DVP-ES2-EX2-SS2-SA2-SX2-Operation Manual

3. Instruction Set
11. Ramp-down time of CH0 and CH1 can be particularly modified by using (M1534, D1348) and
(M1535, D1349). When M1534 / M1535 = ON, CH0 / CH1 ramp-down time is specified by
D1348 / D1349.
12. If M1078 / M1104 = ON during instruction execution, Y0 / Y2 will pause immediately and
M1538 / M1540 = ON indicates the pause status. When M1078 / M1104 = OFF, M1538 /
M1540 = OFF, Y0 / Y2 will proceed to finish the remaining pulses.
13. DRVI instruction supports Alignment Mark and Mask function. Please refer to the explanation
in API 59 PLSR instruction.
Program Example:
When M10= ON, 20,000 pulses (relative position) at 2kHz frequency will be generated from Y0. Y1=
OFF indicates positive direction.
M10
DDRVI K20000 K2000 Y0 Y1
Points to note:
1. Operation of relative positioning:
Pulse output executes according to the relative distance and direction from the current position
+3,000
Ramp up time
Ramp down time
Start / End freq. Min: 6Hz
Current
position
-3,000
2. Registers for setting ramp up/down time and start/end frequency:
• Output Y0:
Ramp-up
slope
Sample time
of ramp-up
Pulse output frequency
Start freq.
Y0(D1340)
Min: 6Hz
End freq.
Y0 (D1340)
Min: 6Hz
Current
position
Ramp up time
Default: 100ms
Y0(D1343)
Ramp down time
Default: 100ms
Y0(D1343)
Numbers of
output pulses
3-371