DVP-ES3 Series Programming Manual _3 3-40 Instruction code Pulse API Symbol Function 16-bit 32-bit instruction 2712 – DCICR – 2-Axis relative-position clockwise arc interpolation 2713 – DCICA – 2-Axis absolute-position clockwise arc interpolation 2714 – DCICCR – 2-Axis relative-position counterclockwise arc interpolation 2715 – DCICCA – 2-Axis absolute-position counterclockwise arc interpolation 2716 – DCCMR – Relative-position circle drawing 2717 – DCCMA – Absolute-position circle drawing 2718 TPO – – The position planning table controls the output 2719 – DTPWS Setting single-axis output parameters in the position planning table 2720 – DTPWL Setting linear interpolation parameters in the position planning table 2721 – DPTWC Setting arc interpolation parameters in the position planning table 2723 – DPPGB – Point to point go back and forth 2724 – DZRN2 – Zero return 2 (output direction can be set)