Inovance H3U Series - Motion Control Instructions

472
7
7 Motion Control7.4 Motion Control Instructions
H3U-PM
Supported
Instruction
General
Instruction for
Logic and Process
Control
High-speed
Counting and
Input Instruction
High-speed
Output
Motion Control
Instruction
SFC
Quantity and
Flag
Main program
(MAIN)
√ √ √ × √ 1
General
subprogram
√ √ √ × × 512
Encrypted
subprogram
√ √ √ × × 512
Parameter-
carrying
subprogram
√ √ √ × × 512
MC subprogram × × × √ × 64
G-code
subprogram
× × × √ ×
10 (to be
extended)
Up to 64 MC subprograms are supported and numbered from MC00 to MC63. Only one G-code
subprogram le numbered CNC00 (corresponding to MC10000) is supported. The G-code subprogram le
may have multiple Oxxxxs numbered from O0000 to O9999, which can be called as subprograms.
7.4 Motion Control Instructions
1) Table of attributes of motion control instructions
The following table lists attributes of major motion control instructions.
Instruction
No
Acceleration/
Deceleration
Trapezoid
Acceleration/
Deceleration
S-curve
Acceleration/
Deceleration
Separate
Acceleration/
Deceleration Setting
Direction
Change During
Running
Speed OR
Position Control
DRV √ √ √ (SM) √ Position
LIN √ √ √ Position
INTR √ √ √ Position
CW √ √ √ √ Position
CCW √ √ √ √ Position
DRVR √ √ √ (SM) √ Position
DRVZ √ √ √ √ Speed+position
SINTR √ √ √ Speed+position
DINTR √ √ √ Speed+position
√
G00 √ √ √ (SM) √ Position
G01 √ √ √ Position
G02 √ √ √ √ Position
G03 √ √ √ √ Position