Chapter 5 Applied Instructions Table of Contents 5.1 Table of Applied Instructions ..................................................................... 5-3 5.2 Structure of an Applied Instruction ............................................................
5-9 5.3 Processing Values ...................................................................................5-12 5.4 Using Index Registers to Modify Operands .............................................5-15 5.5 Instruction Index ......................................................................................5-15 5.6 Descriptions of the Applied Instructions ...................................................5-19 5.7 Motion Control Function Block Table .....................................................5-128 5.8 Introduction of the Pins in a Motion Control Function Block ..................5-130 5.8.1 Definitions of Input Pins/Output Pins ..............................................5-130 5.8.2 Timing Diagram for Input/Output Pins ............................................5-132 5.8.3 Introducing the Use of PMSoft ........................................................5-133 5.9 Delta-defined Parameter Table ..............................................................5-135 5.10 Uniaxial Motion Control Function Blocks ............................................5-138 5.10.1 Absolute Single-speed Motion ....................................................5-138 5.10.2 Relative Single-speed Motion .....................................................5-141 5.10.3 Absolute Two-speed Motion .......................................................5-146 5.10.4 Relative Two-speed Motion ........................................................5-150 5.10.5 Inserting Single-speed Motion ....................................................5-154 5.10.6 Inserting Two-speed Motion ........................................................5-158 5.10.7 JOG Motion ................................................................................5-162 5.10.8 Manual Pulse Generator Mode ...................................................5-165 5.10.9 Returning Home ..........................................................................5-168 5.10.10 Stopping Uniaxial Motion ............................................................5-171 5.10.11 Parameter Setting I .....................................................................5-174 5.10.12 Parameter Setting II ....................................................................5-176 5.10.13 Reading the Present Position/Speed of an Axis ..........................5-179 5.10.14 State of an Axis ...........................................................................5-181 5.10.15 Setting the Present Position of an Axis .......................................5-183 5.10.16 Setting the Polarities of Input Terminals ......................................5-185 5.10.17 Electronic Gear Motion ...............................................................5-188 5.10.18 Electronic Cam Motion ................................................................5-190 5.10.19 Reading a Cam Point ..................................................................5-194 5.10.20 Writing a Cam Point ....................................................................5-196 5.10.21 Calculating a Synchronization Ratio ...........................................5-198 5.10.22 Creating a Cam Curve ................................................................5-200 5.10.23 Updating a Cam Curve ...............................................................5-203 5.11 Multiaxial Motion Control Function Blocks .........................................5-205 5.11.1 Setting the Parameters of G-code Motion ...................................5-205 5.11.2 Executing G-code Motion ...........................................................5-207 5.11.3 Stopping G-code Motion .............................................................5-210 5.11.4 Reading an M-code ....................................................................5-212 5.11.5 Multiaxial Absolute Linear Interpolation ......................................5-215 5.11.6 Multiaxial Relative Linear Interpolation .......................................5-217 5.11.7 Stopping Multiaxial Linear Interpolation ......................................5-219 5.12 Network Function Blocks ...................................................................5-221 5-1