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7 Motion Control 7.11 Special Registers for Motion Control in the H3U-PM Model
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(SD44), (SD144), and (SD244): Electronic cam numerator
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(SD45), (SD145), and (SD245): Electronic cam denominator
1. The hand gear is used to output A/B phase pulses to Ax+, Ax - (x = 0,1,2), Bx+, Bx - (x = 0,1,2). The
relationship between input pulse and output pulse is shown in the following gure.
2. During running, if LSP or LSN is enabled, pulse output stops immediately. If LSP is enabled, pulses in
forward direction are prohibited, and pulses in reverse direction are allowed. If LSN is enabled, the pulses
in reverse direction are prohibited, and pulses in forward direction are allowed.
3. The output running speed indicates the relationship between the pulse input frequency of the hand gear
and the electronic gear ratio.
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(SD46,SD47),(SD146,SD147),(SD246,SD247): Current input frequency
The current input frequency is displayed, and the value is not affected by the electronic gear ratio.
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(SD48,SD49),(SD148,SD149),(SD248,SD249): Cumulative number of pulses input by hand gear
1. The accumulative number of pulses input by hand gear is not affected by the electronic gear ratio.
2. For pulse input in forward direction, the count is added; and for pulse input in reverse direction, the count
is subtracted.
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(SD50,SD51),(SD150,SD151),(SD250,SD251): Axis offset compensation
It indicates the axis offset compensation (DRV, LIN, and INTR).
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(SD52,SD53),(SD152,SD153),(SD252,SD253): Axis center coordinate offset compensation value (CW
and CCW)
It indicates the axis center coordinate offset compensation value (CW and CCW).
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(SD54,SD55),(SD154,SD155),(SD254,SD255): Axis arc radius coordinate offset compensation value
It indicates the axis center coordinate offset compensation value (CW and CCW).
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(SD60),(SD160),(SD260): High-speed pulse input and count setting (including the hand-gear-base
pulse input mode)
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