Inovance H3U Series - Page 395

394
6
6 Positioning and InterpolationZRN: Regression through the origin
ZRN: Regression through the origin
◆
Overview
After the system is started, it accelerates to the set regression output frequency to drive the actuator to
move toward the origin (DOG). After a DOG signal is detected, the system decelerates to the creep speed.
When the DOG signal is OFF, pulse output is stopped.
ZRN S1 S2 S3 D
ZRN Applicable model:
H3U
S1 Regression
frequency
ZRN output frequency setting
16-bit instruction
(9 steps)
ZRN: Continuous
execution
32-bit instruction
(17 steps)
DZRN:
Continuous
execution
S2 Creep
frequency
Creep output frequency setting when the DOG signal is
detected
S3 DOG signal Specied origin input signal (DOG)
D Output port High-speed pulse output port
◆
Operands
Operand
Bit Element Word Element
System·User System·User Bit Designation Indexed Address Constant
Real
Number
S1 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S2 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S3 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
◆
Functions and actions
When the PLC works in combination with the servo drive, this instruction is used to drive the actuator to
move toward the action origin (DOG) at the specied pulse speed and pulse output port until the original
signal meets relevant conditions.
S1 indicates the speed of the ZRN action. For a 16-bit instruction, the range is 10 to 32,767 Hz. For a 32-bit
instruction, the range is 10 to 200,000 Hz.
S2 indicates the creep speed after the original signal switches to ON. The range is 10 to 32,767 Hz.
S3 indicates the original signal (DOG) input. Although any of the X, Y, M, and S signals can be used, the X
signal boasts the best timeliness.
D indicates the head address for pulse output, which can be Y0, Y1, Y2, Y3, or Y4.
When the system is powered on or starts to run, ZRN is executed generally to write the original position
data of the mechanical action in advance. If the position information can be retained upon power failure,
the instruction does not need to be executed each time the system is powered on. When the instruction is
executed, the actuator can only move in a single direction (in the negative direction); therefore, the origin
return action must start at the front-end of the DOG signal.
When the instruction ow status is OFF, the pulse output stops immediately. When the instruction ow
status switches from OFF to ON, the pulse output restarts. When the instruction is executed, the M8029
ag is set to ON.
The following gure shows a pulse output diagram.