Delta C2000 Series User Manual page 599

Chapter 16 PLC Functions Applications
16-6-5 Detailed explanation of driver special applications commands
API
RPR
139
Bit device
X Y M
S1
S2
Notes on operand usage: none
API
WPR
140
Bit device
X Y
S1
S2
Notes on operand usage: none
Recommendation Take care when using the WPR command. When writing parameters, because
Because the following commonly-used parameters have special processing, there are
no restrictions on the number of times they may be written.
P00-10: Control method
P00-11: Speed mode selection
P00-12: P2P position mode
P00-13: Torque mode select
P00-27: User-defined value
C2000 Series
S1 S2
P
Word device
K H KnX KnY KnM
S1
: Parameter address of data to be read.
read is stored.
S1
P
Word device
M K H KnX KnY KnM
S1
: Data to write to specified page.
written.
When the data in the C2000 driver's parameter H01.00 is read and written to
D0, data from H01.01 will be read and written to D1.
When M0=On, the content of D10 will be written to the C2000 driver parameter
04.00 (first speed of multiple speed levels).
When the parameter has been written successfully, M1017=On.
The C2000's WPR command does not support writing to the 20XX address,
but the RPR command supports reading of 21XX, 22XX.
most parameters are recorded as they are written, these parameters may only be
revised 109 times; a memory write error may occur if parameters are written more
9
than 10 times.
Read servo parameter
16-bit command (5 STEP)
T C D
RPR
32-bit command
Flag signal: none
S2 Write servo parameter
16-bit command (5 STEP)
T C D
WPR
32-bit command
Flag signal: none
16-108
Continuous RPRP
execution type
S2
: Register where data to be
Continuous WPRP
execution type
S2
: Parameter address of data to be
Pulse
execution type
Pulse
execution type