Delta DVP-ES2 User Manual download pdf (Page 545)

100

101

3. Instruction Set

3-429

API Mnemonic Operands Function

193

D CIMR

2-Axis Relative

Position Arc

Interpolation

Controllers

ES2/EX2 SS2 SA2

SX2

Bit Devices Word devices Program Steps Type

X Y M S K H KnX KnY KnM KnS T C D E F

* * *

S *

D *

DCIMR: 17 steps

PULSE 16-bit 32-bit

ES2/EX2 SS2

SA2

SX2 ES2/EX2 SS2

SA2

SX2 ES2/EX2 SS2

SA2

SX2

Operands:

S1: Number of output pulses of X axis S2: Number of output pulses of Y axis S: Parameter

setting D: Pulse output device

Explanations:

1. For ES2/EX2 models, only V1.20 or above supports the function.

2. The instruction only supports the pulse output type: Pulse / Direction.

3. S

and S

specify the number of output pulses (relative positioning) on X axis (Y0) and Y axis

(Y2). Range: -2,147,483,648 ~ +2,147,483,647 (The “+/-“ sign indicates the forward/backward

direction). In forward direction, the

present value of pulse output on CH0 (D1031 High, D1030

low), CH1 (D1337 high, D1336 low) increases. In reverse direction pulse output, value in

(D1031, D1330) and (D1336, D1337) decreases.

4. The low word of S (settings of direction and resolution): K0 refers to clockwise 20-segment

output; K1 refers to counterclockwise 20-segment output; A 90° arc can be drawn (see figure 1

and 2).

5. The high word of S (settings of motion time, unit: 0.1sec): Setting range: K2 ~ K200 (0.2 sec. ~

20 secs.) This instruction is restricted by the maximum pulse output frequency; therefore when

the set time is faster than the actual output time, the set time will be automatically modified.

(0,0)

(S ,S )

20 segments

Figure 1

(0,0)

(S ,S )

20 segments

Figure 2

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Delta DVP-ES2 User Manual Page 545

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