Delta AS Series Programming Manual page 728

Explanation
1. This instruction is available for PLC with FW V1.08.00 or later. For ISPSoft, we recommend using software version
3.12 and above. When En setting is set to ON, this instruction would be effective. Once the setting changes to OFF,
Output pulse would decelerate until it stops.
2. ATarPosi is the position for absolute addressing. The input pulse number is a signed 32 bit value. The PU module
will automatically compare it with the present position. If the comparison result is greater than 0, the output will be
conducted in the positive direction (and the direction output point is off). If the comparison result is less than 0, the
output will be conducted in the negative direction and the direction output point is on). When the value is 0, the
instruction sets the Done flag to ON.
3. Refer to the DPUDRI instruction for the explanation of other parameters.
Programming Example:
1. Configure parameters of AS02PU module in HWCONFIG. Set "Pulse Y0.0+ Direction 0.1" for input point X0.0. Other
parameters of axis 1 are set as default.
2. When M0=ON, execute DPUDRA on axis 1 to output pulses from Y0.0 at 2kHz frequency before the current position
reaches 20,000 (absolute addressing). The direction would be positive if Y0.1=OFF.
3. After the Output pulse completed, M1 would change to ON.
Cha p ter 6 App l ied Ins truc tio ns
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