Inovance H3U Series - Page 546

545
7
7 Motion Control
G02: Clockwise arc interpolation; G03: Counterclockwise arc interpolation
Instruction Form Description
G02/G03 X_ R_
2-axis arc interpolation on the ZX
plane in R mode
G02/G03 X_ R_ F_
G02/G03 Z_ R_
G02/G03 Z_ R_ F_
G02/G03 X_ Z_ R_
G02/G03 X_ Z_ R_ F_
G02/G03 X_ Y_ R_
3-axis helix interpolation on the
ZX plane in R mode, with the
y-axis used as the third axis
G02/G03 X_ Y_ R_ F_
G02/G03 Y_ Z_ R_
G02/G03 Y_ Z_ R_ F_
G02/G03 X_ Y_ Z_ R_
G02/G03 X_ Y_ Z_ R_ F_
3) 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 and SD37 SD136 and SD137 SD236 and SD237
Current position (PLS), only for display
purpose
SD40 and SD41 SD140 and SD141 SD240 and SD241
Current position (mechanical, oating point),
only for display purpose
D8340 and D8341 D8360 and D8361 D8380 and D8381 Current position (PLS)
4) 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)