Delta AS Series Programming Manual page 1277

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K. Set PDO2 to correspond to P0-09 (CM1 state: CMD_O) and P0-10 (CM2 state: CMD_E).
L. Set PDO3 to correspond to P0-11 (CM3 state: state of current torque)
M. Available for PLC with FW V1.04.00 or later: set time for the heartbeat and the PLC scan overtime to 200ms
(default). When a communication overtime occurs, PLC will send error message (error LED flashing slowly; refer
to error code for more details) and the servo turns off automatically.
N. If SM1685 is ON, PDO3 reads self-defined parameters from servo drive P0-12 and stores the data in SR791-
SR806. You need to set up the P0-20 (CM4A) before executing. 2 SRs are reserved for every servo drive axis
and you can define their data types.
Note: PLC with firmware V1.04.10 or later supports states of current torque (PD03) and DI point (PD01). PLC with
firmware V.104.60 or later supports reading self-defined parameters (PD03)
6. Do not use the COPRW instruction (API 2807) to modify the servo parameters of the eight items A, B, F, G, J, K
and N above after initialization.
7. When you use an absolute-type servo, use the COPRW communication instruction to write 16#0100 to P3-12,
which writes the relevant absolute-type servo parameters to EEPROM at the moment the servo powers off.
8. Set the relevant DI signal configuration parameters manually or with the COPRW instruction to modify the
hardware DI signal setting of ASD-A2. Use COPRW to modify the configuration after execution of the INITC
instruction is complete and before the servo is enabled.
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9. When the initialization is complete, the servo is in the PR mode. Do not make any communication control on servo
P5-18.
10. For more details on the servo parameters, refer to the Delta Servo Operation manual.
Example of Communication with Delta Inverter
1. Manually set the inverter parameter P09-36 (ranging from 21 to 28), P09-37 (communication baud rate default is
1MHz) and P09-40 to standard CANopen protocol (default).
2. Manually set the source of frequency command P00-20 to 6 and source of the operation command P00-21 to 3,
and have them controlled by CANopen communication.
3. The following list shows the settings to initialize an inverter in the AS Series.
A. Set PDO mapping area: the operation frequencies, current state, and states of torque and DI point correspond
to PLC SRs.
B. Set time for the heartbeat and the PLC scan overtime to 200ms (default). When a communication overtime
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