Inovance H3U Series - Page 413

412
6
6 Positioning and InterpolationDRVA: Absolute positioning
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.
Ċ
F1 F2 F3 F4 F5 F6
Ċ ĊĊ ĊĊ Ċ
Trapezoidacceleration/
deceleration with
discontinuous step
S-curve acceleration/deceleration
with continuous speedchange
Positioning completiontimeT0
Positioning completiontime T1
Time
saved
Speed
Time
The advanced pulse-by-pulse modulation algorithm is used for S-curve acceleration/deceleration.
Frequency of each pulse is adjusted to ensure more smooth positioning.
3) The acceleration/deceleration time can be set separately, within the range 10 to 5000 ms.
The time of trapezoid acceleration/deceleration and S-curve acceleration/deceleration can be
set separately.
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: