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Last modified by Mora Zhou on 2024/08/08 14:35
From version 1.1
edited by Leo Wei
on 2022/06/08 12:57
Change comment: Imported from XAR
To version 4.1
edited by Stone Wu
on 2022/06/15 12:00
Change comment: There is no comment for this version

Summary

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Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.admin
1 +XWiki.Stone
Content
... ... @@ -1,7 +1,5 @@
1 -= **High-speed pulse output instruction** =
1 += {{id name="_Toc23711"/}}**ZRN/DZRN/Origin return** =
2 2  
3 -== {{id name="_Toc23711"/}}**ZRN/DZRN/Origin return** ==
4 -
5 5  **ZRN/DZRN**
6 6  
7 7  This instruction is to use the specified pulse speed and pulse output port to make the actuator move to the origin of action (DOG) when the PLC and the servo drive work together, until the origin signal meets the conditions.
... ... @@ -11,33 +11,33 @@
11 11  **{{id name="OLE_LINK392"/}}Content, range and data type**
12 12  
13 13  (% class="table-bordered" %)
14 -|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
15 -|(s1)|The speed when the origin return starts|(((
12 +|**Parameter**|(% style="width:392px" %)**Content**|(% style="width:155px" %)**Range**|(% style="width:236px" %)**Data type**|(% style="width:204px" %)**Data type (label)**
13 +|(s1)|(% style="width:392px" %)The speed when the origin return starts|(% style="width:155px" %)(((
16 16  1 to 32767
17 17  
18 18  1 to 200000
19 -)))|Signed BIN16/Signed BIN32|ANY16_S/ANY32_S
20 -|(s2)|Crawl speed|(((
17 +)))|(% style="width:236px" %)Signed BIN16/Signed BIN32|(% style="width:204px" %)ANY16_S/ANY32_S
18 +|(s2)|(% style="width:392px" %)Crawl speed|(% style="width:155px" %)(((
21 21  1 to 32767
22 22  
23 23  1 to 200000
24 -)))|Signed BIN16/Signed BIN32|ANY16_S/ANY32_S
25 -|(s3)|The device number of the input number of the near-point signal (DOG) to be input.|-|Bit|ANY_BOOL
26 -|(d)|The device number (Y) that outputs pulse|-|Bit|ANY_BOOL
22 +)))|(% style="width:236px" %)Signed BIN16/Signed BIN32|(% style="width:204px" %)ANY16_S/ANY32_S
23 +|(s3)|(% style="width:392px" %)The device number of the input number of the near-point signal (DOG) to be input.|(% style="width:155px" %)-|(% style="width:236px" %)Bit|(% style="width:204px" %)ANY_BOOL
24 +|(d)|(% style="width:392px" %)The device number (Y) that outputs pulse|(% style="width:155px" %)-|(% style="width:236px" %)Bit|(% style="width:204px" %)ANY_BOOL
27 27  
28 28  **Device used**
29 29  
30 -(% class="table-bordered" %)
31 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="14" %)**Devices**|**Offset modification**|(((
28 +(% class="table-bordered" style="width:1049px" %)
29 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:133px" %)**Parameter**|(% colspan="14" style="width:617px" %)**Devices**|(% style="width:138px" %)**Offset modification**|(((
32 32  **Pulse**
33 33  
34 34  **extension**
35 35  )))
36 -|**X**|**Y**|**M**|**S**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
37 -|(% rowspan="4" %)ZRN|Parameter 1| | | | |●|●|●|●|●|●|●|●|●|●|●|
38 -|Parameter 2| | | | |●|●|●|●|●|●|●|●|●|●|●|
39 -|Parameter 3|●|●|●|●| | | | | | | | | | | |
40 -|Parameter 4| |●| | | | | | | | | | | | | |
34 +|(% style="width:3px" %)**X**|**Y**|**M**|**S**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|(% style="width:75px" %)**H**|(% style="width:138px" %)**[D]**|**XXP**
35 +|(% rowspan="4" %)ZRN|(% style="width:133px" %)Parameter 1|(% style="width:3px" %) | | | |●|●|●|●|●|●|●|●|●|(% style="width:75px" %)●|(% style="width:138px" %)●|
36 +|(% style="width:133px" %)Parameter 2|(% style="width:3px" %) | | | |●|●|●|●|●|●|●|●|●|(% style="width:75px" %)●|(% style="width:138px" %)●|
37 +|(% style="width:133px" %)Parameter 3|(% style="width:3px" %)●|●|●|●| | | | | | | | | |(% style="width:75px" %) |(% style="width:138px" %) |
38 +|(% style="width:133px" %)Parameter 4|(% style="width:3px" %) |●| | | | | | | | | | | |(% style="width:75px" %) |(% style="width:138px" %) |
41 41  
42 42  **Features**
43 43  
... ... @@ -46,7 +46,7 @@
46 46  .
47 47  
48 48  (% style="text-align:center" %)
49 -[[image:08_html_abde218848583ae7.gif||class="img-thumbnail" height="352" width="700"]]
47 +[[image:08_html_abde218848583ae7.gif||height="352" width="700" class="img-thumbnail"]]
50 50  
51 51  • Specify the speed at the start of origin return in (s1). (It should be in the range of 1 to 200,000)
52 52  
... ... @@ -61,7 +61,7 @@
61 61  • The pulse frequency could be modified during operation.
62 62  
63 63  (% style="text-align:center" %)
64 -[[image:1652679761818-564.png||class="img-thumbnail" height="409" width="800"]]
62 +[[image:1652679761818-564.png||height="409" width="800" class="img-thumbnail"]]
65 65  
66 66  **{{id name="OLE_LINK84"/}}✎Note:**
67 67  
... ... @@ -72,7 +72,7 @@
72 72  Please set the near-point DOG between the reverse limit 1 (LSR) and the forward limit 1 (LSF). When near-point DOG, reverse limit 1 (LSR), forward limit 1 (LSF) do not form the relationship shown in the figure below, the action may not be performed.
73 73  
74 74  (% style="text-align:center" %)
75 -[[image:08_html_e424715fa5809765.png||class="img-thumbnail" height="129" width="800"]]
73 +[[image:08_html_e424715fa5809765.png||height="129" width="800" class="img-thumbnail"]]
76 76  
77 77  Please make the crawling speed slow enough. Since it does not decelerate to stop, if the crawling speed is too fast, the stop position will shift due to inertia.
78 78  
... ... @@ -87,11 +87,11 @@
87 87  **Example**
88 88  
89 89  (% style="text-align:center" %)
90 -[[image:08_html_5398e9b5857a7283.png||class="img-thumbnail" height="366" width="700"]]
88 +[[image:08_html_5398e9b5857a7283.png||height="366" width="700" class="img-thumbnail"]]
91 91  
92 92  {{id name="OLE_LINK86"/}}Set Y1 as the output axis at a maximum speed of 200K, a offset speed of 500, and a acceleration/deceleration time of 100ms. Origin return is performed at the frequency of 200Khz, and it runs at a crawling speed after receiving the origin signal X0, and it stops after the X0 signal is reset.
93 93  
94 -== {{id name="_Toc17090"/}}**{{id name="_Toc4613"/}}{{id name="_Toc28244"/}}DSZR/DDSZR/Origin return** ==
92 += {{id name="_Toc17090"/}}**{{id name="_Toc4613"/}}{{id name="_Toc28244"/}}DSZR/DDSZR/Origin return** =
95 95  
96 96  **{{id name="OLE_LINK390"/}}DSZR/DDSZR**
97 97  
... ... @@ -102,35 +102,35 @@
102 102  **Content, range and data type**
103 103  
104 104  (% class="table-bordered" %)
105 -|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
106 -|(s1)|The speed when the origin return starts|(((
103 +|**Parameter**|(% style="width:457px" %)**Content**|(% style="width:124px" %)**Range**|(% style="width:226px" %)**Data type**|(% style="width:180px" %)**Data type (label)**
104 +|(s1)|(% style="width:457px" %)The speed when the origin return starts|(% style="width:124px" %)(((
107 107  1 to 32767
108 108  
109 109  1 to 200000
110 -)))|Signed BIN16/Signed BIN32|ANY16_S/ANY32_S
111 -|(s2)|Crawling speed|(((
108 +)))|(% style="width:226px" %)Signed BIN16/Signed BIN32|(% style="width:180px" %)ANY16_S/ANY32_S
109 +|(s2)|(% style="width:457px" %)Crawling speed|(% style="width:124px" %)(((
112 112  1 to 32767
113 113  
114 114  1 to 200000
115 -)))|Signed BIN16/Signed BIN32|ANY16_S/ANY32_S
116 -|(s3)|The device number of the input number of the near-point signal (DOG) to be input.|-|Bit|ANY_BOOL
117 -|(d1)|The device number (Y) that outputs pulse|-|Bit|ANY_BOOL
118 -|(d2)|{{id name="OLE_LINK393"/}}Operation direction output port or bit variable| | |
113 +)))|(% style="width:226px" %)Signed BIN16/Signed BIN32|(% style="width:180px" %)ANY16_S/ANY32_S
114 +|(s3)|(% style="width:457px" %)The device number of the input number of the near-point signal (DOG) to be input.|(% style="width:124px" %)-|(% style="width:226px" %)Bit|(% style="width:180px" %)ANY_BOOL
115 +|(d1)|(% style="width:457px" %)The device number (Y) that outputs pulse|(% style="width:124px" %)-|(% style="width:226px" %)Bit|(% style="width:180px" %)ANY_BOOL
116 +|(d2)|(% style="width:457px" %){{id name="OLE_LINK393"/}}Operation direction output port or bit variable|(% style="width:124px" %) |(% style="width:226px" %) |(% style="width:180px" %)
119 119  
120 120  **Device used**
121 121  
122 -(% class="table-bordered" %)
123 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="15" %)**Devices**|**Offset modification**|(((
120 +(% class="table-bordered" style="width:1022px" %)
121 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:133.641px" %)**Parameter**|(% colspan="15" style="width:630.359px" %)**Devices**|(% style="width:128px" %)**Offset modification**|(((
124 124  **Pulse**
125 125  
126 126  **extension**
127 127  )))
128 -|**X**|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
129 -|(% rowspan="5" %)DSZR|Parameter 1| | | | | |●|●|●|●|●|●|●|●|●|●|●|
130 -|Parameter 2| | | | | |●|●|●|●|●|●|●|●|●|●|●|
131 -|Parameter 3|●|●|●|●| | | | | | | | | | | | |
132 -|Parameter 4| |●| | | | | | | | | | | | | | |
133 -|Parameter 5| |●|●|●|●| | | | | | | | | | | |
126 +|(% style="width:1px" %)**X**|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|(% style="width:76px" %)**H**|(% style="width:128px" %)**[D]**|**XXP**
127 +|(% rowspan="5" %)DSZR|(% style="width:133.641px" %)Parameter 1|(% style="width:1px" %) | | | | |●|●|●|●|●|●|●|●|●|(% style="width:76px" %)●|(% style="width:128px" %)●|
128 +|(% style="width:133.641px" %)Parameter 2|(% style="width:1px" %) | | | | |●|●|●|●|●|●|●|●|●|(% style="width:76px" %)●|(% style="width:128px" %)●|
129 +|(% style="width:133.641px" %)Parameter 3|(% style="width:1px" %)●|●|●|●| | | | | | | | | | |(% style="width:76px" %) |(% style="width:128px" %) |
130 +|(% style="width:133.641px" %)Parameter 4|(% style="width:1px" %) |●| | | | | | | | | | | | |(% style="width:76px" %) |(% style="width:128px" %) |
131 +|(% style="width:133.641px" %)Parameter 5|(% style="width:1px" %) |●|●|●|●| | | | | | | | | |(% style="width:76px" %) |(% style="width:128px" %) |
134 134  
135 135  **Features**
136 136  
... ... @@ -137,7 +137,7 @@
137 137  The instruction is that when the PLC works with the servo drive, it uses the specified pulse speed and pulse output port and the specified direction axis to move the actuator to the origin of the action (DOG) until the origin signal meets the conditions.
138 138  
139 139  (% style="text-align:center" %)
140 -[[image:08_html_abde218848583ae7.gif||class="img-thumbnail" height="403" width="800"]]
138 +[[image:08_html_abde218848583ae7.gif||height="403" width="800" class="img-thumbnail"]]
141 141  
142 142  • Specify the speed at the start of origin return in (s1). (It should be in the range of 1 to 200000)
143 143  
... ... @@ -154,7 +154,7 @@
154 154  • The pulse frequency could be modified during operation.{{id name="OLE_LINK398"/}}
155 155  
156 156  (% style="text-align:center" %)
157 -[[image:1652679890567-504.png||class="img-thumbnail" height="406" width="800"]]
155 +[[image:1652679890567-504.png||height="406" width="800" class="img-thumbnail"]]
158 158  
159 159  **✎Note:**
160 160  
... ... @@ -167,7 +167,7 @@
167 167  {{id name="OLE_LINK399"/}}
168 168  
169 169  (% style="text-align:center" %)
170 -[[image:08_html_3152d1fc65e8de15.gif||class="img-thumbnail" height="128" width="900"]]
168 +[[image:08_html_3152d1fc65e8de15.gif||height="128" width="900" class="img-thumbnail"]]
171 171  
172 172   Please make the crawling speed slow enough. Since it does not decelerate to stop, if the crawling speed is too fast, the stop position will shift due to inertia.
173 173  
... ... @@ -186,7 +186,7 @@
186 186  
187 187  Set Y1 as the output axis and Y10 as the direction axis at a maximum speed of 200K, a offset speed of 500, and a acceleration/deceleration time of 100ms. Origin return is performed at the frequency of 200Khz, and it runs at a crawling speed after receiving the origin signal X0, and it stops after the X0 signal is reset.
188 188  
189 -== **{{id name="_Toc4674"/}}DVIT/DDVIT/16-bit data relative positioning** ==
187 += **{{id name="_Toc4674"/}}DVIT/DDVIT/16-bit data relative positioning** =
190 190  
191 191  **DVIT/DDVIT**
192 192  
... ... @@ -223,17 +223,17 @@
223 223  **Device used**
224 224  
225 225  (% class="table-bordered" %)
226 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="15" %)**Devices**|**Offset modification**|(((
224 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:134.641px" %)**Parameter**|(% colspan="15" style="width:628.359px" %)**Devices**|(% style="width:129px" %)**Offset modification**|(((
227 227  **Pulse**
228 228  
229 229  **extension**
230 230  )))
231 -|**X**|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
232 -|(% rowspan="5" %)DVIT|Parameter 1| | | | | |●|●|●|●|●|●|●|●|●|●|●|
233 -|Parameter 2| | | | | |●|●|●|●|●|●|●|●|●|●|●|
234 -|Parameter 3| |●| | | | | | | | | | | | | | |
235 -|Parameter 4| |●|●|●|●| | | | | | | | | | | |
236 -|Parameter 5|●| |●|●| | | | | | | | | | | | |
229 +|(% style="width:1px" %)**X**|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|(% style="width:75px" %)**H**|(% style="width:129px" %)**[D]**|**XXP**
230 +|(% rowspan="5" %)DVIT|(% style="width:134.641px" %)Parameter 1|(% style="width:1px" %) | | | | |●|●|●|●|●|●|●|●|●|(% style="width:75px" %)●|(% style="width:129px" %)●|
231 +|(% style="width:134.641px" %)Parameter 2|(% style="width:1px" %) | | | | |●|●|●|●|●|●|●|●|●|(% style="width:75px" %)●|(% style="width:129px" %)●|
232 +|(% style="width:134.641px" %)Parameter 3|(% style="width:1px" %) |●| | | | | | | | | | | | |(% style="width:75px" %) |(% style="width:129px" %) |
233 +|(% style="width:134.641px" %)Parameter 4|(% style="width:1px" %) |●|●|●|●| | | | | | | | | |(% style="width:75px" %) |(% style="width:129px" %) |
234 +|(% style="width:134.641px" %)Parameter 5|(% style="width:1px" %)●| |●|●| | | | | | | | | | |(% style="width:75px" %) |(% style="width:129px" %) |
237 237  
238 238  **Features**
239 239  
... ... @@ -250,7 +250,7 @@
250 250  • Specify the bit device of the interrupt signal in (d3). Only the devices and general outputs specified in the parameters could be specified.
251 251  
252 252  (% style="text-align:center" %)
253 -[[image:08_html_5f96163eb153efdb.gif||class="img-thumbnail" height="428" width="800"]]
251 +[[image:08_html_5f96163eb153efdb.gif||height="428" width="800" class="img-thumbnail"]]
254 254  
255 255  **✎Note:**
256 256  
... ... @@ -280,9 +280,9 @@
280 280  Set Y0 as the output axis and Y1 as the direction axis with the maximum speed of 200K, the offset speed of 500, and the acceleration/deceleration time of 100ms, and run at a frequency of 200,000, and send 200,000 pulses after receiving the X0 signal.
281 281  
282 282  (% style="text-align:center" %)
283 -[[image:08_html_cbfdbddb08628e8c.gif||class="img-thumbnail" height="419" width="800"]]
281 +[[image:08_html_cbfdbddb08628e8c.gif||height="419" width="800" class="img-thumbnail"]]
284 284  
285 -== {{id name="_Toc22468"/}}**DRVI/DDRVI/Relative positioning** ==
283 += {{id name="_Toc22468"/}}**DRVI/DDRVI/Relative positioning** =
286 286  
287 287  **DRVI/DDRVI**
288 288  
... ... @@ -333,17 +333,17 @@
333 333  
334 334  **Device used**
335 335  
336 -(% class="table-bordered" %)
337 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="14" %)**Devices**|**Offset modification**|(((
334 +(% class="table-bordered" style="width:1046px" %)
335 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:132.875px" %)**Parameter**|(% colspan="14" style="width:603.125px" %)**Devices**|(% style="width:125px" %)**Offset modification**|(((
338 338  **Pulse**
339 339  
340 340  **extension**
341 341  )))
342 -|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
343 -|(% rowspan="4" %)DRVI|Parameter 1| | | | |●|●|●|●|●|●|●|●|●|●|●|
344 -|Parameter 2| | | | |●|●|●|●|●|●|●|●|●|●|●|
345 -|Parameter 3|●| | | | | | | | | | | | | | |
346 -|Parameter 4|●|●|●|●| | | | | | | | | | | |
340 +|(% style="width:1px" %)**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|(% style="width:79px" %)**H**|(% style="width:125px" %)**[D]**|**XXP**
341 +|(% rowspan="4" %)DRVI|(% style="width:132.875px" %)Parameter 1|(% style="width:1px" %) | | | |●|●|●|●|●|●|●|●|●|(% style="width:79px" %)●|(% style="width:125px" %)●|
342 +|(% style="width:132.875px" %)Parameter 2|(% style="width:1px" %) | | | |●|●|●|●|●|●|●|●|●|(% style="width:79px" %)●|(% style="width:125px" %)●|
343 +|(% style="width:132.875px" %)Parameter 3|(% style="width:1px" %)●| | | | | | | | | | | | |(% style="width:79px" %) |(% style="width:125px" %) |
344 +|(% style="width:132.875px" %)Parameter 4|(% style="width:1px" %)●|●|●|●| | | | | | | | | |(% style="width:79px" %) |(% style="width:125px" %) |
347 347  
348 348  **Features**
349 349  
... ... @@ -352,7 +352,7 @@
352 352  With the current stop position as the starting point, specify the movement direction and movement amount (relative address) for positioning.
353 353  
354 354  (% style="text-align:center" %)
355 -[[image:08_html_9e2927d44c64e0be.gif||class="img-thumbnail" height="323" width="800"]]
353 +[[image:08_html_9e2927d44c64e0be.gif||height="323" width="800" class="img-thumbnail"]]
356 356  
357 357  • Specify the positioning address of the user unit with a relative address in (s1). (It should be in the range of -2147483647 to +2147483647)
358 358  
... ... @@ -365,7 +365,7 @@
365 365  • The pulse frequency and pulse position could be modified during the operation of this instruction.
366 366  
367 367  (% style="text-align:center" %)
368 -[[image:08_html_50efa4160b140701.gif||class="img-thumbnail" height="418" width="800"]]
366 +[[image:08_html_50efa4160b140701.gif||height="418" width="800" class="img-thumbnail"]]
369 369  
370 370  **✎Note:**
371 371  
... ... @@ -386,7 +386,7 @@
386 386  
387 387  {{id name="OLE_LINK91"/}}{{id name="OLE_LINK92"/}}Set Y0 as the output axis, and Y1 as the direction axis with the maximum speed in 200K, and the offset speed in 500, and the acceleration/deceleration time in 100ms. Send a high-speed pulse with acceleration and deceleration at a frequency of 200KHZ, and a pulse number of 200K.
388 388  
389 -== {{id name="_Toc23478"/}}**{{id name="_Toc19438"/}}{{id name="_Toc5660"/}}DRVA/DDRVA/Absolute positioning** ==
387 += {{id name="_Toc23478"/}}**{{id name="_Toc19438"/}}{{id name="_Toc5660"/}}DRVA/DDRVA/Absolute positioning** =
390 390  
391 391  **DRVA/DDRVA**
392 392  
... ... @@ -452,7 +452,7 @@
452 452  {{id name="OLE_LINK365"/}}
453 453  
454 454  (% style="text-align:center" %)
455 -[[image:08_html_7a3c30baa77024fb.gif||class="img-thumbnail" height="311" width="800"]]
453 +[[image:08_html_7a3c30baa77024fb.gif||height="311" width="800" class="img-thumbnail"]]
456 456  
457 457  • Specify the positioning address of user unit with a absolute address in (s1). (It should be in the range of -2,147,483,647 to +2,147,483,647)
458 458  
... ... @@ -465,7 +465,7 @@
465 465  • The pulse frequency and pulse position could be modified during the operation of this instruction.
466 466  
467 467  (% style="text-align:center" %)
468 -[[image:08_html_620f348d2565adf2.gif||class="img-thumbnail" height="411" width="800"]]
466 +[[image:08_html_620f348d2565adf2.gif||height="411" width="800" class="img-thumbnail"]]
469 469  
470 470  **✎Note:**
471 471  
... ... @@ -486,7 +486,7 @@
486 486  
487 487  Set Y0 as the output axis, and Y1 as the direction axis with the maximum speed in 200K, and the offset speed in 500, and the acceleration/deceleration time in 100ms. Send a high-speed pulse with acceleration and deceleration at a frequency of 200KHZ, starting at the origin position and ending at 200,000
488 488  
489 -== {{id name="_Toc21291"/}}**{{id name="_Toc21950"/}}{{id name="_Toc10018"/}}PLSR/DPLSR/Pulse output with acceleration and deceleration** ==
487 += {{id name="_Toc21291"/}}**{{id name="_Toc21950"/}}{{id name="_Toc10018"/}}PLSR/DPLSR/Pulse output with acceleration and deceleration** =
490 490  
491 491  **PLSR/DPLSR**
492 492  
... ... @@ -566,7 +566,7 @@
566 566  • Specify the device that outputs pulses in (d). Only output devices (Y) with positioning parameters could be specified.
567 567  
568 568  (% style="text-align:center" %)
569 -[[image:08_html_1b0fa8d702052193.gif||class="img-thumbnail" height="382" width="700"]]
567 +[[image:08_html_1b0fa8d702052193.gif||height="382" width="700" class="img-thumbnail"]]
570 570  
571 571  **✎Note:**
572 572  
... ... @@ -587,7 +587,7 @@
587 587  
588 588  Set Y0 as the output axis at a maximum speed of 200K, and a offset speed of 500, and a acceleration/deceleration time of 100ms. Send a high-speed pulse with acceleration and deceleration at a frequency of 200KHZ, a pulse number of 200K.
589 589  
590 -== {{id name="_Toc10313"/}}**{{id name="_Toc31417"/}}{{id name="_Toc9007"/}}PLSR2/Multi-speed positioning** ==
588 += {{id name="_Toc10313"/}}**{{id name="_Toc31417"/}}{{id name="_Toc9007"/}}PLSR2/Multi-speed positioning** =
591 591  
592 592  **PLSR2**
593 593  
... ... @@ -740,7 +740,7 @@
740 740  The waveform diagram is as follows:
741 741  
742 742  (% style="text-align:center" %)
743 -[[image:08_html_3117922fe2a20cac.gif||class="img-thumbnail" height="387" width="700"]]
741 +[[image:08_html_3117922fe2a20cac.gif||height="387" width="700" class="img-thumbnail"]]
744 744  
745 745  2) Waiting time
746 746  
... ... @@ -764,7 +764,7 @@
764 764  The waveform diagram is as follows:
765 765  
766 766  (% style="text-align:center" %)
767 -[[image:08_html_6bc1d175fa4748a6.gif||class="img-thumbnail" height="372" width="700"]]
765 +[[image:08_html_6bc1d175fa4748a6.gif||height="372" width="700" class="img-thumbnail"]]
768 768  
769 769  3) Waiting signal
770 770  
... ... @@ -788,7 +788,7 @@
788 788  If the signal is received in advance, it will not decelerate to stop, but directly accelerate/decelerate to the specified speed of the next segment. (X2 low level is received during operation)
789 789  
790 790  (% style="text-align:center" %)
791 -[[image:08_html_5599da81e80c2958.gif||class="img-thumbnail" height="413" width="700"]]
789 +[[image:08_html_5599da81e80c2958.gif||height="413" width="700" class="img-thumbnail"]]
792 792  
793 793  4)** **Trigger signal
794 794  
... ... @@ -814,7 +814,7 @@
814 814  The pulse waveform diagram is as follows:
815 815  
816 816  (% style="text-align:center" %)
817 -[[image:08_html_a84e97c5590c3f71.gif||class="img-thumbnail" height="371" width="700"]]
815 +[[image:08_html_a84e97c5590c3f71.gif||height="371" width="700" class="img-thumbnail"]]
818 818  
819 819  If a signal is received in the acceleration section (deceleration section), it will directly accelerate (decelerate) in the current section to the next pulse frequency.
820 820  
... ... @@ -828,7 +828,7 @@
828 828  |(% style="width:127px" %)4085H|(% style="width:954px" %)The table parameter with the first address in the read application instruction (s) exceeds the device range, and the output result of the read parameter (s), (d1) and (d2) exceeds the device range
829 829  |(% style="width:127px" %)4088H|(% style="width:954px" %)The same pulse output axis (d1) is used and has been started.
830 830  
831 -== {{id name="_Toc3904"/}}**{{id name="_Toc11943"/}}{{id name="_Toc18707"/}}PLSV/DPLSV/Variable speed operation** ==
829 += {{id name="_Toc3904"/}}**{{id name="_Toc11943"/}}{{id name="_Toc18707"/}}PLSV/DPLSV/Variable speed operation** =
832 832  
833 833  **PLSV/DPLSV**
834 834  
... ... @@ -870,7 +870,7 @@
870 870  • The pulse frequency could be modified while the instruction is running.
871 871  
872 872  (% style="text-align:center" %)
873 -[[image:08_html_2521cc1e50e799ab.gif||class="img-thumbnail" height="394" width="700"]]
871 +[[image:08_html_2521cc1e50e799ab.gif||height="394" width="700" class="img-thumbnail"]]
874 874  
875 875  **✎Note:**
876 876  
... ... @@ -898,9 +898,9 @@
898 898  The sending pulse is as follows:
899 899  
900 900  (% style="text-align:center" %)
901 -[[image:08_html_ac71a602fee1445e.gif||class="img-thumbnail" height="387" width="700"]]
899 +[[image:08_html_ac71a602fee1445e.gif||height="387" width="700" class="img-thumbnail"]]
902 902  
903 -== {{id name="_Toc8609"/}}**{{id name="_Toc662"/}}{{id name="_Toc30652"/}}PLSY/DPLSY/Pulse output** ==
901 += {{id name="_Toc8609"/}}**{{id name="_Toc662"/}}{{id name="_Toc30652"/}}PLSY/DPLSY/Pulse output** =
904 904  
905 905  **PLSY/DPLSY**
906 906  
... ... @@ -942,7 +942,7 @@
942 942  • The instruction pulse output has no acceleration/deceleration process.
943 943  
944 944  (% style="text-align:center" %)
945 -[[image:08_html_2c248b954bdddae3.gif||class="img-thumbnail" height="356" width="700"]]
943 +[[image:08_html_2c248b954bdddae3.gif||height="356" width="700" class="img-thumbnail"]]
946 946  
947 947  **✎Note:**
948 948  
... ... @@ -966,7 +966,7 @@
966 966  [[image:08_html_ba12be0aaf3caf40.png||class="img-thumbnail"]]
967 967  
968 968  (% style="text-align:center" %)
969 -[[image:08_html_97583e8621e6ae69.png||class="img-thumbnail" height="143" width="600"]]
967 +[[image:08_html_97583e8621e6ae69.png||height="143" width="600" class="img-thumbnail"]]
970 970  
971 971  **(2) Pulse output: positioning address (operand (n))> 0**
972 972  
... ... @@ -975,9 +975,9 @@
975 975  [[image:08_html_87bd5854f06006b0.png]]
976 976  
977 977  (% style="text-align:center" %)
978 -[[image:08_html_97583e8621e6ae69.png||class="img-thumbnail" height="143" width="600"]]
976 +[[image:08_html_97583e8621e6ae69.png||height="143" width="600" class="img-thumbnail"]]
979 979  
980 -== {{id name="_Toc10375"/}}**{{id name="_Toc17757"/}}PWM/BIN 16-bit pulse output** ==
978 += {{id name="_Toc10375"/}}**{{id name="_Toc17757"/}}PWM/BIN 16-bit pulse output** =
981 981  
982 982  **PWM**
983 983  
... ... @@ -1022,7 +1022,7 @@
1022 1022  • The pulse width and pulse period can be modified during pulse sending.
1023 1023  
1024 1024  (% style="text-align:center" %)
1025 -[[image:08_html_b54cf8e0b0b86ddb.png||class="img-thumbnail" height="195" width="600"]]
1023 +[[image:08_html_b54cf8e0b0b86ddb.png||height="195" width="600" class="img-thumbnail"]]
1026 1026  )))
1027 1027  
1028 1028  **✎Note:**
... ... @@ -1053,9 +1053,9 @@
1053 1053  The waveform diagram is shown as right.
1054 1054  
1055 1055  (% style="text-align:center" %)
1056 -[[image:08_html_f38f59f98fdc96c0.png||class="img-thumbnail" height="213" width="600"]]
1054 +[[image:08_html_f38f59f98fdc96c0.png||height="213" width="600" class="img-thumbnail"]]
1057 1057  
1058 -== **PWM/PWM perimeter mode** ==
1056 += **PWM/PWM perimeter mode** =
1059 1059  
1060 1060  **PWM**
1061 1061  
... ... @@ -1145,7 +1145,7 @@
1145 1145  (% style="text-align:center" %)
1146 1146  [[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1147 1147  
1148 -== {{id name="_Toc26527"/}}**{{id name="_Toc9670"/}}{{id name="_Toc32423"/}}{{id name="_Toc27238"/}}G90G01 Absolute position line interpolation instruction** ==
1146 += {{id name="_Toc26527"/}}**{{id name="_Toc9670"/}}{{id name="_Toc32423"/}}{{id name="_Toc27238"/}}G90G01 Absolute position line interpolation instruction** =
1149 1149  
1150 1150  **G90G01**
1151 1151  
... ... @@ -1185,7 +1185,7 @@
1185 1185  This instruction outputs pulses according to the specified port, frequency and running direction, and performs 2-axis/3-axis line interpolation, and servo actuator runs to the target position according to the line interpolation.
1186 1186  
1187 1187  (% style="text-align:center" %)
1188 -[[image:08_html_af156a7b9cc09d34.jpg||class="img-thumbnail" height="324" width="700"]]
1186 +[[image:08_html_af156a7b9cc09d34.jpg||height="324" width="700" class="img-thumbnail"]]
1189 1189  
1190 1190  * (s1) is the starting address, and occupies 6 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis. The range is -2147483648 to +2147483647.
1191 1191  
... ... @@ -1230,7 +1230,7 @@
1230 1230  
1231 1231  Set Y0 as the interpolation starting axis, Y5 as the direction starting axis, and the maximum speed is 2000, the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a absolute position line interpolation output based on the original position which is with acceleration and deceleration, and the end position is X (Y0) axis 100, Y (Y1) axis 100, and the pulse synthesis frequency is 1000.
1232 1232  
1233 -== {{id name="_Ref31771"/}}**{{id name="_Toc17391"/}}{{id name="_Toc10640"/}}{{id name="_Toc32642"/}}G91G01 Relative position line interpolation instruction** ==
1231 += {{id name="_Ref31771"/}}**{{id name="_Toc17391"/}}{{id name="_Toc10640"/}}{{id name="_Toc32642"/}}G91G01 Relative position line interpolation instruction** =
1234 1234  
1235 1235  {{id name="OLE_LINK10"/}}{{id name="_Toc20742"/}}**G91G01**
1236 1236  
... ... @@ -1270,7 +1270,7 @@
1270 1270  This instruction outputs pulses according to the specified port, frequency and running direction, and performs 2-axis line interpolation, and servo actuator performs 2-axis line interpolation with a given offset based on the current position.
1271 1271  
1272 1272  (% style="text-align:center" %)
1273 -[[image:08_html_b587806f5f71987d.jpg||class="img-thumbnail" height="371" width="800"]]
1271 +[[image:08_html_b587806f5f71987d.jpg||height="371" width="800" class="img-thumbnail"]]
1274 1274  
1275 1275  * (s1) is the starting address, and occupies 6 consecutive addresses. s1 is the target position (relative positioning) of X axis , s1+2 is the target position (relative positioning) of Y axis, and s1+4 is the target position (relative positioning) of Z axis. The range is -2147483648 to +2147483647.
1276 1276  
... ... @@ -1313,7 +1313,7 @@
1313 1313  
1314 1314  {{id name="_Toc26903"/}}Set Y0 as the interpolation starting axis, Y5 as the direction starting axis, and the maximum speed is 2000, and the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a relative position line interpolation output based on the relative position which is with acceleration and deceleration , and the incremental position is X (Y0) axis 100, Y (Y1) axis 100, and the pulse synthesis frequency is 1000.
1315 1315  
1316 -== {{id name="_Ref31781"/}}**{{id name="_Toc27199"/}}{{id name="_Toc11517"/}}{{id name="_Toc20314"/}}{{id name="OLE_LINK11"/}}G90G02 Absolute position clockwise circular interpolation instruction** ==
1314 += {{id name="_Ref31781"/}}**{{id name="_Toc27199"/}}{{id name="_Toc11517"/}}{{id name="_Toc20314"/}}{{id name="OLE_LINK11"/}}G90G02 Absolute position clockwise circular interpolation instruction** =
1317 1317  
1318 1318  **G90G02**
1319 1319  
... ... @@ -1351,7 +1351,7 @@
1351 1351  {{id name="OLE_LINK12"/}}This instruction outputs pulses according to the specified port, frequency and running direction, and performs 2-axis clockwise circular interpolation, and servo actuator performs clockwise circular interpolation to run to the target position point.
1352 1352  
1353 1353  (% style="text-align:center" %)
1354 -[[image:08_html_ca40f9fe262dab7.jpg||class="img-thumbnail" height="482" width="800"]]
1352 +[[image:08_html_ca40f9fe262dab7.jpg||height="482" width="800" class="img-thumbnail"]]
1355 1355  
1356 1356  * (s1) is the starting address, and occupies 6 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis. The range is -2147483648 to +2147483647.
1357 1357  * Specify radius or center mode in (s2), and occupy 4 consecutive addresses. The center coordinate of s2+0 is in the difference value of the number of pulse output of X axis relative to the current position, or the number of the pulse of radius R. The center coordinate of s2+2 is in the difference value of the number of pulse output of Y axis relative to the current position. When using radius, the value must be 0X7FFF FFFF. The range is 1 to 141421.
... ... @@ -1400,7 +1400,7 @@
1400 1400  
1401 1401  Set Y0 as the interpolation starting axis, Y5 as the direction starting axis, and the maximum speed is 2000, and the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a absolute position clockwise circular interpolation output based on the absolute position with acceleration and deceleration, and the target position is X (Y0) axis 100, Y (Y1) axis 100, and the the radius is 1000 pulse in radius mode, and the pulse synthesis frequency is 1000.
1402 1402  
1403 -== **G91G02 Relative position clockwise circular interpolation instruction** ==
1401 += **G91G02 Relative position clockwise circular interpolation instruction** =
1404 1404  
1405 1405  **G91G02**
1406 1406  
... ... @@ -1442,7 +1442,7 @@
1442 1442  This instruction outputs pulses according to the specified port, frequency and running direction, performs 2-axis clockwise circular interpolation, and servo actuator performs 2-axis clockwise circular interpolation with a given offset based in current position.
1443 1443  
1444 1444  (% style="text-align:center" %)
1445 -[[image:08_html_af9751b2294f613b.jpg||class="img-thumbnail" height="482" width="800"]]
1443 +[[image:08_html_af9751b2294f613b.jpg||height="482" width="800" class="img-thumbnail"]]
1446 1446  
1447 1447  * {{id name="OLE_LINK18"/}}s1 is the starting address, and occupies 4 consecutive addresses. s1 is the target position of X axis (relative positioning), s1+2 is the target position of Y axis (relative positioning). The range is -2147483648 to +2147483647.
1448 1448  * {{id name="OLE_LINK20"/}}Specify radius or center mode in (s2), and occupy 4 consecutive addresses. The center coordinate of s2+0 is in the difference value of the number of pulse output of X axis relative to the current position, or the number of the pulse of radius R. The center coordinate of s2+2 is in the difference value of the number of pulse output of Y axis relative to the current position. When using radius, the value must be 0X7FFF FFFF. The range is 1 to 141421.
... ... @@ -1491,7 +1491,7 @@
1491 1491  
1492 1492  {{id name="OLE_LINK21"/}}Set Y0 as the interpolation starting axis, Y5 as the direction starting axis, and the maximum speed is 2000, and the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a relative position clockwise circular interpolation output based on relative position with acceleration and deceleration, and the incremental position is X (Y0) axis 100, Y (Y1) axis 100, and the the radius is 1000 pulse in radius mode, and the pulse synthesis frequency is 1000.
1493 1493  
1494 -== **G90G03 Absolute position counterclockwise circular interpolation instruction** ==
1492 += **G90G03 Absolute position counterclockwise circular interpolation instruction** =
1495 1495  
1496 1496  G90G03
1497 1497  
... ... @@ -1533,7 +1533,7 @@
1533 1533  This instruction outputs pulses according to the specified port, frequency and running direction, performs 2-axis counterclockwise circular interpolation, and the servo actuator performs counterclockwise circular interpolation to run to the target position point.
1534 1534  
1535 1535  (% style="text-align:center" %)
1536 -[[image:08_html_7ad9ac91f5066720.jpg||class="img-thumbnail" height="491" width="800"]]
1534 +[[image:08_html_7ad9ac91f5066720.jpg||height="491" width="800" class="img-thumbnail"]]
1537 1537  
1538 1538  * s1 is the starting address, and occupies 4 consecutive addresses. s1 is the target position of X axis (absolute positioning), s1+2 is the target position of Y axis (absolute positioning). The range is -2147483648 to +2147483647.
1539 1539  * Specify radius or center mode in (s2), and occupy 4 consecutive addresses. The center coordinate of s2+0 is in the difference value of the number of pulse output of X axis relative to the current position, or the number of the pulse of radius R. The center coordinate of s2+2 is in the difference value of the number of pulse output of Y axis relative to the current position. When using radius, the value must be 0X7FFF FFFF. The range is 1 to 141421.
... ... @@ -1582,7 +1582,7 @@
1582 1582  
1583 1583  Set Y0 as the interpolation starting axis, Y5 as the direction starting axis, the maximum speed is 2000, the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a absolute position counterclockwise circular interpolation output based on relative position with acceleration and deceleration, and the target position is X (Y0) axis 100, Y (Y1) axis 100, and the the radius is 1000 pulse in radius mode, and the pulse synthesis frequency is 1000.
1584 1584  
1585 -== {{id name="_Ref31892"/}}**{{id name="_Toc1720"/}}{{id name="_Toc12908"/}}{{id name="_Toc10325"/}}G91G03 Relative position counterclockwise circular interpolation instruction** ==
1583 += {{id name="_Ref31892"/}}**{{id name="_Toc1720"/}}{{id name="_Toc12908"/}}{{id name="_Toc10325"/}}G91G03 Relative position counterclockwise circular interpolation instruction** =
1586 1586  
1587 1587  **G91G03**
1588 1588  
... ... @@ -1624,7 +1624,7 @@
1624 1624  This instruction outputs pulses according to the specified port, frequency and running direction, performs 2-axis counterclockwise circular interpolation, and servo actuator performs a 2-axis counterclockwise circular interpolation with a given offset based in current position.
1625 1625  
1626 1626  (% style="text-align:center" %)
1627 -[[image:08_html_445649f805e910a5.jpg||class="img-thumbnail" height="491" width="800"]]
1625 +[[image:08_html_445649f805e910a5.jpg||height="491" width="800" class="img-thumbnail"]]
1628 1628  
1629 1629  * s1 is the starting address, and occupies 4 consecutive addresses. s1 is the target position of X axis (absolute positioning), s1+2 is the target position of Y axis (absolute positioning). The range is -2147483648 to +2147483647.
1630 1630  * Specify radius or center mode in (s2), and occupy 4 consecutive addresses. The center coordinate of s2+0 is in the difference value of the number of pulse output of X axis relative to the current position, or the number of the pulse of radius R. The center coordinate of s2+2 is in the difference value of the number of pulse output of Y axis relative to the current position. When using radius, the value must be 0X7FFF FFFF. The range is 1 to 141421.
... ... @@ -1673,7 +1673,7 @@
1673 1673  
1674 1674  Set Y0 as the interpolation starting axis, Y5 as the direction starting axis, the maximum speed is 2000, the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a relative position reverse circular interpolation output based on relative position with acceleration and deceleration, and the incremental position is X (Y0) axis 100, Y (Y1) axis 100, and the the radius is 1000 pulse in radius mode, and the pulse synthesis frequency is 1000.
1675 1675  
1676 -== {{id name="_Ref31901"/}}**{{id name="_Toc7584"/}}{{id name="_Toc8429"/}}{{id name="_Toc13595"/}}{{id name="_Toc10219"/}}G90G02H Absolute position clockwise circular helical interpolation instruction** ==
1674 += {{id name="_Ref31901"/}}**{{id name="_Toc7584"/}}{{id name="_Toc8429"/}}{{id name="_Toc13595"/}}{{id name="_Toc10219"/}}G90G02H Absolute position clockwise circular helical interpolation instruction** =
1677 1677  
1678 1678  **G90G02H**
1679 1679  
... ... @@ -1717,7 +1717,7 @@
1717 1717  (% style="text-align:center" %)
1718 1718  [[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1719 1719  
1720 -* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is,,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
1718 +* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
1721 1721  * Specify radius or center mode in (s2), and occupy 4 consecutive addresses. The coordinate of circle center of s2+0 is in the difference value of the number of pulse output of X axis relative to the current position, or the number of the pulse of radius R. The coordinate of circle center of s2+2 is in the difference value of the number of pulse output of Y axis relative to the current position. When using radius, the value must be 0X7FFF FFFF. The range is 1 to 141421.
1722 1722  
1723 1723  * Specify the synthetic output frequency in (s3) . The range is 1 to 100000. Helical interpolation can switch the synthetic frequency by setting SM901. 0 means default, and the synthetic frequency is the frequency of the linear velocity of helix. 1 means that the synthetic frequency is the frequency of the linear velocity of the arc of arc plane, that is, the actual synthetic frequency is greater than the setting synthetic frequency.
... ... @@ -1737,7 +1737,7 @@
1737 1737  
1738 1738  (5) IJ mode: Regardless of absolute position interpolation or relative position interpolation, s2 is only expressed as the difference of the pulse output number between the coordinates of circle center on the XY axis (Y0/Y1) relative to the current position, and both are in the offset value.
1739 1739  
1740 -(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian ,,[[image:08_html_16dfa306a6cd6123.gif||class="img-thumbnail"]] ,,)
1738 +(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
1741 1741  
1742 1742  (7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1743 1743  
... ... @@ -1749,15 +1749,15 @@
1749 1749  (% style="text-align:center" %)
1750 1750  [[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1751 1751  
1752 -(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1750 +(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
1753 1753  
1754 -The starting point coordinate of helical interpolation is ,,[[image:08_html_5aecdb267e93e1ef.gif||class="img-thumbnail"]] ,,, set the end point coordinate to ,,[[image:08_html_62eafa46570f5bd9.gif||class="img-thumbnail"]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif||class="img-thumbnail"]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1752 +The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif||class="img-thumbnail"]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1755 1755  
1756 -The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] ,,.The actual end point position of X and Y axes ,,[[image:08_html_812f611042b80df0.gif||class="img-thumbnail"]] ,,may not be equal to the set ,,[[image:08_html_72a7340925bd2eea.gif||class="img-thumbnail"]] ,,, but it must pass through the set point ,,[[image:08_html_72a7340925bd2eea.gif||class="img-thumbnail"]] ,,in the whole circle.
1754 +The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
1757 1757  
1758 -,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1756 +[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
1759 1759  
1760 -(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate ,,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate,,[[image:08_html_a9e3b53d7dfa134a.gif||class="img-thumbnail"]] ,,).
1758 +(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif" class="img-thumbnail"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
1761 1761  
1762 1762  (% class="table-bordered" %)
1763 1763  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
... ... @@ -1778,7 +1778,7 @@
1778 1778  |(% style="width:139px" %)4F97H|(% style="width:942px" %)In center mode, the calculated radius distance is greater than the maximum radius range, which is positive or negative 800,000 pulse.
1779 1779  |(% style="width:139px" %)4F98H|(% style="width:942px" %)Helical interpolation error, Z axis is the main axis.(The coordinate of Z axis is greater than the number of of virtual main axis of circular plane)
1780 1780  |(% style="width:139px" %)4F99H|(% style="width:942px" %)Helical interpolation error, Z axis is 0.
1781 -|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1779 +|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1782 1782  
1783 1783  **{{id name="_Toc12418"/}}Example**
1784 1784  
... ... @@ -1787,7 +1787,7 @@
1787 1787  
1788 1788  Set Y0 as the interpolation starting axis, Y4 as the direction starting axis, and the maximum speed is 2000, and the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a absolute position clockwise circular helical interpolation output based on the absolute position with acceleration and deceleration, and the target position is X (Y0) axis 0, Y (Y1) axis 0 and Z (Y2) axis 5000, and the lead is 5000, and the radius is 5000 pulse in radius mode, and the synthesis frequency is 1000.
1789 1789  
1790 -== {{id name="_Ref31918"/}}**{{id name="_Toc12793"/}}{{id name="_Toc9051"/}}{{id name="_Toc18572"/}}G91G02H Relative position clockwise circular helical interpolation instruction** ==
1788 += {{id name="_Ref31918"/}}**{{id name="_Toc12793"/}}{{id name="_Toc9051"/}}{{id name="_Toc18572"/}}G91G02H Relative position clockwise circular helical interpolation instruction** =
1791 1791  
1792 1792  **G91G02H**
1793 1793  
... ... @@ -1831,7 +1831,7 @@
1831 1831  (% style="text-align:center" %)
1832 1832  [[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1833 1833  
1834 -* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (relative positioning) of X axis , s1+2 is the target position (relative positioning) of Y axis, and s1+4 is the target position (relative positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is,,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
1832 +* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (relative positioning) of X axis , s1+2 is the target position (relative positioning) of Y axis, and s1+4 is the target position (relative positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
1835 1835  * Specify radius or center mode in (s2), and occupy 4 consecutive addresses. The coordinate of circle center of s2+0 is in the difference value of the number of pulse output of X axis relative to the current position, or the number of the pulse of radius R. The coordinate of circle center of s2+2 is in the difference value of the number of pulse output of Y axis relative to the current position. When using radius, the value must be 0X7FFF FFFF. The range is 1 to 141421.
1836 1836  
1837 1837  * Specify the synthetic output frequency in (s3). The range is 1 to 100000. Helical interpolation can switch the synthetic frequency by setting SM901. 0 means default, and the synthetic frequency is the frequency of the linear velocity of helix. 1 means that the synthetic frequency is the frequency of the linear velocity of the arc of arc plane, that is, the actual synthetic frequency is greater than the setting synthetic frequency.
... ... @@ -1851,7 +1851,7 @@
1851 1851  
1852 1852  (5) IJ mode: Regardless of absolute position interpolation or relative position interpolation, s2 is only expressed as the difference of the pulse output number between the coordinates of the circle center on the XY axis (Y0/Y1) relative to the current position, and both are in the offset value.
1853 1853  
1854 -(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian ,,[[image:08_html_16dfa306a6cd6123.gif||class="img-thumbnail"]] ,,)
1852 +(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
1855 1855  
1856 1856  (7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1857 1857  
... ... @@ -1863,15 +1863,15 @@
1863 1863  (% style="text-align:center" %)
1864 1864  [[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1865 1865  
1866 -(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1864 +(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
1867 1867  
1868 -The starting point coordinate of helical interpolation is ,,[[image:08_html_5aecdb267e93e1ef.gif||class="img-thumbnail"]] ,,, set the end point coordinate to ,,[[image:08_html_62eafa46570f5bd9.gif||class="img-thumbnail"]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1866 +The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1869 1869  
1870 -The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] ,,.The actual end point position of X and Y axes ,,[[image:08_html_812f611042b80df0.gif||class="img-thumbnail"]] ,,may not be equal to the set ,,[[image:08_html_72a7340925bd2eea.gif||class="img-thumbnail"]] ,,, but it must pass through the set point ,,[[image:08_html_72a7340925bd2eea.gif||class="img-thumbnail"]] ,,in the whole circle.
1868 +The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
1871 1871  
1872 -,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1870 +[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
1873 1873  
1874 -(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate ,,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate,,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
1872 +(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
1875 1875  
1876 1876  (% class="table-bordered" %)
1877 1877  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
... ... @@ -1892,7 +1892,7 @@
1892 1892  |(% style="width:129px" %)4F97H|(% style="width:952px" %)In center mode, the calculated radius distance is greater than the maximum radius range, which is positive or negative 800,000 pulse.
1893 1893  |(% style="width:129px" %)4F98H|(% style="width:952px" %)Helical interpolation error, Z axis is the main axis.(The coordinate of Z axis is greater than the number of of virtual main axis of circular plane)
1894 1894  |(% style="width:129px" %)4F99H|(% style="width:952px" %)Helical interpolation error, Z axis is 0.
1895 -|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1893 +|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1896 1896  
1897 1897  **{{id name="_Toc28830"/}}Example**
1898 1898  
... ... @@ -1901,7 +1901,7 @@
1901 1901  
1902 1902  Set Y0 as the interpolation starting axis, Y4 as the direction start axis, and the maximum speed is 2000, and the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a relative position clockwise circular helical interpolation output based on the relative position with acceleration and deceleration, and the target position is X (Y0) axis 0, Y (Y1) axis 0 and Z (Y2) axis 5000, and the lead is 5000, and the radius is 5000 pulse in radius mode, and the synthesis frequency is 1000.
1903 1903  
1904 -== {{id name="_Ref31924"/}}**{{id name="_Toc4668"/}}{{id name="_Toc28191"/}}{{id name="_Toc24432"/}}G90G03H Absolute position counterclockwise circular helical interpolation instruction** ==
1902 += {{id name="_Ref31924"/}}**{{id name="_Toc4668"/}}{{id name="_Toc28191"/}}{{id name="_Toc24432"/}}G90G03H Absolute position counterclockwise circular helical interpolation instruction** =
1905 1905  
1906 1906  **G90G03H**
1907 1907  
... ... @@ -1945,7 +1945,7 @@
1945 1945  (% style="text-align:center" %)
1946 1946  [[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1947 1947  
1948 -* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is,,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
1946 +* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
1949 1949  * Specify radius or center mode in (s2), and occupy 4 consecutive addresses. The coordinate of circle center of s2+0 is in the difference value of the number of pulse output of X axis relative to the current position, or the number of the pulse of radius R. The coordinate of circle center of s2+2 is in the difference value of the number of pulse output of Y axis relative to the current position. When using radius, the value must be 0X7FFF FFFF. The range is 1 to 141421.
1950 1950  
1951 1951  * Specify the synthetic output frequency in (s3). The range is 1 to 100000. Helical interpolation can switch the synthetic frequency by setting SM901. 0 means default, and the synthetic frequency is the frequency of the linear velocity of helix. 1 means that the synthetic frequency is the frequency of the linear velocity of the arc of arc plane, that is, the actual synthetic frequency is greater than the setting synthetic frequency.
... ... @@ -1965,7 +1965,7 @@
1965 1965  
1966 1966  (5) IJ mode: Regardless of absolute position interpolation or relative position interpolation, s2 is only expressed as the difference of the pulse output number between the coordinates of the center of the circle on the XY axis (Y0/Y1) relative to the current position, and both are in the offset value.
1967 1967  
1968 -(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian ,,[[image:08_html_16dfa306a6cd6123.gif||class="img-thumbnail"]] ,,)
1966 +(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
1969 1969  
1970 1970  (7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1971 1971  
... ... @@ -1977,15 +1977,15 @@
1977 1977  (% style="text-align:center" %)
1978 1978  [[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1979 1979  
1980 -(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1978 +(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
1981 1981  
1982 -The starting point coordinate of helical interpolation is ,,[[image:08_html_5aecdb267e93e1ef.gif||class="img-thumbnail"]] ,,, set the end point coordinate to ,,[[image:08_html_62eafa46570f5bd9.gif||class="img-thumbnail"]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1980 +The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1983 1983  
1984 -The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] ,,.The actual end point position of X and Y axes ,,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set ,,[[image:08_html_72a7340925bd2eea.gif||class="img-thumbnail"]] ,,, but it must pass through the set point ,,[[image:08_html_72a7340925bd2eea.gif||class="img-thumbnail"]] ,,in the whole circle.
1982 +The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
1985 1985  
1986 -,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1984 +[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
1987 1987  
1988 -(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate ,,[[image:08_html_3ed96de3414e2c4d.gif||class="img-thumbnail"]] ,,,the end point coordinate,,[[image:08_html_a9e3b53d7dfa134a.gif||class="img-thumbnail"]] ,,).
1986 +(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif" class="img-thumbnail"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif" class="img-thumbnail"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
1989 1989  
1990 1990  (% class="table-bordered" %)
1991 1991  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
... ... @@ -2006,7 +2006,7 @@
2006 2006  |(% style="width:132px" %)4F97H|(% style="width:949px" %)In center mode, the calculated radius distance is greater than the maximum radius range, which is positive or negative 800,000 pulse.
2007 2007  |(% style="width:132px" %)4F98H|(% style="width:949px" %)Helical interpolation error, Z axis is the main axis.(The coordinate of Z axis is greater than the number of of virtual main axis of circular plane)
2008 2008  |(% style="width:132px" %)4F99H|(% style="width:949px" %)Helical interpolation error, Z axis is 0.
2009 -|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2007 +|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2010 2010  
2011 2011  **{{id name="_Toc18584"/}}Example**
2012 2012  
... ... @@ -2015,7 +2015,7 @@
2015 2015  
2016 2016  Set Y0 as the interpolation starting axis, Y4 as the direction starting axis, and the maximum speed is 2000, and the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a absolute position counterclockwise circular helical interpolation output based on the absolute position with acceleration and deceleration, and the target position is X (Y0) axis 0, Y (Y1) axis 0 and Z (Y2) axis 5000, and the lead is 5000, and the radius is 5000 pulse in radius mode, and the synthesis frequency is 1000.
2017 2017  
2018 -== {{id name="_Ref31947"/}}**{{id name="_Toc5018"/}}{{id name="_Toc1347"/}}{{id name="_Toc26018"/}}G91G03H Relative position counterclockwise circular helical interpolation instruction** ==
2016 += {{id name="_Ref31947"/}}**{{id name="_Toc5018"/}}{{id name="_Toc1347"/}}{{id name="_Toc26018"/}}G91G03H Relative position counterclockwise circular helical interpolation instruction** =
2019 2019  
2020 2020  **G91G03H**
2021 2021  
... ... @@ -2079,7 +2079,7 @@
2079 2079  
2080 2080  (5) IJ mode: Regardless of absolute position interpolation or relative position interpolation, s2 is only expressed as the difference of the pulse output number between the coordinates of the circle center on the XY axis (Y0/Y1) relative to the current position, and both are in the offset value.
2081 2081  
2082 -(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian ,,[[image:08_html_16dfa306a6cd6123.gif||class="img-thumbnail"]] ,,)
2080 +(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
2083 2083  
2084 2084  (7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
2085 2085  
... ... @@ -2091,15 +2091,15 @@
2091 2091  (% style="text-align:center" %)
2092 2092  [[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
2093 2093  
2094 -(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
2092 +(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
2095 2095  
2096 -The start point coordinate of helical interpolation is ,,[[image:08_html_5aecdb267e93e1ef.gif||class="img-thumbnail"]] ,,, set the end point coordinate to ,,[[image:08_html_62eafa46570f5bd9.gif||class="img-thumbnail"]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
2094 +The start point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
2097 2097  
2098 -The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] ,,.The actual end point position of X and Y axes ,,[[image:08_html_812f611042b80df0.gif||class="img-thumbnail"]] ,,may not be equal to the set ,,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point ,,[[image:08_html_72a7340925bd2eea.gif||class="img-thumbnail"]] ,,in the whole circle.
2096 +The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
2099 2099  
2100 -,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
2098 +[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
2101 2101  
2102 -(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the start point coordinate ,,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate,,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
2100 +(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the start point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
2103 2103  
2104 2104  (% class="table-bordered" %)
2105 2105  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
... ... @@ -2120,7 +2120,7 @@
2120 2120  |(% style="width:108px" %)4F97H|(% style="width:973px" %)In center mode, the calculated radius distance is greater than the maximum radius range, which is positive or negative 800,000 pulse.
2121 2121  |(% style="width:108px" %)4F98H|(% style="width:973px" %)Helical interpolation error, Z axis is the main axis.(The coordinate of Z axis is greater than the number of of virtual main axis of circular plane)
2122 2122  |(% style="width:108px" %)4F99H|(% style="width:973px" %)Helical interpolation error, Z axis is 0.
2123 -|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2121 +|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2124 2124  
2125 2125  **{{id name="_Toc11997"/}}Example**
2126 2126  
... ... @@ -2275,7 +2275,7 @@
2275 2275  When the flag bit is [1: pulse sending stop immediately], that is, pulse sending stops immediately without acceleration or deceleration. This flag is not affected by the scan cycle.
2276 2276  
2277 2277  (% style="text-align:center" %)
2278 -[[image:08_html_bb07ddcb0a440df2.gif||class="img-thumbnail" height="293" width="700"]]
2276 +[[image:08_html_bb07ddcb0a440df2.gif||height="293" width="700" class="img-thumbnail"]]
2279 2279  
2280 2280  **(9) Not scanned**
2281 2281  
... ... @@ -2526,7 +2526,7 @@
2526 2526  [1: Stop immediately]: Stop immediately after receiving the stop signal without decelerating movement.
2527 2527  
2528 2528  (% style="text-align:center" %)
2529 -[[image:08_html_c616dcb4f3f0f698.gif||class="img-thumbnail" height="288" width="700"]]
2527 +[[image:08_html_c616dcb4f3f0f698.gif||height="288" width="700" class="img-thumbnail"]]
2530 2530  
2531 2531  **(8) Direction delay**
2532 2532  
... ... @@ -2539,7 +2539,7 @@
2539 2539  |Direction delay|SD905|SD965|SD1025|SD1085|SD1145|SD1205|SD1265|SD1325
2540 2540  
2541 2541  (% style="text-align:center" %)
2542 -[[image:08_html_2e35a77cf58094fa.gif||class="img-thumbnail" height="466" width="700"]]
2540 +[[image:08_html_2e35a77cf58094fa.gif||height="466" width="700" class="img-thumbnail"]]
2543 2543  
2544 2544  **(9) External start signal**
2545 2545  
... ... @@ -2571,12 +2571,12 @@
2571 2571  ①Reachable frequency
2572 2572  
2573 2573  (% style="text-align:center" %)
2574 -[[image:08_html_e260ba033ed851bb.gif||class="img-thumbnail" height="366" width="700"]]
2572 +[[image:08_html_e260ba033ed851bb.gif||height="366" width="700" class="img-thumbnail"]]
2575 2575  
2576 2576  ②Unreachable frequency
2577 2577  
2578 2578  (% style="text-align:center" %)
2579 -[[image:08_html_54e112fa5aeba863.gif||class="img-thumbnail" height="386" width="700"]]
2577 +[[image:08_html_54e112fa5aeba863.gif||height="386" width="700" class="img-thumbnail"]]
2580 2580  
2581 2581  2) Modify the number of pulses:
2582 2582  
... ... @@ -2583,12 +2583,12 @@
2583 2583  ①Modify to the number of reachable pulses
2584 2584  
2585 2585  (% style="text-align:center" %)
2586 -[[image:08_html_f7207d642325c29f.gif||class="img-thumbnail" height="282" width="700"]]
2584 +[[image:08_html_f7207d642325c29f.gif||height="282" width="700" class="img-thumbnail"]]
2587 2587  
2588 2588  ②Modify to the number of unreachable pulses (only support instructions with direction. If there is no direction, stop pulse sending)
2589 2589  
2590 2590  (% style="text-align:center" %)
2591 -[[image:08_html_b73c1c8f2b27e562.gif||class="img-thumbnail" height="322" width="700"]]
2589 +[[image:08_html_b73c1c8f2b27e562.gif||height="322" width="700" class="img-thumbnail"]]
2592 2592  
2593 2593  **{{id name="OLE_LINK371"/}}(12) The number of sent pulses is out of range**
2594 2594  
... ... @@ -2645,17 +2645,17 @@
2645 2645  Time-minute ladder acceleration and deceleration
2646 2646  
2647 2647  (% style="text-align:center" %)
2648 -[[image:08_html_4649b9d5dd0f0a90.gif||class="img-thumbnail" height="330" width="700"]]
2646 +[[image:08_html_4649b9d5dd0f0a90.gif||height="330" width="700" class="img-thumbnail"]]
2649 2649  
2650 2650  Time-minute S-type acceleration and deceleration
2651 2651  
2652 2652  (% style="text-align:center" %)
2653 -[[image:08_html_27806ce2da3a3ef0.gif||class="img-thumbnail" height="319" width="700"]]
2651 +[[image:08_html_27806ce2da3a3ef0.gif||height="319" width="700" class="img-thumbnail"]]
2654 2654  
2655 2655  The following figure shows the changes of each parameter
2656 2656  
2657 2657  (% style="text-align:center" %)
2658 -[[image:08_html_7e62d35d88cbe966.gif||class="img-thumbnail" height="614" width="400"]]
2656 +[[image:08_html_7e62d35d88cbe966.gif||height="614" width="400" class="img-thumbnail"]]
2659 2659  
2660 2660  **✎Note: **When the frequency is modified during the operation, acceleration would accelerate again from zero. There will be discontinuous acceleration.
2661 2661