Inovance H3U Series - Page 290

289
4
4 Instructions 4.9.5 Communication Positioning
◆
Function
① Axis number: The value ranges from K1 to K16. A maximum of 16 axes are supported. The servo
station number must be set to the corresponding axis number. The axis number must be an immediate
value.
② Position: In the actual condition, the pulse equivalent is sent to the servo when parameters are in
integer or oating-point number format (which format to use is determined by the SM400 ag). If the
integer format is used, the pulse unit is specied directly. For example, 1000 indicates 1000 pulses. If
the oating-point number format is used, the mechanical unit is specied, and the proportion between
mechanical displacement and pulse unit and that between mechanical speed and servo rotational
speed must be set. If the customer's mechanical structure is congured with a correspondence
between 1000 pulses and 1 mm feeding amount, the input of a oating-point number in the unit of
1.00 mm to this instruction results in the output of 1000 pulses. For details about the proportionality
coefcient, see
“A.2 Special Soft Element Register Range” on Page 704
.
Position data can be monitored at
any time during running.
③ Speed: in integer or oating-point number format. For details about the units and conversion, see the
preceding description. This operand occupies four consecutive word elements, two for the parameter
and the other for the instruction state machine. If the speed is set to 0, the default value 200 is written.
④ Complete ag: Check this element after startup to determine whether positioning is completed.
In normal cases, the positioning instructions with the same station number can be executed after
positioning.
⑤ Error ag: It is set when an error occurs in the following conditions:
The driver is not enabled. (The AXISENAB instruction is disabled.)
The speed or position is not written successfully.
The driver generates an alarm.
Instructions conict with each other. (The positioning, jog, positioning stop, and emergency stop instructions
cannot be triggered at the same time.)
The complete ag and error ag are reset after the enable signal breaks off.
◆
Example
M5
Location of
the servo
M1 70
M1 71
(1) Positioning not
completed
(2) Positioning
incorrect
(3) Positioning
normal