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Last modified by Mora Zhou on 2024/08/08 14:35
From version 19.1
edited by Stone Wu
on 2022/09/26 09:56
Change comment: There is no comment for this version
To version 5.6
edited by Stone Wu
on 2022/07/28 16:55
Change comment: Update document after refactoring.

Summary

Details

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Title
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1 -08 High-speed pulse output
1 +20 High-speed pulse output
Parent
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1 -PLC Editor2.WebHome
1 +PLC Editor2.07 Basic instructions.WebHome
Content
... ... @@ -986,10 +986,10 @@
986 986  **Content, range and data type**
987 987  
988 988  (% class="table-bordered" %)
989 -|**Parameter**|(% style="width:636px" %)**Content**|(% style="width:120px" %)**Range**|(% style="width:130px" %)**Data type**|(% style="width:103px" %)**Data type (label)**
990 -|(s1)|(% style="width:636px" %)The ON time or the device number storing the ON time|(% style="width:120px" %)0 to 32,767|(% style="width:130px" %)Signed BIN16|(% style="width:103px" %)ANY16_S
991 -|(s2)|(% style="width:636px" %)Cycle or the device number storing the cycle|(% style="width:120px" %)1 to 32,767|(% style="width:130px" %)Signed BIN16|(% style="width:103px" %)ANY16_S
992 -|(d)|(% style="width:636px" %)The channel number and device number that pulse outputs|(% style="width:120px" %)-|(% style="width:130px" %)Bit|(% style="width:103px" %)ANY_BOOL
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
993 993  
994 994  **Device used**
995 995  
... ... @@ -1035,10 +1035,6 @@
1035 1035  |**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1036 1036  |Percentage mode sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1037 1037  
1038 -|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1039 -|PWM unit selection|SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
1040 -|(% colspan="9" %)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 -
1042 1042  **Error code**
1043 1043  
1044 1044  (% class="table-bordered" %)
... ... @@ -1052,10 +1052,10 @@
1052 1052  (% style="text-align:center" %)
1053 1053  [[image:08_html_3ed5f1836c38d129.png||class="img-thumbnail"]]
1054 1054  
1055 -The waveform diagram is shown as below.
1051 +The waveform diagram is shown as right.
1056 1056  
1057 1057  (% style="text-align:center" %)
1058 -[[image:08_html_f38f59f98fdc96c0.png||height="174" width="477" class="img-thumbnail"]]
1054 +[[image:08_html_f38f59f98fdc96c0.png||height="213" width="600" class="img-thumbnail"]]
1059 1059  
1060 1060  = **PWM/PWM perimeter mode** =
1061 1061  
... ... @@ -1147,7 +1147,7 @@
1147 1147  (% style="text-align:center" %)
1148 1148  [[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1149 1149  
1150 -= **G90G01 Absolute position line interpolation instruction** =
1146 += {{id name="_Toc26527"/}}**{{id name="_Toc9670"/}}{{id name="_Toc32423"/}}{{id name="_Toc27238"/}}G90G01 Absolute position line interpolation instruction** =
1151 1151  
1152 1152  **G90G01**
1153 1153  
... ... @@ -1212,8 +1212,11 @@
1212 1212  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:
1213 1213  
1214 1214  (% style="text-align:center" %)
1215 -[[image:image-20220921172417-2.png]]
1211 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1216 1216  
1213 +(% style="text-align:center" %)
1214 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1215 +
1217 1217  **{{id name="_Toc32765"/}}Error Codes**
1218 1218  
1219 1219  (% class="table-bordered" %)
... ... @@ -1222,16 +1222,16 @@
1222 1222  |4085H|The result output in the read application instruction (s1), (s2), (d1) and (d2) exceed the device range
1223 1223  |4088H|The same pulse output axis (d1) is used and has been started.
1224 1224  
1225 -**Example**
1224 +**{{id name="_Toc29603"/}}Example**
1226 1226  
1227 1227  (% style="text-align:center" %)
1228 -[[image:image-20220921163523-1.jpeg||class="img-thumbnail"]]
1227 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1229 1229  
1230 1230  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.
1231 1231  
1232 -= **G91G01 Relative position line interpolation instruction** =
1231 += {{id name="_Ref31771"/}}**{{id name="_Toc17391"/}}{{id name="_Toc10640"/}}{{id name="_Toc32642"/}}G91G01 Relative position line interpolation instruction** =
1233 1233  
1234 -**G91G01**
1233 +{{id name="OLE_LINK10"/}}{{id name="_Toc20742"/}}**G91G01**
1235 1235  
1236 1236  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.
1237 1237  
... ... @@ -1292,10 +1292,13 @@
1292 1292  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:
1293 1293  
1294 1294  (% style="text-align:center" %)
1295 -[[image:image-20220921172437-3.png]]
1294 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1296 1296  
1297 -**Error Codes**
1296 +(% style="text-align:center" %)
1297 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1298 1298  
1299 +**{{id name="_Toc8461"/}}Error Codes**
1300 +
1299 1299  (% class="table-bordered" %)
1300 1300  |**Error Codes**|**Contents**
1301 1301  |4084H|The data input in the application instruction (s1) and (s2) exceed the specified range
... ... @@ -1304,7 +1304,8 @@
1304 1304  
1305 1305  **{{id name="_Toc16441"/}}Example**
1306 1306  
1307 -[[image:image-20220921163600-2.png]]
1309 +(% style="text-align:center" %)
1310 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1308 1308  
1309 1309  {{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.
1310 1310  
... ... @@ -1369,10 +1369,13 @@
1369 1369  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:
1370 1370  
1371 1371  (% style="text-align:center" %)
1372 -[[image:image-20220921172524-4.png]]
1375 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1373 1373  
1374 -**Error Codes**
1377 +(% style="text-align:center" %)
1378 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1375 1375  
1380 + **Error Codes**
1381 +
1376 1376  (% class="table-bordered" %)
1377 1377  |(% style="width:134px" %)**Error Codes**|(% style="width:947px" %)**Contents**
1378 1378  |(% style="width:134px" %)4084H|(% style="width:947px" %)The data input in the application instruction (s1) and (s2) exceed the specified range
... ... @@ -1388,7 +1388,7 @@
1388 1388  **{{id name="OLE_LINK268"/}}Example**
1389 1389  
1390 1390  (% style="text-align:center" %)
1391 -[[image:image-20220921163619-3.png||class="img-thumbnail"]]
1397 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1392 1392  
1393 1393  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.
1394 1394  
... ... @@ -1457,8 +1457,11 @@
1457 1457  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:
1458 1458  
1459 1459  (% style="text-align:center" %)
1460 -[[image:image-20220921172550-5.png]]
1466 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1461 1461  
1468 +(% style="text-align:center" %)
1469 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1470 +
1462 1462  **Error Codes**
1463 1463  
1464 1464  (% class="table-bordered" %)
... ... @@ -1476,7 +1476,7 @@
1476 1476  **Example**{{id name="OLE_LINK22"/}}
1477 1477  
1478 1478  (% style="text-align:center" %)
1479 -[[image:image-20220921163641-4.png||class="img-thumbnail"]]
1488 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1480 1480  
1481 1481  {{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.
1482 1482  
... ... @@ -1545,8 +1545,11 @@
1545 1545  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:
1546 1546  
1547 1547  (% style="text-align:center" %)
1548 -[[image:image-20220921172606-6.png]]
1557 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1549 1549  
1559 +(% style="text-align:center" %)
1560 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1561 +
1550 1550  **Error Codes**
1551 1551  
1552 1552  (% class="table-bordered" %)
... ... @@ -1564,7 +1564,7 @@
1564 1564  **Example**
1565 1565  
1566 1566  (% style="text-align:center" %)
1567 -[[image:image-20220921163737-5.png||class="img-thumbnail"]]
1579 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1568 1568  
1569 1569  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.
1570 1570  
... ... @@ -1633,8 +1633,11 @@
1633 1633  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:
1634 1634  
1635 1635  (% style="text-align:center" %)
1636 -[[image:image-20220921172617-7.png]]
1648 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1637 1637  
1650 +(% style="text-align:center" %)
1651 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1652 +
1638 1638  **Error Codes**
1639 1639  
1640 1640  (% class="table-bordered" %)
... ... @@ -1652,7 +1652,7 @@
1652 1652  **Example**
1653 1653  
1654 1654  (% style="text-align:center" %)
1655 -[[image:image-20220921163754-6.png]]
1670 +[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1656 1656  
1657 1657  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.
1658 1658  
... ... @@ -1700,7 +1700,7 @@
1700 1700  (% style="text-align:center" %)
1701 1701  [[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1702 1702  
1703 -* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is [[image:image-20220921171331-1.png||height="31" width="113"]],, ,,.(The range is -2147483648 to +2147483647.)
1718 +* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
1704 1704  * 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.
1705 1705  
1706 1706  * 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.
... ... @@ -1720,7 +1720,7 @@
1720 1720  
1721 1721  (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.
1722 1722  
1723 -(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. (If Ze=75, lead K=50, and the actual radian [[image:image-20220921171348-2.png||height="47" width="90"]],,),,
1738 +(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
1724 1724  
1725 1725  (7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1726 1726  
... ... @@ -1727,19 +1727,21 @@
1727 1727  (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:
1728 1728  
1729 1729  (% style="text-align:center" %)
1730 -[[image:image-20220921172637-8.png]]
1745 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1731 1731  
1732 -(9) Exact match pitch of screws (lead) K and Ze,,.,,
1747 +(% style="text-align:center" %)
1748 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1733 1733  
1734 -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.
1750 +(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
1735 1735  
1736 -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.
1752 +The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif||class="img-thumbnail"]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1737 1737  
1738 -(% style="text-align:center" %)
1739 -[[image:image-20220921171411-3.png||height="62" width="312"]]
1754 +The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
1740 1740  
1741 -(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).
1756 +[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
1742 1742  
1758 +(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif" class="img-thumbnail"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
1759 +
1743 1743  (% class="table-bordered" %)
1744 1744  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1745 1745  |(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
... ... @@ -1759,12 +1759,12 @@
1759 1759  |(% 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.
1760 1760  |(% 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)
1761 1761  |(% style="width:139px" %)4F99H|(% style="width:942px" %)Helical interpolation error, Z axis is 0.
1762 -|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead,, ,,[[image:image-20220921171529-5.png||height="32" width="69"]],, ,,)
1779 +|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1763 1763  
1764 1764  **{{id name="_Toc12418"/}}Example**
1765 1765  
1766 1766  (% style="text-align:center" %)
1767 -[[image:image-20220921163843-7.png||class="img-thumbnail"]]
1784 +[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1768 1768  
1769 1769  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.
1770 1770  
... ... @@ -1812,7 +1812,7 @@
1812 1812  (% style="text-align:center" %)
1813 1813  [[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1814 1814  
1815 -* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (relative positioning) of X axis , s1+2 is the target position (relative positioning) of Y axis, and s1+4 is the target position (relative positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is,, ,,[[image:image-20220921171628-6.png||height="29" width="106"]]. (The range is -2147483648 to +2147483647.)
1832 +* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (relative positioning) of X axis , s1+2 is the target position (relative positioning) of Y axis, and s1+4 is the target position (relative positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
1816 1816  * 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.
1817 1817  
1818 1818  * 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.
... ... @@ -1832,28 +1832,28 @@
1832 1832  
1833 1833  (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.
1834 1834  
1835 -(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K.
1852 +(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
1836 1836  
1837 -(If Ze=75, lead K=50, and the actual radian [[image:image-20220921171639-7.png||height="56" width="107"]],,),,
1838 -
1839 1839  (7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1840 1840  
1841 1841  (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:
1842 1842  
1843 1843  (% style="text-align:center" %)
1844 -[[image:image-20220921172651-9.png]]
1859 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1845 1845  
1846 -(9) Exact match pitch of screws (lead) K and Ze,,.,,
1861 +(% style="text-align:center" %)
1862 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1847 1847  
1848 -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.
1864 +(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
1849 1849  
1850 -The 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.
1866 +The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1851 1851  
1852 -(% style="text-align:center" %)
1853 -[[image:image-20220921171703-8.png||height="58" width="291"]]
1868 +The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
1854 1854  
1855 -(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),, ,,.
1870 +[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
1856 1856  
1872 +(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
1873 +
1857 1857  (% class="table-bordered" %)
1858 1858  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1859 1859  |(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
... ... @@ -1873,12 +1873,12 @@
1873 1873  |(% 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.
1874 1874  |(% 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)
1875 1875  |(% style="width:129px" %)4F99H|(% style="width:952px" %)Helical interpolation error, Z axis is 0.
1876 -|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead[[image:image-20220921171735-9.png||height="28" width="59"]])
1893 +|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1877 1877  
1878 1878  **{{id name="_Toc28830"/}}Example**
1879 1879  
1880 1880  (% style="text-align:center" %)
1881 -[[image:image-20220921163904-8.png]]
1898 +[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1882 1882  
1883 1883  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.
1884 1884  
... ... @@ -1926,8 +1926,7 @@
1926 1926  (% style="text-align:center" %)
1927 1927  [[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1928 1928  
1929 -* (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.
1930 -* The lead range is [[image:image-20220921171807-10.png||height="35" width="128"]]. (The range is -2147483648 to +2147483647.)
1946 +* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
1931 1931  * 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.
1932 1932  
1933 1933  * 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.
... ... @@ -1947,28 +1947,28 @@
1947 1947  
1948 1948  (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.
1949 1949  
1950 -(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K.
1966 +(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
1951 1951  
1952 -If Ze=75, lead K=50, and the actual radian(% style="font-size:10.5px" %) [[image:image-20220921171852-11.png||height="65" width="124"]]
1953 -
1954 1954  (7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1955 1955  
1956 1956  (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:
1957 1957  
1958 1958  (% style="text-align:center" %)
1959 -[[image:image-20220921172744-10.png]]
1973 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1960 1960  
1961 -(9) Exact match pitch of screws (lead) K and Ze
1975 +(% style="text-align:center" %)
1976 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1962 1962  
1963 -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.
1978 +(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
1964 1964  
1965 -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.
1980 +The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1966 1966  
1967 -(% style="text-align:center" %)
1968 -[[image:image-20220921171930-12.png||height="74" width="370"]]
1982 +The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
1969 1969  
1970 -(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),, ,,).
1984 +[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
1971 1971  
1986 +(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif" class="img-thumbnail"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif" class="img-thumbnail"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
1987 +
1972 1972  (% class="table-bordered" %)
1973 1973  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1974 1974  |(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
... ... @@ -1988,16 +1988,16 @@
1988 1988  |(% 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.
1989 1989  |(% 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)
1990 1990  |(% style="width:132px" %)4F99H|(% style="width:949px" %)Helical interpolation error, Z axis is 0.
1991 -|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead [[image:image-20220921171956-13.png||height="29" width="61"]])
2007 +|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1992 1992  
1993 1993  **{{id name="_Toc18584"/}}Example**
1994 1994  
1995 1995  (% style="text-align:center" %)
1996 -[[image:image-20220921163935-9.png||class="img-thumbnail"]]
2012 +[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1997 1997  
1998 1998  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.
1999 1999  
2000 -= **G91G03H Relative position counterclockwise circular helical interpolation instruction** =
2016 += {{id name="_Ref31947"/}}**{{id name="_Toc5018"/}}{{id name="_Toc1347"/}}{{id name="_Toc26018"/}}G91G03H Relative position counterclockwise circular helical interpolation instruction** =
2001 2001  
2002 2002  **G91G03H**
2003 2003  
... ... @@ -2061,28 +2061,28 @@
2061 2061  
2062 2062  (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.
2063 2063  
2064 -(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K.
2080 +(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
2065 2065  
2066 -If Ze=75, lead K=50, and the actual radian [[image:image-20220921172134-15.png||height="68" width="130"]]
2067 -
2068 2068  (7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
2069 2069  
2070 2070  (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:
2071 2071  
2072 2072  (% style="text-align:center" %)
2073 -[[image:image-20220921172803-11.png]]
2087 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
2074 2074  
2075 -(9) Exact match pitch of screws (lead) K and Ze
2089 +(% style="text-align:center" %)
2090 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
2076 2076  
2077 -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.
2092 +(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
2078 2078  
2079 -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.
2094 +The start point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
2080 2080  
2081 -(% style="text-align:center" %)
2082 -[[image:image-20220921172159-16.png||height="72" width="362"]]
2096 +The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
2083 2083  
2084 -(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).
2098 +[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
2085 2085  
2100 +(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the start point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
2101 +
2086 2086  (% class="table-bordered" %)
2087 2087  |**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
2088 2088  |(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
... ... @@ -2102,12 +2102,12 @@
2102 2102  |(% 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.
2103 2103  |(% 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)
2104 2104  |(% style="width:108px" %)4F99H|(% style="width:973px" %)Helical interpolation error, Z axis is 0.
2105 -|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead [[image:image-20220921172255-17.png||height="29" width="62"]],, ,,)
2121 +|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2106 2106  
2107 2107  **{{id name="_Toc11997"/}}Example**
2108 2108  
2109 2109  (% style="text-align:center" %)
2110 -[[image:image-20220921163953-10.png||class="img-thumbnail"]]
2126 +[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2111 2111  
2112 2112  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"/}}
2113 2113  
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