6 Basic Usage of Motion Instructions and G-codes
DVP-20PM Application
Manual
6-32
Motion
instruction
number
Applicable model
20PM
12
DINTR
X P
1
/
Y P
2
,
F V
1
F V
2
Inserting two speeds
Word device Double word device
K H D KK HH DD
P
1
P
2
V
1
V
2
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
: Additional distance on the X-axis; P
2
: Additional distance on the Y-axis; V
1
:
First speed; V
2
: Second speed
Maximum V
1
/V
2
=V
MAX
The first operand of DINTR can be either the X-axis or the Y-axis for double
speed positioning with additional distance.
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
.
The 16-bit devices and 32-bit devices can be used together.
Timing diagram
Speed
T
DEC
V
XMA
Time
V
BIAS
Start
DO
Additional
distance
First speed V(I)
Second speed V(II)
When DINTR is enabled, the operation speed will start from the V
BIAS
set,
accelerate to the V (I) set, and operate stably. When the execution encounters
DOG’s signal, it will further accelerate to the V (II) set, and then finish the
additional distance set by the instruction.
Both additional distance and moving speed are required, and therefore there are
2 operand combinations for SINTR.
No. Motion instruction Combination of operands
1
P
1
F V
1
F V
2
2
DINTR
Y P
2
F V
1
F V
2
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