Delta CP2000 Series

Chapter 16 PLC Function Applications│CP2000
16-55
Classification API
Command code
P
command
Function
STEPS
16 bit 32 bit 16bit 32bit
Floating point
contact form
275 –
FLD＝
–
Floating point number contact
form compare LD
※
– 9
276 –
FLD＞
–
Floating point number contact
form compare LD
※
– 9
277 –
FLD＜
–
Floating point number contact
form compare LD
※
– 9
Compare
command
278 –
FLD＜＞
–
Floating point number contact
form compare LD
※
– 9
279 –
FLD＜＝
–
Floating point number contact
form compare LD
※
– 9
280 –
FLD＞＝
–
Floating point number contact
form compare LD
※
– 9
281 –
FAND＝
–
Floating point number contact
form compare AND
※
– 9
282 –
FAND＞
–
Floating point number contact
form compare AND
※
– 9
283 –
FAND＜
–
Floating point number contact
form compare AND
※
– 9
284 –
FAND＜＞
–
Floating point number contact
form compare AND
※
– 9
285 –
FAND＜＝
–
Floating point number contact
form compare AND
※
– 9
286 –
FAND＞＝
–
Floating point number contact
form compare AND
※
– 9
287 –
FOR＝
–
Floating point number contact
form compare OR
※
– 9
288 –
FOR＞
–
Floating point number contact
form compare OR
※
– 9
289 –
FOR＜
–
Floating point number contact
form compare OR
※
– 9
290 –
FOR＜＞
–
Floating point number contact
form compare OR
※
– 9
291 –
FOR＜＝
–
Floating point number contact
form compare OR
※
– 9
292 –
FOR＞＝
–
Floating point number contact
form compare OR
※
– 9
Driver special
command
139 RPR –

Read servo parameter 5 –
140 WPR –

Write servo parameter 5 –
141 FPID –

Driver PID control mode 9 –
142 FREQ –

Driver torque control mode 7 –
261 CANRX –

Read CANopen slave station
data
9 –
264 CANTX –

Write CANopen slave station
data
9
–
265 CANFLS –

Refresh special
D corresponding to CANopen
3
–
320 ICOMR DICOMR

Internal communications read 9 17
321 ICOMW DICOMW

Internal communications write 9 17
323 WPRA – – RAM write in drive parameters 5 –