Eaton ELC-PB, Programming Manual

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3 . I n s t r u c t i o n S e t
M N 0 5 0 0 3 0 0 3 E F or m o r e i nf o r m a t i o n v i s i t : www. e a t o n. c o m
3-457
API Mnemonic Operands Function
193 D CIMR
S
1
, S
2
, S, D
2-Axis Relative Position Arc Interpolation
Bit Devices Word devices Program Steps
Type
OP
X Y M S K H KnX KnY KnM KnS T C D E F
S
1
* * *
S
2
* * *
S *
D *
DCIMR: 17 steps
ELC ELCB ELCM
PB PC/PA/PH PV PB PH/PA
32 16 P 32 16 P 32 16 P 32 16 P 32 16 P
Operands:
S1:
Number of X axis output pulses
S2:
Number of Y axis output pulses
S:
Parameter
settings
D:
Pulse output address
Description: (ELC-PV)
1. Flags: M1029, M1030, M1334, M1335. See API 191 DPPMR for details.
2. This instructin only supports “pulse + direction” mode.
3.
S
1
and
S
2
are the designated number of output pulses in the X axis (Y0 or Y4) and Y axis (Y2 or
Y6). The range of the values are -2,147,483,648 ~ +2,147,483,647 (+/- represents the
forward/backward direction). When in the forward direction, the pulse present value registers
CH0 (D1337 high word, D1336 low word), CH1 (D1339 high word, D1338 low word), CH2
(D1376 high word, D1375 low word) and CH3 (D1378 high word, D1377 low word) will increase.
When in the reverse direction, the present value will decrease.
4. When the lower 16 bits of
S
are K0, this refers to a clockwise 10-segment (average resolution)
output; K2 refers to a clockwise 20-segment (higher resolution) output for a 90
°
arc (see figure 1
and 2). K1 refers to a counterclockwise 10-segment (average resolution) output; K3 refers to a
counterclockwise 20-segment (higher resolution) output for a 90
°
arc (see figure 3 and 4).
5.
The higher 16 bits of
S
(time settings for the motion): K1 refers to 0.1 seconds. The setting
range for average resolution is K1 ~ K100 (0.1 sec. ~ 10 secs.), for higher resolution use K2 ~
K200 (0.2 sec. ~ 20 secs.).
(0,0)
X
Y
(S ,S )
1 2
1
0
se
g
m
e
n
ts
10 segments
Figure 1
(0,0)
X
Y
(S ,S )
1 2
2
0
se
g
m
e
n
ts
20 segments
Figure 2