Explanation Of Delta Canopen Communication Instructions - Delta AS Series Programming Manual

6.27.2 Explanation of CANopen Communication Instructions
API Instruction
2800 INITC
Device X Y M
S
Data
type

S
Symbol
Explanation
1. Before executing the instruction, if the PLC CPU is AS300, be sure to select Delta Special Driver & AS Remote
Mode as the working mode for function card 2 in the hardware configuration software (HWCONFIG) in ISPSoft. If
the PLC CPU is AS200 or AS100, make sure the working mode for the built-in CAN communication port is selected
to Delta Serve Drives in HWCONFIG.
2. The servo range of S is 1–8. When the input value is greater than 8, PLC will automatically process 8 as the value
of S for the initialization. The station address must start at 1 and the following addresses cannot be skipped or
reserved.
3. When the PLC firmware is V1.02.00 or later, S ranging from 21 to 28 is added for inverters. For the input value that
is not in the range of 21 to 28, this instruction will not be executed. Same rule applies to the servo; the station
address must start at 21 and the following address should be in consecutive order.
4. When setting the number of station to be initialized to 5, this instruction initializes station address from 1 to 5. And
when setting the number of station to be initialized to 23, this instruction initializes station address from 21 to 23.
When there are 5 servo systems and 3 inverters that need to be initialized, you need to execute this instruction
twice. One is INITC 5 for 5 servo systems and the other is INITC 23 for 3 inverters.
5. When you execute this instruction (SM1686 = OFF) on servos (S is 1–8), SM1681 is set to OFF and the states of
Operand
S
S T C HC D
Pulse Instruction
－
S : Number of station to be initialized
Ch ap te r 6 App l ied Ins tr uc ti ons
Initializing the servo for
CANopen communication
FR SM SR E

16-bit instruction
AS
Description
K 16# "$" F

32-bit instruction
－
6 - 9 9 3
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