Inovance H3U Series - Page 734

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Appendix
Appendix D Customized Function - Supplementary Description of Electronic Cam Functions
SM Element Function
SM600 Acceleration/deceleration type, OFF: Trapezoid; ON: S-curve
SM601 ON: Teaching operation, X+
SM602 ON: Teaching operation, X-
SM603 ON: Teaching operation, Y+
SM604 ON: Teaching operation, Y-
SM620 Manipulator operation end ag, valid for one week
SM630 Error ag
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Instructions
DT2LIN: Linear positioning of a 2-axis Delta manipulator
DT2LIN S1 S2 S3 Linear positioning
Applicable model:
H3U
S1 Target x-coordinate position
Target x-coordinate position of the manipulator
end, oating-point number
32-bit instruction (13 steps)
Continuous executionS2 Target y-coordinate position
Target y-coordinate position of the manipulator
end, oating-point number
S3 Speed ratio
Ratio of the movement speed to the maximum
speed
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Operands
Operand
Bit Soft Element Word Soft Element
System·User System·User Bit Designation Indexed Address Constant
Real
Number
S1 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S2 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S3 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
Note: The soft elements in gray background correspond to H3U PLCs only.
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Functions and actions
A 2-axis Delta manipulator can be linearly positioned from the current position to the target position.
[S1] indicates the target x-coordinate position of the manipulator end, which is a oating-point number.
[S2] indicates the target y-coordinate position of the manipulator end, which is a oating-point number.
[S3] indicates the ratio of the movement speed to the maximum speed, which is a oating-point number
ranging from 1 to 100.