 13

xii
DMC_MoveLinearRelative ................................................................... 11-350
DMC_MoveCircularAbsolute ................................................................ 11-363
DMC_MoveCircularRelative ................................................................. 11-374
DMC_GroupSetOverride ..................................................................... 11-385
DMC_GroupReadActualPosition ........................................................... 11-390
11.8 Coordination Instructions .................................................................... 11-392
DMC_ControlAxisByPos ...................................................................... 11-392
DMC_NC .......................................................................................... 11-397
Chapter12 Troubleshooting
12.1 Explanation of LED Indicators .................................................................. 12-2
12.2 Table of Error IDs in Motion Instructions ................................................. 12-8
12.3 System Trouble Diagnosis through System Error Codes ......................... 12-12
Appendix A Modbus Communication
A.1 Message Format in ASCII Mode .................................................................. A-2
A.2 Message Format in RTU Mode .................................................................... A-5
A.3 Modbus Function Codes Supported ............................................................ A-7
A.4 Modbus Exception Response Code Supported ............................................ A-7
A.5 Introduction to Modbus Function Codes ..................................................... A-8
A.6 Table of Registers and Corresponding Modbus addresses ........................ A-15
Appendix B Modbus TCP Communication
B.1 Modbus TCP Message Structure ................................................................. B-2
B.2 Modbus Function Codes Supported in Modbus TCP ..................................... B-2
B.3 Exception Response Code in Modbus TCP ................................................... B-3
B.4 Modbus Function Codes in Modbus TCP ...................................................... B-3
B.5 Registers and Corresponding Modbus Addresses ..................................... B-12
Appendix C CANopen Protocol
C.1 Node States................................................................................................ C-4