Inovance H3U Series - DRVR Electrical Zero Return

511
7
7 Motion Control
DRVR: Electrical zero return
DRVR: Electrical zero return
◆
Overview
The DRVR instruction is used to enable the x-, y-, and z-axes to return to the electrical origin independently
at their specied maximum speed. It is related to SETR.
DRV
R
Electrical zero return Applicable model:
H3U-PM
◆
Operands
None
◆
Functions and actions
The x-, y-, and z-axes return to the electrical origin specied by SETR at the specied maximum speed.
This instruction is nished and the next instruction can be executed only when all of the three axes return to
the origin. This instruction is used to perform 3-axis absolute positioning.
The regression electrical origin of DRVR is the electrical origin set by SETR. 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 current electrical origin position can be queried in special registers, for example, the 32-bit registers in
the following table. The default value is (0, 0, 0).
X-axis Y-axis Z-axis Attribute
SD26, SD27 SD126, SD127 SD226, SD227
Electrical origin position (only for display
purpose)
The maximum speed of each axis can be set by special registers, for example, the following 32-bit
registers.
X-axis Y-axis Z-axis Attribute
SD10, SD11 SD110, SD111 SD210, SD211 Maximum speed (Vmax)
The following is a single axis pulse output diagram.