Delta C2000 Series User Manual page 542

Classification API
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
139
140
141
142
262
263
261
264
265
320
321
Command code
16 bit 32 bit command
- FLD
FLD
-
- FLD
FLD
-
FLD
-
FLD
-
FAND
-
FAND
-
FAND
-
FAND
-
FAND
-
- FAND
FOR
-
- FOR
- FOR
FOR
-
FOR
-
FOR
-
RPR –
WPR –
FPID –
FREQ –
– DPOS
TORQ –
CANRX –
CANTX –
CANFLS –
ICOMR DICOMR
ICOMW DICOMW
16-50
P
Function
Floating point number contact
-
form compare LD*
Floating point number contact
-
form compare LD*
Floating point number contact
-
form compare LD*
Floating point number contact
-
form compare LD*
Floating point number contact
-
form compare LD*
Floating point number contact
-
form compare LD*
Floating point number contact
-
form compare AND*
Floating point number contact
-
form compare AND*
Floating point number contact
-
form compare AND*
Floating point number contact
-
form compare AND*
Floating point number contact
-
form compare AND*
Floating point number contact
-
form compare AND*
Floating point number contact
-
form compare OR*
Floating point number contact
-
form compare OR*
Floating point number contact
-
form compare OR*
Floating point number contact
-
form compare OR*
Floating point number contact
-
form compare OR*
Floating point number contact
-
form compare OR*
Read servo parameter
Write servo parameter
Driver PID control mode
Driver torque control mode
Set target
Set target torque
Read CANopen slave station
data
Write CANopen slave station
data
Refresh
D corresponding to CANopen
Internal communications read
Internal communications write
STEPS
16bit 32bit
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
- 9
5 –
5 –
9 –
7 –
- 5
5 -
9 -
9 -
special
3 -
9 17
9 17