Delta Electronics Programmable Logic Controller DVP-PLC - Manual (Page 553)

9 Application Instructions API 150-199
DVP-PLC Application Manual 9-81
API Mnemonic Operands Function
193 D CIMR
2-Axis Relative Position Arc
Interpolation
Controllers
ES/EX/SS SA/SX/SC EH/SV
Bit Devices Word Devices Program Steps Type
OP X Y M S K H KnX KnY KnM KnS T C D E F
S
1
* * *
S
2
* * *
S *
D *
DCIMR: 17 steps
PULSE 16-bit 32-bit
ES EX SS SA SX SC EH SV ES EX SS SA SX SC EH SV ES EX SS SA SX SC EH SV
Operands:
S
1
: Number of output pulses of X axis S
2
: Number of output pulses of Y axis S: Parameter setting D: Pulse
output device
Explanations:
1. Flags: M1029, M1030, M1334, M1335. See remarks of API 191 DPPMR for more details.
2. This instruction only supports EH2/SV series MPU, not EH series. In terms of pulse output methods, this
instructin only supports “pulse + direction” mode.
3. S
1
and S
2
are the designated (relative designation) number of output pulses in X axis (Y0 or Y4) and Y axis (Y2 or
Y6). The range of the number is -2,147,483,648 ~ +2,147,483,647 (+/- represents the forward/backward
direction). When in forward direction, the pulse present value registers CH0 (D1337 high word, D1336 low word),
CH1 (D1339 high word, D1338 low word), CH2 (D1376 high word, D1375 low word) and CH3 (D1378 high word,
D1377 low word) will increase. When in backward direction, the present value will decrease.
4. The lower 16 bits of S (settings of direction and resolution): K0 refers to clockwise 10-segment (average
resolution) output; K2 refers to clockwise 20-segment (higher resolution) output and a 90
° arc can be drawn (see
figure 1 and 2). K1 refers to counterclockwise 10-segment (average resolution) output; K3 refers to
counterclockwise 20-segment (higher resolution) output and a 90
° arc can be drawn (see figure 3 and 4).
5. The higher 16 bits of S (settings of motion time): K1 refers to 0.1 second. The setting range for average resolution
is K1 ~ K100 (0.1 sec. ~ 10 secs.), for higher resolution is K2 ~ K200 (0.2 sec. ~ 20 secs.) This instruction is
restricted by the maximum pulse output frequency; therefore when the set time goes faster than the actual output
time, the set time will be automatically modified.
(0, 0)
X
Y
(S , S )
1 2
1
0
s
e
g
m
e
n
ts
10 se gment s
F igur e 1
(0, 0)
X
Y
(S , S )
1 2
2
0
s
e
g
m
e
n
ts
20 se gment s
F igur e 2