Inovance H3U Series - General Positioning Instructions Supported by the H3 U-PM Model

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7
7 Motion Control
S and T: Auxiliary parameter number
7.10 General Positioning Instructions Supported by the H3U-PM Model
The H3U-PM model supports some positioning instructions whose usage is the same as that in the H3U
model. These instructions can be called only in the main program and subprograms, but cannot be called
in the motion control subprograms (MC subprograms and G-code subprograms), as shown in the following
table.
Instruction
Pulse
Direction
Output
Trapezoid
Acceleration/
Deceleration
S-curve
Acceleration/
Deceleration
Separate
Acceleration/
Deceleration
Setting
Frequency
Modication
Supported
During
Running
Pulse Count
Modication
Supported
During
Running
Direction
Change
During
Running
Speed
OR
Position
Control
PLSY √ √ (M)
Speed
Position
Speed
+Position
PLSV √ √ √ Speed
PLSV2 √ √ √ (M) √ √ Speed
ZRN √ √ (M) Speed
PLSR √ √ (M) √ (M) √ (M) Position
DRVA √ √ √ (M) √ (M) √ (M) Position
DRVI √ √ √ (M) √ (M) √ (M) Position
PLSN √ √ √ (M) Position
• When the positioning instruction is used in the H3U-PM model, parameters of Y0 are applied to the x-axis,
parameters of Y1 are applied to the y-axis, and parameters of Y2 are applied to the z-axis. The direction pin
is a dedicated pin, and the instruction parameters can be used to set any elements. For the use of positioning
instructions in the H3U-PM model, refer to the use of these instructions in the H3U standard model and special
element D.
H3U-PM Model H3U-PM Model
Correspondence X-axis Y0
Correspondence Y-axis Y1
Correspondence Z-axis Y2
• The main program (including its subprograms), motion control program (MC subprogram and G-code subprogram),
and electronic cam cannot drive the same axis simultaneously. For example, if a motion control subprogram (MC
subprogram or G-code subprogram) is executed to perform linear interpolation on the x- and y-axes, and PLSY is
executed to drive Y0 to output pulses, an error is returned because the x-axis is used in two cases. In general, an
axis can only be driven by one actuator at a time.