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User Manuals: Inovance H3U-PM Motion Control Controller
Manuals and User Guides for Inovance H3U-PM Motion Control Controller. We have
1
Inovance H3U-PM Motion Control Controller manual available for free PDF download: Programming Manual
Inovance H3U-PM Motion Control Programming Manual (737 pages)
PLC
Brand:
Inovance
| Category:
Controller
| Size: 29 MB
Table of Contents
Introduction Revision History
4
Introduction
2
Revision History
3
Table of Contents
4
Instructions Lookup Sheet
9
Instructions Lookup Sheet 5 Data Processing
15
Guide on Quick Reference
19
Chapter 1 Overview
21
PLC Operating Principle
22
Chapter 2 Pre-Programming Precautions
27
3 Elements
32
Chapter 3 Elements
33
Table of Elements
34
Input/Output Relay
35
Input Relay X
35
Output Relay y
36
Auxiliary Relay
36
Status Relay
37
Timer
37
Counter
39
16-Bit Counter
41
32-Bit Counter
42
High-Speed Counter
43
Register
43
Data Register D
43
Address Indexing Registers V and Z
44
File Register R
45
Marker and Subprogram
46
Constant
47
4 Instructions
48
Communication
48
String
48
Table Operations
48
Chapter 4 Instructions
49
Program Logic Instructions
49
Contact Instructions
50
Loading of no Contacts
51
BANI ANI Bit Contact of Bit Data
56
Combined Instructions
58
Output Instructions
61
Alternate Output
63
BOUT Bit Data Output
64
Bit Data Setting
65
Bit Data Reset
66
Main Control Instructions
67
End Instructions
67
Other Processing Instructions
69
Watchdog Timer Reset
70
Program Flow Instructions
71
Subprogram
71
SRET Subprogram Return
72
Conditional Subprogram Return
73
Interrupt
74
Jump
77
Marker Instruction
78
Loop
79
Step Sequential Control
81
Data Comparison
83
Contact Comparison
83
Comparison Output
98
Range Comparison
100
Data Operation
102
Four Arithmetic Operations
103
ESUB Binary Floating-Point Subtraction
109
Logical Operations
115
Trigonometric Functions
121
Floating-Point tan Operation
123
Table Operations
131
Upper/Lower Limit Control
134
Zone Control
137
Exponent Operations
143
Binary Floating-Point Natural Logarithm
144
ESQR Binary Floating-Point Square Root Operation
146
Floating-Point Weight Instruction
148
Integer Format
149
EBCD Conversion from Binary to
149
Data Processing
149
Data Conversion
150
Conversion from Binary
150
BCD Conversion from Binary to BCD Format
151
BIN Conversion from BCD to Binary Format
152
Number Format
154
Conversion from
154
EBCD Conversion from Binary to Decimal Floating-Point Number Format
154
EBIN Conversion from Decimal to Binary Floating-Point Number
155
Decimal Floating-Point Number
156
DABIN Conversion from Decimal ASCII Format to bin Format
156
WTOB Data Separation by Byte
160
BTOW Data Combination by Byte
161
UNI 4-Bit Combination of 16-Bit Data
163
DIS 4-Bit Separation of 16-Bit Data
164
ASCI Conversion from HEX to ASCII Format
165
HEX Conversion from ASCII to HEX Format
168
Data Transfer
170
MOV Value Transfer
170
EMOV Binary Floating Point Transfer
171
SMOV Shifted Transfer
172
BMOV Batch Data Transfer
173
FMOV One-To-Multiple Data Transfer
174
CML Inverted Data Transfer
175
ZRST Full Data Reset
180
Table Operation
180
Full Data Reset
181
SORT Data Sorting
182
SORT2: Data Sorting 2
184
SER Data Search
186
RAMP Ramp Instruction
194
Data Rotation and Shift
195
Other Data Processing
209
SUM Total Number of on Bits
211
XCH Data Exchange
213
Matrix Instructions
215
BK+ Matrix Addition Operation
215
BKCMP= Matrix Equal-To Comparison (S1 = S2)
215
Bkcmp= (S1 = S2)
215
BKCMP<> Matrix Not Equal to Comparison (S1 ≠ S2)
215
To Comparison (S1 ≤ S2)
215
Matrix Operations
216
Matrix Operation
218
BK- Matrix Subtraction Operation
218
MAND Matrix and Operation
219
MOR Matrix or Operation
221
MXOR Matrix XOR Operation
222
MXNR Matrix XNR Operation
224
MINV Matrix Inverse Operation
225
MBC Matrix Bit Status Count
226
Matrix Comparison
227
Instructions
227
Matrix Comparison
228
MCMP Matrix Comparison Operation
229
Matrix Read/Write
231
MBRD Matrix Bit Read Operation
231
MBWR Matrix Bit Write Operation
233
MBS Matrix Bit Shift Operation
234
Matrix Rotation and Shift
234
String Instructions
237
STR Conversion from bin to String Format
237
The String
240
The String
241
VAL Conversion from String to
242
Conversion from String to
242
String Combination
253
MOV String Transfer
265
Clock Instructions
266
TCMP Clock Data Comparison
267
Clock Comparison Output
267
TZCP Clock Data Range Comparison
268
Clock Operations
269
TADD Clock Data Addition Operation
269
TSUB Clock Data Subtraction Operation
270
Clock Conversion
271
Format to Seconds
271
Conversion from Seconds
273
Clock Read/Write
274
TRD Clock Data Read
274
TWR Clock Data Write
275
HOUR Hour Meter
276
Timing
276
STMR Special Timer
279
DUTY Timing Pulse Generation
281
High-Speed Input, Pulse Positioning, and Communication Positioning
282
ZRN Zero Return
282
Axis Emergency Stop
282
Case of Exceptions)
282
High-Speed Comparison
283
Pulse Input
283
Pulse Output
283
Pulse Positioning
283
AXISENAB Axis Enabling
286
AXISJOGA Axis Jog
293
Refreshing
295
REF Input/Output Refreshing
296
Motion Control
298
H3U Model Interpolation
298
MC of the PM Model
298
G-Code of the PM Model
298
Communication Instructions
299
RS Serial Data Transfer
299
CCD Crc
299
Communication
299
MODBUS Communication
301
Verification
302
Peripheral Instructions
307
PID PID Calculation
307
PID Calculation
308
Bit Switch Access
314
Key Input
314
DSW Digital Switch
317
DECO Data Decoding
318
ENCO Data Encoding
319
7-Segment LED Display
320
Other Peripheral Instructions
323
ASC ASCII Code Conversion
323
Output
324
PR ASCII Code Printing
324
PRUN Octal Bit Transfer
327
ABSD Absolute Cam Control
329
GRY Gray Code Conversion
333
GBIN Gray Code Inverse Conversion
334
Electronic Cam Instructions
335
5 High-Speed Input
336
SPD Pulse Density Detection
336
H3U Standard Model
337
High-Speed Counter
337
Input Interrupts
340
Pulse Capture
341
High-Speed Pulse Comparison Instructions of H3U Standard Model
342
Comparison Setting
343
HSCS Comparison Setting
343
Comparison Reset
345
HSCR Comparison Reset
345
HSZ Range Comparison
347
SPD Pulse Density Detection
352
H3U-PM Motion Control Model
354
High-Speed Counter
354
Input Interrupts
356
Pulse Capture
357
High-Speed Comparison Instructions for H3U-PM Motion Control Model
358
HSZ (High-Speed Counter)
359
Comparison Setting
359
Operation Mode of High-Speed Comparison Instructions
359
HSCS Comparison Setting
359
Comparison Reset
363
HSCR Comparison Reset
363
HSZ Range Comparison
365
DHSOS High-Speed Interrupt Comparison Setting
371
DHSOR High-Speed Interrupt Comparison Setting
373
6 Positioning and Interpolation
375
Overview
376
Table of Attributes of High-Speed Output Instructions
376
Use of Special Elements
377
Output Frequency-Time Relationship and Acceleration/Deceleration Process
379
Positioning Instruction
380
PLSY Pulse Output
381
PLSV Variable-Speed Pulse Output
386
PLSV2 Variable-Speed Pulse Output
390
Pulse Output with Acceleration
406
PLSR Pulse Output with Acceleration/Deceleration
410
DRVA Absolute Position
411
DRVI Relative Position
416
Multi-Speed Pulse Output
427
PLSN Multi-Speed Pulse Output
428
Interpolation Instruction
431
2-Axis Linear Absolute Position
432
2-Axis Linear Relative Position
437
High-Speed Processing Instruction
463
PWM Pulse-Width Modulation
463
7 Motion Control
466
Mode
466
Difference between H3U Standard
467
Model
467
H3U-PM Terminal Description
468
Execution and Call of Motion Control Subprogram
469
Motion Control Instructions
473
Similarities and Differences between MC Subprograms and G-Code Subprograms
475
Format and Use of MC Subprograms
477
DRV High-Speed Positioning
481
CW Clockwise Arc Interpolation
490
TIM Delay Waiting
499
ABST Absolute Position Modal
502
DRVR Electrical Zero Return
512
MOVC Linear Displacement Compensation
519
CNTC Arc Center Compensation
520
RADC Arc Radius Compensation
521
CANC Motion Compensation Cancellation
522
Addition Operation
525
Subtraction Operation
525
Multiplication Operation
525
Division Operation
525
Motion Control
527
High-Speed Positioning; Moving to the Specified
527
List of Motion Control Instructions Supported by G-Code Subprograms
527
List of Motion Control Instructions Supported by MC Subprograms
477
Format and Use of G-Code Subprograms
528
G01 Linear Interpolation
535
G02 Clockwise Arc Interpolation
539
Counterclockwise Arc
539
G04 Delay Waiting
548
G90 Absolute Position Modal
549
Selection of the XY-Plane Modal Instruction
550
Selection of the ZX-Plane Modal Instruction
550
Selection of the YZ-Plane Modal Instruction
550
MXXXX Element
552
General Positioning Instructions Supported by the H3U-PM Model
554
Special Registers for Motion Control in the H3U-PM Model
555
Data Writing
579
Chapter 5 High-Speed Input
591
Chapter 6 Positioning and Interpolation
591
Chapter 8 Electronic Cam
591
Chapter 9 Communication
591
Hardware and Communication Cable
591
MODBUS Instruction)
600
Configuration Table
614
Setting the Modbus Configuration Table
615
Canlink Communication
617
Canlink Network
618
Canlink Software Configuration
623
Troubleshooting for Canlink Communication
635
Canopen Communication
636
Canopen Indicators
637
Canopen Configuration
638
Troubleshooting for Canopen Communication
649
Ethernet Communication
652
Ethernet Configuration
653
Soft Element Access Addresses When the H3U PLC Serves as a Slave Station
655
Special Ethernet Soft Elements
656
Downloading over the Ethernet and Monitoring
657
Chapter 10 Extension Modules
660
Local Extension Modules
662
Digital Output Module (AM600-0016ETN AM600-0016ETP, and AM600- 0016ER)
665
Analog Input Module (AM600-4AD)
670
Analog Output Module (AM600-4DA)
675
Remote Extension Modules
680
Canlink Remote Extension Module
685
Chapter 11 Interrupt
687
External Interrupt
688
Application
689
Timing Interrupt
690
Counting Complete Interrupt
691
Pulse Complete Interrupt
692
Chapter 12 Subprogram
695
H3U Subprogram Execution Mechanism
696
Application of a General Subprogram
697
Application of an Encrypted Subprogram
698
Application of a Subprogram with Parameters
699
Calling a Subprogram with Parameter
700
Precautions
702
Appendix
705
M8000 Flag and D8000 Register
708
Appendix B System Error Code
721
System Error Code D8063
722
(Extension)
723
System Error Code D8064
723
System Error Code D8065
724
System Error Code D8067
725
Appendix C Customized Function - DHSTP Instruction
727
Appendix D Customized Function - Supplementary Description of Electronic Cam Functions
729
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