Inovance H3U Series - Page 474

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7
7 Motion Control 7.4 Motion Control Instructions
• Whether the H3U-PM motion control instructions support acceleration/deceleration is determined by the
acceleration/deceleration time. Some instructions can run in both acceleration/deceleration and non-acceleration/
deceleration modes. The acceleration/deceleration time of positioning and interpolation instructions ranges from
10 ms to 5000 ms and 10 ms to 500 ms respectively. If the acceleration/deceleration time is 0, the instruction does
not support acceleration/deceleration; otherwise, the instruction supports acceleration/deceleration. The upper/
lower limit will be used when the value is out of range.
• Current running of a motion control subprogram means that the subprogram is always in running state after the
SM90 enabling ag is active. The current running is nished when the SM91 complete ag switches to ON. If the
subprogram calls another motion control subprogram, the called subprogram is also within the current running
scope. The modal instruction enabled in the current running remains active until the execution is completed or
changed. A modal instruction remains active after it is specied in a program segment until another instruction in
the same group is specied or it is canceled by another instruction. A non-modal instruction is active only within
the program segment in which it is specied.
• After being started, the motion control subprogram is executed in the default modal, and is always active when the
current modal remains unchanged.
Besides, some H3U general positioning instructions are supported. These instructions can be called
only in the main program and subprograms, but cannot be called in the motion control subprograms (MC
subprograms and G-code subprograms), as shown in the following table.
Instruction
Pulse
Direction
Output
Trapezoid
Acceleration/
Deceleration
S-curve
Acceleration/
Deceleration
Separate
Acceleration/
Deceleration
Setting
Frequency
Modication
Supported
During
Running
Pulse Count
Modication
Supported
During
Running
Direction
Change
During
Running
Speed OR
Position
Control
PLSY √ √ (M)
Speed
Position
Speed+
position
PLSV √ √ √ Speed
PLSV2 √ √ √ (M) √ √ Speed
ZRN √ √ (M) Speed
PLSR √ √ (M) √ (M) √ (M) Position
DRVA √ √ √ (M) √ (M) √ (M) Position
DRVI √ √ √ (M) √ (M) √ (M) Position
PLSN √ √ √ (M) Position