3. Instruction Set

11.Ramp-down time of CH0 and CH1 can be particularly modified by using (M1534, D1348) and (M1535, D1349). When M1534 / M1535 = ON, CH0 / CH1 ramp-down time is specified by D1348 / D1349.

12.If M1078 / M1104 = ON during instruction execution, Y0 / Y2 will pause immediately and M1538 / M1540 = ON indicates the pause status. When M1078 / M1104 = OFF, M1538 / M1540 = OFF, Y0 / Y2 will proceed to finish the remaining pulses.

13.DRVI instruction supports Alignment Mark and Mask function. Please refer to the explanation in API 59 PLSR instruction.

Program Example:

When M10= ON, 20,000 pulses (relative position) at 2kHz frequency will be generated from Y0. Y1= OFF indicates positive direction.

M10

DDRVI K20000 K2000 Y0

Y1

Points to note:

1.Operation of relative positioning:

Pulse output executes according to the relative distance and direction from the current position

 

+3,000

Ramp up time

Ramp down time

 

Start / End freq. Min: 6Hz

Current

 

position

-3,000

 

2.Registers for setting ramp up/down time and start/end frequency: z Output Y0:

Sample time of ramp-up

Ramp-up slope

Start freq.

Y0(D1340)

Min: 6Hz

Ramp up time

Current Default: 100ms position Y0(D1343)

Pulse output frequency

End freq.

Y0 (D1340)

Min: 6Hz

Numbers of

Ramp down time output pulses

Default: 100ms

Y0(D1343)

3 - 3 7 1

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Image 487
Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual M10 Ddrvi K20000 K2000 Y0