Delta DVP-PM Series - 6.3 Motion Instructions

6 Motion Instructions & G-Code Instructions
DVP-PM Application Manual
6-6
6.3 Motion Instructions
MON Mnemonic Operands Function
00 DRV
X P 1
FX V 1
Y
P 2
FY V 2
Z P 3
FZ V 3
High-Speed Positioning
Controllers
20PM -
Bit Devices Double-Word Devices Notes
Type
K H D KK HH DD
P
1
* * * * * *
V
1
* * * * * *
P
2
* * * * * *
V
2
* * * * * *
P
3
* * * * * *
V
3
* * * * * *
 DRV instruction supports V, Z index register
modification on the devices.
 See specifications of DVP-PM for the applicable
range of each device.
 You can place an M-Code instruction after DRV.
Operands:
P
1
: Target position on X axis V
1
: Moving speed on X axis P
2
: Target position on Y axis
V
2
: Moving speed on Y axis P
3
: Target position on Z axis V
3
: Moving speed on Z axis
Explanations:
1. Maximum V
1
, V
2
, V
3
= V
MAX
2. 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.
3. Acceleration/deceleration time and bias speed can be set up in special D.
4. Acceleration/deceleration time increases or decreases in proportional to the setting of V
MAX
.
5. Timing diagram:
Speed
T ACC
T
DEC
V MAX
Time
V BIAS
Start
Operation speed
Target position
6. 16-bit devices and 32-bit devices can be used together.
7. If you set up the moving speed on an axis, you have to set up the target position on the axis. However, if you set
up the target position, it is not a must to set up the moving speed.
8. If you set up the target position on the axis without setting up the moving speed, the operation will run at V
MAX
.
9. 20D model supports 2-axis (X/Y) high-speed positioning, and therefore there are 8 operand combinations for
DRV instruction.
NO. Instruction Operand combination
1
X P 1
2
X P 1
FX V 1
3
DRV
Y P 2