DVP-ES2/EX2/EC5/SS2/SA2/SX2/SE&TP Operation Manual - Programming
f. Set P0-17 (CM1A) to 1. This indicates that the mapping parameter is the pulse command
output register CMD_O.
g. Set P0-18 (CM2A) to 64. This indicates that the mapping parameter is the pulse command
register CMD_E.
h. Set P5-20–P5-35 (acceleration time) to 1. This indicates that the acceleration time is 1 ms.
i. Set P5-60–P5-75 (target speed) to 1. This indicates that the target speed is 0.1 rpm.
j. Set PDO1 to correspond to P5-07 (PR command), P0-01 (Fault code), P0-46 (state of DO
point) and P4-07 (state of DI point)
k. Set PDO2 to correspond to P0-09 (CM1 state: CMD_O) and P0-10 (CM2 state: CMD_E).
l. Set the slave index 0x1017 (Producer Heartbeat Time: 200 ms), the PLC (Consumer
Heartbeat Time: 1000 ms) (for firmware V3.48 or earlier versions)
m: Set P3-10 to 16#0010. This indicates that when an error occurs in CAN Bus, the servo
drive is OFF. (for firmware V3.60 or later)
n: Set the slave index 0x1017 (Producer Heartbeat Time: 0 ms) (for firmware V3.60 or later).
o: Set the slave index 0x100C (Guard Time: 0 ms) (for firmware V3.60 or later).
p: Set the slave index 0x100D (Life Time Factor: 0) (for firmware V3.60 or later).
q: Set the slave index 0x1016 (Consumer Heartbeat Time: 200 ms), the PLC (Producer
Heartbeat Time: 66 ms) (for firmware V3.60 or later).
6. Do not use the COPRW instruction (API342) to modify the servo parameters of the six items
a, b, f, g, j, and k above.
7. When you use an absolute-type servo, use the COPRW communication instruction to write
16#0100 to P3-12, which writes the relevant absolute-type servo parameters to EEPROM at
the moment the servo powers off.
8. Set the relevant DI signal configuration parameters manually or with the COPRW instruction
to modify the hardware DI signal setting of ASDA servo drive. Use COPRW to modify the
configuration after execution of the INITC instruction is complete and before the servo is
enabled.
9. When the initialization is complete, the servo is in the PR mode. Do not make any
communication control on servo P5-18.
10. For more details on the servo parameters, refer to the Delta Servo Operation manual.
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