Inovance H3U Series - Page 488

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7
7 Motion Control
LIN and INTR: Linear interpolation
Instruction Form Description
LIN X_ Y_ Z_ F_ Standard format
LIN X_
Single-axis
LIN X_ F_
LIN Y_
LIN Y_ F_
LIN Z_
LIN Z_ F_
LIN X_ Y_
2-axis
LIN X_ Y_ F_
LIN Y_ Z_
LIN Y_ Z_ F_
LIN X_ Z_
LIN X_ Z_ F_
LIN X_ Y_ Z_ 3-axis
INTR functions in the same way as described above.
3) The user may monitor the special registers for checking current pulse position.
The following table lists details about 32-bit registers.
X-axis Y-axis Z-axis Attribute
SD36, SD37 SD136, SD137 SD236, SD237
Current position (PLS), only for display
purpose
SD40, SD41 SD140, SD141 SD240, SD241
Current position (mechanical, oating
point), only for display purpose
D8340, D8341 D8360, D8361 D8380, D8381 Current position (PLS)
4) Conversion between mechanical unit and pulse unit
In H3U-PM model, if a oating-point number is used to indicate the position function word (XYZ or IJK), it is
in a mechanical unit (mm). If an integer is used, it indicates the number of pulses. If a oating-point number
is used to indicate the speed function word (F and so on), it is in a mechanical unit (mm/min). If an integer
is used, it indicates the frequency, as shown in the following table.
Floating-point number format Integer format
Position (XYZ) X100 indicates 100 (mm).
XKK100 indicates 100 Pls.
XDD100 indicates DD100 Pls.
Speed (F) F60 indicates 60 (mm/min).
FKK200 indicates 200 Hz.
FRR200 indicates RR200 Hz.
The conversion ratio shall be set based on the special register. The default value of A is 2000 PLS, and the
default value of B is 1000 um.
X-axis Y-axis Z-axis Attribute
SD6, SD7 SD106, SD107 SD206, SD207
Number of pulses required when the motor
rotates a circle (A)
SD8, SD9 SD108, SD109 SD208, SD209
Movement distance when the motor rotates
a circle (B)