(1) Before using Delta servo units with EtherCAT communication interface, read the related manuals (see Delta website).

(2) P1-01 or P1.001 (control mode setting): 0x0C. Delta servo in EtherCAT CoE communication mode "CANOpen Over EtherCAT", then select 0C mode.

(3) P3-12 (canopen/DMCNET support): The parameter determines whether the following communication table keeps the same settings.

(4) P3-18 (EtherCAT Special Function Switch): Sets the speed unit for the master to read the servo command.

(5) P3-22 (EtherCAT PDO Timeout Setting): Set this parameter to change TimeOut time of alarms related to ECAT communication (AL3E & AL180). Please keep the default value if there are no ECAT alarms.