Delta DVP-EX2 - Page 507

DVP-ES2/EX2/EC5/SS2/SA2/SX2/SE&TP Operation Manual - Programming
3-386
API Mnemonic Operands Function
Controllers
ES2/EX2/
EC5
SS2
SA2
SE
SX2
206 ASDRW
ASDA servo drive
R/W
Type
OP
Bit Devices Word devices Program Steps
X Y M S K H KnX KnY KnM KnS T C D E F
ASDRW: 7 steps
S
1
*
*
*
S
2
*
*
*
S
*
PULSE
16-bit
32-bit
ES2/EX2/
EC5
SS2
SA2
SE
SX2
ES2/EX2/
EC5
SS2
SA2
SE
SX2
ES2/EX2/
EC5
SS2
SA2
SE
SX2
Operands:
S
1
: Address of servo drive (K0~K254) S
2
: Function code S: Register for read/written data
Explanations:
1. ASDRW communication instruction supports COM2 (RS-485) and COM3 (RS-485)
2. S
1
: station number of servo drive. Range: K0~K254. K0 indicates broadcasting, i.e. PLC will not
receive feedback data.
3. S
2
: function code. Please refer to the table below.
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
Parameter
Com. Addr.
Read/Write data (Settings)
K0(H0) Status monitor P0-04 ~ P0-08
0004H ~
0008H
S+0 ~ S+4: Please refer to
explanations in ASDA manuals.
K1(H1)
Block Data Read
Register
P0-09 ~ P0-16
0009H ~
0010H
S+0 ~ S+7: Please refer to
explanations in ASDA manuals.
B Type is not supported.
K2(H2)
Block Data Write
Register
P0-09 ~ P0-16
0009H ~
0010H
S+0 ~ S+7: Please refer to
explanations in ASDA manuals.
B Type is not supported.
K3(H3) JOG Operation P4-05 0405H
S: Range: 1~3000, 4999, 4998,
5000
K4(H4)
Servo ON/OFF
P2-30
021EH
S: K1 = ON, Others = OFF
K5(H5)
Speed Command
(3 sets)
P1-09 ~ P1-11
0109H ~
010BH
S+0 ~ S+2: Range:
-5000~+5000
K6(H6)
Torque Command
(3 sets)
P1-12 ~ P1-14
010CH ~
010EH
S+0 ~ S+2: Range:
-300~+300
For A2-type only
Code
Function
Parameter
Com. Addr.
Read/Write data (Settings)
K16(H10)
Status monitor
(Read)
P0-09 ~ P0-13 0012H ~ 001BH
S+0 ~ S+9: Please refer to
explanations in ASDA-A2
manual.
K17(H11)
Status monitor
selection (Write)
P0-17 ~ P0-20 0022H ~ 0029H
S+0 ~ S+7: Please refer to
explanations in ASDA-A2
manual.
K18(H12)
Mapping
parameter (Write)
P0-25 ~ P0-28 0032H ~ 0039H
S+0 ~ S+7: Please refer to
explanations in ASDA-A2