Inovance H3U Series - Input Wiring Diagrams

16
Instructions Lookup Sheet
Type
Model Supported
Page
H2U-XP H3U
Communication positioning (robot)
AXISENAB Axis enabling × √ 285
AXISSTOP Axis stop positioning × √ 286
AXISESTOP
Axis emergency stop (used
for stopping the servo in
case of exceptions)
× √ 287
AXISDRVA Axis absolute positioning × √ 288
AXISZRN Axis return to zero × √ 290
AXISJOGA Axis jog × √ 292
AXISALMRST
Axis alarm reset instruction × √ 294
Refreshing
REF Input/output refreshing √ √ 295
REFF
Input ltering time
adjustment
√ √ 296
10 Motion Control
Type
Model Supported
Page
H2U-XP H3U
Interpolation for the H3U model
G90G01
2-axis linear absolute position
interpolation
× √ 431
G91G01
2-axis linear relative position
interpolation
× √ 436
G90G02
2-axis arc-forward absolute
position interpolation
× √ 440
G91G02
2-axis arc-forward relative
position interpolation
× √ 446
G90G03
2-axis arc-back absolute
position interpolation
× √ 452
G91G03
2-axis arc-back relative
position interpolation
× √ 457
Instructions for MC-motion control in the PM model
DRV High-speed positioning √ √ 480
LIN Linear interpolation × √ 485
INTR Linear interpolation √ √ 485
CW Clockwise arc interpolation × √ 489
CCW
Counterclockwise arc
interpolation
× √ 489
TIM Delay waiting × √ 498
MCALL Call the subprogram × √ 499
MRET
Conditional subprogram
return
× √ 500
ABST
Absolute position modal
instruction
× √ 501
INCT
Relative position modal
instruction
× √ 501
XYP
Setting the XY-plane modal
instruction
× √ 502
YZP
Setting the YZ-plane modal
instruction
× √ 502
ZXP
Setting the ZX-plane modal
instruction
× √ 502
SETT Current position setting × √ 503
Type
Model Supported
Page
H2U-XP H3U
SETR Electrical zero setting × √ 505
DRVZ Mechanical zero return reset × √ 506
DRVR Electrical zero return × √ 511
SINTR
Single-speed interruption
positioning
× √ 493
DINTR
Double-speed interruption
positioning
× √ 493
MOVC
Linear displacement
compensation
× √ 518
CNTC Arc center compensation × √ 519
RADC Arc radius compensation × √ 520
CANC
Motion compensation
cancellation
× √ 521
Other MC- instructions for the PM model
MSET Setting × √ 523
MRST Reset × √ 523
MMOV Data transfer × √ 524
MADD
(Integer/Floating point)
addition operation
× √ 524
MSUB
(Integer/Floating point)
subtraction operation
× √ 524
MMUL
(Integer/Floating point)
multiplication operation
× √ 524
MDIV
(Integer/Floating point)
division operation
× √ 524
G-code motion control instructions for the PM model
G00
High-speed positioning;
moving to the specied
position at the highest speed
set. The three axises run
separately.
× √ 530
G01 Linear interpolation × √ 534
G02 Clockwise arc interpolation × √ 538
G03
Counterclockwise arc
interpolation
× √ 538
G04 Delay waiting × √ 547
G90 Absolute position modal × √ 548
G91 Relative position modal × √ 548
G17
Selection of the XY-plane
modal instruction
× √ 549
G18
Selection of the ZX-plane
modal instruction
× √ 549
G19
Selection of the YZ-plane
modal instruction
× √ 549
M02
End of the main program with
auxiliary function code 0xxxx
× √ 550
M30
End of the main program with
auxiliary function code 0xxxx
× √ 550
M98
Call of the subprogram of the
auxiliary function code 0xxxx
× √ 550
M99
Return of the subprogram of
the auxiliary function code
0xxxx
× √ 551
Mxxxx
Setting function code of the
Mxxxx element
× √ 551