6.16.1 G90G01 instruction

Instruction description

• S₁: Target position, will occupy 6 continue address. The range is -2147483648 ~ 2417482647. Target position could be specified by a absolute address; S₁: Target position of X axis, S₁+2: Target position of Y axis, S₁ +4:Target position of Z axis.
• S₂: The output frequency of the synthesis;
• D₁: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);
• D₂: The operating direction output port, occupy 3 continue address;

Program example

The system variables when execution of instruction:

Note for use

• When using the interpolation instruction, parameter settings (such as celebration/deceleration time and so on) are subject to the X axis (Y0);
• Only support trapezoidal acceleration and deceleration;
• The actuality output synthesized frequency (lowest frequency),the computation formula is as follows:

• 

• The output frequency range of interpolation (not synthesized frequency):10~100 KHz;
• Frequency calculation:

6.16.2 G91G01 instruction

Instruction description

• S₁: Target position, will occupy 6 continue address. The range is -2147483648 ~ 2417482647. Target position could be specified by a relative address; S₁: Target position of X axis, S₁+2: Target position of Y axis, S₁ +4: Target position of Z axis.
• S₂: The output frequency of the synthesis;
• D₁: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);
• D₂: The operating direction output port, occupy 3 continue address;

Program example

The system variables when execution of instruction:

Note for use

• When using the interpolation instruction, parameter settings (such as celebration/deceleration time and so on) are subject to the X axis (Y0);
• Only support trapezoidal acceleration and deceleration;
• The actuality output synthesized frequency (lowest frequency),the computation formula is as follows:

• 

• The output frequency range of interpolation (not synthesized frequency):10~100 KHz;
• Frequency calculation:

6.16.3 G90G02 instruction

Instruction description

• S₁: Target position, will occupy 6 continue address. The range is -2147483648 ~ 2417482647. Target position could be specified by a absolution address; S₁: Target position of X axis, S₁+2: Target position of Y axis.
• S₂: Radius/r, occupy 4 bit variable in the continue address .The radius will always treated as relative address; S₂+0:The pulse output D-value between center coordinate and present position ,or the pulse amount of radius “R"; S₂+2:The pulse output D-value between center coordinate and present position .When we use radius mode ,the value must be 0x7FFFFFFF.The range is -2,147,483,648 ～ 2,147,483,647.
• S₃: The output frequency of the synthesis;
• D₁: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);
• D₂: The operating direction output port, occupy 2 continue address;

Program example

The system variables when execution of instruction:

Note for use

• The arc should be more than 20 pulses in circular interpolation, otherwise there will be error;
• The maximum radius of circular interpolation support is 8000000 pulse;
• The selection of S₂ have two modes: IJ mode (center coordinates) and R mode (radius mode). When set the value of S₂+2 as 0x7FFFFFFF,it is R mode (radius mode), otherwise it is IJ mode (center coordinates) mode .
• IJ mode: S₁ only express the relative position between present position and center coordinates regardless absolute or relative interpolation mode. It should be calculated with pulse deviation value.
• R mode (radius mode), when the value of R is positive, it is express a circular arc less than 180 degrees; inversely, it is express a circular arc greater than 180 degrees .In R mode , you couldn’t generate the full circle ,because it has infinitely solution.
• When S₁ express the relative address of target position, the target position should be logical to insure create a correct path of target of arc. When both S₁+0 and S₁+2 equal 0, it will generate a full circle.
• When using the interpolation instruction, parameter settings (such as celebration/deceleration time and so on) are subject to the X axis (Y0);
• The actuality output synthesized frequency (lowest frequency), the computation formula is as follows:

• 

• The output frequency range of interpolation (not synthesized frequency):10~100 KHz;
• Frequency calculation:

6.16.4 G91G02 instruction

Instruction description

• S₁: Target position, will occupy 6 continue address. The range is -2147483648 ~ 2417482647. Target position could be specified by a absolution address; S₁: Target position of X axis, S₁+2: Target position of Y axis.
• S₂: Radius/r, occupy 4-bit variable in the continue address. The radius will always treated as relative address; S₂+0: The pulse output D-value between center coordinate and present position ,or the pulse amount of radius “R"; S₂+2:The pulse output D-value between center coordinate and present position .When we use radius mode ,the value must be 0x7FFFFFFF.The range is -2,147,483,648 ~ 2,147,483,647.
• S₃: The output frequency of the synthesis;
• D₁: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);
• D₂: The operating direction output port, occupy 2 continue address;

Program example

The system variables when execution of instruction:

Note for use

• The arc should be more than 20 pulses in circular interpolation, otherwise there will be error;
• The maximum radius of circular interpolation support is 8000000 pulse;
• The selection of S₂ have two modes: IJ mode (center coordinates) and R mode (radius mode). When set the value of S₂+2 as 0x7FFFFFFF, it is R mode (radius mode), otherwise it is IJ mode (center coordinates) mode.
• IJ mode: S₁ only express the relative position between present position and center coordinates regardless absolute or relative interpolation mode. It should be calculated with pulse deviation value.
• R mode (radius mode), when the value of R is positive, it is express a circular arc less than 180 degrees; inversely, it is express a circular arc greater than 180 degrees. In R mode , you couldn’t generate the full circle ,because it has infinitely solution.
• When S₁ express the relative address of target position, the target position should be logical to insure create a correct path of target of arc. When both S₁+0 and S₁+2 equal 0, it will generate a full circle.
• When using the interpolation instruction, parameter settings (such as celebration/deceleration time and so on) are subject to the X axis (Y0);
• The actuality output synthesized frequency (lowest frequency), the computation formula is as follows:

• 

• The output frequency range of interpolation (not synthesized frequency):10~100 KHz;
• Frequency calculation:

6.16.5 G90G03 instruction

Instruction description

• S₁: Target position, will occupy 6 continue address. The range is -2147483648 ~ 2417482647. Target position could be specified by a absolution address; S₁: Target position of X axis, S₁+2: Target position of Y axis.
• S₂: Radius/r, occupy 4 bit variable in the continue address .The radius will always treated as relative address; S₂+0:The pulse output D-value between center coordinate and present position ,or the pulse amount of radius “R"; S₂+2:The pulse output D-value between center coordinate and present position .When we use radius mode ,the value must be 0x7FFFFFFF.The range is -2,147,483,648 ～ 2,147,483,647.
• S₃: The output frequency of the synthesis;
• D₁: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);
• D₂: The operating direction output port, occupy 2 continue address;

Program example

The system variables when execution of instruction:

Note for use

• The arc should be more than 20 pulses in circular interpolation, otherwise there will be error;
• The maximum radius of circular interpolation support is 8000000 pulse;
• The selection of S₂ have two modes: IJ mode (center coordinates) and R mode (radius mode). When set the value of S₂+2 as 0x7FFFFFFF, it is R mode (radius mode), otherwise it is IJ mode (center coordinates) mode .
• IJ mode: S₁ only express the relative position between present position and center coordinates regardless absolute or relative interpolation mode. It should be calculated with pulse deviation value.
• R mode (radius mode), when the value of R is positive, it is express a circular arc less than 180 degrees; inversely, it is express a circular arc greater than 180 degrees .In R mode , you couldn’t generate the full circle ,because it has infinitely solution.
• When S₁ express the relative address of target position, the target position should be logical to insure create a correct path of target of arc. When both S₁+0 and S₁+2 equal 0, it will generate a full circle.
• When using the interpolation instruction, parameter settings (such as celebration/deceleration time and so on) are subject to the X axis (Y0);
• The actuality output synthesized frequency (lowest frequency), the computation formula is as follows:

• 

• The output frequency range of interpolation (not synthesized frequency):10~100 KHz;
• Frequency calculation:

6.16.6 G91G03 instruction

Instruction description

• S₁: Target position, will occupy 6 continue address. The range is -2147483648 ~ 2417482647. Target position could be specified by a absolution address; S₁: Target position of X axis, S₁+2: Target position of Y axis.
• S₂: Radius/r, occupy 4 bit variable in the continue address .The radius will always treated as relative address; S₂+0:The pulse output D-value between center coordinate and present position ,or the pulse amount of radius “R"; S₂+2:The pulse output D-value between center coordinate and present position .When we use radius mode ,the value must be 0x7FFFFFFF.The range is -2,147,483,648 ～ 2,147,483,647.
• S₃: The output frequency of the synthesis;
• D₁: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);
• D₂: The operating direction output port, occupy 2 continue address;

Program example

The system variables when execution of instruction:

Note for use

• The arc should be more than 20 pulses in circular interpolation, otherwise there will be error;
• The maximum radius of circular interpolation support is 8000000 pulse;
• The selection of S₂ have two modes: IJ mode (center coordinates) and R mode (radius mode). When set the value of S₂+2 as 0x7FFFFFFF, it is R mode (radius mode), otherwise it is IJ mode (center coordinates) mode.
• IJ mode: S₁ only express the relative position between present position and center coordinates regardless absolute or relative interpolation mode. It should be calculated with pulse deviation value.
• R mode (radius mode), when the value of R is positive, it is express a circular arc less than 180 degrees; inversely, it is express a circular arc greater than 180 degrees. In R mode, you couldn’t generate the full circle, because it has infinitely solution.
• When S₁ express the relative address of target position, the target position should be logical to insure create a correct path of target of arc. When both S₁+0 and S₁+2 equal 0, it will generate a full circle.
• When using the interpolation instruction, parameter settings (such as celebration/deceleration time and so on) are subject to the X axis (Y0);
• The actuality output synthesized frequency (lowest frequency), the computation formula is as follows:

• 

• The output frequency range of interpolation (not synthesized frequency):10~100 KHz;
• Frequency calculation: