Acos, DACOS, Dacosp | Delta DVP-ES2/EX2/SS2/SA2/SX2/SE guide

3. Instruction Set

API			Mnemonic				Operands	Function

134		D		ACOS		P		Arc Cosine

Controllers

ES2/EX2	SS2	SA2 SX2
		SE

Type

Bit Devices

Word devices

Program Steps

OP

X

Y

M

S

K

H

KnX

KnY

KnM

KnS

T

C

D

E

F

DACOS, DACOSP: 9

S

*

*

*

steps

D

*

16-bit

PULSE

32-bit

ES2/EX2

SS2

SA2

SX2

ES2/EX2

SS2

SA2

SX2

ES2/EX2

SS2

SA2

SX2

SE

SE

SE

Operands:

S: Source device (binary floating value) D: Operation result

Explanations:

1.ACOS instruction performs arc cosine operation on S and stores the result in D

2.ACOS value = COS-1

3.See the figure below for the relation between the input S and the result:

R

S:Input (COS value)

R:Result (ACOS value)

2

-1,0

			S
	0	1,0

4.If operation result in D is 0, Zero flag M1020 = ON.

5.The decimal value of the COS value designated by S should be within -1.0 ~ +1.0. If the value exceeds the range, M1067 and M1068 will be ON and instruction will be disabled.

Program Example:

When X0 = ON, DACOS instruction performs arc cosine operation on the binary floating value in (D1, D0) and stores the ACOS value in (D11, D10) in binary floating format.

X0

DACOS D0 D10

3 - 3 2 3

Image 439

Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Acos, DACOS, Dacosp

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 Reverse Current Current FlowNo Contact, NC Contact Scan time exception PLC Registers and Relays Ladder Logic Symbols Creating a PLC Ladder Program TMR ORB ANB2 LD / LDI Load no contact / Load NC contact ORB Connect block in parallel ANB Connect block in seriesMPS / MRD / MPP Branch instructions MPS Branch Description Instruction SymbolSTL Step Ladder Programming RET Return S21 S22 Ladder Diagram Conversion between Ladder Diagram and Instruction List Mode Example Good method Bad method Common Programming ErrorsFuzzy Syntax Example Better method OK method Or operation upward is not allowed Reverse current exists Or T0 Correcting Ladder DiagramExample LD T0 X2 ORB OUT Y0 Y1 and X0 OUT Y1 MPS OUT MPP Example 1 Stop First latched circuit Basic Program Design Examples Example 3 Latched circuit of SET and RST Example 4 Power down latched circuitExample 2 Start First latched circuit Stop Example 7 Sequential Control Example 6- Interlock controlExample 8 Oscillating Circuit Example 11 Trigger Circuit Example 9 Oscillating Circuit with TimerExample 12 Delay OFF Circuit Example 10 Flashing Circuit Example 14 Timing extension circuit Example 13 Output delay circuitExample 15 Counting Range Extension Circuit SFC Figure Timing DiagramGreen light Green light Blinking 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 STOP=RUN RUN=STOP Status and Allocation of Latched MemoryOFF=ON Binary, Octal, Decimal, BCD, Hex PLC Bits, Nibbles, Bytes, Words, etc BIN OCT DEC BCDHEX 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 Bits Bits counters Counters Accumulative TimerTimers for Subroutines and Interrupts Counter RST CNT OUT Plus 1 or count down minus OUT Y0 Applicable Software High Speed Counters High-speed Counters Applicable Hardware High Speed Counters RST Phase 1 input high-speed counter ExampleDcnt 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 Call 14 E, F Index RegistersNest Level PointerN, PointerP, Interrupt Pointer Index register E, F 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 RAMP, Sort MTR, HKY, DSW, SEGL, PRPLSY, Plsr Incd Device Devices will be cleared Number M1034 ContentsDabsr ZRN, DRVI, Drva COM1 COM2 COM3 Function Group RUN/STOP Switch Number M1035 ContentsContent Port Example 1 Modifying COM1 communication format COM3Example 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 Error code explanation D1067 error code Function Contents Device Explanation LatchedSTOP→RUN RUN→STOP Number M1280, M1284, M1286 Contents Number M1308, D1312 Contents Number M1304 Contents Number M1346 Contents Number D1320~ D1327 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 Execution speed Instruction Function Operand Steps Basic Instructions without API numbersES2/EX2/SS2 SA2/SX2 LDI Explanations to Basic Instructions ORI ANIConnect NC contact Series Controllers Connect no contact Parallel Controllers ORB Mnemonic Function Program stepsANB Connect a block in series Controllers Points to note Explanations Controllers OUT MPSMRD MPP RST SETLatches the on Status Controllers Device Status MCR No operation Controllers ENDProgram End Controllers NOP Scan cycle Fend PointersInterrupt Pointers P10 Communication Interrupts Timer InterruptsIret External interrupt Type Bit Devices Word devices Program Steps Application Programming InstructionsAPI Mnemonic Operands Function Controllers 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 Decimal Floating Point Binary Floating PointExample 1 Represent 23 in 32-bit floating point value Example 2 Represent -23.0 in 32-bit floating point value Bit 16-bit 32-bit Instruction Set Transmission Comparison Loop ControlFour Arithmetic Operations Data Processing Rotation and Displacement Handy Instructions High Speed ProcessingExternal I/O Display Basic Instructions Serial I/O Falling-edge output Communication Instructions PLF Additional Instruction Real Time Calendar Positioning Control Matrix Operation Gray CodeContact Type Logic Operation Specific Bit Control 223DOR S1 S2 Contact Type Comparison ABS Dabs Numerical List of Instructions in alphabetic orderAbsd 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 M4 on OFF OFF→ONON→OFF M4 OFF M4 OFF→ON M4 on CNT CALL, Callp 3 steps Descriptions Program Steps Mnemonic FunctionSret Subroutine Return INC Interrupt Return Mnemonic Function Enable Interrupt ControllersMnemonic Function Disable Interrupt Controllers Iret Flag Function 101 End of The Main Program First End FendNo 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 Instruction driven by contact is necessary Application example of alarm device production linePoints 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 High Speed Zone HSZCompare 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 M1043 Flag explanation M1040M1041 M1042 M1047 M1046D1040~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 Data Transform DTMMove 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 DFROM, Dfromp FromES2/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 CMD Program Example 3 COM2 RS-485STX ADR 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 FWD / REV / Stop / Rdst / Rstef Modrd / Rdst / ModrwModrd / Modwr / Modrw Modrd / MODWR/ Modrw REV / Stop / Rdst / Rstef / Modrw Data sending and receiving will be started. When Sending SettingFunction Description Protocol Completed ErrorsData Receiving ETX1 FWD/REV/STOP/RDST/RSTEFETX2 M1130 Value Error DescriptionM1126 COM2 Ascii mode Field Name DescriptionsCOM Port I10 interrupt Special D COM1 Start RTU modeCR LF Field Name Descriptions START/END Example program of RS-485 communication Field Name Data Hex Reset in program DPRUN, Dprunp Prun Convert Hex to Ascii Asci= 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 Ascii code Convert Ascii to HEXConversion Cdef H CDE 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 VFD, PLC sends 01 10 2000 0002 04 0012 01F4 C2 PLCData 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 Arc Tangent Mnemonic Operands Function 135DATAN, Datanp DELAY, Delayp General PWM output DSWAP, Dswapp Swap Memr K10 D2000 K100 Writing the data into PLC COM COM1 COM2 COM3 Program Example 1 COM2RS-485, Function Code H02 COMH0F COM1 RTU COM2 COM3 Ascii 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 Tcmp Mnemonic Operands Function 160Time compare Tzcp Mnemonic Operands Function Controllers 161Time zone compare Time addition Tadd KnX KnY KnM KnS TSUB, Tsubp 7 steps D10 D20 05Hour Normal D Special D Content Device Content Range Device Content FunctionRTC 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 ICF Mnemonic Operands Function 199Immediately change frequency Interrupt M0=ON X6=ON X7=ON Dvspo Destination value Scal K500 K-168 K534 D10 = kx + b Device No Parameter RangeDevice No Parameter Range Integer S2、S2+1 Floating point number 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 Catch speed CsfoProportional output Csfo X1 D0 D10 DLD 219 AND#Serial Type Logic Operation Dand Operands S1 Source device S2 Source device Explanation OR#222 LD※ Dand ＞ Dand ＝Dand ＜ Parallel Type Comparison OR※ Bout K4Y0 D0 When D0 = k1Executes output on Y1 When D0 = k2, executes output on Y2 Bout Bset Bset Load no contact K4Y0 D0 When D0 = k1 Y1 is OFF When D0 = k2 Y2 = OFFBrst Program Example Instruction Operation Status of bit3 in D0 BLDBLD K3 Load no contact with bit Status of bit1 in D0 BldiBldi K1 Load NC contact with bit Band Band Bani BaniK0 Connect NC contact in series Defined by bit0 of D0 BORBOR K0 Connect no contact Bori BoriK0 Connect NC contact FLD ＜ FLD※FLD ＝ FLD ＞ Fand ＜＞ Fand ＝Fand ＞ Fand ＜ For ＞ For ＝For ＜ Memo Communications Communication Ports END0 Communication Protocol Ascii modeCMD Command code and Data END1 END CR LF CMDHex Explanation DevicePC→PLC Ascii LRC CHK checksum Exception response Address Communication Address Communication Protocol RTU modeException Explanation Code Start Field Name Example Hex CRC CHK check sum Exception response SX2 PLC Device AddressModbus ES2/EX2 SS2 SA2/SE 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 RET Sequential Function Chart SFCStep Ladder Instruction STL, RET STL SFC Features S21 S22 S23 Operation of STL Program STL Transition Actions of Step PointsRepeated Usage of Output Coil OUT Sn Repeated usage of timerTransfer of Step Points SET Sn S24 OUT Restrictions on Using Certain Instructions OR/ORI/ORP/ORF MPS/MRD/MPP INV/OUT/SET/RST LD/LDI/LDP/LDF AND/ANI/ANDP/ANDF ANB/ORBMC/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 IST InstructionInitial State Sensor SET X35 S70 S80 Y3 RST Memo Troubleshooting Error LED is Common Problems and SolutionsFlashing Troubleshooting Error code Description Action Error code Table Hex Select programming Stop Æ RUN RUN Æ Stop Error Detection DevicesError Check Description Drop Latch Device D1067 Description Error Code CANopen Function and Operation INT Uint Word Introduction of CANopenStorage Data type Sint Usint Byte 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 Communication Transmission rateBit/second Maximum TAP-CN02 TAP-CN01 Introduction of the CANopen Protocol CANopen Protocol CANopen Communication Object ¾ The object dictionary¾ PDO process data object RTR Type PDO transmissionPDO1 Request code Description Hex Byte Object Data Identifier ¾ SDO service data objectCOB-ID LSB MSB Initialization Pre-operational Operational Stopped — Module control servicesPDO SDO Sync NMT Command specifier Function Hex— Error control services Emcy Object Function code — Boot-up services— Emergency object Predefined Connection Set Data Structure of SDO Request Message PLC device Mapping area Mapping lengthPLC device Request message High byte Low byte Status code Explanation PLC device Response message High byte Low byte0B~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 ¾ Hareware Connection ¾ Setting Servo ParametersParameter Setting Explanation Application Example 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 Synch Transmission Type Description RemarkAsynch Program explanation COB-ID Emcy Object DictionaryCOB-ID Sync DVPES2C 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