Inovance H3U Series - Page 513

512
7
7 Motion Control
DRVR: Electrical zero return
Tacc Tdec
Time
Frequency
Output frequency
Number of pulses
to be output
VbiasVbias
◆
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) 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.