Delta AS Series Operation Manual page 554

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Master heartbeat time
Configure the CANopen communication stations and rates in HWCONFIG.
F. After you complete the previous steps, click the Download
the parameters to the PLC.
Note: you must reboot the AS300 Series PLC to enable the downloaded parameters.
Item
Node ID of AS300 series PLC on the CANopen
Node ID
network
Baud rate CANopen communication rate
Work mode CANopen master/slave mode
Cycle period Cycle time for sending one SYNC message
Interval time for sending the master heartbeat
message
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Explanation
button on the Toolbar to download
Default
1
1M bit/second
Master
50ms
200ms