Inovance H3U Series - Page 417

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6 Positioning and InterpolationDRVI: Relative positioning
S1 indicates the specied number of pulses to be output. For a 16-bit instruction, the range is –32768 to
+32,767. For a 32-bit instruction, the range is –2,147,483,648 to +2,147,483,647. The "-" indicates the
reverse direction. The number of pulses to be output is used as the position relative to the current value
registers listed 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 numerical value of the current value register decreases in the reverse direction.
S2 indicates the specied output pulse frequency. 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.
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. 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 takes no action. 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 frequency
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