Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Mnemonic Operands Function Controllers, Cimr

3. Instruction

Set

API

Mnemonic

Operands

Function

Controllers

2-Axis Relative

ES2/EX2

SS2

SA2

SX2

193

D

CIMR

Position Arc

SE

Interpolation

Type

Bit Devices

Word devices

Program Steps

OP

X

Y

M

S

K

H

KnX

KnY

KnM

KnS

T

C

D

E

F

DCIMR: 17 steps

S1

*

*

*

S2

*

*

*

S

*

D

*

16-bit

PULSE

32-bit

ES2/EX2

SS2

SA2

SX2

ES2/EX2

SS2

SA2

SX2

ES2/EX2

SS2

SA2

SX2

SE

SE

SE

Operands:

S1: Number of output pulses of X axis

S2: Number of output pulses of Y axis

S: Parameter

setting

D: Pulse output device

Explanations:

1.For ES2/EX2 models, only V1.20 or above supports the function.

2.The instruction only supports the pulse output type: Pulse / Direction.

3.S1 and S2 specify the number of output pulses (relative positioning) on X axis (Y0) and Y axis (Y2). Range: -2,147,483,648 ~ +2,147,483,647 (The “+/-“ sign indicates the forward/backward direction). In forward direction, the present value of pulse output on CH0 (D1031 High, D1030 low), CH1 (D1337 high, D1336 low) increases. In reverse direction pulse output, value in (D1031, D1330) and (D1336, D1337) decreases.

4.The low word of S (settings of direction and resolution): K0 refers to clockwise 20-segment output; K1 refers to counterclockwise 20-segment output; A 90° arc can be drawn (see figure 1 and 2).

5.The high word of S (settings of motion time, unit: 0.1sec): Setting range: K2 ~ K200 (0.2 sec. ~ 20 secs.) This instruction is restricted by the maximum pulse output frequency; therefore when the set time is faster than the actual output time, the set time will be automatically modified.

	Y						Y
				(S1 ,S2)						(S1,S2)
						snt emg es
stn emg es
02					X	02					X
(0,0)						(0,0)
		20 segments						20 segments
			Figure 1						Figure 2

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