Delta AS Series Programming Manual page 1289

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Example 2 (Structured Texts programming language):
1. When M2 changes from OFF to ON, servo 2 moves to the relative position 100000 PUU at 100.0 rpm.
The finish flag SM1632 is ON when the target position is reached.
2. Make sure M2 and SM1632 are both ON and then set the auto return communication control right flag SM1582 to
ON for station address 2. This will free the communication control right and the station address 2 can receive and
execute other communication instructions.
Explanation of special flags (SM) and registers (SR) for Delta special CANopen communication instructions
The following table shows special flags (SM) and registers (SR) related to Delta special CANopen communication.
Flag
Enable specific function
Initialization and communication
_6
complete (INITC and CASD)
CANopen communication error
Single slave initialization
(for firmware V1.06.40 or later)
Positioning complete
Stop
Servo-ON
Go-back/go-forth enabled
Only DDRVAC is supported.
Go-back/go-forth direction indicator
Only DDRVAC is supported.
Auto return communication control
right
Heartbeat error code
Heartbeat error handling
Number of the axis with a
communication error
6 - 1 0 1 0
R/W ID. 1 ID. 2
The flag in HWCONFIG is set to ON when the PLC changes from Stop to
R/W
R
R
SM1686 = OFF (default; multiple slaves initialization)
R/W
SM1686 = ON (single slave initialization)
#1
SM1631 SM1632 SM1633 SM1634 SM1635 SM1636 SM1637 SM1638
R/W
SM1641 SM1642 SM1643 SM1644 SM1645 SM1646 SM1647 SM1648
R/W
SM1651 SM1652 SM1653 SM1654 SM1655 SM1656 SM1657 SM1658
R
SM1661 SM1662 SM1663 SM1664 SM1665 SM1666 SM1667 SM1668
R/W
SM1671 SM1672 SM1673 SM1674 SM1675 SM1676 SM1677 SM1678
R
SM1581 SM1582 SM1583 SM1584 SM1585 SM1586 SM1587 SM1588
R/W
R SM1691 SM1692 SM1693 SM1694 SM1695 SM1696 SM1697 SM1698
SM1684 = OFF (default; when one goes down, all the servos are OFF.)
R/W
SM1684 = ON (when one goes down, only the defective servo is OFF.)
R
ID. 3 ID. 4 ID. 5 ID. 6
Run.
SM1681
SM1682
SR658
ID. 7 ID. 8