Changes for page 08 High-speed pulse output

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...	...	@@ -986,21 +986,21 @@
986	986	**Content, range and data type**
987	987
988	988	(% class="table-bordered" %)
989		-|**Parameter**|(% style="width:702px" %)**Content**|(% style="width:183px" %)**Range**|**Data type**|**Data type (label)**
990		-|(s1)|(% style="width:702px" %)The ON time or the device number storing the ON time|(% style="width:183px" %)0 to 32,767|Signed BIN16|ANY16_S
991		-|(s2)|(% style="width:702px" %)Cycle or the device number storing the cycle|(% style="width:183px" %)1 to 32,767|Signed BIN16|ANY16_S
992		-|(d)|(% style="width:702px" %)The channel number and device number that pulse outputs|(% style="width:183px" %)-|Bit|ANY_BOOL
	989	+|=(% scope="row" %)**Parameter**|=(% style="width: 618px;" %)**Content**|=(% style="width: 121px;" %)**Range**|=(% style="width: 132px;" %)**Data type**|=(% style="width: 118px;" %)**Data type (label)**
	990	+|=(s1)|(% style="width:618px" %)The ON time or the device number storing the ON time|(% style="width:121px" %)0 to 32,767|(% style="width:132px" %)Signed BIN16|(% style="width:118px" %)ANY16_S
	991	+|=(s2)|(% style="width:618px" %)Cycle or the device number storing the cycle|(% style="width:121px" %)1 to 32,767|(% style="width:132px" %)Signed BIN16|(% style="width:118px" %)ANY16_S
	992	+|=(d)|(% style="width:618px" %)The channel number and device number that pulse outputs|(% style="width:121px" %)-|(% style="width:132px" %)Bit|(% style="width:118px" %)ANY_BOOL
993	993
994	994	**Device used**
995	995
996	996	(% class="table-bordered" %)
997		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="11" %)**Devices**|**Offset modification**|(((
	997	+|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="11" %)**Devices**|=**Offset modification**|=(((
998	998	**Pulse**
999	999
1000	1000	**extension**
1001	1001	)))
1002		-|**Y**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
1003		-|(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
	1002	+|=**Y**|=**KnX**|=**KnY**|=**KnM**|=**KnS**|=**T**|=**C**|=**D**|=**R**|=**K**|=**H**|=**[D]**|=**XXP**
	1003	+|=(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1004	1004	|Parameter 2| |●|●|●|●|●|●|●|●|●|●|●|
1005	1005	|Parameter 3|●| | | | | | | | | | | |
1006	1006
...	...	@@ -1032,16 +1032,20 @@
1032	1032	**Related device**
1033	1033
1034	1034	(% class="table-bordered" %)
1035		-|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1036		-|Percentage mode sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
	1035	+|=(% scope="row" style="width: 233px;" %)**Output shaft**|=(% style="width: 81px;" %)**Y0**|=(% style="width: 104px;" %)**Y1**|=(% style="width: 111px;" %)**Y2**|=(% style="width: 107px;" %)**Y3**|=(% style="width: 108px;" %)**Y4**|=(% style="width: 108px;" %)**Y5**|=(% style="width: 115px;" %)**Y6**|=**Y7**
	1036	+|=(% style="width: 233px;" %)Percentage mode sign|(% style="width:81px" %)SM897|(% style="width:104px" %)SM957|(% style="width:111px" %)SM1017|(% style="width:107px" %)SM1077|(% style="width:108px" %)SM1137|(% style="width:108px" %)SM1197|(% style="width:115px" %)SM1257|SM1317
1037	1037
	1038	+|=(% scope="row" style="width: 217px;" %)**Output shaft**|=(% style="width: 105px;" %)**Y0**|=**Y1**|=**Y2**|=**Y3**|=**Y4**|=**Y5**|=**Y6**|=**Y7**
	1039	+|=(% style="width: 217px;" %)PWM unit selection|(% style="width:105px" %)SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
	1040	+|(% colspan="9" scope="row" %)Take Y0 as an example: When SM902 is OFF, the Y0 PWM output cycle and pulse width are in "ms"; When SM902 is ON, the Y0 PWM output cycle and pulse width are in "us".
	1041	+
1038	1038	**Error code**
1039	1039
1040	1040	(% class="table-bordered" %)
1041		-|**Error code**|**Content**
1042		-|4084H|The data input in the application instruction (s1) and (s2) exceed the specified range or (s1)>(s2)
1043		-|4085H|The result output in the read application instruction (s1), (s2) and (d) exceed the device range
1044		-|4088H|The same pulse output axis (d) is used and has been started.
	1045	+|=(% scope="row" %)**Error code**|=**Content**
	1046	+|=4084H|The data input in the application instruction (s1) and (s2) exceed the specified range or (s1)>(s2)
	1047	+|=4085H|The result output in the read application instruction (s1), (s2) and (d) exceed the device range
	1048	+|=4088H|The same pulse output axis (d) is used and has been started.
1045	1045
1046	1046	**Example**
1047	1047
...	...	@@ -1048,16 +1048,16 @@
1048	1048	(% style="text-align:center" %)
1049	1049	[[image:08_html_3ed5f1836c38d129.png||class="img-thumbnail"]]
1050	1050
1051		-The waveform diagram is shown as right.
	1055	+The waveform diagram is shown as below.
1052	1052
1053	1053	(% style="text-align:center" %)
1054		-[[image:08_html_f38f59f98fdc96c0.png||height="213" width="600" class="img-thumbnail"]]
	1058	+[[image:08_html_f38f59f98fdc96c0.png||height="174" width="477" class="img-thumbnail"]]
1055	1055
1056		-= **PWM/PWM perimeter mode** =
	1060	+= **PWM/PWM permil mode** =
1057	1057
1058	1058	**PWM**
1059	1059
1060		-The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of the millimetric ratio mode is used to output to the output target specified in (d).
	1064	+The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of permil mode is used to output to the output target specified in (d).
1061	1061
1062	1062	-[PWM (s1) (s2) (d)]
1063	1063
...	...	@@ -1064,33 +1064,33 @@
1064	1064	**Content, range and data type**
1065	1065
1066	1066	(% class="table-bordered" %)
1067		-|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
1068		-|(s1)|Set output pulse duty cycle|0 to 1000|Signed BIN16|ANY16_S
1069		-|(s2)|Set pulse output cycle|1 to 32767|Signed BIN16|ANY16_S
1070		-|(d)|Pulse output channel number, device number|-|Bit|ANY_BOOL
	1071	+|=(% scope="row" %)**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (label)**
	1072	+|=(s1)|Set output pulse duty cycle|0 to 1000|Signed BIN16|ANY16_S
	1073	+|=(s2)|Set pulse output cycle|1 to 32767|Signed BIN16|ANY16_S
	1074	+|=(d)|Pulse output channel number, device number|-|Bit|ANY_BOOL
1071	1071
1072	1072	**Device used**
1073	1073
1074	1074	(% class="table-bordered" %)
1075		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="11" %)**Devices**|**Offset modification**|(((
	1079	+|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="11" %)**Devices**|=**Offset modification**|=(((
1076	1076	**Pulse**
1077	1077
1078	1078	**extension**
1079	1079	)))
1080		-|**Y**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
1081		-|(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
	1084	+|=**Y**|=**KnX**|=**KnY**|=**KnM**|=**KnS**|=**T**|=**C**|=**D**|=**R**|=**K**|=**H**|=**[D]**|=**XXP**
	1085	+|=(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1082	1082	|Parameter 2| |●|●|●|●|●|●|●|●|●|●|●|
1083	1083	|Parameter 3|●| | | | | | | | | | | |
1084	1084
1085	1085	**Features**
1086	1086
1087		-The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of the millimetric ratio mode is used to output to the output target specified in (d).
	1091	+The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of permil mode is used to output to the output target specified in (d).
1088	1088
1089		-It is necessary to turn on the millimetric ratio mode of the PWM instruction, and the corresponding related device:
	1093	+It is necessary to turn on the permil mode of the PWM instruction, and the corresponding related device:
1090	1090
1091	1091	(% class="table-bordered" %)
1092		-|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1093		-|Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
	1096	+|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
	1097	+|=Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1094	1094
1095	1095	Specify the output pulse duty ratio in (s1). (The setting range is 0 to 1000)
1096	1096
...	...	@@ -1120,9 +1120,13 @@
1120	1120	• Percentage mode flag
1121	1121
1122	1122	(% class="table-bordered" %)
1123		-|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1124		-|Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
	1127	+|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
	1128	+|=Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1125	1125
	1130	+|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
	1131	+|=PWM unit selection|SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
	1132	+|(% colspan="9" scope="row" %)Take Y0 as an example: When SM902 is OFF, the Y0 PWM output cycle and pulse width are in "ms"; When SM902 is ON, the Y0 PWM output cycle and pulse width are in "us".
	1133	+
1126	1126	**Error code**
1127	1127
1128	1128	(% class="table-bordered" %)
...	...	@@ -1136,12 +1136,12 @@
1136	1136	The period is set to 100ms, if the duty cycle is set to 500, the output is high for 50ms and low for 50ms; if the duty cycle is set to 100, the output is high for 10ms and low for 90ms; duty cycle If it is set to 900, then the output is high for 90ms and low for 10ms;
1137	1137
1138	1138	(% style="text-align:center" %)
1139		-[[image:08_html_ace0b444319fb8c4.png||class="img-thumbnail"]]
	1147	+[[image:08_html_ace0b444319fb8c4.png||height="155" width="905" class="img-thumbnail"]]
1140	1140
1141	1141	The waveform diagram is as follows, the period is 300ms, the duty cycle is 100, and the output is 30ms high level and 270ms low level:
1142	1142
1143	1143	(% style="text-align:center" %)
1144		-[[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
	1152	+[[image:08_html_13acf8747e8703ff.png||height="221" width="625" class="img-thumbnail"]]
1145	1145
1146	1146	= **G90G01 Absolute position line interpolation instruction** =
1147	1147
...	...	@@ -1738,7 +1738,7 @@
1738	1738
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		-|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counter clockwise circular|R > 0|（0，-R）
	1749	+|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
1742	1742	|-R < 0|（0，-R）|-R < 0|（0，R）
1743	1743
1744	1744	**Error Codes**
...	...	@@ -1852,7 +1852,7 @@
1852	1852
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		-|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counter clockwise circular|R > 0|（0，-R）
	1863	+|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
1856	1856	|-R < 0|（0，-R）|-R < 0|（0，R）
1857	1857
1858	1858	**Error Codes**
...	...	@@ -1967,7 +1967,7 @@
1967	1967
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		-|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counter clockwise circular|R > 0|（0，-R）
	1978	+|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
1971	1971	|-R < 0|（0，-R）|-R < 0|（0，R）
1972	1972
1973	1973	**Error Codes**