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Last modified by Mora Zhou on 2024/08/08 14:35
From version 20.1
edited by Stone Wu
on 2022/09/26 09:58
Change comment: There is no comment for this version
To version 22.1
edited by Stone Wu
on 2022/09/26 10:13
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -994,13 +994,13 @@
994 994  **Device used**
995 995  
996 996  (% class="table-bordered" %)
997 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="11" %)**Devices**|**Offset modification**|(((
997 +|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="11" %)**Devices**|=**Offset modification**|=(((
998 998  **Pulse**
999 999  
1000 1000  **extension**
1001 1001  )))
1002 -|**Y**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
1003 -|(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1002 +|=**Y**|=**KnX**|=**KnY**|=**KnM**|=**KnS**|=**T**|=**C**|=**D**|=**R**|=**K**|=**H**|=**[D]**|=**XXP**
1003 +|=(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1004 1004  |Parameter 2| |●|●|●|●|●|●|●|●|●|●|●|
1005 1005  |Parameter 3|●| | | | | | | | | | | |
1006 1006  
... ... @@ -1032,11 +1032,11 @@
1032 1032  **Related device**
1033 1033  
1034 1034  (% class="table-bordered" %)
1035 -|=(% scope="row" style="width: 220px;" %)**Output shaft**|=(% style="width: 94px;" %)**Y0**|=(% style="width: 104px;" %)**Y1**|=(% style="width: 111px;" %)**Y2**|=(% style="width: 107px;" %)**Y3**|=(% style="width: 108px;" %)**Y4**|=(% style="width: 108px;" %)**Y5**|=(% style="width: 115px;" %)**Y6**|=**Y7**
1036 -|=(% style="width: 220px;" %)Percentage mode sign|(% style="width:94px" %)SM897|(% style="width:104px" %)SM957|(% style="width:111px" %)SM1017|(% style="width:107px" %)SM1077|(% style="width:108px" %)SM1137|(% style="width:108px" %)SM1197|(% style="width:115px" %)SM1257|SM1317
1035 +|=(% scope="row" style="width: 233px;" %)**Output shaft**|=(% style="width: 81px;" %)**Y0**|=(% style="width: 104px;" %)**Y1**|=(% style="width: 111px;" %)**Y2**|=(% style="width: 107px;" %)**Y3**|=(% style="width: 108px;" %)**Y4**|=(% style="width: 108px;" %)**Y5**|=(% style="width: 115px;" %)**Y6**|=**Y7**
1036 +|=(% style="width: 233px;" %)Percentage mode sign|(% style="width:81px" %)SM897|(% style="width:104px" %)SM957|(% style="width:111px" %)SM1017|(% style="width:107px" %)SM1077|(% style="width:108px" %)SM1137|(% style="width:108px" %)SM1197|(% style="width:115px" %)SM1257|SM1317
1037 1037  
1038 -|=(% scope="row" style="width: 221px;" %)**Output shaft**|=(% style="width: 101px;" %)**Y0**|=**Y1**|=**Y2**|=**Y3**|=**Y4**|=**Y5**|=**Y6**|=**Y7**
1039 -|=(% style="width: 221px;" %)PWM unit selection|(% style="width:101px" %)SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
1038 +|=(% scope="row" style="width: 217px;" %)**Output shaft**|=(% style="width: 105px;" %)**Y0**|=**Y1**|=**Y2**|=**Y3**|=**Y4**|=**Y5**|=**Y6**|=**Y7**
1039 +|=(% style="width: 217px;" %)PWM unit selection|(% style="width:105px" %)SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
1040 1040  |(% colspan="9" scope="row" %)Take Y0 as an example: When SM902 is OFF, the Y0 PWM output cycle and pulse width are in "ms"; When SM902 is ON, the Y0 PWM output cycle and pulse width are in "us".
1041 1041  
1042 1042  **Error code**
... ... @@ -1057,11 +1057,11 @@
1057 1057  (% style="text-align:center" %)
1058 1058  [[image:08_html_f38f59f98fdc96c0.png||height="174" width="477" class="img-thumbnail"]]
1059 1059  
1060 -= **PWM/PWM perimeter mode** =
1060 += **PWM/PWM permil mode** =
1061 1061  
1062 1062  **PWM**
1063 1063  
1064 -The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of the millimetric ratio mode is used to output to the output target specified in (d).
1064 +The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of permil mode is used to output to the output target specified in (d).
1065 1065  
1066 1066  -[PWM (s1) (s2) (d)]
1067 1067  
... ... @@ -1068,33 +1068,33 @@
1068 1068  **Content, range and data type**
1069 1069  
1070 1070  (% class="table-bordered" %)
1071 -|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
1072 -|(s1)|Set output pulse duty cycle|0 to 1000|Signed BIN16|ANY16_S
1073 -|(s2)|Set pulse output cycle|1 to 32767|Signed BIN16|ANY16_S
1074 -|(d)|Pulse output channel number, device number|-|Bit|ANY_BOOL
1071 +|=(% scope="row" %)**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (label)**
1072 +|=(s1)|Set output pulse duty cycle|0 to 1000|Signed BIN16|ANY16_S
1073 +|=(s2)|Set pulse output cycle|1 to 32767|Signed BIN16|ANY16_S
1074 +|=(d)|Pulse output channel number, device number|-|Bit|ANY_BOOL
1075 1075  
1076 1076  **Device used**
1077 1077  
1078 1078  (% class="table-bordered" %)
1079 -|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="11" %)**Devices**|**Offset modification**|(((
1079 +|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="11" %)**Devices**|=**Offset modification**|=(((
1080 1080  **Pulse**
1081 1081  
1082 1082  **extension**
1083 1083  )))
1084 -|**Y**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
1085 -|(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1084 +|=**Y**|=**KnX**|=**KnY**|=**KnM**|=**KnS**|=**T**|=**C**|=**D**|=**R**|=**K**|=**H**|=**[D]**|=**XXP**
1085 +|=(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1086 1086  |Parameter 2| |●|●|●|●|●|●|●|●|●|●|●|
1087 1087  |Parameter 3|●| | | | | | | | | | | |
1088 1088  
1089 1089  **Features**
1090 1090  
1091 -The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of the millimetric ratio mode is used to output to the output target specified in (d).
1091 +The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of permil mode is used to output to the output target specified in (d).
1092 1092  
1093 -It is necessary to turn on the millimetric ratio mode of the PWM instruction, and the corresponding related device:
1093 +It is necessary to turn on the permil mode of the PWM instruction, and the corresponding related device:
1094 1094  
1095 1095  (% class="table-bordered" %)
1096 -|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1097 -|Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1096 +|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1097 +|=Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1098 1098  
1099 1099  Specify the output pulse duty ratio in (s1). (The setting range is 0 to 1000)
1100 1100  
... ... @@ -1124,9 +1124,13 @@
1124 1124  • Percentage mode flag
1125 1125  
1126 1126  (% class="table-bordered" %)
1127 -|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1128 -|Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1127 +|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1128 +|=Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1129 1129  
1130 +|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1131 +|=PWM unit selection|SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
1132 +|(% colspan="9" scope="row" %)Take Y0 as an example: When SM902 is OFF, the Y0 PWM output cycle and pulse width are in "ms"; When SM902 is ON, the Y0 PWM output cycle and pulse width are in "us".
1133 +
1130 1130  **Error code**
1131 1131  
1132 1132  (% class="table-bordered" %)
... ... @@ -1140,12 +1140,12 @@
1140 1140  The period is set to 100ms, if the duty cycle is set to 500, the output is high for 50ms and low for 50ms; if the duty cycle is set to 100, the output is high for 10ms and low for 90ms; duty cycle If it is set to 900, then the output is high for 90ms and low for 10ms;
1141 1141  
1142 1142  (% style="text-align:center" %)
1143 -[[image:08_html_ace0b444319fb8c4.png||class="img-thumbnail"]]
1147 +[[image:08_html_ace0b444319fb8c4.png||height="155" width="905" class="img-thumbnail"]]
1144 1144  
1145 1145  The waveform diagram is as follows, the period is 300ms, the duty cycle is 100, and the output is 30ms high level and 270ms low level:
1146 1146  
1147 1147  (% style="text-align:center" %)
1148 -[[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1152 +[[image:08_html_13acf8747e8703ff.png||height="221" width="625" class="img-thumbnail"]]
1149 1149  
1150 1150  = **G90G01 Absolute position line interpolation instruction** =
1151 1151