Delta DVP-EX2 User Manual

3. Instruction Set
3-655
API Mnemonic Operands Function
Controllers
ES2-C
342
COPRW
S
1
, S
2
, S
3
, S
4
, S
5
, D
1
Read and write
CANopen
communication data
Type
OP
Bit Devices Word devices Program Steps
X Y M S K H KnX KnY KnM KnS T C D E F
COPRW: 13 steps
S
1
*
*
S
2
*
*
*
S
3
*
*
*
S
4
*
*
*
S
5
*
D
1
*
PULSE
16-bit
32-bit
ES2-C
Operands
S
1
：
Station address of servo
S
2
：
Request code
S
3
：
Index
S
4
：
Sub-index
S
5
：
Read/write device
D ： Device
D
1
：
Communication completion flag
Explanation
1. It is not available for pulse type instructions. Do not use pulse type contact.
2. For firmware V3.48 or later, it can work with Delta special mode. The range of S
1
is 1–8. If the
setting value is exceeding this range, an error occurs and M1067 will be set to ON, D1067 =
0x0E1A.
3. For firmware V3.60 or later, it can work with Delta special mode and CANopen DS301 mode.
This instruction reads and writes CANopen communication data to the servo at the address
specified in S
1
. The range of S
1
is 1–127. If the value is out of range (<1 or >127), the
minimum or maximum value is automatically processed by the instruction as the value of S
1
.
4. S
2
can only specify four types of request codes, as shown in the following table.

Delta DVP-EX2 Specifications

General

Brand	Delta
Model	DVP-EX2
Category	Controller
Language	English