3 . I ns t r uc ti on Se t3- 4 0 1API Mnemonic Operands Function ControllersES2/EX2 SS2 SA2SESX2158 D DRVI Relative PositionControlTypeOPBit Devices Word devices Program StepsX Y M S K H KnX KnY KnM KnS T C D E F DDRVI: 17 stepsS1 * * * * * * * * * * *S2 * * * * * * * * * * *D1 *D2 * * *PULSE 16-bit 32-bitES2/EX2 SS2 SA2SE SX2 ES2/EX2 SS2 SA2SE SX2 ES2/EX2 SS2 SA2SE SX2Operands:S1: Number of pulses (relative positioning) S2: Pulse output frequency D1: Pulse output deviceD2: Direction signal outputExplanations:1. The instruction only supports the pulse output type: Pulse + Direction.2. S 1 is the number of pulses (relative positioning). Available range: -2,147,483,648 ~+2,147,483,647. “+/-” signs indicate forward and reverse direction.3. S2 is the pulse output frequency. Available range: 6 ~ 100,000Hz.4. D1 is the pulse output device. It can designate CH0 (Y0) and CH1 (Y2).5. D2 is the direction signal output device. It can designate CH0 (Y1) and CH1 (Y3).Pulse output device (D1) Y0 Y2Corresponding directionsignal output device (D2)Y1 Y36. ES2/EX2 V3.46; ES2-C/EX2-E V3.48 and later version support the settings in D1 and D2 asshown below.Pulse output device (D1) Y0 Y1 Y2 Y3Corresponding directionsignal output device (D2)Y4 Y5 Y6 Y77. The operation of D2 corresponds to the “+” or “-“ of S. When S is “+”, D2 will be OFF; when S is“-“, D2 will be ON. D2 will not be OFF immediately after pulse output completion and will be OFFwhen the drive contact is OFF.8. The set value in S1 is the relative position of- current position (32-bit data) of CH0 (Y0, Y1) which is stored in D1031(high), D1030 (low)- current position (32-bit data) of CH1 (Y2, Y3) which is stored in D1337(high), D1336 (low).In reverse direction pulse output, value in (D1031, D1330) and (D1336, D1337) decreases.
