6 Basic Usage of Motion Instructions and G-codes
DVP-20PM Application Manual
6-29
Motion
instru
ction
number
Applicable model
20PM
10
INTR
P
1
P
2
F V
Two-axis single-Speed linear
interpolation
(The remaining distance is
ignored.)
Word device Double word device
K H D KK HH DD
P
1
P
2
V
Note: The instruction supports devices. The
devices supported can be modified
by V devices can Z devices. Please
refer to the specifications for the
DVP-20PM series motion controller
used for more information about the
device ranges available. The
instruction can be followed by an
M-code instruction.
Explanation
P
1
: Target position of the X-axis; P
2
: Target position of the Y-axis; V: Speed of
two-axis linear interpolation
Maximum V=V
MAX
Range of parameters: (16-bit) K=-32,768~32,767; H=0~FFFF; D=0~9,999;
(32-bit) KK=-2,147,483,648~2,147,483,647; HH=0~FFFFFFFF; DD=0~9,998
Acceleration/deceleration time and bias speed can be set in special data
registers.
Acceleration/deceleration time increases or decreases in proportional to the
setting of V
MAX
.
Timing diagram
Speed
T
ACC
DEC
V
MAX
Time
V
BIAS
Start
Interpolation speed
Target position
The interpolation speed is monitored by special data registers: D1850~D1851 are
for the X-axis. D1930~D1931 are for the Y-axis.
The function of INTR is the same as the function of LIN. (If LIN is executed, a
stop mode can be used, and the remaining distance can be considered.)
A target position is required, but moving speed could be left out, and therefore
there are 6 operand combinations for INTR.
No. Motion instruction Combination of operands
1
P
1
2
P
1
F V
3
Y P
2
4
Y P
2
F V
5
P
1
P
2
6
INTR
P
1
Y P
2
F V
Additional
rema
rk
Relevant special data register: Please refer to the addition remark on LIN for
more information.
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