DVP-ES2/EX2/EC5/SS2/SA2/SX2/SE&TP Operation Manual - Programming
H23 Writing the 4-byte data
H2B Writing the 2-byte data
H2F Writing the 1-byte data
H40
Reading the data. The data length is contained in the SDO response
message.
5. For S
3
and S
4
, refer to the object dictionary in the Delta servo operation manual.
6. The definition of S
5
is based on the request code. If the request code is H23, H2B or H2F, S
5
acts as an initial device for the origin. If the request code is H40, S
5
acts as an initial device for
the target.
7. You should execute the COPRW instruction only after the INITC instruction is complete in
case the parameters are overwritten by the INITC instruction.
8. Any error occurs during operation, M1616 will be set to ON and the servo drive number that
shows error will be stored in D6000, error codes in D6001 and STEP that when error occurs in
D6002.
Note: When you use the COPRW instruction, you must edit the process for dealing with
communication errors in order to avoid invalid communication occurring as a result of
unexpected communication errors.
9. The diagram below shows the timing of the COPRW instruction.
When you enable the COPRW instruction for the first time, the instruction sends the
command code immediately if no other CANopen communication is using it.
The instruction sends the command code.
The code has been sent and the finish flag is set to ON.
You modify the next data to be sent out. The next command code is sent out immediately
after the finish flag is set to OFF.
The code has been sent and the COPRW instruction is disabled.
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