Delta AS Series Programming Manual page 1278

occurs, PLC will send error message (error LED flashing slowly; refer to error code for more details) and the
servo turns off automatically.
4. For more details on the servo parameters, refer to the Delta Inverter Operation manual.
Example
1. When M0 changes from OFF to ON, the INITC instruction starts to initialize the inverter at station address 21, until
SM1683 is ON. When SM1683 is ON, it indicates the initialization is complete.
Additional Remarks:
The following table shows special flags (SM) and registers (SR) related to initialization.
Flag
Enable specific function
Initialization and communication
complete (INITC and CASD)
CANopen communication error
Single slave initialization
(for firmware V1.06.40 or later)
Number of the axis with a
communication error
Communication error code
Note1: After the axis starts to output, PLC clears the corresponding completion flag.
The following table shows the Delta special drier CANopen error codes. (error code in SR659)
Error Code
0x0002
The slave does not respond to the SDO message.
An error occurs in the message received by the slave. This error often occurs when the settings of the
0x0003
COPRW instruction are invalid causing the slave not to receive the complete message.
0x0004
The slave PDO message is not received.
0x0005
An error occurs while using the instruction operand.
R/W ID. 1 ID. 2
The flag in HWCONFIG is set to ON when the PLC is from Stop to Run.
R/W
R
R
SM1686 = OFF (default; multiple slaves initialization)
R/W
SM1686 = ON (single slave initialization)
R
R
Ch ap te r 6 App l ied Ins tr uc ti ons
ID. 3 ID. 4 ID. 5
SM1681
SM1682
SR658
SR659
Cause
ID. 6 ID. 7 ID. 8
6 - 9 9 9
6_