Delta AS Series Programming Manual page 1299

AS Ser ies Pro gra mm in g M anu al
Example
1. When M0 changes from OFF to ON, the INITC instruction starts to initialize servo 1, until SM1681 is ON.
2. When M1 changes from OFF to ON, the acceleration time (10000) and deceleration time (20000) of servo 1 are set
by using the CASD instruction (API 2802). When SM1651 is ON, it indicates Servo-ON.
3. When M2 changes from OFF to ON,
2-byte data is written to P5-04 in servo 1. When D100 = 5 and the data is written, M100 is ON.
4-byte data is written to P6-00 in servo 1. When D102 = 0 and the data is written, M101 is ON.
4-byte data is written to P6-01 in servo 1. When D104 = 0 and the data is written, M102 is ON.
P5-04 sets the homing mode.
P6-00 and P6-01 are the homing definitions.
4. When M3 changes from OFF to ON, the homing function is enabled for servo 1.
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