Inovance H3U Series - Page 403

402
6
6 Positioning and InterpolationDSZR: DOG search return to origin
⑦ The system decelerates to the creep speed upon detecting the DOG frontend.
⑧ When detecting the DOG backen
d, the system stops upon detecting the rst origin signal.
D) When the limit switch (reverse rotation limit 1) of the zero return direction is set to ON:
① The system executes the zero return instruction to start the zero return action.
② The system moves to the direction opposite to the zero return direction at the zero return
speed.
③ The system decelerates to stop upon detecting the DOG frontend. (Detecting [Leaving]
DOG)
④ The system moves to the zero return direction at the zero return speed. (Entering DOG
again)
⑤ The system decelerates to the creep speed upon detecting the DOG frontend.
⑥ When detecting t
he DOG backend, the system stops upon detecting the rst origin signal.
e) Note: When designing the near point signal (DOG), you need to design a sufcient ON time
for the system to decelerate to the creep speed. The creep speed must be as low as possible.
If the system stops immediately without deceleration, a great creep speed may result in
position offset.
◆
Note
1) The user may monitor the corresponding special register for checking current pulse position,
as shown in the following table.
Y0 Y1 Y2 Y3 Y4 Attribute
D8340 D8360 D8380 D8400 D8420
Current value register (PLS) (32-bit)
D8341 D8361 D8381 D8401 D8421
You can monitor the "pulse output stop ag bit" of special elements, and view the pulse output status. This
ag bit will be set during pulse output and will be automatically reset when pulse output is nished. See the
following table.
Y0 Y1 Y2 Y3 Y4 Attribute
M8340 M8360 M8380 M8400 M8420 Pulse output status
2) Only trapezoid acceleration/deceleration is supported.
3) The acceleration/deceleration time can be set separately, within the range 10 to 5000 ms.
The maximum speed, base speed, acceleration/deceleration time, and other parameters of the high-
speed output axes can be set uniformly or separately for each axis. The separate setting ag bit (M8350,
M8370, M8390, M8410, or M8430. The default value is OFF) of special elements is used for setting and
distinguishing, as shown in the following table.
Y0 Y1 Y2 Y3 Y4 Attribute
M8350 M8370 M8390 M8410 M8430
[Positioning instruction] Enable the
separate setting of the acceleration/
deceleration time and modication
to the pulse
When the separate setting ag bit is set to OFF, the following registers are used for parameters of
corresponding axes: