Delta AS Series Programming Manual page 1334

9. If the nodes of the drives respond with error messages or do not respond, PLC will set Err flag to ON. For more
details on error codes, refer to SR658 and SR659 from API 2803 DRVIC instruction.
10. Since the values in the command of torque and speed may vary. It is suggested to check the manuals of Delta
Servo Drives and AC Motor Drives before setting up. This instruction does NOT examine or restrict if there is any
invalid value.
Example 1 (communication with Delta servo ASD-A2M)
1. Set up ASD-A2
A. Set the parameter P1-01 to 3 (T: Torque Control mode).
B. Set servo DI: TCM0 = ON and TCM1 = OFF in order to select internal torque command to 1.
If the value in DI is default value, you can set DI3 to ON and then the torque command is set by DI3 and DI4.
C. Turn the power off and on again for the setting to be effective.
2. When M1 changes from OFF to ON, the INITC instruction starts to initialize the servos at station address 1, until
SM1681 is ON.
3. When M2 changes from OFF to ON, set the servo parameter P1-12 to 0. Use COPRW instruction to write the value
in D100 into P1-12 (S3=16#210B). Remember use COPRW instruction to clear the value in servo parameter P1-12
before Power-On. Since the default value of P1-12 is NOT 0%, it will start running once it is Servo ON.
4. When M3 changes from OFF to ON, the ASDON instruction starts to enable the servo at station address 1. When
SM1651 is ON, it indicates Servo-ON.
5. When M4 changes from OFF to ON, servo parameter P1-12 = 12%, servo at station address 2 moves at 1000 rpm
until M4 is OFF.
Ch ap te r 6 App l ied Ins tr uc ti ons
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