Inovance H3U Series - Page 735

734
AppendixAppendix D Customized Function - Supplementary Description of Electronic Cam Functions
DT2JUMP: Gantry path-based positioning of a 2-axis Delta
DT2JUMP S1 S2 S3 S4 S5 Gantry positioning
Applicable model: H3U
S1
Target x-coordinate
position
Target x-coordinate position of the
manipulator end, oating-point
number
32-bit instruction (21 steps)
Continuous execution
S2
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, oating-point
number
S4 Lifting height
Lifting height from the start point (Lh),
oating-point number
S5 Arc radius
Radius of the arc path (Rh), oating-
point number
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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
S4 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S5 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.
◆
Functions and actions
A 2-axis Delta manipulator gantry positioning instruction can be used to position the manipulator from the
current position (start point) to the target position (end point) based on the gantry path.
[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.
[S4] indicates the lifting height from the start point (Lh), which is a oating-point number.
[S5] indicates the radius of the arc path (Rh), which is a oating-point number.
●
Note
1. Lh must be greater than the height difference between the start point and end point (the difference
between the start y-coordinate and end y-coordinate); otherwise, an error will be returned.
2. When Rh is greater than half of the x-direction movement distance, the system automatically regards Rh
as half of the x-direction movement distance. When the x-direction movement distance is less than 10 mm,
an error will be returned.