Inovance H3U Series - Page 332

331
4
4 Instructions 4.12.4 Other Peripheral Instructions
ROTC: Rotary table control
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Overview
When driving conditions are met, the ROTC instruction aids the movement of a workpiece at a designated
position to a specied destination along the optimal path.
ROTC S m1 m2 D
Rotary table control Applicable model:
H3U
S
Counter value
storage head
address
Head address of counter variables
16-bit instruction (9
steps)
ROTC: Continuous
execution
ROTCP: Pulse
execution
m1
Work station
count
Number of work stations of a table (m1 ≥ m2)
m2
Low-speed work
station count
Number of low-speed work stations of a table (m1 ≥ m2)
D Status bit element
Head address of eight consecutive elements that store
the position detection signal of the rotary table
◆
Operands
Operand
Bit Element Word Element
System·User System·User Bit Designation Indexed Address Constant
Real
Number
S X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM
V,Z
Modication K H E
m1 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM
V,Z
Modication K H E
m2 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM
V,Z
Modication K H E
D X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM
V,Z
Modication K H E
Note: The elements in gray background are supported.
◆
Function
The handling of workpieces on a rotary table is controlled. For normal operation, the position detection
signal of the rotary table must be congured using the specied method.
The following gure shows the signal conguration method. X0 and X1 are respectively connected to the
A-phase and B-phase output signals of the A/B quadrature encoder. The quadrature phase signal can
be acquired using a mechanical switch. X2 is connected to the detection input of work station 0 (the ON
state is enabled when the rotary table rotates to this work station). The three signals are used to detect the
current rotational speed, direction, and work station of the rotary table.
Window 0
Alignment switch 0
Rotary table
Detection of the position and rotational direction
Workpiece
Rotary table
Window 1