Delta DVP-15MC Series, Operation Manual

Page: 270 / 972

Chapter 8 Logic Instructions
8-183
8_

The index and subindex of the slave parameter to be read:
1. The user-defined parameter is a servo drive parameter to be read. The data length is
specified by users according to the data type of the read parameter. The data length of the
byte parameter is 1, the data length of the word parameter is 2 and the data length of the
double-word parameter is 4.
The method of calculating the index and subindex of a servo drive parameter:
Index= a servo drive parameter value (Hex) + 2000 (Hex)
Subindex= 0.
Example:
The index and subindex of the servo drive parameter P6-10 are [2000 + 060A
（
the hexdecimal
value of P6-10) ] 260A and 0 respectively.

The variable table and program
Variable name Data type
Initial
value
ReadPm_C DMC_ReadParameter_CANopen
ReadPm_C_Ex BOOL FALSE
ReadPm_C_Done BOOL
ReadPm_C_Bsy BOOL
ReadPm_C_Act BOOL
ReadPm_C_Err BOOL
ReadPm_C_ErrID WORD
ReadPm_C_DaTy USINT
ReadPm_C_Dat UDINT
2. For the index and subindex of other slave parameters, refer to CANopen-related manual of the
slave.

Output Update Timing
Parameter Name Timing for changing to TRUE Timing for changing to FALSE
Done

When the reading of the
parameter content is completed.

When Execute changes from
TRUE to FALSE after the
instruction execution is completed.
Busy

When Execute changes to TRUE

When Error changes to TRUE

When Done changes from FALSE
to TRUE
Active

When the slave starts being
controlled by the instruction

When Error changes to TRUE

When Done changes from FALSE
to TRUE
1
ReadPm_C_Bsy
ReadPm_C_Act
ReadPm_C_Err
ReadPm_C_ErrID
ReadPm_C_DaTy
ReadPm_C_Done
ReadPm_C_Dat
0
16#2 60A
A xis1
ReadPm_C_Ex
DMC_ReadParameter_CANopen
Axis Done
ReadP m_C
Ex ecute Busy
Ac tiv e
Error
ErrorID
DataTy pe
Data
Index
S ubIndex