COTRUST CTH200 Series - Page 216

Appendix
206
RADIUS
IN
Arc radius
1. There are positive and
negative. Positive number:
indicates the arc trajectory with
radian less than 180°. Negative
number: indicates the arc
trajectory with a radian greater
than 180°.
2. The absolute value of
RADIUS represents Arc radius
Dint
|R| <3 x 10^6
1 Unmodifiable in
the process
2 Unit: pulse,
Transform with
actual radius
MIN_
SPEED
IN
Minimum speed of run or stop.
Unit: HZ
Dword
500~200000
Unmodifiable in
the process
MAX_
SPEED
IN
Maximum speed of run
Unit: HZ
Dword
500~200000
Changeable in the
process
TA
Time of ACC/DEC,
Unit: ms
Dword
0~10000
1 Unmodifiable in
the process
2 Calculate
acceleration only
when startup and
TA/TD changes
RUN
IN/OUT
Run enable bit
1: Valid
BOOL
0~1
1 Run only when
RUN =1 and
E_STOP =0.
2 RUN reset
internal when run
complete.
3 when
E_STOP=1, RUN
reset internal.