3 . I ns t r uc ti on Se t3- 4 5 7API Mnemonic Operands Function ControllersES2/EX2 SS2 SA2SESX2193 D CIMR2-Axis RelativePosition ArcInterpolationTypeOPBit Devices Word devices Program StepsX Y M S K H KnX KnY KnM KnS T C D E F DCIMR: 17 stepsS1 * * *S2 * * *S *D *PULSE 16-bit 32-bitES2/EX2 SS2 SA2SE SX2 ES2/EX2 SS2 SA2SE SX2 ES2/EX2 SS2 SA2SE SX2Operands:S1: Number of output pulses of X axis S2: Number of output pulses of Y axis S: Parametersetting D: Pulse output deviceExplanations:1. For ES2/EX2 models, only V1.20 or above supports the function.2. The instruction only supports the pulse output type: Pulse / Direction.3. S 1 and S2 specify the number of output pulses (relative positioning) on X axis (Y0) and Y axis(Y2). Range: -2,147,483,648 ~ +2,147,483,647 (The “+/-“ sign indicates the forward/backwarddirection). In forward direction, the present value of pulse output on CH0 (D1031 High, D1030low), CH1 (D1337 high, D1336 low) increases. In reverse direction pulse output, value in(D1031, D1330) and (D1336, D1337) decreases.4. The low word of S (settings of direction and resolution): K0 refers to clockwise 20-segmentoutput; K1 refers to counterclockwise 20-segment output; A 90° arc can be drawn (see figure 1and 2).5. The high word of S (settings of motion time, unit: 0.1sec): Setting range: K2 ~ K200 (0.2 sec. ~20 secs.) This instruction is restricted by the maximum pulse output frequency; therefore whenthe set time is faster than the actual output time, the set time will be automatically modified.(0,0) XY (S ,S )1 220 segments20 segmentsFigure 1(0,0) XY(S ,S )1 220 segments20 segmentsFigure 2
