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Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Dmulr D0 D10 D20

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

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

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DVP - ES2/EX2/SS2/SA2/SX2 Operation Manual - Programming

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DMULR D0 D10 D20

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Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Dmulr D0 D10 D20

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Contents

Page DVP-ES2/EX2/SS2/SA2/SX2/SE FLD=, FAND=, FAND, FAND, FandPage Contents Communications Appendix a Series Model name Page PLC Concepts PLC Scan Method Current Flow No Contact, NC ContactScan time exception Reverse Current PLC Registers and Relays Ladder Logic Symbols Creating a PLC Ladder Program 2 LD / LDI Load no contact / Load NC contact ORB ANBTMR MPS / MRD / MPP Branch instructions ANB Connect block in seriesORB Connect block in parallel STL Step Ladder Programming Branch Description Instruction SymbolMPS S21 S22 RET Return Conversion between Ladder Diagram and Instruction List Mode Ladder Diagram Common Programming Errors Fuzzy SyntaxExample Better method OK method Example Good method Bad method Or operation upward is not allowed Reverse current exists Correcting Ladder Diagram ExampleLD T0 X2 ORB Or T0 MPS OUT MPP OUT Y0 Y1 and X0 OUT Y1 Basic Program Design Examples Example 1 Stop First latched circuit Example 4 Power down latched circuit Example 2 Start First latched circuitStop Example 3 Latched circuit of SET and RST Example 8 Oscillating Circuit Example 6- Interlock controlExample 7 Sequential Control Example 9 Oscillating Circuit with Timer Example 12 Delay OFF CircuitExample 10 Flashing Circuit Example 11 Trigger Circuit Example 15 Counting Range Extension Circuit Example 13 Output delay circuitExample 14 Timing extension circuit Timing Diagram Green lightGreen light Blinking SFC Figure Ladder Diagram WPLSoft programming SFC mode Memo Programming Concepts Specifications ES2/EX2 Memory Map Programming Concepts Specifications SS2 Memory Map Specifications Specifications SA2 Memory Map Specifications Specifications SX2 Memory Map Specifications Specifications OFF=ON Status and Allocation of Latched MemorySTOP=RUN RUN=STOP PLC Bits, Nibbles, Bytes, Words, etc Binary, Octal, Decimal, BCD, Hex HEX BCDBIN OCT DEC Relay EX2 RUN Stop 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 Accumulative Timer Timers for Subroutines and InterruptsCounter Bits Bits counters Counters RST CNT OUT OUT Y0 Plus 1 or count down minus High-speed Counters Applicable Software High Speed Counters Applicable Hardware High Speed Counters Dcnt Phase 1 input high-speed counter ExampleRST Phase 2 inputs high-speed counter Example AB-phase input high-speed counter Example MOV Special Data Register 0FDB 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 14 E, F Index Registers Nest Level PointerN, PointerP, Interrupt PointerIndex register E, F Call CJ P1 Call Page Applications of Special M Relays and D Registers Number D1002 Contents Function Group Watchdog Timer Number M1008, D1008 Contents Function Group High-speed Timer Number M1015, D1015 Contents Function Group Number D1018~D1019 Contents Device Name Function Number D1020 Contents Number M1083,M1084, D1023 Contents MTR, HKY, DSW, SEGL, PR PLSY, PlsrIncd RAMP, Sort Number M1034 Contents DabsrZRN, DRVI, Drva Device Devices will be cleared Function Group RUN/STOP Switch Number M1035 Contents ContentPort COM1 COM2 COM3 Example 2 Modiying COM2 communication format COM3Example 1 Modifying COM1 communication format Example 4 RTU mode setting of COM1、COM2、COM3 Example 3 Modifying COM3 communication format Number M1037, D1037 Contents Number D1038 Contents Function Group Fixed scan time Number M1039, D1039 Contents Number D1062, D1110~D1113, D1116~D1118 Contents Device Function 0xF Number M1119 Contents STOP→RUN RUN→STOP Contents Device Explanation LatchedError code explanation D1067 error code Function Number M1280, M1284, M1286 Contents Number M1304 Contents Number M1308, D1312 Contents Function Group PLC Link Number Number D1320~ D1327 ContentsNumber M1346 Contents 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 ES2/EX2/SS2 SA2/SX2 Basic Instructions without API numbersExecution speed Instruction Function Operand Steps Explanations to Basic Instructions LDI ANI Connect NC contact Series ControllersConnect no contact Parallel Controllers ORI Mnemonic Function Program steps ANBConnect a block in series Controllers ORB Explanations Controllers Points to note MPS MRDMPP OUT SET Latches the on Status ControllersDevice Status RST MCR END Program End ControllersNOP No operation Controllers Scan cycle Pointers Interrupt PointersP10 Fend Timer Interrupts IretExternal interrupt Communication Interrupts Application Programming Instructions APIMnemonic Operands Function Controllers Type Bit Devices Word devices Program Steps Length of Operand 16-bit or 32-bit instruction Explanation of the format of application instruction Continuous execution vs. Pulse execution Operand Data format Kn values Bit instruction Flags Bit instruction Limitations for times of using instructions API 155 Dabsr Limitation of synchronized execution Numeric Values Assign Continuous Bit Numbers Floating Point Operation Binary Floating Point Example 1 Represent 23 in 32-bit floating point valueExample 2 Represent -23.0 in 32-bit floating point value Decimal Floating Point Bit 16-bit 32-bit Instruction Set Four Arithmetic Operations Loop ControlTransmission Comparison Rotation and Displacement Data Processing External I/O Display High Speed ProcessingHandy Instructions Serial I/O Basic Instructions PLF Falling-edge output Communication Instructions Additional Instruction Positioning Control Real Time Calendar Contact Type Logic Operation Gray CodeMatrix Operation 223 DORS1 S2 Contact Type Comparison Specific Bit Control Absd Dabsd Numerical List of Instructions in alphabetic orderABS Dabs 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 Detailed Instruction Explanation Range CJ P1 OFF→ON ON→OFF M4 OFF M4 OFF→ONM4 on M4 on OFF CNT CALL, Callp 3 steps Mnemonic Function SretSubroutine Return Descriptions Program Steps INC Mnemonic Function Enable Interrupt Controllers Mnemonic Function Disable Interrupt ControllersIret Interrupt Return Flag Function 101 No contact to drive the instruction is required FendEnd of The Main Program First End 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 Mnemonic Operands Function ZCP 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 Fmov DFMOV, Dfmovp XCH BCD BIN 103 102 101 Digit DIP switch in BCD format ADD Operation of flags Zero flag SUB 16-bit BIN subtraction MUL MUL D0 D10 D20 DIV B00 B15 INC DEC D2 0 Wand Dand WOR Logical Word or Logical DWord or DOR Wxor Logical Word XOR Dxor NEG D0=2 0 0 ROR ROL RCR RCL KnX KnY KnM KnS T SFTR, Sftrp 9 steps Sftr Wsfr Word Shift Right Wsfrp K1X20 K1Y20 Wsfl Word Shift Left KnX KnY KnM KnS SFWR, Sfwrp 7 steps Sfrd Shift Register Read 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 Mean DMEAN, Dmeanp ANS T10 K50 S999 Points to note Flags Application example of alarm device production lineInstruction driven by contact is necessary 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 API Mnemonic Operands Function Controllers Hscr Compare Type Bit Devices Word devices Program Steps HSZHigh Speed Zone Page Program Example 1 Applying Hardware High Speed Counter Dhsz Speed variable KnX KnY KnM KnS T SPD 7 steps ⋅10 3 rpm n SA2/SE/SX2 Plsy Pulse Output CCW 200 Page SET M1347 Plsy K1000 K1000 Y0 KnS PWM 7 steps =1000ms Output Y1 =2000ms Page Plsr Pulse RampPage Frequency Increased/decreased Every shift 1000/20 Hz Explanations on associated flags and registers Frequency Target Explanations Pulse Explanations KnX KnY KnM KnS T IST 7 steps Sensor Control panel S10 S11 S12 S20 Y1 RET END Flag explanation M1040 M1041M1042 M1043 D1040~D1047 M1046M1047 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 Special Timer Stmr X20 Y3 Stmr T10 K50 Y0 KnX KnY KnM KnS T ALT, Altp 3 steps Ramp If X20 = on Move Type Bit Devices Word devices Program Steps DTMData Transform 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 1 K2, K4 Program Example 2 K9Page Sort Data 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 Segl Segment with Latch 192 BCD value Output BCD code Signal output PLC 194 Arrow switch Arws Arws ASC Ascii code conversion KnX KnY KnM KnS T PR 5 steps X20 drive signal ES2/EX2 SS2 SA2/SE/SX2 FromDFROM, Dfromp Rules for operand Upper 16-bit Lower 16-bit CR #10 CR #9 Specified CR number Mnemonic Operands Function Controllers Serial Communication Program Example 1 COM2 RS-485 Bit mode Program Example 2 COM2 RS-485 Receiving data External equipment PLC Program Example 3 COM2 RS-485 STXADR CMD D120 high ‘0’ 30 H Program Example 4 COM2 RS-485 Program Example 5 COM1 RS-232 Receving data External equipment→PLC Program Example 6 COM3 RS-485 Flag Function Action Special register Function Function Action Modrd / Modwr / FWD / REV / Stop / Rdst / Rstef Modrd / Rdst / Modrw Modrd / Modwr / ModrwModrd / MODWR/ Modrw FWD / REV / Stop / Rdst / Rstef REV / Stop / Rdst / Rstef / Modrw Data sending and receiving will be started. When Setting Function DescriptionProtocol Sending Errors DataReceiving Completed ETX2 FWD/REV/STOP/RDST/RSTEFETX1 M1126 Value Error DescriptionM1130 Ascii mode Field Name Descriptions COM Port I10 interrupt Special DCOM1 COM2 RTU mode CR LFField Name Descriptions Start START/END Field Name Data Hex Example program of RS-485 communication Reset in program Prun DPRUN, Dprunp = Cdef H AsciConvert Hex to Ascii When n is 6, the bit structure will be as = Cdefh When n is 4, the bit structure will be as Instruction Set Conversion Convert Ascii to HEXAscii code DEF8 H CDE HCdef H D20 D21 CCD Check Code Parity Volume Read Vrrd Volume Scale Read Vrsc 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 Step Application Example program of SV ramp up function PID Part of the example program From Auto tuning area S3+4 = k3 PID control area S3+4 = k4 Instruction Set PLS LDP Rising-edge detection operation LDF Andp Rising-edge series connection Andf ORP Rising-edge parallel connection ORF Falling-edge parallel connection TMR T5 K1000 CNT C20 K100 Dcnt C254 K1000 INV Inverse operation KnX KnY KnM KnS T C PLF 3 steps Read Modbus Data Register Data Descriptions Modrd Registers for received data responding messages K100 D1129 Sett receiving timeout as 100ms FE H Modrd K1 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 Program Example COM2 RS-485 FWD Register Data Descriptions Data Descriptions PLCVFD, PLC sends 01 10 2000 0002 04 0012 01F4 C2 Error checksum LRC CHK B, Uu, Nn, Abcd GFF HPF 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 08 0006 E7 CR LF Register Data Explanation Remarks KnX KnY KnM KnS T C CRC, Crcp 7 steps 01 06 0706 1770 66 AB Ecmp DECMP, Decmpp Ezcp DEZCP, Dezcpp Movr DMOVR, Dmovrp RAD DEG Ebcd DEBCD, Debcdp Ebin K314 Eadd DEADD, Deaddp Esub DESUB, Desubp Emul DEMUL, Demulp Ediv EXP 125 Float natural logarithm operation LOG Dflt D0 D10 Dflt D2 D12 Esqr DESQR, Desqrp POW DPOW, Dpowp 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 Acos DACOS, Dacosp D11 D10 Acos value Binary floating point DATAN, Datanp Mnemonic Operands Function 135Arc Tangent DELAY, Delayp General PWM output Swap DSWAP, Dswapp Memr K10 D2000 K100 Writing the data into PLC COM COM1 COM2 COM3 COM H0FCOM1 RTU COM2 COM3 Ascii Program Example 1 COM2RS-485, Function Code H02 Ascii Mode M1143 = OFF Modrw RTU Mode M1143 = on Program Example 2 COM1RS-232 / COM3RS-485, Function Code H02 MOV COM2 COM1 COM3 Program Example 3 COM2 RS-485, Function Code H03 D1256 Low byte ‘0’ 30 H D1262 High byte ‘5’ 35 H CF H Program example 4 COM1RS-232 / COM3RS-485, Function Code H03 Ascii mode COM3 M1320 = OFF, COM1 M1139 = OFF Modrw RTU mode COM3 M1320 = on COM1 M1139 = on Program example 5 COM2RS-485, Function Code H05 CMD 1,0 Control parameter FF H Program example 6 COM1RS-232 / COM3RS-485, Function Code H05 RTU mode COM3 M1320 = ON, COM1 M1139 = on Program Example 7 COM2RS-485, Function Code H06 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 ED H CB 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 PLC ÖVFD-B,PLC transmits 01 10 2000 0002 04 1770 0012 EE 0C EE H M1320 M1320 = OFF Rand DRAND, Drandp TLC SON Absm Absr Absr Timing diagram of the operation of Dabsr instruction Ex Mitsubishi MR-J2-A CR 8 reset ZRN Page Time Freq Time Freq 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 Time compare Mnemonic Operands Function 160Tcmp Time zone compare Mnemonic Operands Function Controllers 161Tzcp Tadd Time addition KnX KnY KnM KnS TSUB, Tsubp 7 steps D10 D20 05Hour Special D Content Normal D RTC Device Content FunctionDevice Content Range Normal D Range Program Example Special D TWR MVM DMVM,DMVMP Hour Y10 Dhour K40000 D0 GRY Gbin DGBIN, Dgbinp Addr DADDR, Daddrp Daddr D0 D2 D10 Subr Dsubr D0 D2 D10 Mulr DMULR, Dmulrp 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 K2000 D1249 Set receiving time-out as 2s GNDPage SPA Page M0 M1013 Dspa D4000 D5000 Wsum DWSUM, Dwsump Mand Matrix Fill 0 into the blank in R0C15-C8, R1C15-C8, and R2C15-C8 MOR Matrix or Mxor Mxnr Matrix XNR Minv Mcmp Matrix compare Mcmp Matrix bit read B47 Pointer D20 Matrix bit write Before Execution After MBS Matrix bit shift MBS MBR Matrix bit rotate 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 Function Explanations Freq Time Pulse number Freq T2=11kHz Instruction Set Immediately change frequency Mnemonic Operands Function 199ICF Interrupt M0=ON X6=ON X7=ON Dvspo Destination value Scal K500 K-168 K534 D10 Device No Parameter Range Device No Parameter Range Integer S2、S2+1Floating 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 Program example 2 COM3RS-485 Asdrw COM2 COM3 Proportional output CsfoCatch speed Csfo X1 D0 D10 DLD AND# Serial Type Logic OperationDand 219 222 OR#Operands S1 Source device S2 Source device Explanation LD※ Dand ＜ Dand ＝Dand ＞ OR※ Parallel Type Comparison K4Y0 D0 When D0 = k1 Executes output on Y1 When D0 = k2, executes output on Y2Bout Bout Bset Bset K4Y0 D0 When D0 = k1 Y1 is OFF When D0 = k2 Y2 = OFF BrstProgram 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 K0 Connect NC contact in series BaniBani BOR BORK0 Connect no contact Defined by bit0 of D0 K0 Connect NC contact BoriBori FLD※ FLD ＝FLD ＞ FLD ＜ Fand ＝ Fand ＞Fand ＜ Fand ＜＞ For ＜ For ＝For ＞ Memo Communications Communication Ports Communication Protocol Ascii mode CMD Command code and DataEND1 END0 CMDHex Explanation Device PC→PLCAscii END CR LF LRC CHK checksum Exception response Communication Protocol RTU mode Exception Explanation CodeStart Address Communication Address Field Name Example Hex CRC CHK check sum Exception response PLC Device Address ModbusES2/EX2 SS2 SA2/SE SX2 A710~AEDF Command Code ETX 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 Sequential Function Chart SFC Step Ladder Instruction STL, RETSTL RET Features SFC Operation of STL Program S21 S22 S23 Repeated Usage of Output Coil Actions of Step PointsSTL Transition Repeated usage of timer Transfer of Step PointsSET Sn OUT Sn Restrictions on Using Certain Instructions S24 OUT MC/MCR LD/LDI/LDP/LDF AND/ANI/ANDP/ANDF ANB/ORBOR/ORI/ORP/ORF MPS/MRD/MPP INV/OUT/SET/RST Points to Note for Designing a Step Ladder Program S41 S42 S43 Device Description SFC diagram Types of Sequences S21 S42 S43 S20 S21 S22 S23 S24 S40 S41 S42 S50 Step Ladder Diagram SFC Diagram Example of alternative divergence & alternative convergence 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 Initial State IST InstructionIST Sensor SET X35 S70 S80 Y3 RST Memo Troubleshooting Flashing Common Problems and SolutionsError LED is Troubleshooting Error code Table Hex Error code Description Action Select programming Error Detection Devices Error Check Description Drop LatchDevice D1067 Description Error Code Stop Æ RUN RUN Æ Stop CANopen Function and Operation Introduction of CANopen Storage Data typeSint Usint Byte INT Uint Word Installation and the Network Topology Lint Ulint Lreal Lword ¾ The can signal and the data frame format CAN+ CAN-H Can CAN-L ¾ The can network endpoint and the topology structure ¾ The topology structure of the CANopen network Transmission rate Bit/secondMaximum Communication TAP-CN01 TAP-CN02 CANopen Protocol Introduction of the CANopen Protocol ¾ PDO process data object ¾ The object dictionaryCANopen Communication Object PDO1 Type PDO transmissionRTR Byte Object Data Identifier ¾ SDO service data object COB-IDLSB MSB Request code Description Hex PDO SDO Sync — Module control servicesInitialization Pre-operational Operational Stopped Command specifier Function Hex — Error control servicesEmcy NMT — Boot-up services — Emergency objectPredefined Connection Set Object Function code PLC device Request message High byte Low byte PLC device Mapping area Mapping lengthData Structure of SDO Request Message 0B~FF PLC device Response message High byte Low byteStatus code Explanation PLC device Request message High byteHex Low byteHex PLC device Response message High byteHex Low byteHex NMT service code Hex Function Data Structure of NMT Message Example 1 Stop slave of No through NMT Data Structure of Emergency Request Message 82（hex） DVP32ES2-C ¾ Hardware Connection ¾ Editing the Ladder Diagram through WPLsoft Indicators and Troubleshooting ¾ RUN indicator LED indicator Description How to deal with LED indicator Description How to deal with CANopen Network Node State Display Code Indication How to correct D9989 D9990 D9991 D9992 D9993 D9994 D9995 D9996 Register Code Indication How to correct ¾ Setting Servo Parameters Parameter Setting ExplanationApplication Example ¾ Hareware Connection ¾ Setting CANopen Baud Rate and Node ID of DVP-ES2-C Explanation Default DVP-ES2-C Explanation Default ¾ Node Configuration ¾ Network ScanningPage Asynch Transmission Type Description RemarkSynch Program explanation Object Dictionary COB-ID SyncDVPES2C 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 An introduction of installing the USB driver in the PLC Appendix Installing the USB Driver Installing the driver Appedndix a

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