Delta AS Series Programming Manual page 1273

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servo 1 to 8 are reset to uninitialized. SM1681 is set to ON when the initializations on servo 1 to 8 are complete.
SM1683 is set to OFF and S is 21–28, the states of servo 21 to 28 are reset to uninitialized. SM1683 is set to ON
when the initializations on servo 21 to 28 are complete.
Note: The initialization flags are used for notifying if the initialization is done or not. After that if you use parameters
in this instruction, these two flags are used as completion flags for the execution of the instruction.
6. SM1682 is set to ON when an error occurs during communication. In addition, SR658 retains the number of the
axis in which the error occurs and SR659 retains the error code. (The flag and code here are especially for Delta
CANOpen Communication Instructions.)
7. For firmware V1.06.40 or later, a new functional SM1686 is added for initializing only one specified slave. For
example if you set SM1686 to OFF and execute INITC 3 indicates the slaves 1, 2 and 3 will be initialized. After that
if you set SM1686 to ON, execute INITC 6 indicates only the slave 6 will be initialized. And then together you will
have slaves 1, 2, 3, and 6 initialized.
Note: if you need to initialize multiple slaves and single slave, you need to set SM1686 to OFF first to have multiple
slaves initialized and then set SM1686 to ON for single initializations, but not the other way around.
8. If a heartbeat error (SR0 = 0x1900~0x191C; last 2 codes are the slave ID) occurs after the initialization is complete
and the SM1684 is OFF (default, indicating when one goes down, all the servos are OFF), the initialization
complete flags SM1681 & SM1683 will be cleared to OFF and related actions on other slaves will also be paused.
After all the troubles are cleared, you need to initialize every slave to restart the operation. PLC will turn the error
LED off after PLC confirms the initialization is complete. This error will be recorded in the error log.
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9. If the axes are working independently and the communication is working properly, you can set the SM1684 to ON
(indicating when one goes down, only the defective servo is OFF) to notify PLC to record the specific error on the
error log and other slaves can keep working.
10. You need to set the communication station and speed of the servos manually and then turn the servos off and then
on again to activate the new parameters.
11. This instruction should not be used in the Structured Texts programming language, or interrupt programs or FB
programs that only be called once.
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