Delta AS Series Programming Manual page 965

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The servo starts running with the parameters: acceleration time=0190 (400 ms), deceleration time=00C8 (200 ms),
path type=1083, position command=4C4B40 (5000000 PUU), target velocity=7530 (3000.0 rpm) and PR command
trigger =1.
4. Set the values in D240-D247 as shown in the following table, to be written into P0-17–P0-20 in the ASDA-A2. The
values occupy 8 consecutive devices.
Device
Setting value (10#)
When M4 is ON, the values in D240–D247 are written into P0-17–20 in the ASDA-A2.
The setting values of P0-17–20 set the contents of P0-09–12.
You can set the contents to be displayed; refer to the Delta Servo Operation manual.
ASDA-A2
Setting value (10#)
Setting P0-17 to 41 indicates that the contents of P0-09 is the drive state.
ASDA-A2
Content
_6
5. When M5 is set to ON, the values of P0-17- P0-20 of ASDA-A2 are read to D260-D267.
Device
Content
When the drive state bit (Bit 4) is one, it indicates that the target position is reached.
Refer to Delta servo operation manual for the explanation for P0-46.
6. When the reception completion flag SM100 is set to ON, the instruction clears the values of M1–M5 to avoid
interfering with the next communication command.
After receiving the data that the ASDA-A2 sends back, the PLC checks the format of the data sent back from the
ASDA-A2. If the data format is correct, SM100 is ON; otherwise, SM102 is ON if the data format is incorrect.
6 - 6 8 6
D240 D241 D242
41
P0-17
41
P0-09
Number of motor
Drive state
feedback pulses
D260
Number of motor
Drive state
feedback pulses
D243 D244
0 0
P0-18 P0-19
0 0
P0-10 P0-11
Number of motor
feedback pulses
D262 D264
Number of motor
feedback pulses
D245 D246 D247
0
P0-20
0
P0-12
Number of motor
feedback pulses
D266
Number of motor
feedback pulses