Delta DVP-PM Series User Manual

6 Motion Instructions & G-Code Instructions
DVP-PM Application Manual
6-28
MON Mnemonic Operands Function
10 INTR
X P 1 Y P 2 F V
2-axis Single-Speed Linear
Interpolation
(ignoring remaining distance)
Controllers
20PM -
Bit Devices Double-Word Devices Notes
Type
K H D KK HH DD
P
1
* * * * * *
P
2
* * * * * *
V * * * * * *
 INTR 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 INTR.
Operands:
P
1
: Target position on X axis P
2
: Target position on Y axis
V: Speed for 2-axis linear interpolation
Explanations:
1. The functions of LIN and INTR are the same, except that LIN can set up stop mode, considering remaining
distance.
2. Maximum V = V
MAX
.
3. 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.
4. Acceleration/deceleration time and bias speed can be set up in special D.
5. Acceleration/deceleration time increases or decreases in proportional to the setting of V
MAX
.
6. Timing diagram:
Speed
T ACC
T
DEC
V MAX
Time
V BIAS
Start
Interpolation speed
Target position
7. The interpolation speed is monitored by special registers: D1850 ~ D1851 for X axis; D1930 ~ D1931 for Y axis.
8. Target position is required, but moving speed could be left out, and therefore there are 6 operand combinations
for INTR instruction.
NO. Instruction Operand combination
1
X P 1
2
X P 1 F V
3
Y
P 2
4
Y P 2 F V
5
X P 1 Y P 2
6
INTR
X P 1
Y
P 2 F V
Remarks:
See Remarks of LIN instruction for relevant special registers.

Delta DVP-PM Series Specifications

General

Brand	Delta
Model	DVP-PM Series
Category	Controller
Language	English