Delta DVP-SS2 User Manual

DVP-ES2/EX2/EC5/SS2/SA2/SX2/SE&TP Operation Manual - Programming
3-642
API Mnemonic Operands Function
Controllers
ES2-C
339 ZRNM Node, Mode, Ok, Err
Setting the homing
mode for Delta
servo drive
Type
OP
Bit Devices Word devices Program Steps
X Y M S K H KnX KnY KnM KnS T C D E F
ZRNM: 9 steps
Node
*
*
*
Mode
*
*
*
Ok
*
Err
*
PULSE
16-bit
32-bit
ES2-C
Operands
Node : Specified node ID
Mode : Homing mode code
Ok : Completion flag
Err : Error flag
Explanation
1. ZRNM instruction is supported for firmware V3.60 or later. And it can work with Delta special
mode.
2. The INITC instruction must be complete before this instruction is executed.
3. The value of Node is in the range of 1~8 (exclusive to servo node IDs). If the setting value
exceeds the range, the PLC will not perform the action of the homing mode and set the Err
flag to ON. (Refer to explanation of D6001 for error codes.)
4. The ZRNM instruction can set the homing mode of only one drive every time. If multiple
instructions are enabled simultaneously, the PLC will take priority to perform the instruction
which is enabled earlier.
5. The ZRNM instruction is executed to send the command when it is enabled. If the instruction
is disabled before the Ok flag is on, the PLC will not set the Ok flag to ON.
6. Mode sets a homing mode. If the setting value exceeds the range, the PLC will still send the
command and the server itself will decide whether to receive the command or not. The
setting mode is the homing mode that ASDA servo parameter P5-04 corresponds to.

Delta DVP-SS2 Specifications

General

Brand	Delta
Model	DVP-SS2
Category	Controller
Language	English