Close Loop Position Control - Delta DVP-PLC Applications Manual

API Mnemonic
197 D CLLM
Type Bit Devices
OP X Y
S *
1
S
2
S
3
D *
Operands:
S : Feedback source device
1
D: Pulse output device
Explanations:
1. Flags: M1029, M1030, M1334, M1335. See remarks for more details.
2. This instruction only supports EH2/SV series MPU, not EH series.
3. The corresponding interruption of S
Source device
Corresponding outout
Interruption No.
= 1: rising-edige trigger;
a) When S designates X as the input points and the pulse output reaches the set target number of feedbacks
1
in S , the output will continue to operate by the frequency of the last segment until the interruption of X input
2
points occurs.
b) When S designates a high speed counter and the pulse output reaches the set target number of feedbacks
1
in S , the output will continue to operate by the frequency of the last segment until the feedback pulses
2
reaches the target number.
c) S can be a high speed counter C or an external interruption X. If S
1
executed to enable the high-speed counting function and EI and I0x0 interruption service program to enable
the high-speed interruption. If S
executed to enable the external interruption function.
4. The range of S : -2,147,483,648 ~ +2,147,483,647 (+/- represents the forward/backward direction). When in
2
forward direction, the pulse present value registers CH0 (D1337 high word, D1336 low word), CH1 (D1339 high
word, D1338 low word), CH2 (D1376 high word, D1375 low word) and CH3 (D1378 high word, D1377 low word)
will increase. When in backward direction, the present value will decrease.
5. If S is lower than 10Hz, the output will operate at 10Hz; if S
3
200KHz.
6. D can only designate Y0, Y2, Y4 and Y6 and the direction signals repectively are Y1, Y3, Y5 and Y7. When
there is a direction signal output, the direction signal will not be Off immediately after the pulse output is
completed. The direction signal will be Off only when the drive contact is Off.
DVP-PLC Application Manual
Operands
M S K H KnX KnY KnM KnS T
* *
* *
ES EX SS SA SX SC EH SV ES EX SS SA SX SC EH SV ES EX SS SA SX SC EH SV
S : Target number of feedbacks
2
:
1
X0 X1
Y0 Y2
I00 I10
= 0: falling-edge trigger
is X, EI instruction and I0x0 interruption service program should be
1
9 Application Instructions API 150-199
Function

Close Loop Position Control

Word Devices
C
*
PULSE
S : Target frequency of output
3
X2 X3
Y4 Y6
I20 I30
is higher than 200KHz, the output will operate at
3
Controllers
ES/EX/SS SA/SX/SC EH/SV
Program Steps
D E F DCLLM: 17 steps
*
*
16-bit
C241 ~ C254
Y0 Y2
I010 I020 I030
is C, DCNT instruction should be first
1
32-bit
Y4 Y6
I040
9-95