Delta AS Series Programming Manual page 1276

4. Download the sample program and set M0 to ON (default: SM1686 = OFF). The instruction initializes the servos at
station addresses 1–3. When SM1681 is ON, the initialization is complete. When the servo enters CANopen mode
successfully, Co-Ld information is displayed.
Ladder diagram:
Structured Texts programming language:
5. The following list shows the settings to initialize a servo drive in the AS Series.
A. Set P2-30 (auxiliary function) to 5 to indicate that the servo does not need to store the settings in EEPROM
permanently. This can prolong the servo life span.
B. Reset P6-02 (PATH#1) to 0 and P6-06 (PATH#3) to 0. This indicates that PATH#1 & #3 in PR mode are both
cleared.
C. Set P3-06 (SDI source) to 16#0100. This indicates that DI1–DI8 are controlled by the hardware, EDI9 is
controlled by the software, and EDI10–EDI14 are controlled by the hardware.
D. Reset P4-07 (SDI status controlled manually) to 0.
E. Set P2-36 (EDI9) to 16#0101. This indicates that the function of EDI9 is set to Servo ON.
F. Set P0-17 (CM1A) to 1. This indicates that the mapping parameter is the pulse command output register
CMD_O.
G. Set P0-18 (CM2A) to 64. This indicates that the mapping parameter is the pulse command register CMD_E.
H. Set P5-20–P5-35 (acceleration time) to 1. This indicates that the acceleration time is 1 ms.
I. Set P5-60–P5-75 (target speed) to 1. This indicates that the target speed is 0.1 rpm.
J. Set PDO1 to correspond to P5-07 (PR command), P0-01 (Fault code), P0-46 (state of DO point) and P4-07
(state of DI point)
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