Inovance H3U Series - Page 510

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7
7 Motion Control
DRVZ: Mechanical zero return
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The system executes the zero return instruction to start the zero return action.
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The system moves to the direction opposite to the zero return direction at the zero return speed.
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The system decelerates to stop upon detecting the DOG frontend. (Detecting [Leaving] DOG)
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The system moves to the zero return direction at the zero return speed. (Entering DOG again)
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The system decelerates to the creep speed upon detecting the DOG frontend.
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After detecting the DOG backend, the system stops upon detecting the rst origin signal.
5) Note: When designing the near point signal (DOG), you need to design a sufficient ON time for the
system to decelerate to the creep speed. The creep speed must be as low as possible. If the system stops
immediately without deceleration, a great creep speed may result in position offset.
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Note
1) 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)
2) Only trapezoid acceleration/deceleration is supported.
3) The acceleration/deceleration time can be set separately, within the range 10 to 5000 ms.
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)
SD16 and SD17 SD116 and SD117 SD216 and SD217 Zero return speed (VRT)
SD18, SD19 SD118, SD119 SD218, SD219 Zero return creep speed (VCR)
SD20 SD120 SD220 Acceleration time (Vacc)
SD21 SD121 SD221 Deceleration time (Vdec)
4) The actual minimum output frequency (that is, the minimum base output frequency) is calculated
according to the following formula:
Vset(Hz)
2×Tacc (ms)/1000
Vmin=
5) Specifying the zero return direction
The zero return direction ag of special elements can be used to specify the zero return direction as forward
direction. See the following table.