Inovance H3U Series - Page 514

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7
7 Motion Control
SINTR: Single-speed interrupt positioning; DINTR: Double-speed interrupt positioning
The advanced pulse-by-pulse modulation algorithm is used for S-curve acceleration/deceleration. The
frequency of each pulse is adjusted to ensure more smooth positioning.
3) The acceleration/deceleration time can be set separately, within the range 10 to 5000 ms. The time of
trapezoid acceleration/deceleration and S-curve acceleration/deceleration can be set separately.
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)
SD20 SD120 SD220 Acceleration time (Vacc)
SD21 SD121 SD221 Deceleration time (Vdec)
4) The minimum output frequency that can be realized actually (that is, the minimum base output
frequency) is calculated according to the following formula:
Vset(Hz)
2×Tacc (ms)/1000
Vmin=
SINTR: Single-speed interrupt positioning; DINTR: Double-speed interrupt
positioning
◆
Overview
The SINTR and DINTR instructions are used to output pulses at the specied frequency. When an interrupt
input signal (DOG) is detected, the single-speed interrupt positioning speed remains unchanged, the
double-speed interrupt positioning speed accelerates or decelerates to the output frequency after interrupt,
and the specied number of pulses are output. During single-speed and double-speed interrupt positioning,
the number of pulses is an incremental value independent of the coordinate system.