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

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
- 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
- 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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