475
7
7 Motion Control 7.5 Similarities and Differences Between MC Subprograms and G-code Subprograms
Their similarities include:
Both of MC subprograms and G-code subprograms use the special elements SM0 to SM299 and SD0 to SD299
for motion control (interpolation instruction and electronic cam) setting.
The following table lists same functions of the two.
Instruction
No
Acceleration/
Deceleration
Trapezoid
Acceleration/
Deceleration
S-curve
Acceleration/
Deceleration
Separate
Acceleration/
Deceleration
Setting
Direction
Change During
Running
Speed OR
Position
Control
DRV/G00 √ √ √ (SM) √ Position
LIN/G01 √ √ √ Position
CW/G02 √ √ √ √ Position
CCW/G03 √ √ √ √ Position
SM indicates that the function can be used only after the SM special element is set.
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 mode. 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.
After being started, the motion control subprogram is executed in the default modal, and is always active
when the current modal remains unchanged.
The acceleration/deceleration time of G01 and LIN instructions can be set separately (M), in the range
10 ms to 500 ms. Interpolation parameters, such as the acceleration/deceleration time, of the master axis
prevail. Parameters of the x-axis prevail in case of x-y-z-axes interpolation, x-y-axes interpolation, and
x-z- axes interpolation; and parameters of the y-axis prevail in case of y-z-axes interpolation.
The acceleration/deceleration time of CW, G02, and G03 can be set separately (M), in the range 10 ms to
500 ms. More than 20 pulses shall be output along the arc during arc interpolation; otherwise, an error is
returned. The number of pulses output at the third axis shall be no more than 0.9 times that to be output
along the arc during helix interpolation; otherwise, an error is returned. Up to 8,000,000 pulses can be
output along the radius during arc interpolation; when converted according to the default ratio, the radius is
4000 mm. Interpolation parameters, such as the acceleration/deceleration time, of the master axis prevail.
For example, parameters of the x-axis prevail on the XY plane; parameters of the y-axis prevail on the YZ
plane; and parameters of the z-axis prevail on the ZX plane.
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