Delta AS Series Programming Manual page 1310

1~64 and 0 (for the broadcast function). When the value exceeds the range, the PLC will not perform the NMT
communication and the Err flag turns on. (Refer to the explanation of SR659 for error codes)
6. The setting value of Para is only applicable to CANopen DS301 mode. The parameter is meaningless if the
instruction is used in Delta special driver mode and AS remote mode. The settings for Para (NMT service code)
are listed in the following table. If the setting value is not one of the values in the table, the Err flag turns on.
NMT
service code
Function
Start the slave
description
7. The RSTD instruction can implement the command action on only one drive or slave every time. If multiple RSTD
instructions are enabled simultaneously, the PLC will automatically take priority to perform the instruction which is
enabled earlier.
8. The RSTD instruction is executed to send the command when it is enabled. If the instruction is disabled before the
Ok flag is on, the PLC will not set the Ok flag to ON.
9. Apart from notifying the specified drive to clear the error state, the instruction would also re-check if relevant
communication parameter values are correct and re-set correct communication parameter values.
For example, due to the disconnection of the slave of station address 2, the entire system stops running. After the
trouble is solved, the slave of station address 2 can return to the state of being controllable by using the RSTD
instruction to reset the slave of station address 2 only. So the time of re-initializing all drives are saved.
10. If the slave responds by sending back any communication command fault to the PLC during the communication,
the RSTD instruction will turn the Err flag on and stop the upcoming actions. (Refer to explanation of SR659 for
error codes.)
16#01 16#02
Stop the slave
Ch ap te r 6 App l ied Ins tr uc ti ons
16#80 16#81
Enter the pre- Reset the
operational application
state layer
16#82
Reset the
communication
6 - 1 0 3 1
6_