9 Application Instructions API 150-199 corresponding rotation direction. D1339 is for high word; D1338 is for low word. 2. (For EH/EH2/SV/EH3/SV2 series MPU) Registers for storing the current number of output pulses of the second group (Y2, Y3) output of pulse output instructions (API 57 PLSY, API 59 PLSR). D1339 is for high word; D1338 is for low word. D1340 (D1352): For setting up the frequencies of the first acceleration segment and the last deceleration segment when the position control instructions (API 156 ZRN, API 158 DRVI, API 159 DRVA) are executing CH0 (CH1) outputs. Range of setting: For EH/EH2/SV/EH3/SV2 series MPU, the speed has to be higher than 10Hz.
Frequency lower than 10Hz or higher than maximum output frequency will be output by 10Hz. The default setting in EH/EH2/SV series MPU is 200Hz. For SC series MPU, the speed has to be 100 ~ 100kHz. Frequency lower than 100Hz will be output by 100Hz and frequency higher than 100kHz will be output by 100kHz. The default setting in SC series MPU is 100Hz. Note: During the control of the stepping motor, please consider the resonance and the limitation on the start frequency when you set up the speed. D1341, D1342: (For EH/EH2/SV/EH3/SV2 series MPU) For setting up the maximum speed when the position control instructions (API 156 ZRN, API 158 DRVI, API 159 DRVA) are being executed.
D1342 is for high word; D1341 is for low word. Range of setting: 200kHz fixed. D1343 (D1353): For setting up the time of the first acceleration segment and the last deceleration segment when the position control instructions (API 156 ZRN, API 158 DRVI, API 159 DRVA) are executing CH0 (CH1) outputs. Range of setting: For EH/EH2/SV/EH3/SV2 series MPU, the acceleration/deceleration time has to be 1 ~ 10,000ms. The time longer than 10,000ms will be output by the default 100ms. For SC series MPU, the time has to be 50 ~ 20,000ms. The time shorter than 50ms will be regarded as 50ms. Note:
During the control of the stepping motor, please consider the resonance and the limitation on the start frequency when you set up the speed. D1348, D1349: (For SC series MPU) Registers for the first group (Y0, Y1) output pulse present value of position control instructions (API 156 ZRN, API 158 DRVI, API 159 DRVA). The present value increases or decreases according to the corresponding rotation direction. D1349 is for high word; D1348 is for low word. D1350, D1351: (For SC series MPU) Registers for the second group (Y11) output pulse present value of position control instructions (API 156 ZRN, API 158 DRVI, API 159 DRVA).
The present value increases or decreases according to the corresponding rotation direction. D1351 is for high word; D1350 is for low word. DVP-PLC Application Manual 9-43