Delta DVP-20PM

ii
3.10 Specail Auxiliary Relays and Special Data Registers........................................3-15
3.11 Functions of Special Auxiliary Relays and Special Data Registers ...................3-30
3.12 Special Data Registers for Motion Axes ............................................................3-46
3.12.1 Descriptions of the Special Data Registers Related to Motion....................3-47
3.12.2 Introduction of Modes of Motion.................................................................3-64
3.12.3 Special Data Registers for Motion Axes .....................................................3-65
Chapter 4 Basic Instructions
4.1 Table of Basic Instructions ..................................................................................4-1
4.2 Descriptions of the Basic Instructions..................................................................4-3
Chapter 5 Applied Instructions and Basic Usage
5.1 Table of Applied Instructions ...............................................................................5-1
5.2 Structure of an Applied Instruction.......................................................................5-5
5.3 Processing Values...............................................................................................5-7
5.4 Using Index Registers to Modify Operands .......................................................5-10
5.5 Instruction Index ................................................................................................5-10
5.6 Descriptions of the Applied Instructions.............................................................5-14
● (API 00~09) Loop control
.............................................................................5-14
●
(API 10~19) Transfer and comparison
.........................................................5-23
●
(API 20~29) Arithmetic.................................................................................
5-36
●
(API 30~39) Rotation and move ..................................................................
5-48
● (API 40~49) Data processing ......................................................................5-59
● (API 50) High-speed processing..................................................................5-73
● (API 61~69) Convenience ...........................................................................5-74
● (API 78~87) I/O ...........................................................................................5-81
● (API 100~101) Communication ...................................................................5-86
●
(API 110~175) Floating-point value .............................................................
5-95
● (API 215~223) Logical operation...............................................................5-126
● (API 224~246) Comparison instructions.................................................... 5-129
● (API 147, 154, 202, 203, 256~260) Other instructions ..............................5-132
5.7 Motion Control Function Block Table ...............................................................5-145
5.8 Introduction of the Pins in a Motion Control Function Block ............................5-146
5.8.1 Definitions of Input Pins/Output Pins........................................................5-146
5.8.2 Timing Diagram for Input/Output Pins ......................................................5-148
5.8.3 Introducing the Use of PMSoft..................................................................5-148
5.9 Delta-defined Parameter Table........................................................................5-150
5.10 Uniaxial Motion Control Function Blocks .........................................................5-152
5.10.1 Absolute Single-speed Motion..................................................................5-152
5.10.2 Relative Single-speed Motion...................................................................5-156