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Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Dpow D10 D12 D20

Models: DVP-ES2/EX2/SS2/SA2/SX2/SE

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Troubleshooting Specification Install Error messages Ladder Diagram X20 drive signal Common Programming Errors Example 12 Delay OFF Circuit Ladder Logic Symbols ¾ Node Configuration

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3. Instruction Set

M0

RST M1081

DFLT D0 D10

DFLT D2 D12

M1

DPOW D10 D12 D20

M2

DEBCD D20 D30

3 - 3 1 3

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Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Dpow D10 D12 D20

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Contents

Page FLD=, FAND=, FAND, FAND, Fand DVP-ES2/EX2/SS2/SA2/SX2/SEPage Contents Communications Appendix a Series Model name Page PLC Concepts PLC Scan Method No Contact, NC Contact Current FlowScan time exception Reverse Current PLC Registers and Relays Ladder Logic Symbols Creating a PLC Ladder Program ORB ANB TMR2 LD / LDI Load no contact / Load NC contact ANB Connect block in series ORB Connect block in parallelMPS / MRD / MPP Branch instructions Branch Description Instruction Symbol MPSSTL Step Ladder Programming RET Return S21 S22 Ladder Diagram Conversion between Ladder Diagram and Instruction List Mode Fuzzy Syntax Common Programming ErrorsExample Better method OK method Example Good method Bad method Or operation upward is not allowed Reverse current exists Example Correcting Ladder DiagramLD T0 X2 ORB Or T0 OUT Y0 Y1 and X0 OUT Y1 MPS OUT MPP Example 1 Stop First latched circuit Basic Program Design Examples Example 2 Start First latched circuit Example 4 Power down latched circuitStop Example 3 Latched circuit of SET and RST Example 6- Interlock control Example 7 Sequential ControlExample 8 Oscillating Circuit Example 12 Delay OFF Circuit Example 9 Oscillating Circuit with TimerExample 10 Flashing Circuit Example 11 Trigger Circuit Example 13 Output delay circuit Example 14 Timing extension circuitExample 15 Counting Range Extension Circuit Green light Timing DiagramGreen light Blinking SFC Figure Ladder Diagram WPLSoft programming SFC mode Memo Programming Concepts ES2/EX2 Memory Map Specifications Programming Concepts Specifications SS2 Memory Map Specifications Specifications SA2 Memory Map Specifications Specifications SX2 Memory Map Specifications Specifications Status and Allocation of Latched Memory STOP=RUN RUN=STOPOFF=ON Binary, Octal, Decimal, BCD, Hex PLC Bits, Nibbles, Bytes, Words, etc BCD BIN OCT DECHEX EX2 RUN Stop Relay Latch Default Function M1052 Disable interruption I200 OFF PCC01 M1109 Y1 pulse output pause ramp down M1141 For COM2 RS-485, Modrd / Modwr M1203 C203 counting mode on count down M1233 C233 counter monitor on count down M1274 C239 counting mode on falling-edge OFF YES M1378 Indicate Slave ID#3 data interchange Latch Default Attrib Latch Default Timer Timers for Subroutines and Interrupts Accumulative TimerCounter Bits Bits counters Counters RST CNT OUT Plus 1 or count down minus OUT Y0 Applicable Software High Speed Counters High-speed Counters Applicable Hardware High Speed Counters Phase 1 input high-speed counter Example RSTDcnt Phase 2 inputs high-speed counter Example MOV AB-phase input high-speed counter Example 0FDB Special Data Register D1031 PV of Y0 pulse output High word YES ’FFFF COM2RS-485 Definition of start character STX ’3A D1240 stores the low word of high-speed counter D1314 Minute of RTC 00 ~ ’1064 Link D1442 Data length to be read on Slave ID#9 PLC Link D1767 D1768 Data which is read from slave ID#10 DVP-PCC01 Nest Level PointerN, PointerP, Interrupt Pointer 14 E, F Index RegistersIndex register E, F Call CJ P1 Call Page Applications of Special M Relays and D Registers Function Group Watchdog Timer Number M1008, D1008 Contents Number D1002 Contents Function Group High-speed Timer Number M1015, D1015 Contents Device Name Function Function Group Number D1018~D1019 Contents Number M1083,M1084, D1023 Contents Number D1020 Contents PLSY, Plsr MTR, HKY, DSW, SEGL, PRIncd RAMP, Sort Dabsr Number M1034 ContentsZRN, DRVI, Drva Device Devices will be cleared Content Function Group RUN/STOP Switch Number M1035 ContentsPort COM1 COM2 COM3 COM3 Example 1 Modifying COM1 communication formatExample 2 Modiying COM2 communication format Example 3 Modifying COM3 communication format Example 4 RTU mode setting of COM1、COM2、COM3 Number D1038 Contents Number M1037, D1037 Contents Number D1062, D1110~D1113, D1116~D1118 Contents Function Group Fixed scan time Number M1039, D1039 Contents Device Function 0xF Number M1119 Contents Contents Device Explanation Latched Error code explanation D1067 error code FunctionSTOP→RUN RUN→STOP Number M1280, M1284, M1286 Contents Number M1308, D1312 Contents Number M1304 Contents Number D1320~ D1327 Contents Number M1346 ContentsFunction Group PLC Link Number Master PLC Slave ID Read Write Out D100 D200 M1376 M1377 M1378 M1379 M1380 M1381 M1382 M1383 M1416 M1417 M1418 M1419 M1420 M1421 M1422 M1423 Page Programming Concepts Operation flow chart Programming Concepts SET MOV Programming Concepts Memo Instruction Set Basic Instructions without API numbers Execution speed Instruction Function Operand StepsES2/EX2/SS2 SA2/SX2 LDI Explanations to Basic Instructions Connect NC contact Series Controllers ANIConnect no contact Parallel Controllers ORI ANB Mnemonic Function Program stepsConnect a block in series Controllers ORB Points to note Explanations Controllers MRD MPSMPP OUT Latches the on Status Controllers SETDevice Status RST MCR Program End Controllers ENDNOP No operation Controllers Scan cycle Interrupt Pointers PointersP10 Fend Iret Timer InterruptsExternal interrupt Communication Interrupts API Application Programming InstructionsMnemonic Operands Function Controllers Type Bit Devices Word devices Program Steps Explanation of the format of application instruction Length of Operand 16-bit or 32-bit instruction Operand Data format Continuous execution vs. Pulse execution Flags Bit instruction Kn values Bit instruction API 155 Dabsr Limitations for times of using instructions Numeric Values Limitation of synchronized execution Floating Point Operation Assign Continuous Bit Numbers Example 1 Represent 23 in 32-bit floating point value Binary Floating PointExample 2 Represent -23.0 in 32-bit floating point value Decimal Floating Point Bit 16-bit 32-bit Instruction Set Loop Control Transmission ComparisonFour Arithmetic Operations Data Processing Rotation and Displacement High Speed Processing Handy InstructionsExternal I/O Display Basic Instructions Serial I/O Falling-edge output Communication Instructions PLF Additional Instruction Real Time Calendar Positioning Control Gray Code Matrix OperationContact Type Logic Operation DOR 223S1 S2 Contact Type Comparison Specific Bit Control Numerical List of Instructions in alphabetic order ABS DabsAbsd Dabsd Alternate state 218 Connect NC contact in parallel By specified bit 266 GPS data receiving 144 PLF Pulse output Print Ascii code output Stop VFD Axis Relative Position Arc Interpolation 197 Single-Axis pulse output by 116 Range Detailed Instruction Explanation CJ P1 ON→OFF M4 OFF M4 OFF→ON OFF→ONM4 on M4 on OFF CNT CALL, Callp 3 steps Sret Mnemonic FunctionSubroutine Return Descriptions Program Steps INC Mnemonic Function Disable Interrupt Controllers Mnemonic Function Enable Interrupt ControllersIret Interrupt Return Flag Function 101 Fend End of The Main Program First EndNo contact to drive the instruction is required CJ Instruction Program Flow Call Instruction Program Flow WDT, Wdtp 1 step WDT KnX KnY KnM KnS T For 3 steps For K3 For K4 Next TMR CMP ZCP Mnemonic Operands Function RST M0 RST M1 RST M2 Zrst M0 M2 KnX KnY KnM KnS T MOV, Movp 5 steps Shift Smov PLC CML BMOV, Bmovp 7 steps Bmov K1M0 K1Y0 DFMOV, Dfmovp Fmov XCH BCD BIN 103 102 101 Digit DIP switch in BCD format Operation of flags ADD Zero flag 16-bit BIN subtraction SUB MUL MUL D0 D10 D20 B00 B15 DIV INC DEC Wand D2 0 Dand Logical Word or WOR DOR Logical DWord or Logical Word XOR Wxor Dxor NEG D0=2 0 0 ROR ROL RCR RCL KnX KnY KnM KnS T SFTR, Sftrp 9 steps Sftr Word Shift Right Wsfr Wsfrp K1X20 K1Y20 Word Shift Left Wsfl KnX KnY KnM KnS SFWR, Sfwrp 7 steps Shift Register Read Sfrd KnX KnY KnM KnS T ZRST, Zrstp 5 steps RST M0 RST T0 RST Y0 KnX KnY KnM KnS DECO, Decop 7 steps D10 D20 B15 All be All be B15 D10 SUM BON DMEAN, Dmeanp Mean ANS T10 K50 S999 Application example of alarm device production line Instruction driven by contact is necessaryPoints to note Flags ANS SQR FLT Apply FLT instruction to complete the following operation FLT KnX KnY KnM KnS T REF, Refp 5 steps SET M1180 KnX KnY KnM KnS T REFF, Reffp 3 steps MTR MTR Points to note Hscs Instruction Set Page Counting Dhscs K100 Fend Hscr API Mnemonic Operands Function Controllers HSZ High Speed ZoneCompare Type Bit Devices Word devices Program Steps Page Dhsz Program Example 1 Applying Hardware High Speed Counter Speed variable KnX KnY KnM KnS T SPD 7 steps SA2/SE/SX2 ⋅10 3 rpm n Pulse Output Plsy CCW 200 Page SET M1347 Plsy K1000 K1000 Y0 KnS PWM 7 steps =1000ms Output Y1 =2000ms Page Pulse Ramp PlsrPage Explanations on associated flags and registers Frequency Increased/decreased Every shift 1000/20 Hz Frequency Target Explanations Pulse Explanations KnX KnY KnM KnS T IST 7 steps Sensor Control panel S10 S11 S12 S20 Y1 RET END M1041 Flag explanation M1040M1042 M1043 M1046 M1047D1040~D1047 SER Absd Lower-bound value Upper- bound value Current value of C10 Bit Devices Word devices Program Steps Page KnX KnY KnM KnS T C Ttmr 5 steps D0 unit sec Unit 100 ms Stmr Special Timer X20 Y3 Stmr T10 K50 Y0 KnX KnY KnM KnS T ALT, Altp 3 steps Ramp If X20 = on DTM Data TransformMove Type Bit Devices Word devices Program Steps E f +10 Instruction Set +1 S S+2 Combination will be performed in the following rule ‘1’ ‘2’ ‘3’ ‘.’ ‘4’ ‘5’ ‘6’ 0x00 Program Example 2 K9 Program Example 1 K2, K4Page Data sort Sort Example table of data sort TKY BCD value 1-digit BCD code Overflow 103 102 101 BIN value D0 HKY Input keys 0~9 PLCTransistor output KnX KnY KnM KnS T DSW 9 steps PLC KnX KnY KnM KnS T SEGD, Segdp 5 steps Segment with Latch Segl 192 PLC BCD value Output BCD code Signal output 194 Arws Arrow switch Arws Ascii code conversion ASC KnX KnY KnM KnS T PR 5 steps X20 drive signal From DFROM, DfrompES2/EX2 SS2 SA2/SE/SX2 Rules for operand Upper 16-bit Lower 16-bit CR #10 CR #9 Specified CR number Program Example 1 COM2 RS-485 Mnemonic Operands Function Controllers Serial Communication Program Example 2 COM2 RS-485 Bit mode Receiving data External equipment PLC STX Program Example 3 COM2 RS-485ADR CMD D120 high ‘0’ 30 H Program Example 4 COM2 RS-485 Program Example 5 COM1 RS-232 Program Example 6 COM3 RS-485 Receving data External equipment→PLC Flag Function Action Special register Function Modrd / Modwr / FWD / REV / Stop / Rdst / Rstef Function Action Modrd / Modwr / Modrw Modrd / Rdst / ModrwModrd / MODWR/ Modrw FWD / REV / Stop / Rdst / Rstef REV / Stop / Rdst / Rstef / Modrw Data sending and receiving will be started. When Function Description SettingProtocol Sending Data ErrorsReceiving Completed FWD/REV/STOP/RDST/RSTEF ETX1ETX2 Value Error Description M1130M1126 COM Port I10 interrupt Special D Ascii mode Field Name DescriptionsCOM1 COM2 CR LF RTU modeField Name Descriptions Start START/END Example program of RS-485 communication Field Name Data Hex Reset in program DPRUN, Dprunp Prun Asci Convert Hex to Ascii= Cdef H When n is 6, the bit structure will be as = Cdefh When n is 4, the bit structure will be as Instruction Set Convert Ascii to HEX Ascii codeConversion CDE H Cdef HDEF8 H D20 D21 Check Code CCD Parity Vrrd Volume Read Vrsc Volume Scale Read ABS PID Device Function Setup Range Explanation Reverse control E = PV SV Device Function Set-point range Explanation Proportion for PID Equations MV = KP * Et + KI * EtS1 + KD * PV t S ⎢Et + Position instruction =40 SV=1 KP =20 KP =10 KP =5 Application Step PID Example program of SV ramp up function Part of the example program From Auto tuning area S3+4 = k3 PID control area S3+4 = k4 Instruction Set PLS Rising-edge detection operation LDP LDF Rising-edge series connection Andp Andf Rising-edge parallel connection ORP Falling-edge parallel connection ORF T5 K1000 TMR C20 K100 CNT C254 K1000 Dcnt Inverse operation INV KnX KnY KnM KnS T C PLF 3 steps Read Modbus Data Modrd Register Data Descriptions Registers for received data responding messages K100 D1129 Sett receiving timeout as 100ms Modrd K1 FE H Write Modbus Data D1089 low ‘0’ 30 H D1070 low ‘0’ 30 H Register Data Descriptions M1002 Set communication protocol as 9600, 8, E VFD FWD Program Example COM2 RS-485 Register Data Descriptions PLC VFD, PLC sends 01 10 2000 0002 04 0012 01F4 C2Data Descriptions Error checksum LRC CHK B, Uu, Nn, Abcd HPF GFF Range of S1 K1 ~ K255 ‘0’ 30 H Number of data count by word ‘5’ 35 H ‘D’ 44 H Reset Abnormal VFD Rstef ‘2’ 32 H ‘0’ 30 H Data address Data content ‘D’ 44 H KnX KnY KnM KnS T LRC, Lrcp 7 steps Register Data Explanation 08 0006 E7 CR LF Remarks KnX KnY KnM KnS T C CRC, Crcp 7 steps 01 06 0706 1770 66 AB DECMP, Decmpp Ecmp DEZCP, Dezcpp Ezcp DMOVR, Dmovrp Movr RAD DEG DEBCD, Debcdp Ebcd Ebin K314 DEADD, Deaddp Eadd DESUB, Desubp Esub DEMUL, Demulp Emul Ediv EXP 125 Float natural logarithm operation LOG Dflt D0 D10 Dflt D2 D12 DESQR, Desqrp Esqr DPOW, Dpowp POW Dpow D10 D12 D20 KnX KnY KnM KnS T INT, Intp 5 steps DINT, Dintp 9 steps SIN Movp COS Degree value TAN TAN value Asin D11 D10 Asin value Binary floating point DACOS, Dacosp Acos D11 D10 Acos value Binary floating point Mnemonic Operands Function 135 Arc TangentDATAN, Datanp DELAY, Delayp General PWM output DSWAP, Dswapp Swap Memr K10 D2000 K100 Writing the data into PLC COM COM1 COM2 COM3 H0F COMCOM1 RTU COM2 COM3 Ascii Program Example 1 COM2RS-485, Function Code H02 Modrw Ascii Mode M1143 = OFF RTU Mode M1143 = on Program Example 2 COM1RS-232 / COM3RS-485, Function Code H02 MOV Program Example 3 COM2 RS-485, Function Code H03 COM2 COM1 COM3 D1256 Low byte ‘0’ 30 H D1262 High byte ‘5’ 35 H CF H Program example 4 COM1RS-232 / COM3RS-485, Function Code H03 Modrw Ascii mode COM3 M1320 = OFF, COM1 M1139 = OFF Program example 5 COM2RS-485, Function Code H05 RTU mode COM3 M1320 = on COM1 M1139 = on CMD 1,0 Control parameter FF H Program example 6 COM1RS-232 / COM3RS-485, Function Code H05 Program Example 7 COM2RS-485, Function Code H06 RTU mode COM3 M1320 = ON, COM1 M1139 = on VFD-B Ö PLC, PLC receives 01 06 2000 1770 RTU mode M1143 = on Program Example 9 COM2 RS-485, Function Code H0F D1256 下 ‘0’ 30 H PLC1 Ö PLC2，PLC1 sends 01 0F 0500 0010 02 34 12 21 ED CB H ED H M1002 D1109 Set communication protocol as 9600, 8, E Program Example 11 COM2 RS-485, Function Code H10 LRC CHK 0,1 is error check EE H PLC ÖVFD-B,PLC transmits 01 10 2000 0002 04 1770 0012 EE 0C M1320 M1320 = OFF DRAND, Drandp Rand Absr TLC SON Absm Absr Timing diagram of the operation of Dabsr instruction Ex Mitsubishi MR-J2-A CR 8 reset ZRN Page Time Freq Freq Time MOV K-2 D1312 RST M1308 SET M1346 Dzrn K20000 K1000 X4 Y0 Plsv Drvi M10 Ddrvi K20000 K2000 Y0 Page Instruction Set Drva M10 Drva K20000 K2000 Page Mnemonic Operands Function 160 TcmpTime compare Mnemonic Operands Function Controllers 161 TzcpTime zone compare Time addition Tadd KnX KnY KnM KnS TSUB, Tsubp 7 steps D10 D20 05Hour Normal D Special D Content Device Content Function Device Content RangeRTC Program Example Special D Normal D Range TWR DMVM,DMVMP MVM Hour Y10 Dhour K40000 D0 GRY DGBIN, Dgbinp Gbin DADDR, Daddrp Addr Daddr D0 D2 D10 Subr Dsubr D0 D2 D10 DMULR, Dmulrp Mulr Dmulr D0 D10 D20 Divr When X23 = 0N, 16-bit data in D4 will be sent to D6 and D7 GPS data receiving GPS data valid / invalid GND K2000 D1249 Set receiving time-out as 2sPage SPA Page M0 M1013 Dspa D4000 D5000 DWSUM, Dwsump Wsum Matrix Mand Fill 0 into the blank in R0C15-C8, R1C15-C8, and R2C15-C8 Matrix or MOR Mxor Matrix XNR Mxnr Minv Matrix compare Mcmp Mcmp Matrix bit read B47 Pointer D20 Matrix bit write Before Execution After Matrix bit shift MBS MBS Matrix bit rotate MBR MBR D10 12 M1098=0 D10 36 M1098=1 Ppmr Draw a rhombus as the figure below Dppmr Axis Absolute Point Dppma Cimr Quadrant Draw an ellipse as the figure below Draw a tilted ellipse as the figure below Points to note Cima Dcima RST Ptpo Dptpo D0 D300 Y0 Cllm Close Loop Explanations Instruction Set 100kHz X4 = OFF -- on Assume the first execution results are as below Points to note Reset after CH0 Y0, Y1 pulse output is completed Vspo Freq Time Pulse number Function Explanations Freq T2=11kHz Instruction Set Mnemonic Operands Function 199 ICFImmediately change frequency Interrupt M0=ON X6=ON X7=ON Dvspo Destination value Scal K500 K-168 K534 D10 Device No Parameter Range Integer S2、S2+1 Device No Parameter RangeFloating point number = kx + b Destination value Max. Destination value Source value Destination value =500 Source value Dmovr F200 D2 Dmovr F500 D4 Dmovr F30 D6 Cmpt Cmpt Asda servo drive Program example 1 COM2 RS-485 Asdrw Program example 2 COM3RS-485 COM2 COM3 Csfo Catch speedProportional output Csfo X1 D0 D10 DLD Serial Type Logic Operation AND#Dand 219 OR# Operands S1 Source device S2 Source device Explanation222 LD※ Dand ＝ Dand ＞Dand ＜ Parallel Type Comparison OR※ Executes output on Y1 When D0 = k2, executes output on Y2 K4Y0 D0 When D0 = k1Bout Bout Bset Bset Brst K4Y0 D0 When D0 = k1 Y1 is OFF When D0 = k2 Y2 = OFFProgram Example Instruction Operation Load no contact BLD BLDK3 Load no contact with bit Status of bit3 in D0 Bldi BldiK1 Load NC contact with bit Status of bit1 in D0 Band Band Bani BaniK0 Connect NC contact in series BOR BORK0 Connect no contact Defined by bit0 of D0 Bori BoriK0 Connect NC contact FLD ＝ FLD※FLD ＞ FLD ＜ Fand ＞ Fand ＝Fand ＜ Fand ＜＞ For ＝ For ＞For ＜ Memo Communications Communication Ports CMD Command code and Data Communication Protocol Ascii modeEND1 END0 PC→PLC CMDHex Explanation DeviceAscii END CR LF LRC CHK checksum Exception response Exception Explanation Code Communication Protocol RTU modeStart Address Communication Address Field Name Example Hex CRC CHK check sum Exception response Modbus PLC Device AddressES2/EX2 SS2 SA2/SE SX2 A710~AEDF ETX Command Code Ascii Command Code 03, Read Content of Register T, C, D Command Code 05, Force ON/OFF single contact Force Data Lo Error Check LRC Command Code 15, Force ON/OFF multiple contacts 0DHex Memo Sequential Function Chart Step Ladder Instruction STL, RET Sequential Function Chart SFCSTL RET SFC Features S21 S22 S23 Operation of STL Program Actions of Step Points STL TransitionRepeated Usage of Output Coil Transfer of Step Points Repeated usage of timerSET Sn OUT Sn S24 OUT Restrictions on Using Certain Instructions LD/LDI/LDP/LDF AND/ANI/ANDP/ANDF ANB/ORB OR/ORI/ORP/ORF MPS/MRD/MPP INV/OUT/SET/RSTMC/MCR S41 S42 S43 Points to Note for Designing a Step Ladder Program Device Description Types of Sequences SFC diagram S21 S42 S43 S20 S21 S22 S23 S24 S40 S41 S42 S50 Example of alternative divergence & alternative convergence Step Ladder Diagram SFC Diagram Step Ladder Diagram S20 Y0 S30 S31 S32 S40 S41 S42 S50 S40 S20 S30 S31 S32 S40 S41 Restrictions on Divergence Sequence S20 S30 S31 S32 IST Instruction ISTInitial State Sensor SET X35 S70 S80 Y3 RST Memo Troubleshooting Common Problems and Solutions Error LED isFlashing Troubleshooting Error code Description Action Error code Table Hex Select programming Error Check Description Drop Latch Error Detection DevicesDevice D1067 Description Error Code Stop Æ RUN RUN Æ Stop CANopen Function and Operation Storage Data type Introduction of CANopenSint Usint Byte INT Uint Word Lint Ulint Lreal Lword Installation and the Network Topology CAN+ CAN-H Can CAN-L ¾ The can signal and the data frame format ¾ The topology structure of the CANopen network ¾ The can network endpoint and the topology structure Bit/second Transmission rateMaximum Communication TAP-CN02 TAP-CN01 Introduction of the CANopen Protocol CANopen Protocol ¾ The object dictionary CANopen Communication Object¾ PDO process data object Type PDO transmission RTRPDO1 COB-ID Byte Object Data Identifier ¾ SDO service data objectLSB MSB Request code Description Hex — Module control services Initialization Pre-operational Operational StoppedPDO SDO Sync — Error control services Command specifier Function HexEmcy NMT — Emergency object — Boot-up servicesPredefined Connection Set Object Function code PLC device Mapping area Mapping length Data Structure of SDO Request MessagePLC device Request message High byte Low byte PLC device Response message High byte Low byte Status code Explanation0B~FF PLC device Response message High byteHex Low byteHex PLC device Request message High byteHex Low byteHex Data Structure of NMT Message NMT service code Hex Function Data Structure of Emergency Request Message Example 1 Stop slave of No through NMT 82（hex） ¾ Hardware Connection DVP32ES2-C ¾ Editing the Ladder Diagram through WPLsoft ¾ RUN indicator LED indicator Description How to deal with Indicators and Troubleshooting CANopen Network Node State Display LED indicator Description How to deal with D9989 D9990 D9991 D9992 D9993 D9994 D9995 D9996 Register Code Indication How to correct Code Indication How to correct Parameter Setting Explanation ¾ Setting Servo ParametersApplication Example ¾ Hareware Connection Explanation Default ¾ Setting CANopen Baud Rate and Node ID of DVP-ES2-C DVP-ES2-C Explanation Default ¾ Network Scanning ¾ Node ConfigurationPage Transmission Type Description Remark SynchAsynch Program explanation COB-ID Sync Object DictionaryDVPES2C COB-ID Emcy Index Subindex Object name Data type Attribute Default value Index Subindex Object name Data type Attribute Default value Index Subindex Object name Data type Attribute Index Subindex Object name Data type Attribute Default value Index Subindex Object name Data type Attribute Default value Index Subindex Object name Data type Attribute Default value Index Subindex Object name Data type Attribute Default value Appendix An introduction of installing the USB driver in the PLC Installing the driver Installing the USB Driver Appedndix a

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