Inovance H3U Series - Page 556

555
7
7 Motion Control
S and T: Auxiliary parameter number
X-axis Y-axis Z-axis Attribute
SM81 SM181 SM281
Stop mode selection
OFF: Stop after the current cycle
ON: Immediate stop
SM82 SM182 (reserved) SM282 (reserved) Electronic cam modication complete ag
SM83 SM183 SM283
Key point modication mode selection for an
electronic cam
OFF: Effective upon restart
ON: Effective during the next cam cycle
SM84 to 88 SM184 to 188 SM284 to 288 Reserved
SM89 SM189 SM289
Initialization complete ag
OFF: Initialization started
ON: Initialization completed
SM90 SM190 (reserved) SM290 (reserved) Motion control subprogram MCX enabling ag
SM91 SM191 (reserved) SM291 (reserved)
Motion control subprogram MCX execution
complete ag
SM92 to 99 SM192 to 199 SM292 to 299 Reserved
Special element registers range from SD0 to SD299, as shown in the following table.
X-axis Y-axis Z-axis Attribute
SD0 SD100 SD200 Reserved
SD1 SD101 SD201 Reserved
SD2 SD102 SD202 Reserved
SD3 SD103 SD203 Reserved
SD4 SD104 SD204 Reserved
SD5 SD105 SD205 Reserved
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)
SD10 and SD11 SD110 and SD111 SD210 and SD211 Maximum speed (Vmax)
SD12 and SD13 SD112 and SD113 SD212 and SD213 Base speed (starting speed) (Vbias)
SD16 and SD17 SD116 and SD117 SD216 and SD217 Zero return speed (VRT)
SD18 and SD19 SD118 and SD119 SD218 and SD219 Zero return creep speed (VCR)
SD20 SD120 SD220 Acceleration time (Vacc)
SD21 SD121 SD221 Deceleration time (Vdec)
SD22 SD122 SD222 Number of PG signals (N)
SD23 SD123 SD223
Number of pulses for zero return (P), pulse offset in
case of a DOG signal
SD24 and SD25 SD124 and SD125 SD224 and SD225 Home position (HP)
SD26 and SD27 SD126 and SD127 SD226 and SD227 Electrical origin position
SD28 and SD29 SD128 and SD129 SD228 and SD229 Target position I (P [I])
SD30 and SD31 SD130 and SD131 SD230 and SD231 Running speed I (V [I])
SD32 and SD33 SD132 and SD133 SD232 and SD233 Target position II (P [II])
SD34 and SD35 SD134 and SD135 SD234 and SD235 Running speed II (V [II])
SD36 and SD37 SD136 and SD137 SD236 and SD237 Current position (CP [PLS])
SD38 and SD39 SD138 and SD139 SD238 and SD239 Current speed (CS [PPS])
SD40 and SD41 SD140 and SD141 SD240 and SD241
Current position (CP [mechanical and oating-
point])
SD42 and SD43 SD142 and SD143 SD242 and SD243 Current speed (CS [mechanical and oating-point])
SD44 SD144 SD244 Electronic gear ratio numerator