Delta AS Series Programming Manual page 1311

AS Ser ies Pro gra mm in g M anu al
API
2810
Device X
Node
Mode
Ok
Err
Data
type
Node
Mode

Ok

Err
Symbol
_6
Explanation
1. Make sure that all Delta drives have been initialized before executing the reset instruction.
2. Only the PLC firmware of V1.04.10 and later and the ISPSoft software of V3.03.08 and later support the
instruction.
3. The value of Node is in the range of 1~8 (exclusive to servo node IDs). If the setting value exceeds the range, the
PLC will not perform the action of the homing mode and set the Err flag to ON. (Refer to explanation of SR659 for
error codes.)
4. The ZRNM instruction can set the homing mode of only one drive every time. If multiple instructions are enabled
simultaneously, the PLC will take priority to perform the instruction which is enabled earlier.
5. The ZRNM instruction is executed to send the command when it is enabled. If the instruction is disabled or will
NOT be scanned again before the Ok flag is on, the PLC will NOT be able to set the Ok flag or Err flag to ON.
6. This instruction will only be triggered once when the EN contact is switched from OFF to ON. It is suggested to use
this instruction in the ladder programming. If using this instruction in SFC or ST programming, when the EN contact
6 - 1 0 3 2
Instruction
ZRNM
Y M S T
  
  


Operand
Node，Mode，Ok，Err
C HC D FR SM


Pulse Instruction 16-bit instruction
－
Node : Specified node ID
Mode : Homing mode code
Ok : Completion flag
Err : Error flag
Description
Setting the homing mode for Delta
servo
SR E K 16#
 
 
32-bit instruction
－
AS
"$" F