Delta DVP-ES2 - Manual (Page 543)

3 . I n s t r u c t i o n S e t
3 - 4 2 7
API Mnemonic Operands Function
192 D PPMA
2-Axis Absolute Point
to Point Motion
Controllers
ES2/EX2 SS2 SA2
SE
SX2
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 *
DPPMA: 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:
S
1
: Number of output pulses on X axis S
2
: Number of output pulses on Y axis S: Max. point
to point output frequency 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. S
1
and S
2
specify the number of output pulses (absolute 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. D can designate Y0 only.
Y0 is the pulse output point of X axis;
Y1 is the direction signal output of X axis.(OFF: positive; ON: negative)
Y2 is the pulse output point of Y axis;
Y3 is the direction signal output of Y axis (OFF: positive; ON: negative)
5. For the rest of the explanations on the instruction, special D and special M, please refer to API
191 DPPMR instruction.
Program Example:
1. Draw a rhombus as the figure below.