Changes for page 08 High-speed pulse output

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• Page properties (2 modified, 0 added, 0 removed)

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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
...	...	@@ -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
...	...	@@ -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		-= {{id name="_Toc26527"/}}**{{id name="_Toc9670"/}}{{id name="_Toc32423"/}}{{id name="_Toc27238"/}}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
...	...	@@ -1228,7 +1228,7 @@
1228	1228
1229	1229	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.
1230	1230
1231		-= {{id name="_Ref31771"/}}**{{id name="_Toc17391"/}}{{id name="_Toc10640"/}}{{id name="_Toc32642"/}}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** ==
1232	1232
1233	1233	{{id name="OLE_LINK10"/}}{{id name="_Toc20742"/}}**G91G01**
1234	1234
...	...	@@ -1268,7 +1268,7 @@
1268	1268	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.
1269	1269
1270	1270	(% style="text-align:center" %)
1271		-[[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"]]
1272	1272
1273	1273	* (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.
1274	1274
...	...	@@ -1311,7 +1311,7 @@
1311	1311
1312	1312	{{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.
1313	1313
1314		-= {{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** ==
1315	1315
1316	1316	**G90G02**
1317	1317
...	...	@@ -1349,7 +1349,7 @@
1349	1349	{{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.
1350	1350
1351	1351	(% style="text-align:center" %)
1352		-[[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"]]
1353	1353
1354	1354	* (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.
1355	1355	* 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.
...	...	@@ -1398,7 +1398,7 @@
1398	1398
1399	1399	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.
1400	1400
1401		-= **G91G02 Relative position clockwise circular interpolation instruction** =
	1403	+== **G91G02 Relative position clockwise circular interpolation instruction** ==
1402	1402
1403	1403	**G91G02**
1404	1404
...	...	@@ -1440,7 +1440,7 @@
1440	1440	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.
1441	1441
1442	1442	(% style="text-align:center" %)
1443		-[[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"]]
1444	1444
1445	1445	* {{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.
1446	1446	* {{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.
...	...	@@ -1489,7 +1489,7 @@
1489	1489
1490	1490	{{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.
1491	1491
1492		-= **G90G03 Absolute position counterclockwise circular interpolation instruction** =
	1494	+== **G90G03 Absolute position counterclockwise circular interpolation instruction** ==
1493	1493
1494	1494	G90G03
1495	1495
...	...	@@ -1531,7 +1531,7 @@
1531	1531	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.
1532	1532
1533	1533	(% style="text-align:center" %)
1534		-[[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"]]
1535	1535
1536	1536	* 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.
1537	1537	* 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.
...	...	@@ -1580,7 +1580,7 @@
1580	1580
1581	1581	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.
1582	1582
1583		-= {{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** ==
1584	1584
1585	1585	**G91G03**
1586	1586
...	...	@@ -1622,7 +1622,7 @@
1622	1622	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.
1623	1623
1624	1624	(% style="text-align:center" %)
1625		-[[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"]]
1626	1626
1627	1627	* 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.
1628	1628	* 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.
...	...	@@ -1671,7 +1671,7 @@
1671	1671
1672	1672	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.
1673	1673
1674		-= {{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** ==
1675	1675
1676	1676	**G90G02H**
1677	1677
...	...	@@ -1715,7 +1715,7 @@
1715	1715	(% style="text-align:center" %)
1716	1716	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1717	1717
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.)
	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.)
1719	1719	* 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.
1720	1720
1721	1721	* 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.
...	...	@@ -1735,7 +1735,7 @@
1735	1735
1736	1736	(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.
1737	1737
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]] ,,)
	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"]] ,,)
1739	1739
1740	1740	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1741	1741
...	...	@@ -1747,15 +1747,15 @@
1747	1747	(% style="text-align:center" %)
1748	1748	[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1749	1749
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]] .,,
	1752	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1751	1751
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.
	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.
1753	1753
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.
	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.
1755	1755
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)
	1758	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1757	1757
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]] ,,).
	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"]] ,,).
1759	1759
1760	1760	(% class="table-bordered" %)
1761	1761	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
...	...	@@ -1776,7 +1776,7 @@
1776	1776	|(% 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.
1777	1777	|(% 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)
1778	1778	|(% style="width:139px" %)4F99H|(% style="width:942px" %)Helical interpolation error, Z axis is 0.
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]] ,,)
	1781	+|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1780	1780
1781	1781	**{{id name="_Toc12418"/}}Example**
1782	1782
...	...	@@ -1785,7 +1785,7 @@
1785	1785
1786	1786	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.
1787	1787
1788		-= {{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** ==
1789	1789
1790	1790	**G91G02H**
1791	1791
...	...	@@ -1829,7 +1829,7 @@
1829	1829	(% style="text-align:center" %)
1830	1830	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1831	1831
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.)
	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.)
1833	1833	* 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.
1834	1834
1835	1835	* 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.
...	...	@@ -1849,7 +1849,7 @@
1849	1849
1850	1850	(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.
1851	1851
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]] ,,)
	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"]] ,,)
1853	1853
1854	1854	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1855	1855
...	...	@@ -1861,15 +1861,15 @@
1861	1861	(% style="text-align:center" %)
1862	1862	[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1863	1863
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]] .,,
	1866	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1865	1865
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.
	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.
1867	1867
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.
	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.
1869	1869
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)
	1872	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1871	1871
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]] ,,).
	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]] ,,).
1873	1873
1874	1874	(% class="table-bordered" %)
1875	1875	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
...	...	@@ -1890,7 +1890,7 @@
1890	1890	|(% 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.
1891	1891	|(% 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)
1892	1892	|(% style="width:129px" %)4F99H|(% style="width:952px" %)Helical interpolation error, Z axis is 0.
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]] ,,)
	1895	+|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1894	1894
1895	1895	**{{id name="_Toc28830"/}}Example**
1896	1896
...	...	@@ -1899,7 +1899,7 @@
1899	1899
1900	1900	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.
1901	1901
1902		-= {{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** ==
1903	1903
1904	1904	**G90G03H**
1905	1905
...	...	@@ -1943,7 +1943,7 @@
1943	1943	(% style="text-align:center" %)
1944	1944	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1945	1945
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.)
	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.)
1947	1947	* 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.
1948	1948
1949	1949	* 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.
...	...	@@ -1963,7 +1963,7 @@
1963	1963
1964	1964	(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.
1965	1965
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]] ,,)
	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"]] ,,)
1967	1967
1968	1968	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1969	1969
...	...	@@ -1975,15 +1975,15 @@
1975	1975	(% style="text-align:center" %)
1976	1976	[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1977	1977
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]] .,,
	1980	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1979	1979
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.
	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.
1981	1981
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.
	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.
1983	1983
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)
	1986	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1985	1985
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]] ,,).
	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"]] ,,).
1987	1987
1988	1988	(% class="table-bordered" %)
1989	1989	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
...	...	@@ -2004,7 +2004,7 @@
2004	2004	|(% 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.
2005	2005	|(% 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)
2006	2006	|(% style="width:132px" %)4F99H|(% style="width:949px" %)Helical interpolation error, Z axis is 0.
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]] ,,)
	2009	+|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2008	2008
2009	2009	**{{id name="_Toc18584"/}}Example**
2010	2010
...	...	@@ -2013,7 +2013,7 @@
2013	2013
2014	2014	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.
2015	2015
2016		-= {{id name="_Ref31947"/}}**{{id name="_Toc5018"/}}{{id name="_Toc1347"/}}{{id name="_Toc26018"/}}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** ==
2017	2017
2018	2018	**G91G03H**
2019	2019
...	...	@@ -2077,7 +2077,7 @@
2077	2077
2078	2078	(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.
2079	2079
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]] ,,)
	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"]] ,,)
2081	2081
2082	2082	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
2083	2083
...	...	@@ -2089,15 +2089,15 @@
2089	2089	(% style="text-align:center" %)
2090	2090	[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
2091	2091
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]] .,,
	2094	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
2093	2093
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.
	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.
2095	2095
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.
	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.
2097	2097
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)
	2100	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
2099	2099
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]] ,,).
	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]] ,,).
2101	2101
2102	2102	(% class="table-bordered" %)
2103	2103	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
...	...	@@ -2118,7 +2118,7 @@
2118	2118	|(% 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.
2119	2119	|(% 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)
2120	2120	|(% style="width:108px" %)4F99H|(% style="width:973px" %)Helical interpolation error, Z axis is 0.
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]] ,,)
	2123	+|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2122	2122
2123	2123	**{{id name="_Toc11997"/}}Example**
2124	2124
...	...	@@ -2273,7 +2273,7 @@
2273	2273	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.
2274	2274
2275	2275	(% style="text-align:center" %)
2276		-[[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"]]
2277	2277
2278	2278	**(9) Not scanned**
2279	2279
...	...	@@ -2524,7 +2524,7 @@
2524	2524	[1: Stop immediately]: Stop immediately after receiving the stop signal without decelerating movement.
2525	2525
2526	2526	(% style="text-align:center" %)
2527		-[[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"]]
2528	2528
2529	2529	**(8) Direction delay**
2530	2530
...	...	@@ -2537,7 +2537,7 @@
2537	2537	|Direction delay|SD905|SD965|SD1025|SD1085|SD1145|SD1205|SD1265|SD1325
2538	2538
2539	2539	(% style="text-align:center" %)
2540		-[[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"]]
2541	2541
2542	2542	**(9) External start signal**
2543	2543
...	...	@@ -2569,12 +2569,12 @@
2569	2569	①Reachable frequency
2570	2570
2571	2571	(% style="text-align:center" %)
2572		-[[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"]]
2573	2573
2574	2574	②Unreachable frequency
2575	2575
2576	2576	(% style="text-align:center" %)
2577		-[[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"]]
2578	2578
2579	2579	2) Modify the number of pulses:
2580	2580
...	...	@@ -2581,12 +2581,12 @@
2581	2581	①Modify to the number of reachable pulses
2582	2582
2583	2583	(% style="text-align:center" %)
2584		-[[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"]]
2585	2585
2586	2586	②Modify to the number of unreachable pulses (only support instructions with direction. If there is no direction, stop pulse sending)
2587	2587
2588	2588	(% style="text-align:center" %)
2589		-[[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"]]
2590	2590
2591	2591	**{{id name="OLE_LINK371"/}}(12) The number of sent pulses is out of range**
2592	2592
...	...	@@ -2643,17 +2643,17 @@
2643	2643	Time-minute ladder acceleration and deceleration
2644	2644
2645	2645	(% style="text-align:center" %)
2646		-[[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"]]
2647	2647
2648	2648	Time-minute S-type acceleration and deceleration
2649	2649
2650	2650	(% style="text-align:center" %)
2651		-[[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"]]
2652	2652
2653	2653	The following figure shows the changes of each parameter
2654	2654
2655	2655	(% style="text-align:center" %)
2656		-[[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"]]
2657	2657
2658	2658	**✎Note: **When the frequency is modified during the operation, acceleration would accelerate again from zero. There will be discontinuous acceleration.
2659	2659