Inovance H3U Series - Page 419

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6
6 Positioning and InterpolationDRVI: Relative positioning
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:
Y0 Y1 Y2 Y3 Y4 Attribute
D8500/D8501 Maximum speed (Hz) (32-bit)
D8502 Base speed (Hz) (16-bit)
D8503
Acceleration/deceleration time (ms)
(16-bit)
When the separate setting ag bit is set to ON for an axis, the following registers are used for the parameter
of the axis. For other axes of which the separate setting ag bit is not set to ON, their original registers are
used.
Y0 Y1 Y2 Y3 Y4 Attribute
D8342 D8362 D8382 D8402 D8422
Maximum speed (Hz) (32-bit) [default
value: 200,000]
D8343 D8363 D8383 D8403 D8423
D8347 D8367 D8387 D8407 D8427
Base speed (Hz) [The default value is
500]
D8348 D8368 D8388 D8408 D8428
Acceleration time (ms) [The default value
is 100]
D8349 D8369 D8389 D8409 D8429
Deceleration time (ms) [The default value
is 100]
4) The actual minimum output frequency (that is, the minimum base output frequency) is
calculated according to the following formula:
Vset(Hz)
2×Tacc (ms)/1000
Vmin=
5) The number of output pulses can be increased or decreased during instruction execution.
Before modifying the number of output pulses, you need to set the "pulse modication valid ag bit" (M8350,
M8370, M8390, M8410, or M8430. The default value is OFF) of special elements. See 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
Note that the modied position must be larger than the current pulse position. See the following gure.