Delta AS Series Programming Manual page 1339

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Example 1 (communication with Delta servo ASD-A2M)
1. Set up ASD-A2
A. Set the parameter P1-01 (operation mode) to 0001 (position mode)
B. Set the parameter P1-02 (speed and torque (force) limit setting) to 0010 (enabled) or use COPRW instruction
to set this parameter.
C. 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.
2. When M0 changes from OFF to ON, the INITC instruction starts to initialize the servos at station address 1, until
SM1681 is ON.
3. When M1 changes from OFF to ON, use COPRW instruction to set the servo parameter P1-02 (speed and torque
(force) limit setting) to 0010 (enabled).
4. When M2 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 M3 changes from OFF to ON, servo parameter P1-12 = 10%, servo at station address 1 moves at 1000 rpm
until M3 is OFF.
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