Inovance H3U Series - Page 523

522
7
7 Motion Control
CANC: Motion compensation cancellation
2) Displaying the compensation value
X-axis Y-axis Z-axis Attribute
SD50 and SD51 SD150 and SD151 SD250 and SD251
Axis offset compensation value (DRV, LIN, and
INTR) (only for display purpose)
SD52 and SD53 SD152 and SD153 SD252 and SD253
Axis center coordinate offset compensation
value (CW, CCW, G02, and G03) (only for
display purpose)
SD54 and SD55
SD154 and SD155
(reserved)
SD254 and SD255
(reserved)
Axis arc radius coordinate offset compensation
value (CW, CCW, G02, and G03) (only for
display purpose)
3) Conversion between mechanical unit and pulse unit
In H3U-PM model, if a oating-point number is used to indicate the position function word (XYZ or IJK), it is
in a mechanical unit (mm). If an integer is used, it indicates the number of pulses. If a oating-point number
is used to indicate the speed function word (F and so on), it is in a mechanical unit (mm/min). If an integer
is used, it indicates the frequency, as shown in the following table.
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 and SD7 SD106 and SD107 SD206 and 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.