Delta AS Series Operation Manual page 557

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After you finish setting the above parameters, double click the master device to display the Node List Setting
dialog box. Select ASDA-A2 Drive, and click > to move the A2 drive to the right-side list, and then download the
configured data.
Transmission Type
TxPDO
255
Note:

Synchronous transmission type can fulfill multi-axis motion at the same time.

If you monitor a real-time changing parameter such as the actual rotation speed of the motor, set
the TxPDO to the synchronous transmission type; otherwise the frequent change in the slave data
can block the CANopen network.
The mapping relation between master and slave:
AS300 Series PLC master register
D25032
D25033
D25034
D25035
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Description
The slave sends out the data once every one
Event timer time. After that, the TxPDO data is
not allowed to be sent out within an inhibit timer
time.
When the Event timer and Inhibit timer are both
equal to 0, the slave sends TxPDO data to the
master immediately when the data changes, and
the data that master receives is immediately
valid.
Same as Type254
Data transmission on CANopen
bus
Remark
A2 device
Low word of P1-09 of
servo
High word of P1-09 of
servo
P3-06 of servo
P4-07 of servo