Chapter 3 Instruction Tables 3_ 3-45 Instruction code Pulse Classification API Function 16-bit 32-bit instruction interpolation 2714 – DCICCR – 2-Axis relative-position counterclockwise arc interpolation 2712 – DCICR – 2-Axis relative-position clockwise arc interpolation 1004 – DCNT – 32-bit counter 2812 – DCSFOC – Controlling the tracking function of a servo via communication 2707 – DDRVA – Absolute position control 2804 – DDRVAC – Servo absolute position control 2706 – DDRVI – Relative position control 2803 – DDRVIC – Servo relative position control 2709 – DDRVM – Mark alignment positioning 2814 – DECAMS – E-CAM parameter setting and planning 1006 – DHSCR – Resetting high-speed comparison 1005 – DHSCS – Setting high-speed comparison 0601 – DHSRF Refreshing the values of high-speed comparison 1007 – DHSZ – High-speed input zone comparison 1417 – DMPID – PID algorithm for RTD/TC module 0708 – DPIDE – PID algorithm 2701 – DPLSR – High-speed pulse output (with ramp-up/down process) 2705 – DPLSV – Adjustable pulse output 2805 – DPLSVC – Servo speed control 2700 – DPLSY – High-speed pulse output (without ramp-up/down process) 2723 – DPPGB – Point to point go back and forth 2711 – DPPMA – 2-Axis absolute-coordinate point-to-point synchronized motion 2710 – DPPMR – 2-Axis relative-coordinate point-to-point synchronized motion 2721 – DPTWC Setting arc interpolation parameters in the position planning table 1410 – DPUCNT – High-speed counter function of PU module 1402 – DPUCONF Setting output control parameters of PU module 1406 – DPUDRA – Absolute addressing output of PU module (with acceleration and deceleration) 1405 – DPUDRI – Relative position output of PU module (with acceleration and deceleration) 1408 – DPUJOG – PU module jog output 1409 – DPUMPG – PU module MPG output