Delta CT2000 Series User Manual page 492

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
command
16 bit 32 bit
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
16-51
Chapter 16 PLC Function CT2000 Series
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 special
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 -
D
3 -
9 17
9 17