Delta DVP-ES2 - Manual (Page 545)

3 . I n s t r u c t i o n S e t
3 - 4 2 9
API Mnemonic Operands Function
193 D CIMR
2-Axis Relative
Position Arc
Interpolation
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 *
DCIMR: 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: 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. S
1
and S
2
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.
(0,0)
X
Y
(S ,S )
1 2
2
0
s
e
g
m
e
n
ts
20 segments
Figure 1
(0,0)
X
Y
(S ,S )
1 2
2
0
s
e
g
m
e
n
ts
20 segments
Figure 2