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
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10. When the 2-axis motion is being executed in 20 segments (high resolution), the operation time
of the instruction when the instruction is first enabled is approximately 10ms. The number of
output pulses cannot be less than 1,000 and more than 10,000,000; otherwise, the instruction
cannot be enabled.
11. If the number of pulses in 10-segment or 20-segment motion needs to be lower or higher than
the allowable range, adjust the gear ratio of the servo to obtain the desired value.
12. Each time the instruction is executed, only one 90
°
arc can be drawn.
13. There are no settings for the start frequency and acceleration/deceleration time.
14. There is no limit on the number of times this instruction can be used in the program..
15. The settings for the direction and resolution are in the lower 16 bits of S and can only be K0 ~
K3.
16. The settings for the motion time are in the high 16 bits of S and can be slower than the the
fastest suggested time but must not be faster than the fastest suggested time.
17. The fastest suggested time for the arc interpolation:
Segments
Max. target position (pulse)
Fastest suggested set time (unit:100ms)
100 ~ 10,000
1
10,001 ~ 19,999
2
: :
Average
resolution
Less than 1,000,000
Less than 100
1,000 ~ 20,000
2
20,000 ~ 29,999
3
: :
Higher
resolution
Less than 10,000,000
Less than 200
Description: (ELCM-PH/PA)
1. Flags: M1029. See API 191 DPPMR for details.
2.
S
1
and
S
2
are the designated number of output pulses in the X axis (Y0) and Y axis (Y2). The
range of the values is -2,147,483,648 ~ +2,147,483,647 (+/- represents the forward/backward
direction). When in the forward direction, the pulse present value registers CH0 (D1031 high
word, D1030 low word), CH1 (D1337 high word, D1336 low word) will increase. When in
reverse direction, the present value will decrease.
3. The lower 16 bits of
S
(the settings for the direction and resolution): K0 refers to clockwise
20-segment output for a 90
°
arc (see figure 7). K1 refers to counterclockwise 20-segment output
for a 90
°
arc (see figure 8).
4. The higher 16 bits of
S
(the settings for the motion time): K1 refers to 0.1 seconds. The range for
the resolution is K2 ~ K200 (0.2 sec. ~ 20 secs.).
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