Delta AS Series Programming Manual page 1274

Initialization and operation process chart
In se r t AS - FCO P M
P ower O n
HW CO NF IG
FC OP M Mo d e
PLC Run
PL C se nd i n g
in i ti al i za ti on
No
Initi ali zatio n
compl ete
Set up ini tial ization c omplete
&
flags M1681
De termi ne i f th e he artbe at
works n o rmal ly
Nor ma l
S till R un
Exec ute the communic ati on
ins truc ti ons for positioning
Example of Communication with Delta servo ASD-A2M
1. Before using the Delta CANopen instruction, mount an AS-FCOPM card in the AS Series PLC (slot 2 only) and be
sure to select Delta Special Driver & AS Remote Mode as the working mode for the AS-FCOPM card 2 in the
configuration software (HWCONFIG in ISPSoft). Set the baud rate to 125 kbps, 250 kbps, 500 kbps, or 1000 kbps.
Sel ect Delta S peci al Dr iver & AS Re mote Mode
Set up error record
ex : Servo, V FD dis connected
M1683
Clear initializ ati on complete
flags M1681
Abn ormal
PLC S top
C lear initi alization complete
fl ags M1681
Figure 1 Function card 2 setting
Ch ap te r 6 App l ied Ins tr uc ti ons
Wa i t fo r
t he P L C to ru n
&
M1683
Stop heartbeat f unc ti on
and s top s ervo & V F D
&
M1683
P LC Ru n
PL CS top
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