Delta DVP-SS2

DVP-ES2/EX2/EC5/SS2/SA2/SX2/SE&TP Operation Manual - Programming
3-620
API Mnemonic Operands Function
Controllers
ES2-C
334 D ZRNC S
1
, S
2
, S
3
Servo homing
Type
OP
Bit Devices Word devices Program Steps
X Y M S K H KnX KnY KnM KnS T C D E F
ZRNC: 7 steps
DZRNC: 13 steps
S
1
*
*
S
2
*
*
*
S
3
*
*
*
PULSE
16-bit
32-bit
ES2-C
ES2-C
Operands
S
1
：
Station address of servo
S
2
：
The 1
st
– segment speed
S
3
：
The 2
nd
– segment speed
Explanation
1. DZRNC instruction is supported for firmware V3.60 or later.
2. The INITC and ASDON (servo ON) instructions must be complete before this instruction is
executed.
3. It is not available for pulse type instructions. Do not use pulse type contact.
4. The range of S
1
is K1–K8 (for servo). There will be no execution when the input value is out of
the range.
5. For firmware V3.48 or earlier versions, this function is only available for ASDA-A2. The range
for S
2
is 1-20000. The range for S
3
is 1-5000. The unit of the value of S
2
and S
3
is 0.1 rpm.
6. For firmware V3.60 or later, this function is only available for ASDA-A3. When using rotary
motor, the unit of the value of S
2
and S
3
is 0.1 rpm. The range of S
2
and S
3
is 1–60000, which
indicates 0.1–6000.0 rpm. When using linear motor, the unit of the value of S
2
and S
3
is 10
-6
m/s. The range of S
2
and S
3
is 1-15999999, which indicates 0.000001-15.999999 m/s.
7. You need to use CASD instruction for acceleration and deceleration.
8. Once the target position is reached, the corresponding completion flags of axes
M1624-M1631 will be set to ON.
9. Each ID has a corresponding register (D6032-D6047) to store the current position.