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Last modified by Mora Zhou on 2024/08/08 14:35
From version 11.2
edited by Stone Wu
on 2022/09/21 17:25
Change comment: There is no comment for this version
To version 5.8
edited by Stone Wu
on 2022/08/01 15:29
Change comment: Update document after refactoring.

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... ... @@ -1143,7 +1143,7 @@
1143 1143  (% style="text-align:center" %)
1144 1144  [[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1145 1145  
1146 -= **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** =
1147 1147  
1148 1148  **G90G01**
1149 1149  
... ... @@ -1208,8 +1208,11 @@
1208 1208  1. The actual synthetic frequency S (the minimum frequency value) is the lowest base frequency of the output synthetic frequency. The calculation modes are as follows:
1209 1209  
1210 1210  (% style="text-align:center" %)
1211 -[[image:image-20220921172417-2.png]]
1211 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1212 1212  
1213 +(% style="text-align:center" %)
1214 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1215 +
1213 1213  **{{id name="_Toc32765"/}}Error Codes**
1214 1214  
1215 1215  (% class="table-bordered" %)
... ... @@ -1218,16 +1218,16 @@
1218 1218  |4085H|The result output in the read application instruction (s1), (s2), (d1) and (d2) exceed the device range
1219 1219  |4088H|The same pulse output axis (d1) is used and has been started.
1220 1220  
1221 -**Example**
1224 +**{{id name="_Toc29603"/}}Example**
1222 1222  
1223 1223  (% style="text-align:center" %)
1224 -[[image:image-20220921163523-1.jpeg||class="img-thumbnail"]]
1227 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1225 1225  
1226 1226  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.
1227 1227  
1228 -= **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** =
1229 1229  
1230 -**G91G01**
1233 +{{id name="OLE_LINK10"/}}{{id name="_Toc20742"/}}**G91G01**
1231 1231  
1232 1232  Execute 2 axis/3 axis line interpolation instruction in relative drive mode. The method of specifying the movement distance from the current position is also called incremental(relative) drive mode.
1233 1233  
... ... @@ -1288,10 +1288,13 @@
1288 1288  1. The actual synthetic frequency S (the minimum frequency value) is the lowest base frequency of the output synthetic frequency. The calculation modes are as follows:
1289 1289  
1290 1290  (% style="text-align:center" %)
1291 -[[image:image-20220921172437-3.png]]
1294 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1292 1292  
1293 -**Error Codes**
1296 +(% style="text-align:center" %)
1297 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1294 1294  
1299 +**{{id name="_Toc8461"/}}Error Codes**
1300 +
1295 1295  (% class="table-bordered" %)
1296 1296  |**Error Codes**|**Contents**
1297 1297  |4084H|The data input in the application instruction (s1) and (s2) exceed the specified range
... ... @@ -1300,7 +1300,8 @@
1300 1300  
1301 1301  **{{id name="_Toc16441"/}}Example**
1302 1302  
1303 -[[image:image-20220921163600-2.png]]
1309 +(% style="text-align:center" %)
1310 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1304 1304  
1305 1305  {{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.
1306 1306  
... ... @@ -1365,10 +1365,13 @@
1365 1365  1. The actual synthetic frequency S (the lowest frequency value) is the lowest base frequency of the output synthetic frequency. The calculation modes are as follows:
1366 1366  
1367 1367  (% style="text-align:center" %)
1368 -[[image:image-20220921172524-4.png]]
1375 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1369 1369  
1370 -**Error Codes**
1377 +(% style="text-align:center" %)
1378 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1371 1371  
1380 + **Error Codes**
1381 +
1372 1372  (% class="table-bordered" %)
1373 1373  |(% style="width:134px" %)**Error Codes**|(% style="width:947px" %)**Contents**
1374 1374  |(% style="width:134px" %)4084H|(% style="width:947px" %)The data input in the application instruction (s1) and (s2) exceed the specified range
... ... @@ -1384,7 +1384,7 @@
1384 1384  **{{id name="OLE_LINK268"/}}Example**
1385 1385  
1386 1386  (% style="text-align:center" %)
1387 -[[image:image-20220921163619-3.png||class="img-thumbnail"]]
1397 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1388 1388  
1389 1389  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.
1390 1390  
... ... @@ -1453,8 +1453,11 @@
1453 1453  1. The actual synthetic frequency S (the lowest frequency value) is the lowest base frequency of the output synthetic frequency. The calculation modes are as follows:
1454 1454  
1455 1455  (% style="text-align:center" %)
1456 -[[image:image-20220921172550-5.png]]
1466 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1457 1457  
1468 +(% style="text-align:center" %)
1469 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1470 +
1458 1458  **Error Codes**
1459 1459  
1460 1460  (% class="table-bordered" %)
... ... @@ -1472,7 +1472,7 @@
1472 1472  **Example**{{id name="OLE_LINK22"/}}
1473 1473  
1474 1474  (% style="text-align:center" %)
1475 -[[image:image-20220921163641-4.png||class="img-thumbnail"]]
1488 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1476 1476  
1477 1477  {{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.
1478 1478  
... ... @@ -1541,8 +1541,11 @@
1541 1541  1. The actual synthetic frequency S (the lowest frequency value) is the lowest base frequency of the output synthetic frequency. The calculation modes are as follows:
1542 1542  
1543 1543  (% style="text-align:center" %)
1544 -[[image:image-20220921172606-6.png]]
1557 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1545 1545  
1559 +(% style="text-align:center" %)
1560 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1561 +
1546 1546  **Error Codes**
1547 1547  
1548 1548  (% class="table-bordered" %)
... ... @@ -1560,7 +1560,7 @@
1560 1560  **Example**
1561 1561  
1562 1562  (% style="text-align:center" %)
1563 -[[image:image-20220921163737-5.png||class="img-thumbnail"]]
1579 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1564 1564  
1565 1565  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.
1566 1566  
... ... @@ -1629,8 +1629,11 @@
1629 1629  1. The actual synthetic frequency S (the lowest frequency value) is the lowest base frequency of the output synthetic frequency. The calculation modes are as follows:
1630 1630  
1631 1631  (% style="text-align:center" %)
1632 -[[image:image-20220921172617-7.png]]
1648 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1633 1633  
1650 +(% style="text-align:center" %)
1651 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1652 +
1634 1634  **Error Codes**
1635 1635  
1636 1636  (% class="table-bordered" %)
... ... @@ -1648,7 +1648,7 @@
1648 1648  **Example**
1649 1649  
1650 1650  (% style="text-align:center" %)
1651 -[[image:image-20220921163754-6.png]]
1670 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1652 1652  
1653 1653  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.
1654 1654  
... ... @@ -1696,7 +1696,7 @@
1696 1696  (% style="text-align:center" %)
1697 1697  [[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1698 1698  
1699 -* (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:image-20220921171331-1.png||height="31" width="113"]],, ,,.(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.)
1700 1700  * 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.
1701 1701  
1702 1702  * 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.
... ... @@ -1716,7 +1716,7 @@
1716 1716  
1717 1717  (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.
1718 1718  
1719 -(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:image-20220921171348-2.png||height="47" width="90"]],,),,
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]] ,,)
1720 1720  
1721 1721  (7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1722 1722  
... ... @@ -1728,16 +1728,15 @@
1728 1728  (% style="text-align:center" %)
1729 1729  [[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1730 1730  
1731 -(9) Exact match pitch of screws (lead) K and Ze,,.,,
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]] .,,
1732 1732  
1733 -The starting point coordinate of helical interpolation is (0,0,0),, ,,, set the end point coordinate to (Xe,Ye,Ze), 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 (Xe',Ye') 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.
1734 1734  
1735 -The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to Ze,, ,,.The actual end point position of X and Y axes  (Xe',Ye') ,, ,,may not be equal to the set  (Xe,Ye), but it must pass through the set point (Xe,Ye), 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.
1736 1736  
1737 -(% style="text-align:center" %)
1738 -[[image:image-20220921171411-3.png||height="62" width="312"]]
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)
1739 1739  
1740 -(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate (0,0,0), the end point coordinate (0,0,Ze).
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]] ,,).
1741 1741  
1742 1742  (% class="table-bordered" %)
1743 1743  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
... ... @@ -1758,12 +1758,12 @@
1758 1758  |(% 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.
1759 1759  |(% 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)
1760 1760  |(% style="width:139px" %)4F99H|(% style="width:942px" %)Helical interpolation error, Z axis is 0.
1761 -|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead,, ,,[[image:image-20220921171529-5.png||height="32" width="69"]],, ,,)
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]] ,,)
1762 1762  
1763 1763  **{{id name="_Toc12418"/}}Example**
1764 1764  
1765 1765  (% style="text-align:center" %)
1766 -[[image:image-20220921163843-7.png||class="img-thumbnail"]]
1784 +[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1767 1767  
1768 1768  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.
1769 1769  
... ... @@ -1811,7 +1811,7 @@
1811 1811  (% style="text-align:center" %)
1812 1812  [[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1813 1813  
1814 -* (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:image-20220921171628-6.png||height="29" width="106"]]. (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.)
1815 1815  * 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.
1816 1816  
1817 1817  * 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.
... ... @@ -1831,10 +1831,8 @@
1831 1831  
1832 1832  (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.
1833 1833  
1834 -(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.
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]] ,,)
1835 1835  
1836 -(If Ze=75, lead K=50, and the actual radian [[image:image-20220921171639-7.png||height="56" width="107"]],,),,
1837 -
1838 1838  (7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1839 1839  
1840 1840  (8) The actual synthetic frequency S (the lowest frequency value) is the lowest base frequency of the output synthetic frequency. The calculation modes are as follows:
... ... @@ -1845,16 +1845,15 @@
1845 1845  (% style="text-align:center" %)
1846 1846  [[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1847 1847  
1848 -(9) Exact match pitch of screws (lead) K and Ze,,.,,
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]] .,,
1849 1849  
1850 -The starting point coordinate of helical interpolation is (0,0,0), set the end point coordinate to (Xe,Ye,Ze), the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates (Xe‘,Ye’) 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.
1851 1851  
1852 -The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to Ze,, ,,.The actual end point position of X and Y axes (Xe‘,Ye’) ,, ,,may not be equal to the set (Xe,Ye) ,, ,,, but it must pass through the set poin (Xe,Ye) ,, ,,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.
1853 1853  
1854 -(% style="text-align:center" %)
1855 -[[image:image-20220921171703-8.png||height="58" width="291"]]
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)
1856 1856  
1857 -(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate (0,0,0),, ,,,the end point coordinate (0,0,Ze),, ,,.
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]] ,,).
1858 1858  
1859 1859  (% class="table-bordered" %)
1860 1860  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
... ... @@ -1875,12 +1875,12 @@
1875 1875  |(% 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.
1876 1876  |(% 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)
1877 1877  |(% style="width:129px" %)4F99H|(% style="width:952px" %)Helical interpolation error, Z axis is 0.
1878 -|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead[[image:image-20220921171735-9.png||height="28" width="59"]])
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]] ,,)
1879 1879  
1880 1880  **{{id name="_Toc28830"/}}Example**
1881 1881  
1882 1882  (% style="text-align:center" %)
1883 -[[image:image-20220921163904-8.png]]
1898 +[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1884 1884  
1885 1885  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.
1886 1886  
... ... @@ -1928,8 +1928,7 @@
1928 1928  (% style="text-align:center" %)
1929 1929  [[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1930 1930  
1931 -* (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.
1932 -* The lead range is [[image:image-20220921171807-10.png||height="35" width="128"]]. (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.)
1933 1933  * 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.
1934 1934  
1935 1935  * 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.
... ... @@ -1949,10 +1949,8 @@
1949 1949  
1950 1950  (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.
1951 1951  
1952 -(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.
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]] ,,)
1953 1953  
1954 -If Ze=75, lead K=50, and the actual radian(% style="font-size:10.5px" %) [[image:image-20220921171852-11.png||height="65" width="124"]]
1955 -
1956 1956  (7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1957 1957  
1958 1958  (8) The actual synthetic frequency S (the lowest frequency value) is the lowest base frequency of the output synthetic frequency. The calculation modes are as follows:
... ... @@ -1963,16 +1963,15 @@
1963 1963  (% style="text-align:center" %)
1964 1964  [[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1965 1965  
1966 -(9) Exact match pitch of screws (lead) K and Ze
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]] .,,
1967 1967  
1968 -The starting point coordinate of helical interpolation is (0,0,0),, ,,, set the end point coordinate to (Xe,Ye,Ze), 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.
1969 1969  
1970 -The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to Ze,, ,,.The actual end point position of X and Y axes (Xe',Ye'),, ,,may not be equal to the set (Xe,Ye),, ,,, but it must pass through the set point (Xe,Ye),, ,,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.
1971 1971  
1972 -(% style="text-align:center" %)
1973 -[[image:image-20220921171930-12.png||height="74" width="370"]]
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)
1974 1974  
1975 -(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate (0,0,0),, ,,,the end point coordinate (0,0,Ze),, ,,).
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]] ,,).
1976 1976  
1977 1977  (% class="table-bordered" %)
1978 1978  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
... ... @@ -1993,16 +1993,16 @@
1993 1993  |(% 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.
1994 1994  |(% 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)
1995 1995  |(% style="width:132px" %)4F99H|(% style="width:949px" %)Helical interpolation error, Z axis is 0.
1996 -|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead [[image:image-20220921171956-13.png||height="29" width="61"]])
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]] ,,)
1997 1997  
1998 1998  **{{id name="_Toc18584"/}}Example**
1999 1999  
2000 2000  (% style="text-align:center" %)
2001 -[[image:image-20220921163935-9.png||class="img-thumbnail"]]
2012 +[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2002 2002  
2003 2003  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.
2004 2004  
2005 -= **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** =
2006 2006  
2007 2007  **G91G03H**
2008 2008  
... ... @@ -2066,10 +2066,8 @@
2066 2066  
2067 2067  (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.
2068 2068  
2069 -(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.
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]] ,,)
2070 2070  
2071 -If Ze=75, lead K=50, and the actual radian [[image:image-20220921172134-15.png||height="68" width="130"]]
2072 -
2073 2073  (7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
2074 2074  
2075 2075  (8) The actual synthetic frequency S (the lowest frequency value) is the lowest base frequency of the output synthetic frequency. The calculation modes are as follows:
... ... @@ -2080,16 +2080,15 @@
2080 2080  (% style="text-align:center" %)
2081 2081  [[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
2082 2082  
2083 -(9) Exact match pitch of screws (lead) K and Ze
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]] .,,
2084 2084  
2085 -The start point coordinate of helical interpolation is(0,0,0), set the end point coordinate to (Xe,Ye,Ze),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.
2086 2086  
2087 -The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to Ze,, ,,.The actual end point position of X and Y axes (Xe',Ye'),, ,,may not be equal to the set (Xe,Ye), but it must pass through the set point (Xe,Ye),, ,,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.
2088 2088  
2089 -(% style="text-align:center" %)
2090 -[[image:image-20220921172159-16.png||height="72" width="362"]]
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)
2091 2091  
2092 -(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the start point coordinate (0,0,0), the end point coordinate (0,0,Ze).
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]] ,,).
2093 2093  
2094 2094  (% class="table-bordered" %)
2095 2095  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
... ... @@ -2110,12 +2110,12 @@
2110 2110  |(% 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.
2111 2111  |(% 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)
2112 2112  |(% style="width:108px" %)4F99H|(% style="width:973px" %)Helical interpolation error, Z axis is 0.
2113 -|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead [[image:image-20220921172255-17.png||height="29" width="62"]],, ,,)
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]] ,,)
2114 2114  
2115 2115  **{{id name="_Toc11997"/}}Example**
2116 2116  
2117 2117  (% style="text-align:center" %)
2118 -[[image:image-20220921163953-10.png||class="img-thumbnail"]]
2126 +[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2119 2119  
2120 2120  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 relative position counterclockwise 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.{{id name="_Toc24071"/}}{{id name="_Toc17235"/}}{{id name="_Toc1369"/}}{{id name="_Toc21558"/}}{{id name="_Toc23998"/}}{{id name="_Toc21982"/}}{{id name="_Toc6785"/}}{{id name="_Toc22083"/}}{{id name="_Toc31780"/}}{{id name="_Toc5703"/}}
2121 2121  
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