Inovance H3U Series - Page 533

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7
7 Motion Control7.9 Format and Use of G-code Subprograms
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.
3) 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.