Inovance H3U Series - Page 491

490
7
7 Motion Control
CW: Clockwise arc interpolation; CCW: Counterclockwise arc interpolation
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Operands
Parameter Bit Element Word Element Immediate Operand
X M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Y M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Z M SM D DD DE R RR RE SD SDD SDE K KK H HH E
I M SM D DD DE R RR RE SD SDD SDE K KK H HH E
J M SM D DD DE R RR RE SD SDD SDE K KK H HH E
K M SM D DD DE R RR RE SD SDD SDE K KK H HH E
R M SM D DD DE R RR RE SD SDD SDE K KK H HH E
F M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Note: The oating-point immediate operand type is not displayed. For example, X100 indicates the X oating point
100.00.
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Functions and actions
These instructions are used to perform 2-axis arc interpolation or 3-axis helix interpolation on three planes.
The axis for which the F function word is omitted inherits the running speed of the previous interpolation
instruction.
Both the absolute position and relative position modes are supported. Both the absolute position and
relative position are relative to the current position.
The current position can be queried in special registers, for example, the 32-bit registers listed in the
following table.
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)
The following is a diagram of clockwise arc interpolation.
It indicates a clockwise arc interpolation, wherein (150, 100) indicates the target absolute position of the
x- and y-axes. When the target position is the same, an example is provided on generation of an arc less
than 180 degrees and more than 180 degrees in IJ (center coordinate) mode and in R (radius) mode
respectively.
The following is a diagram of counterclockwise arc interpolation.