Delta DVP-ES2 - Manual (Page 555)

3 . I n s t r u c t i o n S e t
3 - 4 3 9
API Mnemonic Operands Function
197 D CLLM
Close loop position
control
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
3
* * *
D *
DCLLM: 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
: Feedback source device S
2
: Target number of feedbacks S
3
: Target frequency of
output D: Pulse output device
Explanations:
1. The corresponding interrupt pointers of S
1
:
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 S
1
designates input points X and the pulse output reaches the target number of
feedbacks in S
2
, the output will continue to operate by the frequency of the last shift (end
frequency) until interrupts occur on input points X.
b) When S
1
designates high speed counters and the pulse output reaches the target
number of feedbacks in S
2
, the output will continue to operate by the frequency of the
last shift (end frequency) until the feedback pulses reaches the target number.
c) S
1
can be a high speed counter C or an input point X with external interrupt. If S
1
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 S
1
is X,
EI instruction with I0x0 should be enabled for external interrupts.
d) If S
1
is specifed with counters, DHSCS instruction has to be programmed in user
program. Please refer to Program example 2 for details.
2. Range of S
2
: -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 S
3
is lower than 6Hz, the output will operate at 6Hz; if S
3
is higher than 100kHz, the output
will operate at 100kHz.