Delta DVP-PM Series

6 Motion Instructions and G-Code Instructions
DVP-PM Application Manual
6-29
MON Mnemonic Operands Function
11 SINTR
X P 1
/
Y
P 2
,
F V
1-axis Single-speed Positioning with
Additional Distance
Controllers
20PM -
Bit Devices Double-Word Devices Notes
Type
K H D KK HH DD
P
1
* * * * * *
P
2
* * * * * *
V * * * * * *
 SINTR 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 SINTR.
Operands:
P
1
: Additional distance on X axis P
2
: Additional distance on Y axis V: Operation speed V(I)
Explanations:
1. When SINTR instruction is enabled, the operation speed will start from
V
BIAS
and accelerate to V(I) and then
operate stably. When the execution encounters DOG signal, it will follow the additional distance set by the
instruction and complete the positioning process.
2. Maximum V = V
MAX
.
3. The first operand of SINTR can be either X axis or Y axis for single speed positioning with additional distance.
4. 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.
5. Acceleration/deceleration time and bias speed can be set up in special D.
6. Acceleration/deceleration time increases or decreases in proportional to the setting of V
MAX
.
7. The 16-bit devices and 32-bit devices can be used together.
8. Timing diagram:
T ACC T DEC
V MAX
V BIAS
Start
DOG
Speed
Time
Operation speed V(I)
Additional
distance
9. Both additional distance and moving speed are required, and therefore there are 2 operand combinations for
SINTR instruction.
NO. Instruction Operand combination
1
X P 1 F V
2
SINTR
Y P 2 F V
Program Example:
1. When X0 = ON, SINTR instruction in OX0 subroutine will be executed. X axis accelerates to 500kHz in 100ms.