Inovance H3U Series - Page 407

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6
6 Positioning and InterpolationPLSR: Pulse output with acceleration/deceleration
pulse output resumes. When the instruction execution is complete, the M8029 ag is set to ON.
The following gure shows a pulse output diagram.
Tacc Tdec
Vbias
Time
Frequency
Output frequency
Number of
pulsestobe
output
Vbias
◆
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
The "pulse output stop ag bit" of special elements can be monitored, and the pulse output status can be
viewed. The ag bit is set during pulse output and is automatically reset when output is nished. See the
following table.
Y0 Y1 Y2 Y3 Y4 Attribute
M8340 M8360 M8380 M8400 M8420 Pulse output status
2) Trapezoid acceleration/deceleration and S-curve acceleration/deceleration are supported.
The two acceleration/deceleration modes can be distinguished by setting the "S-curve acceleration/
deceleration enabling ag bit" of special elements. If the ag bit is not set, the trapezoid acceleration/
deceleration mode is used by default. The following table lists details about S-curve acceleration/
deceleration.
Y0 Y1 Y2 Y3 Y4 Attribute
M8347 M8367 M8387 M8407 M8427
S-curve acceleration/deceleration
enabling
DRVI, DRVA, and PLSR support S-curve acceleration/deceleration. Therefore, at given mechanical stability,
the target speed is increased, the positioning time is shortened, and the processing efciency is improved.