Delta AS Series Programming Manual page 1290

Communication error code
Note1: After the axis starts to output, PLC clears the corresponding completion flag.
The following table shows how Delta servo parameters of axes correspond to special flags and registers in the CANopen
communication.
Servo Parameter Name (Number)
PR command (P5-07)
Alarm code (P0-01) (hexadecimal)
DO state (P0-46)
Servo command positon CMD_O (P0-09)
Servo target position CMD_E (P0-10)
DI state (P4-07)
Current torque (unit: 0.1%)
Self-defined (P0-12) *
Work with SM1685 Enable/Disable
Positioning completion range setting
*For example, if a servo real position is requested, set the sero values in P0-20, enable SM1685 and then the servo real
position can be read in SR791-SR806. For more details, refer to Delta High Resolution AC Servo Drive for Network
Communication Applications ASDA-A2 Series User Manual.
The following table shows how Delta inverter parameters of axes correspond to special flags and registers in the
CANopen communication.
Description
Initialization complete flag
Inverter starting up flag
Inverter Heartbeat error flag
Auto return communication
control
right
Inverter status
(Index 6041H-00H)
Inverter current velocity
(Index 6043H-00H)
R
R/W
ID. 1 ID. 2
R
SR661 SR662 SR663 SR664 SR665 SR666 SR667 SR668
R
SR671 SR672 SR673 SR674 SR675 SR676 SR677 SR678
R
SR681 SR682 SR683 SR684 SR685 SR686 SR687 SR688
SR691 SR693
R
SR692 SR694
SR711 SR713
R
SR712 SR714
R SR731 SR732 SR733 SR734 SR735 SR736 SR737 SR738
R SR741 SR742 SR743 SR744 SR745 SR746 SR747 SR748
SR791 SR793
R
SR792 SR794
R/W SR811 SR812 SR813 SR814 SR815 SR816 SR817 SR818
ID. 21 ID. 22 ID. 23
R
R SM1621 SM1622 SM1623 SM1624 SM1625 SM1626 SM1627 SM1628
R SM1611 SM1612 SM1613 SM1614 SM1615 SM1616 SM1617 SM1618
R/W SM1601 SM1602 SM1603 SM1604 SM1605 SM1606 SM1607 SM1608
R SR751 SR752 SR753
R SR761 SR762 SR763
Ch ap te r 6 App l ied Ins tr uc ti ons
SR659
ID. 3 ID. 4 ID. 5 ID. 6
SR695 SR697 SR699 SR701
SR696 SR698 SR700 SR702
SR715 SR717 SR719 SR721
SR716 SR718 SR720 SR722
SR795 SR797 SR799 SR801
SR796 SR798 SR800 SR802
ID. 24 ID. 25 ID. 26
SM1683
SR754 SR755 SR756
SR764 SR765 SR766
ID. 7 ID. 8
SR703 SR705
SR704 SR706
SR723 SR725
SR724 SR726
SR803 SR805
SR804 SR806
6_
ID. 27 ID. 28
SR757 SR758
SR767 SR768
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