Relative Position Control - Delta DVP-ES2 Operation Manual

API Mnemonic
158 D DRVI
Typ Bit Devices
e
X Y M
OP
S
1
S
2
D *
1
D * *
2
Operands:
S : Number of pulses (relative positioning)
1
D : Direction signal output
2
Explanations:
1. The instruction only supports the pulse output type: Pulse + Direction.
2. S is the number of pulses (relative positioning). Available range: -2,147,483,648 ~
1
+2,147,483,647. "+/-" signs indicate forward and reverse direction.
3. S is the pulse output frequency. Available range: 6 ~ 100,000Hz.
2
4. D is the pulse output device. It can designate CH0 (Y0) and CH1 (Y2).
1
5. D is the direction signal output device. It can designate CH0 (Y1) and CH1 (Y3).
2
Pulse output device
Corresponding direction
signal output device
6. ES2/EX2 V3.46; ES2-C/EX2-E V3.48 and later version support the settings in D
shown below.
Pulse output device
Corresponding direction
signal output device
7. The operation of D
2
"-", D will be ON. D
2 2
when the drive contact is OFF.
8. The set value in S is the relative position of
1
- current position (32-bit data) of CH0 (Y0, Y1) which is stored in D1031(high), D1030 (low)
- current position (32-bit data) of CH1 (Y2, Y3) which is stored in D1337(high), D1336 (low).
In reverse direction pulse output, value in (D1031, D1330) and (D1336, D1337) decreases.
Operands
Relative Position
Control
Word devices
S K H KnX KnY KnM KnS T C D E F
* * * * *
* * * * *
*
PULSE
ES2/EX2 SS2
S : Pulse output frequency
2
(D ) Y0
1
Y1
(D )
2
(D ) Y0
1
Y4
(D )
2
corresponds to the "+" or "-" of S. When S is "+", D
will not be OFF immediately after pulse output completion and will be OFF
Function
* * * * * *
* * * * * *
16-bit
SA2 SA2
SX2 ES2/EX2 SS2
SE SE
Y2
Y3
Y1
Y5
3 . I ns t r uc ti on Se t
Controllers
ES2/EX2 SS2 SA2 SX2
SE
Program Steps
DDRVI: 17 steps
32-bit
SA2
SX2 ES2/EX2 SS2 SX2
SE
D : Pulse output device
1
and D as
1 2
Y2 Y3
Y6 Y7
will be OFF; when S is
2
3 - 4 0 1