16 Circular interpolation instruction

1.1

1

= **6.16.1 G90G01 instruction** =

2

3

**Instruction description**

4

5

(% class="table-bordered" %)

6

7

|G90G01|Absolute position line interpolation|16|No|G90G01 S,,1,, S,,2,, D,,1,, D,,2,,|21

8

9

* S,,1,,: Target position, will occupy 6 continue address. The range is -2147483648 ~~ 2417482647. Target position could be specified by a absolute address; S,,1,,: Target position of X axis, S,,1,,+2: Target position of Y axis, S,,1,, +4:Target position of Z axis.

10

* S,,2,,: The output frequency of the synthesis;

11

* D,,1,,: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);

12

* D,,2,,: The operating direction output port, occupy 3 continue address;

13

14

(% class="table-bordered" %)

15

|(% rowspan="2" %)**Operand**|(% colspan="4" %)**Bit device**|(% colspan="12" %)**Word device**

16

|X|Y|M|S|K|H|E|KnX|KnY|KnM|KnS|T|C|D|V|Z

17

|S,,1,,| | | | | | | | | | | | | |√| |

18

|S,,2,,| | | | |√|√| | | | | | | |√| |

19

|D,,1,,| |√| | | | | | | | | | | | | |

20

|D,,2,,| |√|√| | | | | | | | | | | | |

**Program example**

The system variables when execution of instruction:

25

26

(% class="table-bordered" %)

27

|**Instruction**|(% colspan="3" %)G90G01

28

|**Function**|(% colspan="3" %)Absolute position line interpolation

29

|**Axis**|(% colspan="3" %)3

30

|**Output port**|Y0|Y1|Y2

31

|**Present position (double byte)**|D8140|D8142|D8150

32

|(% rowspan="2" %)**Time of ACC/DEC (byte)**|(% colspan="3" %)D8148

33

|D8104|D8105|D8106

34

|**Basic velocity (double)**|(% colspan="3" %)D8145

35

|**Maximum velocity (double byte)**|(% colspan="3" %)D8146

36

|**Pulse output interrupt**|M8145|M8146|M8152

37

|**BUSY/ READY**|M8147|M8148|M8149

38

|**ACC/ DEC**|(% colspan="3" %)Trapezium AC/DE

39

40

(% style="text-align:center" %)

41

[[image:7-15 Circular interpolation instruction_html_cb14fc071f12cd06.jpg||class="img-thumbnail" height="552" width="700"]]

**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);

46

* Only support trapezoidal acceleration and deceleration;

47

* The actuality output synthesized frequency (lowest frequency),the computation formula is as follows:

48

* (((

49

(% style="text-align:center" %)

50

[[image:7-15 Circular interpolation instruction_html_be886ee3c8a68fd0.jpg||class="img-thumbnail" height="51" width="400"]]

51

)))

52

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

53

* Frequency calculation:

54

55

(% style="text-align:center" %)

56

[[image:7-15 Circular interpolation instruction_html_4cc6fc48991f18fd.jpg||class="img-thumbnail" height="337" width="800"]]

57

58

= **6.16.2 G91G01 instruction** =

59

60

**Instruction description**

61

62

(% class="table-bordered" %)

63

64

|G91G01|Relative position line interpolation|16|No|G91G01 S,,1,, S,,2,, D,,1,, D,,2,,|21

65

66

* S,,1,,: Target position, will occupy 6 continue address. The range is -2147483648 ~~ 2417482647. Target position could be specified by a relative address; S,,1,,: Target position of X axis, S,,1,,+2: Target position of Y axis, S,,1,, +4: Target position of Z axis.

67

* S,,2,,: The output frequency of the synthesis;

68

* D,,1,,: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);

69

* D,,2,,: The operating direction output port, occupy 3 continue address;

70

71

(% class="table-bordered" %)

72

|(% rowspan="2" %)**Operand**|(% colspan="4" %)**Bit device**|(% colspan="12" %)**Word device**

73

|X|Y|M|S|K|H|E|KnX|KnY|KnM|KnS|T|C|D|V|Z

74

|S,,1,,| | | | | | | | | | | | | |√| |

75

|S,,2,,| | | | |√|√| | | | | | | |√| |

76

|D,,1,,| |√| | | | | | | | | | | | | |

77

|D,,2,,| |√|√| | | | | | | | | | | | |

**Program example**

The system variables when execution of instruction:

82

83

(% class="table-bordered" %)

84

|**Instruction**|(% colspan="3" %)G91G01

85

|**Function**|(% colspan="3" %)Relative position line interpolation

86

|**Axis**|(% colspan="3" %)3

87

|**Output port**|Y0|Y1|Y2

88

|**Present position (double byte)**|D8140|D8142|D8150

89

|(% rowspan="2" %)**Time of ACC/DEC (byte)**|(% colspan="3" %)D8148

90

|D8104|D8105|D8106

91

|**Basic velocity (double)**|(% colspan="3" %)D8145

92

|**Maximum velocity (double byte)**|(% colspan="3" %)D8146

93

|**Pulse output interrupt**|M8145|M8146|M8152

94

|**BUSY/ READY**|M8147|M8148|M8149

95

|**ACC/ DEC**|(% colspan="3" %)Trapezium AC/DE

96

97

(% style="text-align:center" %)

98

[[image:7-15 Circular interpolation instruction_html_b76fcfc0da67f07e.jpg||class="img-thumbnail" height="548" width="700"]]

**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);

103

* Only support trapezoidal acceleration and deceleration;

104

* The actuality output synthesized frequency (lowest frequency),the computation formula is as follows:

105

* (((

106

(% style="text-align:center" %)

107

[[image:7-15 Circular interpolation instruction_html_be886ee3c8a68fd0.jpg||class="img-thumbnail" height="51" width="400"]]

108

)))

109

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

110

* Frequency calculation:

111

112

(% style="text-align:center" %)

113

[[image:7-15 Circular interpolation instruction_html_47c39c4dafe6d9e.jpg||class="img-thumbnail" height="338" width="800"]]

114

115

= **6.16.3 G90G02 instruction** =

116

117

**Instruction description**

118

119

(% class="table-bordered" %)

120

121

|G90G02|Absolute position clockwise circular interpolation|16|No|G91G02 S,,1,, S,,2,, S,,3,, D,,1,, D,,2,,|21

122

123

* S,,1,,: Target position, will occupy 6 continue address. The range is -2147483648 ~~ 2417482647. Target position could be specified by a absolution address; S,,1,,: Target position of X axis, S,,1,,+2: Target position of Y axis.

124

* S,,2,,: Radius/r, occupy 4 bit variable in the continue address .The radius will always treated as relative address; S,,2,,+0:The pulse output D-value between center coordinate and present position ,or the pulse amount of radius “R"; S,,2,,+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.

125

* S,,3,,: The output frequency of the synthesis;

126

* D,,1,,: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);

127

* D,,2,,: The operating direction output port, occupy 2 continue address;

128

129

(% class="table-bordered" %)

130

|(% rowspan="2" %)**Operand**|(% colspan="4" %)**Bit device**|(% colspan="12" %)**Word device**

131

|X|Y|M|S|K|H|E|KnX|KnY|KnM|KnS|T|C|D|V|Z

132

|S,,1,,| | | | | | | | | | | | | |√| |

133

|S,,2,,| | | | | | | | | | | | | |√| |

134

|S,,3,,| | | | |√|√| | | | | | | |√| |

135

|D,,1,,| |√| | | | | | | | | | | | | |

136

|D,,2,,| |√|√| | | | | | | | | | | | |

**Program example**

The system variables when execution of instruction:

141

142

(% class="table-bordered" %)

143

|**Instruction**|(% colspan="2" %)G91G02

144

|**Function**|(% colspan="2" %)Absolute position clockwise circular interpolation

145

|**Axis**|(% colspan="2" %)2

146

|**Output port**|Y0|Y1

147

|**Present position (double byte)**|D8140|D8142

148

|(% rowspan="2" %)**Time of ACC/DEC (byte)**|(% colspan="2" %)D8148

149

|D8104|D8105

150

|**Basic velocity (double)**|(% colspan="2" %)D8145

151

|**Maximum velocity (double byte)**|(% colspan="2" %)D8146

152

|**Pulse output interrupt**|M8145|M8146

153

|**BUSY/ READY**|M8147|M8148

154

|**ACC/ DEC**|(% colspan="2" %)Trapezium AC/DE

155

156

(% style="text-align:center" %)

157

[[image:7-15 Circular interpolation instruction_html_5a9a285b99194686.jpg||height="736" width="700" class="img-thumbnail"]]

**Note for use**

* The arc should be more than 20 pulses in circular interpolation, otherwise there will be error;

162

* The maximum radius of circular interpolation support is 8000000 pulse;

163

* The selection of S,,2,, have two modes: IJ mode (center coordinates) and R mode (radius mode). When set the value of S,,2,,+2 as 0x7FFFFFFF,it is R mode (radius mode), otherwise it is IJ mode (center coordinates) mode .

164

* IJ mode: S,,1,, 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.

165

* 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.

166

* When S,,1,, 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 S,,1,,+0 and S,,1,,+2 equal 0, it will generate a full circle.

167

* When using the interpolation instruction, parameter settings (such as celebration/deceleration time and so on) are subject to the X axis (Y0);

168

* The actuality output synthesized frequency (lowest frequency), the computation formula is as follows:

169

* (((

170

(% style="text-align:center" %)

171

[[image:7-15 Circular interpolation instruction_html_be886ee3c8a68fd0.jpg||height="51" width="400" class="img-thumbnail"]]

172

)))

173

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

174

* Frequency calculation:

175

176

(% style="text-align:center" %)

177

[[image:7-15 Circular interpolation instruction_html_f3da1facc6d4a79e.jpg||height="337" width="800" class="img-thumbnail"]]

178

179

= **6.16.4 G91G02 instruction** =

180

181

**Instruction description**

182

183

(% class="table-bordered" %)

184

185

|G91G02|Relative position clockwise circular interpolation|16|No|G91G02 S,,1,, S,,2,, S,,3,, D,,1,, D,,2,,|21

186

187

* S,,1,,: Target position, will occupy 6 continue address. The range is -2147483648 ~~ 2417482647. Target position could be specified by a absolution address; S,,1,,: Target position of X axis, S,,1,,+2: Target position of Y axis.

188

* S,,2,,: Radius/r, occupy 4-bit variable in the continue address. The radius will always treated as relative address; S,,2,,+0: The pulse output D-value between center coordinate and present position ,or the pulse amount of radius “R"; S,,2,,+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.

189

* S,,3,,: The output frequency of the synthesis;

190

* D,,1,,: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);

191

* D,,2,,: The operating direction output port, occupy 2 continue address;

192

193

(% class="table-bordered" %)

194

|(% rowspan="2" %)**Operand**|(% colspan="4" %)**Bit device**|(% colspan="12" %)**Word device**

195

|X|Y|M|S|K|H|E|KnX|KnY|KnM|KnS|T|C|D|V|Z

196

|S,,1,,| | | | | | | | | | | | | |√| |

197

|S,,2,,| | | | | | | | | | | | | |√| |

198

|S,,3,,| | | | |√|√| | | | | | | |√| |

199

|D,,1,,| |√| | | | | | | | | | | | | |

200

|D,,2,,| |√|√| | | | | | | | | | | | |

**Program example**

The system variables when execution of instruction:

205

206

(% class="table-bordered" %)

207

|**Instruction**|(% colspan="2" %)G91G02

208

|**Function**|(% colspan="2" %)Absolute position clockwise circular interpolation

209

|**Axis**|(% colspan="2" %)2

210

|**Output port**|Y0|Y1

211

|**Present position (double byte)**|D8140|D8142

212

|(% rowspan="2" %)**Time of ACC/DEC (byte)**|(% colspan="2" %)D8148

213

|D8104|D8105

214

|**Basic velocity (double)**|(% colspan="2" %)D8145

215

|**Maximum velocity (double byte)**|(% colspan="2" %)D8146

216

|**Pulse output interrupt**|M8145|M8146

217

|**BUSY/ READY**|M8147|M8148

218

|**ACC/ DEC**|(% colspan="2" %)Trapezium AC/DE

219

220

(% style="text-align:center" %)

221

[[image:7-15 Circular interpolation instruction_html_993c8883284b79d8.jpg||class="img-thumbnail" height="698" width="700"]]

**Note for use**

* The arc should be more than 20 pulses in circular interpolation, otherwise there will be error;

226

* The maximum radius of circular interpolation support is 8000000 pulse;

227

* The selection of S,,2,, have two modes: IJ mode (center coordinates) and R mode (radius mode). When set the value of S,,2,,+2 as 0x7FFFFFFF, it is R mode (radius mode), otherwise it is IJ mode (center coordinates) mode.

228

* IJ mode: S,,1,, 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.

229

* 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.

230

* When S,,1,, 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 S,,1,,+0 and S,,1,,+2 equal 0, it will generate a full circle.

231

* When using the interpolation instruction, parameter settings (such as celebration/deceleration time and so on) are subject to the X axis (Y0);

232

* The actuality output synthesized frequency (lowest frequency), the computation formula is as follows:

233

* (((

234

(% style="text-align:center" %)

235

[[image:7-15 Circular interpolation instruction_html_be886ee3c8a68fd0.jpg||class="img-thumbnail" height="51" width="400"]]

236

)))

237

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

238

* Frequency calculation:

239

240

(% style="text-align:center" %)

241

[[image:7-15 Circular interpolation instruction_html_d5f8cae2769d33f5.jpg||class="img-thumbnail" height="337" width="800"]]

242

243

= **6.16.5 G90G03 instruction** =

244

245

**Instruction description**

246

247

(% class="table-bordered" %)

248

249

|G90G03|Absolute position anticlockwise circular interpolation|16|No|G90G03 S,,1,, S,,2,, S,,3,, D,,1,, D,,2,,|21

250

251

* S,,1,,: Target position, will occupy 6 continue address. The range is -2147483648 ~~ 2417482647. Target position could be specified by a absolution address; S,,1,,: Target position of X axis, S,,1,,+2: Target position of Y axis.

252

* S,,2,,: Radius/r, occupy 4 bit variable in the continue address .The radius will always treated as relative address; S,,2,,+0:The pulse output D-value between center coordinate and present position ,or the pulse amount of radius “R"; S,,2,,+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.

253

* S,,3,,: The output frequency of the synthesis;

254

* D,,1,,: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);

255

* D,,2,,: The operating direction output port, occupy 2 continue address;

256

257

(% class="table-bordered" %)

258

|(% rowspan="2" %)**Operand**|(% colspan="4" %)**Bit device**|(% colspan="12" %)**Word device**

259

|X|Y|M|S|K|H|E|KnX|KnY|KnM|KnS|T|C|D|V|Z

260

|S,,1,,| | | | | | | | | | | | | |√| |

261

|S,,2,,| | | | | | | | | | | | | |√| |

262

|S,,3,,| | | | |√|√| | | | | | | |√| |

263

|D,,1,,| |√| | | | | | | | | | | | | |

264

|D,,2,,| |√|√| | | | | | | | | | | | |

**Program example**

The system variables when execution of instruction:

269

270

(% class="table-bordered" %)

271

|**Instruction**|(% colspan="2" %)G90G03

272

|**Function**|(% colspan="2" %)Absolute position anticlockwise circular interpolation

273

|**Axis**|(% colspan="2" %)2

274

|**Output port**|Y0|Y1

275

|**Present position (double byte)**|D8140|D8142

276

|(% rowspan="2" %)**Time of ACC/DEC (byte)**|(% colspan="2" %)D8148

277

|D8104|D8105

278

|**Basic velocity (double)**|(% colspan="2" %)D8145

279

|**Maximum velocity (double byte)**|(% colspan="2" %)D8146

280

|**Pulse output interrupt**|M8145|M8146

281

|**BUSY/ READY**|M8147|M8148

282

|**ACC/ DEC**|(% colspan="2" %)Trapezium AC/DE

283

284

(% style="text-align:center" %)

285

[[image:7-15 Circular interpolation instruction_html_739d6295cd8cb362.jpg||height="702" width="700" class="img-thumbnail"]]

**Note for use**

* The arc should be more than 20 pulses in circular interpolation, otherwise there will be error;

290

* The maximum radius of circular interpolation support is 8000000 pulse;

291

* The selection of S,,2,, have two modes: IJ mode (center coordinates) and R mode (radius mode). When set the value of S,,2,,+2 as 0x7FFFFFFF, it is R mode (radius mode), otherwise it is IJ mode (center coordinates) mode .

292

* IJ mode: S,,1,, 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.

293

* 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.

294

* When S,,1,, 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 S,,1,,+0 and S,,1,,+2 equal 0, it will generate a full circle.

295

* When using the interpolation instruction, parameter settings (such as celebration/deceleration time and so on) are subject to the X axis (Y0);

296

* The actuality output synthesized frequency (lowest frequency), the computation formula is as follows:

297

* (((

298

(% style="text-align:center" %)

299

[[image:7-15 Circular interpolation instruction_html_be886ee3c8a68fd0.jpg||height="51" width="400" class="img-thumbnail"]]

300

)))

301

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

302

* Frequency calculation:

303

304

(% style="text-align:center" %)

305

[[image:7-15 Circular interpolation instruction_html_9d9e5e58c23611d3.jpg||height="338" width="800" class="img-thumbnail"]]

306

307

= **6.16.6 G91G03 instruction** =

308

309

**Instruction description**

310

311

(% class="table-bordered" %)

312

313

|G91G03|Relative position anticlockwise circular interpolation|16|No|G91G03 S,,1,, S,,2,, S,,3,, D,,1,, D,,2,,|21

314

315

* S,,1,,: Target position, will occupy 6 continue address. The range is -2147483648 ~~ 2417482647. Target position could be specified by a absolution address; S,,1,,: Target position of X axis, S,,1,,+2: Target position of Y axis.

316

* S,,2,,: Radius/r, occupy 4 bit variable in the continue address .The radius will always treated as relative address; S,,2,,+0:The pulse output D-value between center coordinate and present position ,or the pulse amount of radius “R"; S,,2,,+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.

317

* S,,3,,: The output frequency of the synthesis;

318

* D,,1,,: High speed pulse output port, only Y0 could be specified, occupy 3 continue address (Y0, Y1, and Y2);

319

* D,,2,,: The operating direction output port, occupy 2 continue address;

320

321

(% class="table-bordered" %)

322

|(% rowspan="2" %)**Operand**|(% colspan="4" %)**Bit device**|(% colspan="12" %)**Word device**

323

|X|Y|M|S|K|H|E|KnX|KnY|KnM|KnS|T|C|D|V|Z

324

|S,,1,,| | | | | | | | | | | | | |√| |

325

|S,,2,,| | | | | | | | | | | | | |√| |

326

|S,,3,,| | | | |√|√| | | | | | | |√| |

327

|D,,1,,| |√| | | | | | | | | | | | | |

328

|D,,2,,| |√|√| | | | | | | | | | | | |

**Program example**

The system variables when execution of instruction:

333

334

(% class="table-bordered" %)

335

|**Instruction**|(% colspan="2" %)G91G03

336

|**Function**|(% colspan="2" %)Absolute position clockwise circular interpolation

337

|**Axis**|(% colspan="2" %)2

338

|**Output port**|Y0|Y1

339

|**Present position (double byte)**|D8140|D8142

340

|(% rowspan="2" %)**Time of ACC/DEC (byte)**|(% colspan="2" %)D8148

341

|D8104|D8105

342

|**Basic velocity (double)**|(% colspan="2" %)D8145

343

|**Maximum velocity (double byte)**|(% colspan="2" %)D8146

344

|**Pulse output interrupt**|M8145|M8146

345

|**BUSY/ READY**|M8147|M8148

346

|**ACC/ DEC**|(% colspan="2" %)Trapezium AC/DE

347

348

(% style="text-align:center" %)

349

[[image:7-15 Circular interpolation instruction_html_ae5c0fbd4932001c.jpg||class="img-thumbnail" height="702" width="700"]]

**Note for use**

* The arc should be more than 20 pulses in circular interpolation, otherwise there will be error;

354

* The maximum radius of circular interpolation support is 8000000 pulse;

355

* The selection of S,,2,, have two modes: IJ mode (center coordinates) and R mode (radius mode). When set the value of S,,2,,+2 as 0x7FFFFFFF, it is R mode (radius mode), otherwise it is IJ mode (center coordinates) mode.

356

* IJ mode: S,,1,, 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.

357

* 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.

358

* When S,,1,, 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 S,,1,,+0 and S,,1,,+2 equal 0, it will generate a full circle.

359

* When using the interpolation instruction, parameter settings (such as celebration/deceleration time and so on) are subject to the X axis (Y0);

360

* The actuality output synthesized frequency (lowest frequency), the computation formula is as follows:

361

* (((

362

(% style="text-align:center" %)

363

[[image:7-15 Circular interpolation instruction_html_be886ee3c8a68fd0.jpg||class="img-thumbnail" height="51" width="400"]]

364

)))

365

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

366

* Frequency calculation:(((

367

(% style="text-align:center" %)

368

[[image:7-15 Circular interpolation instruction_html_5728a3044584d2ee.jpg||class="img-thumbnail" height="338" width="800"]]

369

)))

Wiki source code of 16 Circular interpolation instruction

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