Inovance H3U Series - Page 517

516
7
7 Motion Control
SINTR: Single-speed interrupt positioning; DINTR: Double-speed interrupt positioning
Floating-point number format Integer format
Position (XYZ) X100 indicates 100 (mm).
XKK100 indicates 100 Pls.
XDD100 indicates DD100 Pls.
Speed (F) F60 indicates 60 (mm/min).
FKK200 indicates 200 Hz.
FRR200 indicates RR200 Hz.
The conversion ratio shall be set based on the special register. The default value of A is 2000 PLS, and the
default value of B is 1000 um.
X-axis Y-axis Z-axis Attribute
SD6, SD7 SD106, SD107 SD206, SD207
Number of pulses required when the motor
rotates a circle (A)
SD8 and SD9 SD108 and SD109 SD208 and SD209
Movement distance when the motor rotates
a circle (B)
X100 indicates 100 mm. After conversion, the number of pulses is 100 x 2000 x 1000/1000 = 200,000.
F60 indicates 60 mm/min. After conversion, the output frequency is 2000 Hz.
3) Only trapezoid acceleration/deceleration is supported.
4) 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)
SD20 SD120 SD220 Acceleration time (Vacc)
SD21 SD121 SD221 Deceleration time (Vdec)
5) 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=
6) During execution of a multi-segment pulse output instruction, the acceleration/deceleration
computation depends on the rst speed. The acceleration/deceleration slope (speed) remains
unchanged during frequency switch.
For example, if the output frequency is 100 kHz and the acceleration time is 100 ms at the rst speed while
the output frequency at the second speed is 150kHz, it takes about 50 ms to accelerate from the rst speed
to the second speed. It works similarly in deceleration mode. See the following gure.