Delta AS Series Programming Manual page 224

Instruction code
API
16-bit 32-bit
2721 – DPTWC
2723 – DPPGB
2724 – DZRN2

Delta Special CANopen Communication Instructions
Instruction code
API
16-bit 32-bit
2800 INITC –
2801 ASDON –
2802 CASD –
2803 – DDRVIC
2804 – DDRVAC
2805 – DPLSVC
2806 ZRNC DZRNC
2807 COPRW –
2808 COPWL DCOPWL
─
2809 RSTD
─
2810 ZRNM
Pulse
Symbol
instruction

–
–
Pulse
Symbol
instruction
–
–
–
–
–
–
–
–
–
─
─
Cha p ter 3 Ins tr uc tio n Tab les
Function
Setting arc interpolation parameters in
the position planning table
Point to point go back and forth
Zero return 2
(output direction can be set)
Function
Initializing the servo for CANopen
communication
Servo-ON and Servo-OFF
Setting the acceleration time and
deceleration time for a servo
Servo relative position control
Servo absolute position control
Servo speed control
Servo homing
Reading and writing CANopen
communication data
Writing multiple CANopen parameter
values
Sending Reset or NMT command
Setting the homing mode for Delta servo
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