Chapter 3 Instruction Tables 3_ 3-45 Instruction code Pulse Classification API Function 16-bit 32-bit instruction 1005 – DHSCS – Setting high-speed comparison 0601 – DHSRF Refreshing the values of high-speed comparison 1007 – DHSZ – High-speed input zone comparison 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 1404 – DPUPLS – PU module pulse output (no acceleration) 1407 – DPUZRN – PU module homing 1008 – DSPD – Detecting speed 0711 – DSUNRS – Setting up the sunrise and sunset times 1226 – DTM Transfer and move data 2720 – DTPWL Setting linear interpolation parameters in the position planning table 2719 – DTPWS Setting single-axis output parameters in the position planning table 2704 – DZRN – Zero return 2724 – DZRN2 – Zero return 2 (output direction can be set) 2105 DABCD DDABCD Converting an ASCII code into a binary-coded decimal number 2103 DABIN DDABIN Converting a signed decimal ASCII code into a signed decimal binary number 0116 DEC DDEC Subtracting one from a binary number