Inovance H3U Series - Page 418

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6
6 Positioning and Interpolation DRVI: Relative positioning
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:
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 … ĊĊĊĊ
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.