A.1 SM Flag and SD Register
704
Appendix
Appendix
Appendix A Allocation of Soft Elements SM, SD, D8000, and M8000
A.1 SM Flag and SD Register
The following table lists special element registers.
H3U SM Range SD Range
0 to 299 For motion control (H3U-PM model) For motion control (H3U-PM model)
300 to 363 Reserved CANopen data sending and receiving area
364 to 399 Reserved For the Ethernet
400 to 599 For manipulator instructions For manipulator instructions
600 to 699
Reserved (occupied by customized 2-axis Delta
manipulator)
Reserved (occupied by customized 2-axis Delta
manipulator)
700 to 1023 Reserved Reserved
A.2 Special Soft Element Register Range
Special element registers range from SM0 to SM299, as shown in the following table.
X-axis Y-axis Z-axis Attribute
SM0 to 11 SM100 to 111 SM200 to 211 Reserved
SM12 SM112 SM212 Flag of DRVZ homing direction
SM13 SM113 SM213
Specied ag of the ZRN signal, which is DOG
signal by default, or PG signal after setting
SM14 to 16 SM114 to 116 SM214 to 216 Reserved
SM17 SM117 SM217 S-curve acceleration/deceleration enabling ag
SM18 SM118 SM218 Axis origin return disabling
SM19 SM119 SM219 Reserved
SM20 SM120 (reserved) SM220 (reserved) Flag of enabling continuous interpolation
SM21 to 69 SM121 to 169 SM221 to 269 Reserved
SM70 SM170 SM270
Axis trigger mode selection for an electronic cam
OFF: Software trigger; ON: Hardware trigger
SM71 SM171 SM271
Axis input source selection for an electronic cam
OFF: Internal virtualization; ON: External input
SM72 SM172 SM272
Synchronization of x-, y-, and z-axes for an
electronic cam
OFF: Disabled; ON: Enabled
SM73 SM173 SM273
Cyclic execution of an electronic cam
OFF: Disabled; ON: Enabled
SM74 SM174 SM274
External hardware stop
OFF: Disabled; ON: Enabled
SM75 SM175 SM275
Startup latency enabling for an electronic cam
OFF: Disabled; ON: Enabled
SM76 SM176 SM276
Left limit enabling
OFF: Disabled; ON: Enabled
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