Inovance H3U Series - Page 484

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7
7 Motion Control
DRV: High-speed positioning
X100 indicates 100 mm. After conversion, the number of pulses is 100 x 2000 x 1000/1000 = 200,000.
F60 indicates 60 mm/min. After conversion, the output frequency is 2000 Hz.
4) 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" of special elements. If the ag is not set, the trapezoid acceleration/deceleration
mode is used by default. The following table lists details about S-curve acceleration/deceleration.
X-axis Y-axis Z-axis Attribute Remarks
SM17 SM117 SM217
S-curve acceleration
enabling ag
ON indicates an S-curve, and OFF
indicates a trapezoid curve.
DRV, G00, and DRVR 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.
The advanced pulse-by-pulse modulation algorithm is used for S-curve acceleration/deceleration.
The frequency of each pulse is adjusted to ensure more smooth positioning.
5) 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 separately set for each axis.
X-axis Y-axis Z-axis Attribute
SD10, SD11 SD110, SD111 SD210, SD211 Maximum speed (Vmax)
SD12, SD13 SD112, SD113 SD212, SD213 Base speed (starting speed) (Vbias)
SD20 SD120 SD220 Acceleration time (Vacc)
SD21 SD121 SD221 Deceleration time (Vdec)