Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Cllm

3. Instruction Set

API	Mnemonic		Operands	Function
197	D	CLLM		Close loop position
				control

Controllers

ES2/EX2 SS2 SA2 SX2

SE

Type

Bit Devices

Word devices

Program Steps

OP

X

Y

M

S

K

H

KnX

KnY

KnM

KnS

T

C

D

E

F

DCLLM: 17 steps

S1

*

*

S2

*

*

*

S3

*

*

*

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: Feedback source device

S2: Target number of feedbacks

S3: Target frequency of

output

D: Pulse output device

Explanations:

1. The corresponding interrupt pointers of S1:

Source device	X4	X6	C243 ~ C254
Associted outout	Y0	Y2	Y0	Y2
No. of Interrupt pointer	I40	I60	I010	I050

… = 1: rising-edige triggered; … = 0: falling-edge triggered

a)When S1 designates input points X and the pulse output reaches the target number of feedbacks in S2, the output will continue to operate by the frequency of the last shift (end frequency) until interrupts occur on input points X.

b)When S1 designates high speed counters and the pulse output reaches the target number of feedbacks in S2, the output will continue to operate by the frequency of the last shift (end frequency) until the feedback pulses reaches the target number.

c)S1 can be a high speed counter C or an input point X with external interrupt. If S1 is C, DCNT instruction should be executed in advance to enable the high-speed counting function, and EI instruction with I0x0 should be enabled for external interrupts. If S1 is X, EI instruction with I0x0 should be enabled for external interrupts.

d)If S1 is specifed with counters, DHSCS instruction has to be programmed in user program. Please refer to Program example 2 for details.

2.Range of S2: -2,147,483,648 ~ +2,147,483,647 (+ / - indicates the positive / negative rotation direction). the present value of pulse output in CH0 (Y0, Y1) and CH1 (Y2, Y3) increases in positive direction and decreases in negative direction. Registers storing present value of pulse output: CH0(D1031 High, 1030 Low), CH1(D1337 High, D1336 Low)

3.If S3 is lower than 6Hz, the output will operate at 6Hz; if S3 is higher than 100kHz, the output will operate at 100kHz.

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