3. Instruction Set
Programming Example:
1. When M0 is ON, the PUX instruction is executed to set the input parameters of DVP02PU-E2
module with “Axis 1, DOG, Rising-edge triggered” for input point X0, “Axis 1, Z phase,
Rising-edge triggered” for input point X1 and “15m” for X0 / X1 filter time. When the output of
Done is completed, M1/M3 changes to ON.
2. When M10 is ON, the DPULS instruction for axis 1 is executed to set the software limit points
with “-50000” for LSN and “50000” for LSP. When the output of Done is completed, M11
changes to ON.
3. When M20 is ON, the DPUCONF instruction for axis 1 is executed to change the parameters by
setting Mode to 1 (Pulse Y0+ Direction Y1), SSpeed (start speed) to 200Hz, Atime
(acceleration time) to 200ms, Dtime (deceleration time) to 200ms, MSpeed (maximum speed)
to 100kHz, Z_NO (Number of Z phases to look for after returning to the home position) to 1 and
Offset (number of outputs after homing is finished) to -100. And M21 changes to ON as the
output of Done is completed.
4. When M30=ON, the PUSTAT instruction for axis 1 is executed to read the PU module output
state. To clear current output position, you can set M31 to ON so that the current position of axis
1 (rising-edge triggered) in D30 would be cleared to 0.
5. When M40 is ON, the DPUZRN instruction for axis1 starts to perform homing and the PUSTAT
instruction displays the current position in D30. The output point Y0 outputs pulses at the
frequency of 1kHz and the search for the home starts in positive direction. Once the near home
signal (DOG) is reached and X0 is ON, the axis starts to decelerate and then moves at the
Jogspeed of 100Hz in the negative direction. When X0=OFF, the axis moves in the positive
direction to search for Z phase until the first rising-edge triggered signal at X1 (Z phase) is
detected, then it moves toward negative direction after 100 output pulses are completed. Finally,
M41 changes to ON after the output of Done is finished.
6. When M50 is ON, the DPUDRI instruction for axis 1 starts to perform relative positioning output.
The PUSTAT instruction displays the current position in D0 and the output point Y0 outputs
20,000 pulses at the frequency of 2kHz (relative addressing). Y1 is OFF, which indicates that
the direction is positive and the PUSTAT instruction displays the current position in D30. Finally,
M51 changes to ON after the output of Done is completed.
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