Changes for page 08 High-speed pulse output

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Details

Page properties

Parent

...	...	@@ -1,1 +1,1 @@
1		-PLC Editor2.WebHome
	1	+PLC Editor2.1 User manual.2\.1 LX5V user manual.WebHome

Author

...	...	@@ -1,1 +1,1 @@
1		-XWiki.Stone
	1	+XWiki.admin

Content

...	...	@@ -1,5 +1,7 @@
1		-= {{id name="_Toc23711"/}}**ZRN/DZRN/Origin return** =
	1	+= **High-speed pulse output instruction** =
2	2
	3	+== {{id name="_Toc23711"/}}**ZRN/DZRN/Origin return** ==
	4	+
3	3	**ZRN/DZRN**
4	4
5	5	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.
...	...	@@ -9,33 +9,33 @@
9	9	**{{id name="OLE_LINK392"/}}Content, range and data type**
10	10
11	11	(% class="table-bordered" %)
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" %)(((
	14	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	15	+|(s1)|The speed when the origin return starts|(((
14	14	1 to 32767
15	15
16	16	1 to 200000
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" %)(((
	19	+)))|Signed BIN16/Signed BIN32|ANY16_S/ANY32_S
	20	+|(s2)|Crawl speed|(((
19	19	1 to 32767
20	20
21	21	1 to 200000
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
	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
25	25
26	26	**Device used**
27	27
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**|(((
	30	+(% class="table-bordered" %)
	31	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="14" %)**Devices**|**Offset modification**|(((
30	30	**Pulse**
31	31
32	32	**extension**
33	33	)))
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" %) |
	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| |●| | | | | | | | | | | | | |
39	39
40	40	**Features**
41	41
...	...	@@ -44,7 +44,7 @@
44	44	.
45	45
46	46	(% style="text-align:center" %)
47		-[[image:08_html_abde218848583ae7.gif||height="352" width="700" class="img-thumbnail"]]
	49	+[[image:08_html_abde218848583ae7.gif||class="img-thumbnail" height="352" width="700"]]
48	48
49	49	• Specify the speed at the start of origin return in (s1). (It should be in the range of 1 to 200,000)
50	50
...	...	@@ -59,7 +59,7 @@
59	59	• The pulse frequency could be modified during operation.
60	60
61	61	(% style="text-align:center" %)
62		-[[image:1652679761818-564.png||height="409" width="800" class="img-thumbnail"]]
	64	+[[image:1652679761818-564.png||class="img-thumbnail" height="409" width="800"]]
63	63
64	64	**{{id name="OLE_LINK84"/}}✎Note:**
65	65
...	...	@@ -70,7 +70,7 @@
70	70	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.
71	71
72	72	(% style="text-align:center" %)
73		-[[image:08_html_e424715fa5809765.png||height="129" width="800" class="img-thumbnail"]]
	75	+[[image:08_html_e424715fa5809765.png||class="img-thumbnail" height="129" width="800"]]
74	74
75	75	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.
76	76
...	...	@@ -85,11 +85,11 @@
85	85	**Example**
86	86
87	87	(% style="text-align:center" %)
88		-[[image:08_html_5398e9b5857a7283.png||height="366" width="700" class="img-thumbnail"]]
	90	+[[image:08_html_5398e9b5857a7283.png||class="img-thumbnail" height="366" width="700"]]
89	89
90	90	{{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.
91	91
92		-= {{id name="_Toc17090"/}}**{{id name="_Toc4613"/}}{{id name="_Toc28244"/}}DSZR/DDSZR/Origin return** =
	94	+== {{id name="_Toc17090"/}}**{{id name="_Toc4613"/}}{{id name="_Toc28244"/}}DSZR/DDSZR/Origin return** ==
93	93
94	94	**{{id name="OLE_LINK390"/}}DSZR/DDSZR**
95	95
...	...	@@ -100,35 +100,35 @@
100	100	**Content, range and data type**
101	101
102	102	(% class="table-bordered" %)
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" %)(((
	105	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	106	+|(s1)|The speed when the origin return starts|(((
105	105	1 to 32767
106	106
107	107	1 to 200000
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" %)(((
	110	+)))|Signed BIN16/Signed BIN32|ANY16_S/ANY32_S
	111	+|(s2)|Crawling speed|(((
110	110	1 to 32767
111	111
112	112	1 to 200000
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" %)
	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| | |
117	117
118	118	**Device used**
119	119
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**|(((
	122	+(% class="table-bordered" %)
	123	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="15" %)**Devices**|**Offset modification**|(((
122	122	**Pulse**
123	123
124	124	**extension**
125	125	)))
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" %) |
	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| |●|●|●|●| | | | | | | | | | | |
132	132
133	133	**Features**
134	134
...	...	@@ -135,7 +135,7 @@
135	135	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.
136	136
137	137	(% style="text-align:center" %)
138		-[[image:08_html_abde218848583ae7.gif||height="403" width="800" class="img-thumbnail"]]
	140	+[[image:08_html_abde218848583ae7.gif||class="img-thumbnail" height="403" width="800"]]
139	139
140	140	• Specify the speed at the start of origin return in (s1). (It should be in the range of 1 to 200000)
141	141
...	...	@@ -152,7 +152,7 @@
152	152	• The pulse frequency could be modified during operation.{{id name="OLE_LINK398"/}}
153	153
154	154	(% style="text-align:center" %)
155		-[[image:1652679890567-504.png||height="406" width="800" class="img-thumbnail"]]
	157	+[[image:1652679890567-504.png||class="img-thumbnail" height="406" width="800"]]
156	156
157	157	**✎Note:**
158	158
...	...	@@ -165,7 +165,7 @@
165	165	{{id name="OLE_LINK399"/}}
166	166
167	167	(% style="text-align:center" %)
168		-[[image:08_html_3152d1fc65e8de15.gif||height="128" width="900" class="img-thumbnail"]]
	170	+[[image:08_html_3152d1fc65e8de15.gif||class="img-thumbnail" height="128" width="900"]]
169	169
170	170	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.
171	171
...	...	@@ -184,7 +184,7 @@
184	184
185	185	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.
186	186
187		-= **{{id name="_Toc4674"/}}DVIT/DDVIT/16-bit data relative positioning** =
	189	+== **{{id name="_Toc4674"/}}DVIT/DDVIT/16-bit data relative positioning** ==
188	188
189	189	**DVIT/DDVIT**
190	190
...	...	@@ -221,17 +221,17 @@
221	221	**Device used**
222	222
223	223	(% class="table-bordered" %)
224		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:134.641px" %)**Parameter**|(% colspan="15" style="width:628.359px" %)**Devices**|(% style="width:129px" %)**Offset modification**|(((
	226	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="15" %)**Devices**|**Offset modification**|(((
225	225	**Pulse**
226	226
227	227	**extension**
228	228	)))
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" %) |
	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|●| |●|●| | | | | | | | | | | | |
235	235
236	236	**Features**
237	237
...	...	@@ -248,7 +248,7 @@
248	248	• Specify the bit device of the interrupt signal in (d3). Only the devices and general outputs specified in the parameters could be specified.
249	249
250	250	(% style="text-align:center" %)
251		-[[image:08_html_5f96163eb153efdb.gif||height="428" width="800" class="img-thumbnail"]]
	253	+[[image:08_html_5f96163eb153efdb.gif||class="img-thumbnail" height="428" width="800"]]
252	252
253	253	**✎Note:**
254	254
...	...	@@ -278,9 +278,9 @@
278	278	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.
279	279
280	280	(% style="text-align:center" %)
281		-[[image:08_html_cbfdbddb08628e8c.gif||height="419" width="800" class="img-thumbnail"]]
	283	+[[image:08_html_cbfdbddb08628e8c.gif||class="img-thumbnail" height="419" width="800"]]
282	282
283		-= {{id name="_Toc22468"/}}**DRVI/DDRVI/Relative positioning** =
	285	+== {{id name="_Toc22468"/}}**DRVI/DDRVI/Relative positioning** ==
284	284
285	285	**DRVI/DDRVI**
286	286
...	...	@@ -331,17 +331,17 @@
331	331
332	332	**Device used**
333	333
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**|(((
	336	+(% class="table-bordered" %)
	337	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="14" %)**Devices**|**Offset modification**|(((
336	336	**Pulse**
337	337
338	338	**extension**
339	339	)))
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" %) |
	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|●|●|●|●| | | | | | | | | | | |
345	345
346	346	**Features**
347	347
...	...	@@ -350,7 +350,7 @@
350	350	With the current stop position as the starting point, specify the movement direction and movement amount (relative address) for positioning.
351	351
352	352	(% style="text-align:center" %)
353		-[[image:08_html_9e2927d44c64e0be.gif||height="323" width="800" class="img-thumbnail"]]
	355	+[[image:08_html_9e2927d44c64e0be.gif||class="img-thumbnail" height="323" width="800"]]
354	354
355	355	• Specify the positioning address of the user unit with a relative address in (s1). (It should be in the range of -2147483647 to +2147483647)
356	356
...	...	@@ -363,7 +363,7 @@
363	363	• The pulse frequency and pulse position could be modified during the operation of this instruction.
364	364
365	365	(% style="text-align:center" %)
366		-[[image:08_html_50efa4160b140701.gif||height="418" width="800" class="img-thumbnail"]]
	368	+[[image:08_html_50efa4160b140701.gif||class="img-thumbnail" height="418" width="800"]]
367	367
368	368	**✎Note:**
369	369
...	...	@@ -384,7 +384,7 @@
384	384
385	385	{{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.
386	386
387		-= {{id name="_Toc23478"/}}**{{id name="_Toc19438"/}}{{id name="_Toc5660"/}}DRVA/DDRVA/Absolute positioning** =
	389	+== {{id name="_Toc23478"/}}**{{id name="_Toc19438"/}}{{id name="_Toc5660"/}}DRVA/DDRVA/Absolute positioning** ==
388	388
389	389	**DRVA/DDRVA**
390	390
...	...	@@ -450,7 +450,7 @@
450	450	{{id name="OLE_LINK365"/}}
451	451
452	452	(% style="text-align:center" %)
453		-[[image:08_html_7a3c30baa77024fb.gif||height="311" width="800" class="img-thumbnail"]]
	455	+[[image:08_html_7a3c30baa77024fb.gif||class="img-thumbnail" height="311" width="800"]]
454	454
455	455	• 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)
456	456
...	...	@@ -463,7 +463,7 @@
463	463	• The pulse frequency and pulse position could be modified during the operation of this instruction.
464	464
465	465	(% style="text-align:center" %)
466		-[[image:08_html_620f348d2565adf2.gif||height="411" width="800" class="img-thumbnail"]]
	468	+[[image:08_html_620f348d2565adf2.gif||class="img-thumbnail" height="411" width="800"]]
467	467
468	468	**✎Note:**
469	469
...	...	@@ -484,7 +484,7 @@
484	484
485	485	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
486	486
487		-= {{id name="_Toc21291"/}}**{{id name="_Toc21950"/}}{{id name="_Toc10018"/}}PLSR/DPLSR/Pulse output with acceleration and deceleration** =
	489	+== {{id name="_Toc21291"/}}**{{id name="_Toc21950"/}}{{id name="_Toc10018"/}}PLSR/DPLSR/Pulse output with acceleration and deceleration** ==
488	488
489	489	**PLSR/DPLSR**
490	490
...	...	@@ -564,7 +564,7 @@
564	564	• Specify the device that outputs pulses in (d). Only output devices (Y) with positioning parameters could be specified.
565	565
566	566	(% style="text-align:center" %)
567		-[[image:08_html_1b0fa8d702052193.gif||height="382" width="700" class="img-thumbnail"]]
	569	+[[image:08_html_1b0fa8d702052193.gif||class="img-thumbnail" height="382" width="700"]]
568	568
569	569	**✎Note:**
570	570
...	...	@@ -585,7 +585,7 @@
585	585
586	586	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.
587	587
588		-= {{id name="_Toc10313"/}}**{{id name="_Toc31417"/}}{{id name="_Toc9007"/}}PLSR2/Multi-speed positioning** =
	590	+== {{id name="_Toc10313"/}}**{{id name="_Toc31417"/}}{{id name="_Toc9007"/}}PLSR2/Multi-speed positioning** ==
589	589
590	590	**PLSR2**
591	591
...	...	@@ -738,7 +738,7 @@
738	738	The waveform diagram is as follows:
739	739
740	740	(% style="text-align:center" %)
741		-[[image:08_html_3117922fe2a20cac.gif||height="387" width="700" class="img-thumbnail"]]
	743	+[[image:08_html_3117922fe2a20cac.gif||class="img-thumbnail" height="387" width="700"]]
742	742
743	743	2) Waiting time
744	744
...	...	@@ -762,7 +762,7 @@
762	762	The waveform diagram is as follows:
763	763
764	764	(% style="text-align:center" %)
765		-[[image:08_html_6bc1d175fa4748a6.gif||height="372" width="700" class="img-thumbnail"]]
	767	+[[image:08_html_6bc1d175fa4748a6.gif||class="img-thumbnail" height="372" width="700"]]
766	766
767	767	3) Waiting signal
768	768
...	...	@@ -786,7 +786,7 @@
786	786	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)
787	787
788	788	(% style="text-align:center" %)
789		-[[image:08_html_5599da81e80c2958.gif||height="413" width="700" class="img-thumbnail"]]
	791	+[[image:08_html_5599da81e80c2958.gif||class="img-thumbnail" height="413" width="700"]]
790	790
791	791	4)** **Trigger signal
792	792
...	...	@@ -812,7 +812,7 @@
812	812	The pulse waveform diagram is as follows:
813	813
814	814	(% style="text-align:center" %)
815		-[[image:08_html_a84e97c5590c3f71.gif||height="371" width="700" class="img-thumbnail"]]
	817	+[[image:08_html_a84e97c5590c3f71.gif||class="img-thumbnail" height="371" width="700"]]
816	816
817	817	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.
818	818
...	...	@@ -826,7 +826,7 @@
826	826	|(% 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
827	827	|(% style="width:127px" %)4088H|(% style="width:954px" %)The same pulse output axis (d1) is used and has been started.
828	828
829		-= {{id name="_Toc3904"/}}**{{id name="_Toc11943"/}}{{id name="_Toc18707"/}}PLSV/DPLSV/Variable speed operation** =
	831	+== {{id name="_Toc3904"/}}**{{id name="_Toc11943"/}}{{id name="_Toc18707"/}}PLSV/DPLSV/Variable speed operation** ==
830	830
831	831	**PLSV/DPLSV**
832	832
...	...	@@ -868,7 +868,7 @@
868	868	• The pulse frequency could be modified while the instruction is running.
869	869
870	870	(% style="text-align:center" %)
871		-[[image:08_html_2521cc1e50e799ab.gif||height="394" width="700" class="img-thumbnail"]]
	873	+[[image:08_html_2521cc1e50e799ab.gif||class="img-thumbnail" height="394" width="700"]]
872	872
873	873	**✎Note:**
874	874
...	...	@@ -896,9 +896,9 @@
896	896	The sending pulse is as follows:
897	897
898	898	(% style="text-align:center" %)
899		-[[image:08_html_ac71a602fee1445e.gif||height="387" width="700" class="img-thumbnail"]]
	901	+[[image:08_html_ac71a602fee1445e.gif||class="img-thumbnail" height="387" width="700"]]
900	900
901		-= {{id name="_Toc8609"/}}**{{id name="_Toc662"/}}{{id name="_Toc30652"/}}PLSY/DPLSY/Pulse output** =
	903	+== {{id name="_Toc8609"/}}**{{id name="_Toc662"/}}{{id name="_Toc30652"/}}PLSY/DPLSY/Pulse output** ==
902	902
903	903	**PLSY/DPLSY**
904	904
...	...	@@ -940,7 +940,7 @@
940	940	• The instruction pulse output has no acceleration/deceleration process.
941	941
942	942	(% style="text-align:center" %)
943		-[[image:08_html_2c248b954bdddae3.gif||height="356" width="700" class="img-thumbnail"]]
	945	+[[image:08_html_2c248b954bdddae3.gif||class="img-thumbnail" height="356" width="700"]]
944	944
945	945	**✎Note:**
946	946
...	...	@@ -964,7 +964,7 @@
964	964	[[image:08_html_ba12be0aaf3caf40.png||class="img-thumbnail"]]
965	965
966	966	(% style="text-align:center" %)
967		-[[image:08_html_97583e8621e6ae69.png||height="143" width="600" class="img-thumbnail"]]
	969	+[[image:08_html_97583e8621e6ae69.png||class="img-thumbnail" height="143" width="600"]]
968	968
969	969	**(2) Pulse output: positioning address (operand (n))> 0**
970	970
...	...	@@ -973,9 +973,9 @@
973	973	[[image:08_html_87bd5854f06006b0.png]]
974	974
975	975	(% style="text-align:center" %)
976		-[[image:08_html_97583e8621e6ae69.png||height="143" width="600" class="img-thumbnail"]]
	978	+[[image:08_html_97583e8621e6ae69.png||class="img-thumbnail" height="143" width="600"]]
977	977
978		-= {{id name="_Toc10375"/}}**{{id name="_Toc17757"/}}PWM/BIN 16-bit pulse output** =
	980	+== {{id name="_Toc10375"/}}**{{id name="_Toc17757"/}}PWM/BIN 16-bit pulse output** ==
979	979
980	980	**PWM**
981	981
...	...	@@ -1020,7 +1020,7 @@
1020	1020	• The pulse width and pulse period can be modified during pulse sending.
1021	1021
1022	1022	(% style="text-align:center" %)
1023		-[[image:08_html_b54cf8e0b0b86ddb.png||height="195" width="600" class="img-thumbnail"]]
	1025	+[[image:08_html_b54cf8e0b0b86ddb.png||class="img-thumbnail" height="195" width="600"]]
1024	1024	)))
1025	1025
1026	1026	**✎Note:**
...	...	@@ -1051,9 +1051,9 @@
1051	1051	The waveform diagram is shown as right.
1052	1052
1053	1053	(% style="text-align:center" %)
1054		-[[image:08_html_f38f59f98fdc96c0.png||height="213" width="600" class="img-thumbnail"]]
	1056	+[[image:08_html_f38f59f98fdc96c0.png||class="img-thumbnail" height="213" width="600"]]
1055	1055
1056		-= **PWM/PWM perimeter mode** =
	1058	+== **PWM/PWM perimeter mode** ==
1057	1057
1058	1058	**PWM**
1059	1059
...	...	@@ -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** =
	1148	+== {{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
...	...	@@ -1183,7 +1183,7 @@
1183	1183	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.
1184	1184
1185	1185	(% style="text-align:center" %)
1186		-[[image:08_html_af156a7b9cc09d34.jpg||height="324" width="700" class="img-thumbnail"]]
	1188	+[[image:08_html_af156a7b9cc09d34.jpg||class="img-thumbnail" height="324" width="700"]]
1187	1187
1188	1188	* (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.
1189	1189
...	...	@@ -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]]
	1213	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1212	1212
	1215	+(% style="text-align:center" %)
	1216	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1217	+
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**
	1226	+**{{id name="_Toc29603"/}}Example**
1222	1222
1223	1223	(% style="text-align:center" %)
1224		-[[image:image-20220921163523-1.jpeg||class="img-thumbnail"]]
	1229	+[[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** =
	1233	+== {{id name="_Ref31771"/}}**{{id name="_Toc17391"/}}{{id name="_Toc10640"/}}{{id name="_Toc32642"/}}G91G01 Relative position line interpolation instruction** ==
1229	1229
1230		-**G91G01**
	1235	+{{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
...	...	@@ -1265,7 +1265,7 @@
1265	1265	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.
1266	1266
1267	1267	(% style="text-align:center" %)
1268		-[[image:08_html_b587806f5f71987d.jpg||height="371" width="800" class="img-thumbnail"]]
	1273	+[[image:08_html_b587806f5f71987d.jpg||class="img-thumbnail" height="371" width="800"]]
1269	1269
1270	1270	* (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.
1271	1271
...	...	@@ -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]]
	1296	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1292	1292
1293		-**Error Codes**
	1298	+(% style="text-align:center" %)
	1299	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1294	1294
	1301	+**{{id name="_Toc8461"/}}Error Codes**
	1302	+
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
...	...	@@ -1300,11 +1300,12 @@
1300	1300
1301	1301	**{{id name="_Toc16441"/}}Example**
1302	1302
1303		-[[image:image-20220921163600-2.png]]
	1311	+(% style="text-align:center" %)
	1312	+[[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
1307		-= {{id name="_Ref31781"/}}**{{id name="_Toc27199"/}}{{id name="_Toc11517"/}}{{id name="_Toc20314"/}}{{id name="OLE_LINK11"/}}G90G02 Absolute position clockwise circular interpolation instruction** =
	1316	+== {{id name="_Ref31781"/}}**{{id name="_Toc27199"/}}{{id name="_Toc11517"/}}{{id name="_Toc20314"/}}{{id name="OLE_LINK11"/}}G90G02 Absolute position clockwise circular interpolation instruction** ==
1308	1308
1309	1309	**G90G02**
1310	1310
...	...	@@ -1342,7 +1342,7 @@
1342	1342	{{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.
1343	1343
1344	1344	(% style="text-align:center" %)
1345		-[[image:08_html_ca40f9fe262dab7.jpg||height="482" width="800" class="img-thumbnail"]]
	1354	+[[image:08_html_ca40f9fe262dab7.jpg||class="img-thumbnail" height="482" width="800"]]
1346	1346
1347	1347	* (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.
1348	1348	* 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.
...	...	@@ -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]]
	1377	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1369	1369
1370		-**Error Codes**
	1379	+(% style="text-align:center" %)
	1380	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1371	1371
	1382	+ **Error Codes**
	1383	+
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
...	...	@@ -1384,11 +1384,11 @@
1384	1384	**{{id name="OLE_LINK268"/}}Example**
1385	1385
1386	1386	(% style="text-align:center" %)
1387		-[[image:image-20220921163619-3.png||class="img-thumbnail"]]
	1399	+[[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
1391		-= **G91G02 Relative position clockwise circular interpolation instruction** =
	1403	+== **G91G02 Relative position clockwise circular interpolation instruction** ==
1392	1392
1393	1393	**G91G02**
1394	1394
...	...	@@ -1430,7 +1430,7 @@
1430	1430	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.
1431	1431
1432	1432	(% style="text-align:center" %)
1433		-[[image:08_html_af9751b2294f613b.jpg||height="482" width="800" class="img-thumbnail"]]
	1445	+[[image:08_html_af9751b2294f613b.jpg||class="img-thumbnail" height="482" width="800"]]
1434	1434
1435	1435	* {{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.
1436	1436	* {{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.
...	...	@@ -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]]
	1468	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1457	1457
	1470	+(% style="text-align:center" %)
	1471	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1472	+
1458	1458	**Error Codes**
1459	1459
1460	1460	(% class="table-bordered" %)
...	...	@@ -1472,11 +1472,11 @@
1472	1472	**Example**{{id name="OLE_LINK22"/}}
1473	1473
1474	1474	(% style="text-align:center" %)
1475		-[[image:image-20220921163641-4.png||class="img-thumbnail"]]
	1490	+[[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
1479		-= **G90G03 Absolute position counterclockwise circular interpolation instruction** =
	1494	+== **G90G03 Absolute position counterclockwise circular interpolation instruction** ==
1480	1480
1481	1481	G90G03
1482	1482
...	...	@@ -1518,7 +1518,7 @@
1518	1518	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.
1519	1519
1520	1520	(% style="text-align:center" %)
1521		-[[image:08_html_7ad9ac91f5066720.jpg||height="491" width="800" class="img-thumbnail"]]
	1536	+[[image:08_html_7ad9ac91f5066720.jpg||class="img-thumbnail" height="491" width="800"]]
1522	1522
1523	1523	* 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.
1524	1524	* 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.
...	...	@@ -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]]
	1559	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1545	1545
	1561	+(% style="text-align:center" %)
	1562	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1563	+
1546	1546	**Error Codes**
1547	1547
1548	1548	(% class="table-bordered" %)
...	...	@@ -1560,11 +1560,11 @@
1560	1560	**Example**
1561	1561
1562	1562	(% style="text-align:center" %)
1563		-[[image:image-20220921163737-5.png||class="img-thumbnail"]]
	1581	+[[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
1567		-= {{id name="_Ref31892"/}}**{{id name="_Toc1720"/}}{{id name="_Toc12908"/}}{{id name="_Toc10325"/}}G91G03 Relative position counterclockwise circular interpolation instruction** =
	1585	+== {{id name="_Ref31892"/}}**{{id name="_Toc1720"/}}{{id name="_Toc12908"/}}{{id name="_Toc10325"/}}G91G03 Relative position counterclockwise circular interpolation instruction** ==
1568	1568
1569	1569	**G91G03**
1570	1570
...	...	@@ -1606,7 +1606,7 @@
1606	1606	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.
1607	1607
1608	1608	(% style="text-align:center" %)
1609		-[[image:08_html_445649f805e910a5.jpg||height="491" width="800" class="img-thumbnail"]]
	1627	+[[image:08_html_445649f805e910a5.jpg||class="img-thumbnail" height="491" width="800"]]
1610	1610
1611	1611	* 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.
1612	1612	* 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.
...	...	@@ -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]]
	1650	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1633	1633
	1652	+(% style="text-align:center" %)
	1653	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1654	+
1634	1634	**Error Codes**
1635	1635
1636	1636	(% class="table-bordered" %)
...	...	@@ -1648,11 +1648,11 @@
1648	1648	**Example**
1649	1649
1650	1650	(% style="text-align:center" %)
1651		-[[image:image-20220921163754-6.png]]
	1672	+[[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
1655		-= {{id name="_Ref31901"/}}**{{id name="_Toc7584"/}}{{id name="_Toc8429"/}}{{id name="_Toc13595"/}}{{id name="_Toc10219"/}}G90G02H Absolute position clockwise circular helical interpolation instruction** =
	1676	+== {{id name="_Ref31901"/}}**{{id name="_Toc7584"/}}{{id name="_Toc8429"/}}{{id name="_Toc13595"/}}{{id name="_Toc10219"/}}G90G02H Absolute position clockwise circular helical interpolation instruction** ==
1656	1656
1657	1657	**G90G02H**
1658	1658
...	...	@@ -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.)
	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.)
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"]],,),,
	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"]] ,,)
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
...	...	@@ -1723,19 +1723,21 @@
1723	1723	(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:
1724	1724
1725	1725	(% style="text-align:center" %)
1726		-[[image:image-20220921172637-8.png]]
	1747	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1727	1727
1728		-(9) Exact match pitch of screws (lead) K and Ze,,.,,
	1749	+(% style="text-align:center" %)
	1750	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1729	1729
1730		-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	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1731	1731
1732		-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 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.
1733	1733
1734		-(% style="text-align:center" %)
1735		-[[image:image-20220921171411-3.png||height="62" width="312"]]
	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.
1736	1736
1737		-(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	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1738	1738
	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"]] ,,).
	1761	+
1739	1739	(% class="table-bordered" %)
1740	1740	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1741	1741	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1755,16 +1755,16 @@
1755	1755	|(% 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.
1756	1756	|(% 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)
1757	1757	|(% style="width:139px" %)4F99H|(% style="width:942px" %)Helical interpolation error, Z axis is 0.
1758		-|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead,, ,,[[image:image-20220921171529-5.png||height="32" width="69"]],, ,,)
	1781	+|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1759	1759
1760	1760	**{{id name="_Toc12418"/}}Example**
1761	1761
1762	1762	(% style="text-align:center" %)
1763		-[[image:image-20220921163843-7.png||class="img-thumbnail"]]
	1786	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1764	1764
1765	1765	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.
1766	1766
1767		-= {{id name="_Ref31918"/}}**{{id name="_Toc12793"/}}{{id name="_Toc9051"/}}{{id name="_Toc18572"/}}G91G02H Relative position clockwise circular helical interpolation instruction** =
	1790	+== {{id name="_Ref31918"/}}**{{id name="_Toc12793"/}}{{id name="_Toc9051"/}}{{id name="_Toc18572"/}}G91G02H Relative position clockwise circular helical interpolation instruction** ==
1768	1768
1769	1769	**G91G02H**
1770	1770
...	...	@@ -1808,7 +1808,7 @@
1808	1808	(% style="text-align:center" %)
1809	1809	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1810	1810
1811		-* (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.)
	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.)
1812	1812	* 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.
1813	1813
1814	1814	* 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.
...	...	@@ -1828,28 +1828,28 @@
1828	1828
1829	1829	(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.
1830	1830
1831		-(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.
	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"]] ,,)
1832	1832
1833		-(If Ze=75, lead K=50, and the actual radian [[image:image-20220921171639-7.png||height="56" width="107"]],,),,
1834		-
1835	1835	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1836	1836
1837	1837	(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:
1838	1838
1839	1839	(% style="text-align:center" %)
1840		-[[image:image-20220921172651-9.png]]
	1861	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1841	1841
1842		-(9) Exact match pitch of screws (lead) K and Ze,,.,,
	1863	+(% style="text-align:center" %)
	1864	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1843	1843
1844		-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	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1845	1845
1846		-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 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.
1847	1847
1848		-(% style="text-align:center" %)
1849		-[[image:image-20220921171703-8.png||height="58" width="291"]]
	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.
1850	1850
1851		-(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	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1852	1852
	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]] ,,).
	1875	+
1853	1853	(% class="table-bordered" %)
1854	1854	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1855	1855	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1869,16 +1869,16 @@
1869	1869	|(% 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.
1870	1870	|(% 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)
1871	1871	|(% style="width:129px" %)4F99H|(% style="width:952px" %)Helical interpolation error, Z axis is 0.
1872		-|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead[[image:image-20220921171735-9.png||height="28" width="59"]])
	1895	+|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1873	1873
1874	1874	**{{id name="_Toc28830"/}}Example**
1875	1875
1876	1876	(% style="text-align:center" %)
1877		-[[image:image-20220921163904-8.png]]
	1900	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1878	1878
1879	1879	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.
1880	1880
1881		-= {{id name="_Ref31924"/}}**{{id name="_Toc4668"/}}{{id name="_Toc28191"/}}{{id name="_Toc24432"/}}G90G03H Absolute position counterclockwise circular helical interpolation instruction** =
	1904	+== {{id name="_Ref31924"/}}**{{id name="_Toc4668"/}}{{id name="_Toc28191"/}}{{id name="_Toc24432"/}}G90G03H Absolute position counterclockwise circular helical interpolation instruction** ==
1882	1882
1883	1883	**G90G03H**
1884	1884
...	...	@@ -1922,8 +1922,7 @@
1922	1922	(% style="text-align:center" %)
1923	1923	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1924	1924
1925		-* (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.
1926		-* The lead range is [[image:image-20220921171807-10.png||height="35" width="128"]]. (The range is -2147483648 to +2147483647.)
	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.)
1927	1927	* 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.
1928	1928
1929	1929	* 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.
...	...	@@ -1943,28 +1943,28 @@
1943	1943
1944	1944	(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.
1945	1945
1946		-(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.
	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"]] ,,)
1947	1947
1948		-If Ze=75, lead K=50, and the actual radian(% style="font-size:10.5px" %) [[image:image-20220921171852-11.png||height="65" width="124"]]
1949		-
1950	1950	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1951	1951
1952	1952	(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:
1953	1953
1954	1954	(% style="text-align:center" %)
1955		-[[image:image-20220921172744-10.png]]
	1975	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1956	1956
1957		-(9) Exact match pitch of screws (lead) K and Ze
	1977	+(% style="text-align:center" %)
	1978	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1958	1958
1959		-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	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1960	1960
1961		-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 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.
1962	1962
1963		-(% style="text-align:center" %)
1964		-[[image:image-20220921171930-12.png||height="74" width="370"]]
	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.
1965	1965
1966		-(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	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1967	1967
	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"]] ,,).
	1989	+
1968	1968	(% class="table-bordered" %)
1969	1969	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1970	1970	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1984,16 +1984,16 @@
1984	1984	|(% 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.
1985	1985	|(% 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)
1986	1986	|(% style="width:132px" %)4F99H|(% style="width:949px" %)Helical interpolation error, Z axis is 0.
1987		-|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead [[image:image-20220921171956-13.png||height="29" width="61"]])
	2009	+|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1988	1988
1989	1989	**{{id name="_Toc18584"/}}Example**
1990	1990
1991	1991	(% style="text-align:center" %)
1992		-[[image:image-20220921163935-9.png||class="img-thumbnail"]]
	2014	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1993	1993
1994	1994	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.
1995	1995
1996		-= **G91G03H Relative position counterclockwise circular helical interpolation instruction** =
	2018	+== {{id name="_Ref31947"/}}**{{id name="_Toc5018"/}}{{id name="_Toc1347"/}}{{id name="_Toc26018"/}}G91G03H Relative position counterclockwise circular helical interpolation instruction** ==
1997	1997
1998	1998	**G91G03H**
1999	1999
...	...	@@ -2057,28 +2057,28 @@
2057	2057
2058	2058	(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.
2059	2059
2060		-(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.
	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"]] ,,)
2061	2061
2062		-If Ze=75, lead K=50, and the actual radian [[image:image-20220921172134-15.png||height="68" width="130"]]
2063		-
2064	2064	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
2065	2065
2066	2066	(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:
2067	2067
2068	2068	(% style="text-align:center" %)
2069		-[[image:image-20220921172803-11.png]]
	2089	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
2070	2070
2071		-(9) Exact match pitch of screws (lead) K and Ze
	2091	+(% style="text-align:center" %)
	2092	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
2072	2072
2073		-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	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
2074	2074
2075		-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 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.
2076	2076
2077		-(% style="text-align:center" %)
2078		-[[image:image-20220921172159-16.png||height="72" width="362"]]
	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.
2079	2079
2080		-(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	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
2081	2081
	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]] ,,).
	2103	+
2082	2082	(% class="table-bordered" %)
2083	2083	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
2084	2084	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -2098,12 +2098,12 @@
2098	2098	|(% 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.
2099	2099	|(% 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)
2100	2100	|(% style="width:108px" %)4F99H|(% style="width:973px" %)Helical interpolation error, Z axis is 0.
2101		-|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead [[image:image-20220921172255-17.png||height="29" width="62"]],, ,,)
	2123	+|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2102	2102
2103	2103	**{{id name="_Toc11997"/}}Example**
2104	2104
2105	2105	(% style="text-align:center" %)
2106		-[[image:image-20220921163953-10.png||class="img-thumbnail"]]
	2128	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2107	2107
2108	2108	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"/}}
2109	2109
...	...	@@ -2253,7 +2253,7 @@
2253	2253	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.
2254	2254
2255	2255	(% style="text-align:center" %)
2256		-[[image:08_html_bb07ddcb0a440df2.gif||height="293" width="700" class="img-thumbnail"]]
	2278	+[[image:08_html_bb07ddcb0a440df2.gif||class="img-thumbnail" height="293" width="700"]]
2257	2257
2258	2258	**(9) Not scanned**
2259	2259
...	...	@@ -2504,7 +2504,7 @@
2504	2504	[1: Stop immediately]: Stop immediately after receiving the stop signal without decelerating movement.
2505	2505
2506	2506	(% style="text-align:center" %)
2507		-[[image:08_html_c616dcb4f3f0f698.gif||height="288" width="700" class="img-thumbnail"]]
	2529	+[[image:08_html_c616dcb4f3f0f698.gif||class="img-thumbnail" height="288" width="700"]]
2508	2508
2509	2509	**(8) Direction delay**
2510	2510
...	...	@@ -2517,7 +2517,7 @@
2517	2517	|Direction delay|SD905|SD965|SD1025|SD1085|SD1145|SD1205|SD1265|SD1325
2518	2518
2519	2519	(% style="text-align:center" %)
2520		-[[image:08_html_2e35a77cf58094fa.gif||height="466" width="700" class="img-thumbnail"]]
	2542	+[[image:08_html_2e35a77cf58094fa.gif||class="img-thumbnail" height="466" width="700"]]
2521	2521
2522	2522	**(9) External start signal**
2523	2523
...	...	@@ -2549,12 +2549,12 @@
2549	2549	①Reachable frequency
2550	2550
2551	2551	(% style="text-align:center" %)
2552		-[[image:08_html_e260ba033ed851bb.gif||height="366" width="700" class="img-thumbnail"]]
	2574	+[[image:08_html_e260ba033ed851bb.gif||class="img-thumbnail" height="366" width="700"]]
2553	2553
2554	2554	②Unreachable frequency
2555	2555
2556	2556	(% style="text-align:center" %)
2557		-[[image:08_html_54e112fa5aeba863.gif||height="386" width="700" class="img-thumbnail"]]
	2579	+[[image:08_html_54e112fa5aeba863.gif||class="img-thumbnail" height="386" width="700"]]
2558	2558
2559	2559	2) Modify the number of pulses:
2560	2560
...	...	@@ -2561,12 +2561,12 @@
2561	2561	①Modify to the number of reachable pulses
2562	2562
2563	2563	(% style="text-align:center" %)
2564		-[[image:08_html_f7207d642325c29f.gif||height="282" width="700" class="img-thumbnail"]]
	2586	+[[image:08_html_f7207d642325c29f.gif||class="img-thumbnail" height="282" width="700"]]
2565	2565
2566	2566	②Modify to the number of unreachable pulses (only support instructions with direction. If there is no direction, stop pulse sending)
2567	2567
2568	2568	(% style="text-align:center" %)
2569		-[[image:08_html_b73c1c8f2b27e562.gif||height="322" width="700" class="img-thumbnail"]]
	2591	+[[image:08_html_b73c1c8f2b27e562.gif||class="img-thumbnail" height="322" width="700"]]
2570	2570
2571	2571	**{{id name="OLE_LINK371"/}}(12) The number of sent pulses is out of range**
2572	2572
...	...	@@ -2623,17 +2623,17 @@
2623	2623	Time-minute ladder acceleration and deceleration
2624	2624
2625	2625	(% style="text-align:center" %)
2626		-[[image:08_html_4649b9d5dd0f0a90.gif||height="330" width="700" class="img-thumbnail"]]
	2648	+[[image:08_html_4649b9d5dd0f0a90.gif||class="img-thumbnail" height="330" width="700"]]
2627	2627
2628	2628	Time-minute S-type acceleration and deceleration
2629	2629
2630	2630	(% style="text-align:center" %)
2631		-[[image:08_html_27806ce2da3a3ef0.gif||height="319" width="700" class="img-thumbnail"]]
	2653	+[[image:08_html_27806ce2da3a3ef0.gif||class="img-thumbnail" height="319" width="700"]]
2632	2632
2633	2633	The following figure shows the changes of each parameter
2634	2634
2635	2635	(% style="text-align:center" %)
2636		-[[image:08_html_7e62d35d88cbe966.gif||height="614" width="400" class="img-thumbnail"]]
	2658	+[[image:08_html_7e62d35d88cbe966.gif||class="img-thumbnail" height="614" width="400"]]
2637	2637
2638	2638	**✎Note: **When the frequency is modified during the operation, acceleration would accelerate again from zero. There will be discontinuous acceleration.
2639	2639

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