Chapter 3 Instruction Tables Delta Special CANopen Communication Instructions 3_ 3-41 Instruction code Pulse API Symbol Function instruction 16-bit 32-bit 2800 INITC – – Initializing the servo for CANopen communication 2801 ASDON – – Servo-ON and Servo-OFF 2802 CASD – – Setting the acceleration time and deceleration time for a servo 2803 – DDRVIC – Servo relative position control 2804 – DDRVAC – Servo absolute position control 2805 – DPLSVC – Servo speed control 2806 ZRNC – – Servo homing 2807 COPRW – – Reading and writing CANopen communication data 2808 COPWL DCOPWL – Writing multiple CANopen parameter values 2809 RSTD ─ ─ Sending Reset or NMT command 2810 ZRNM ─ ─ Setting the homing mode for Delta servo 2811 EMER ─ ─ Reading Emergency message 2812 – DCSFOC – Controlling the tracking function of a servo via communication