Delta DVP-SS2 User Manual

3. Instruction Set
3-603
API Mnemonic Operands Function
Controllers
ES2-C
328 INITC
S
1
Initialization for Delta
servo drive
communication
Type
OP
Bit Devices Word devices Program Steps
X Y M S K H KnX KnY KnM KnS T C D E F
INITC: 3 steps
S
1
*
*
PULSE
16-bit
32-bit
--
ES2-C
--
Operands
S
1
Number of station to be initialized
Explanation
1. Before executing the instruction, be sure to set M1614 to ON to enable Delta servo drive
function. ASDA-A2 is available for DVP-ES2 with firmware V3.48 or later; for ASDA-A3, it is
available for DVP-ES2 with firmware V3.60 or later.
M1614
ON: Delta servo drive function
OFF: CANopen DS301 mode
After the mode is changed, you need to restart the PLC to activate the setting.
2. It is not available for pulse type instructions. Do not use pulse type contact.
3. The servo range of S is K1–K8. When the input value is greater than 8, PLC will
automatically process 8 as the value of S for the initialization. The station address must start
at 1 and the following addresses cannot be skipped or reserved. For example, if S
1
is set to
K4, this instruction initializes K1 to K4.
4. Once the instruction is executed, M1615 will be set to OFF. After execution is done, M1615
will be set to ON.
5. Any error occurs during operation, M1616 will be set to ON and the servo drive number that
shows error will be stored in D6000, error codes in D6001 and STEP that when error occurs
in D6002.
6. Added the heartbeat function for firmware V3.60 or later. If a heartbeat error (M1067 = ON,
D1067 = 0x1901~0x1908; the last 2 codes are the slave ID) occurs after the initialization is
complete and the M1617 is OFF (default, indicating when one goes down, all the drivers are

Delta DVP-SS2 Specifications

General

Brand	Delta
Model	DVP-SS2
Category	Controller
Language	English