Delta AS Series Programming Manual page 1318

11. There is no limit to the number of times you can use this instruction. Several instructions can use one group of
input points as its source of input count. But you need to clear the value in the input counter before execution of
this instruction; especially when you are using one input and several outputs. And this instruction executes
according to the axis number to record information about its input and output. The same axis can be used for
several times but you must not output the same axis at the same time. If you use the same axis to output for
several times, PLC outputs the first starting one and then the second one.
12. The instruction cannot be used in the ST programming language, interrupt tasks or function block which is called
only once.
Note
1. The PLC calculates the input pulse frequency based on the input pulse width (ON) in the positive half cycle. If the
proportion of the pulse width for ON:pulse width for OFF is not 1:1, the PLC takes the ON width as the standard for
conversion by default.
2. The input pulse=ON means the input point LED is on. When using the MPG but it has not rotated yet, you can check
if the input point LED is OFF and the flag for reversing the input direction is activated .
3. There is a 20 ms time difference in CANopen communication when executing this instruction. If this worries you, use
CSFO instruction instead, controlling the servo by the pulse output.
Example

When M0 switches from OFF to ON, PLC starts to execute this instruction to initialize servo station address 1 and
2 until SM1681 is ON.

When M1 switches from OFF to ON, PLC starts to execute this instruction to start servo station address 1 and
when the servo is started, SM1651 is ON, meaning Servo-ON.

When M2 switches from OFF to ON, PLC starts to execute this instruction to start servo station address 1 and
when the servo is started, SM1652 is ON, meaning Servo-ON.

When M3 switches from OFF to ON, input points X0.0 and X0.1 connect to the MPG to control 2 servos. The
st
proportions for the 1 servo is 1 and for the 2
Ch ap te r 6 App l ied Ins tr uc ti ons
nd
servo is 2.
6_
6 - 1 0 3 9