Inovance H3U Series - Page 412

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6
6 Positioning and Interpolation DRVA: Absolute positioning
a 32-bit instruction, the range is 10 to 200,000 Hz.
D1 indicates the pulse output port which can be Y0, Y1, Y2, Y3, or Y4.
D2 indicates the running direction of the output port or the bit variable, which is determined by the difference
between S1 and the current position. If output is ON, it means running in the forward direction; otherwise, it
means running in the reverse direction.
Even if the operand content is modied during instruction execution, the modication takes effect when the
instruction is executed next time.
When the instruction ow switches to OFF during instruction execution , the system decelerates to stop.
The execution complete ag M8029 remains unchanged. After the instruction ow switches to OFF, when
the ag of pulse output is ON, the instruction is no longer driven by the instruction ow.
The following gure shows a pulse output diagram.
Tacc Tdec
Vbias
Time
Frequency
Output frequenc y
Number of
pulses to be
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
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) 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: