Delta DVP-ES2/EX2/SS2/SA2/SX2/SE - page 490

DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming
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API Mnemonic Operands Function
159 D DRVA Absolute Position
Control
Controllers
ES2/EX2 SS2 SA2
SE SX2
Bit Devices Word devices Program Steps Type
OP X Y M S K H KnX KnYKnM KnS T C D E F
S1 * * * ** * * * ***
S2 * * * ** * * * ***
D1 *
D2 * * *
DRVA: 9 steps
DDRVA: 17 steps
PULSE 16-bit 32-bit
ES2/EX2 SS2 SA2
SE SX2 ES2/EX2 SS2 SA2 SE SX2 ES2/EX2 SS2 SA2 SE SX2
Operands:
S1: Numbers of pulses (Absolute positioning) S2: Pulse output frequency D1: Pulse output
device D2: Direction signal output
Explanations:
1. The instruction only supports the pulse output type: Pulse + Direction.
2. S1 is the number of pulses (Absolute positioning). Available range: -2,147,483,648 ~
+2,147,483,647. “+/-” signs indicate forward and reverse direction.
3. S2 is the pulse output frequency. Available range: 6 ~ 100,000Hz.
4. D1 is the pulse output device. It can designate CH0 (Y0) and CH1 (Y2).
5. D2 is the direction signal output device. If Y output is designated, only CH0 (Y1) and CH1 (Y3)
are available.
6. S1 is the target position for absolute positioning. The actual number of output pulses (S1 –
current position) will be calculated by PLC. When the result is positive, pulse output executes
forward operation, i.e. D2 = OFF; when the results is negative, pulse output executes reverse
operation, i.e. D2 = ON.
7. The set value in S1 is the absolute position from zero point. The calculated actual number of
output pulses will be the relative position of
- 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.
8. D1343 (D1353) is the ramp up/down time (between start frequency and pulse output
frequency) setting of CH0 (CH1). Available range: 20 ~ 32,767ms. Default: 100ms. PLC will
take 20ms as the set value when specified value is below 20ms or above 32,767ms.
9. D1340 (D1352) is start/end frequency setting of CH0 (CH1). Available range: 6 ~ 32,767Hz.
PLC will take the start/end frequency as the pulse output frequency when pulse output
frequency S2 is smaller or equals the start/end frequency.