Delta AS Series Programming Manual page 725

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2. When M10 is set to ON, DPUCONF instruction would be executed for axis1 to change the output setting to 1 (Pulse
Y0.0+ Direction Y0.1) in Mode. Set SSpeed (the speed for starting) to 200Hz, Atime (acceleration time) to 200 ms,
Dtime (deceleration time) to 200ms, MSpeed (maximum output frequency) to 100kHz, Z_NO (Number of Z phases to
look for after returning to the home position) to 1, offset (the number of outputs after returning to the home position) to
-100, and set M11 to ON when the Done flag changes to ON.
3. When M0=ON, execute PUSTAT on axis1 to read the PU module output state. To clear current output position, you
can set M1 to ON so the current position of (rising-edge triggered) D0 on axis1 would be clear to 0.
4. When M20=ON, execute DPUZRN to perform homing on axis1 and execute DPUSTAT to display the current position
in D0. The output point Y0.0 outputs pulses at 1 kHz frequency to search home in positive direction. Once the near
home signal (DOG) is reached and X0.0=ON, the axis starts decelerating and moving in the negative direction in the
Jogspeed of 100Hz. When X0.0=OFF, the axis moves in the positive direction to search for Z phase until the first
rising-edge triggered signal of X0.1 (Z phase) is detected, then moves in negative direction after 100 output pulses
are complete. Finally, M21 would change to ON after the Done flag changes to ON.
5. Once M30=ON, DPUDRI would be executed on axis 1 to perform relative positioning output. And execute DPUSTAT
to display the current position in D0. And from there, the output point Y0.0 outputs 20,000 pulses at 2 kHz frequency
(relative addressing). If Y0.1=OFF, the direction is positive. Execute DPUSTAT to display the current position in D0.
Finally, M31 would change to ON after the Done flag changes to ON.
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