C h a p t e r 1 0 C AN o p e n F u n c t i o n a n d O p e r a t i o n1 0 - 3 510AS300 Series PLC master register Data transmission on CANopenbus A2 deviceD24032 Low word of P0-09 ofservoD24033 High word of P0-09 ofservo6. Program control: D25032 is given the value 256 in ISPSoft; that is, the speed command is set as256r/min in the following diagram.7. Program explanationWhen the AS300 Series PLC runs for the first time, set the parameter P3-06 for servo drive to F. When M0 switches from OFF to ON, the instruction writes 256 to D25032 and then writes the value tothe servo parameter P1-09 through RxPDO1. When M1 switches from OFF to ON, change P4-07 to 5. DI1 and DI3 are ON. DI1 means the SERVO isON and DI3 calls the speed specified by parameter P1-09 for servo rotation. When M1 switches from ON to OFF, the speed command becomes 0 and the motor stops running.10.7 Object DictionaryThe following table lists the communication objects in the object dictionary.Index Subindex Object name Data type Attribute DefaultvalueH’1000 H’00 Device type Unsigned 32 bits R 0x00000000H’1001 H’00 Error register Unsigned 8 bits R 0H’1005 H’00 COB-ID SYNC Unsigned 32 bits RW 0x00000080H’1008 H’00 Manufacturer device name Vis-String R AS300Series PLCH’1014 H’00 COB-ID EMCY Unsigned 32 bits R 0x80 +Node-ID
