Chapter 6 Applied Instructions 1. Connect the ES3 CPU to ASDA-A2. Set D100=1 initially. When M1 is ON, ASDA-A2 is Servo ON. 2. Set the values in D200–D207 as in the following table, which are written to P0-35–P0-38 in the ASDA-A2. The values occupies 8 consecutive devices. When M2 is ON, the values in D200–D207 are written to P0-35–P0-38 in the ASDA-A2. The setting values of P0-35–P0-38 are set the mapping target for P0-25–P0-28. You can set the mapping target; refer to the Delta servo operation manual. Setting the value of P0-38 to 053C 0507indicates that the mapping parameter target for P0-28 is P5-60 (16 bits) and P5-07 (16 bits). 6_ 3.
The following table shows the setting values in D220–D227. When M3 is ON, the values in D220-D227 are written into P0-25–28 in the ASDA-A2.
6-577 Device D200 D201 D202 D203 D204 D205 D206 D207 Setting value (16#) 05140515 06020602 06030603 053C0507 ASDA-A2 P0-35 P0-36 P0-37 P0-38 Setting value (16#) 0514 0515 0602 0602 0603 0603 053C 0507 ASDA-A2 P0-25 P0-26 P0-27 P0-28 Mapping parameter target P5-20, P5-21 P6-02 P6-03 P5-60, P5-07 Parameter name Acceleration/deceleration time1 Acceleration/deceleration time2 Path type1 Path1 data Target velocity and PR command trigger Device D220 D221 D222 D223 D224 D225 D226 D227 Setting value (16#) 0190 00C8 0000 1083 4C4B40 7530 0001 ASDA-A2 P0-25 P0-26 P0-27 P0-28 Setting value (16#) 0190 00C8 0000 1083 4C4B40 7530 0001