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Last modified by Mora Zhou on 2024/08/08 14:35
From version 22.1
edited by Stone Wu
on 2022/09/26 10:13
Change comment: There is no comment for this version
To version 11.1
edited by Stone Wu
on 2022/09/21 17:22
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -986,21 +986,21 @@
986 986  **Content, range and data type**
987 987  
988 988  (% class="table-bordered" %)
989 -|=(% scope="row" %)**Parameter**|=(% style="width: 618px;" %)**Content**|=(% style="width: 121px;" %)**Range**|=(% style="width: 132px;" %)**Data type**|=(% style="width: 118px;" %)**Data type (label)**
990 -|=(s1)|(% style="width:618px" %)The ON time or the device number storing the ON time|(% style="width:121px" %)0 to 32,767|(% style="width:132px" %)Signed BIN16|(% style="width:118px" %)ANY16_S
991 -|=(s2)|(% style="width:618px" %)Cycle or the device number storing the cycle|(% style="width:121px" %)1 to 32,767|(% style="width:132px" %)Signed BIN16|(% style="width:118px" %)ANY16_S
992 -|=(d)|(% style="width:618px" %)The channel number and device number that pulse outputs|(% style="width:121px" %)-|(% style="width:132px" %)Bit|(% style="width:118px" %)ANY_BOOL
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  
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  
... ... @@ -1032,20 +1032,16 @@
1032 1032  **Related device**
1033 1033  
1034 1034  (% class="table-bordered" %)
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
1035 +|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1036 +|Percentage mode sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1037 1037  
1038 -|=(% scope="row" style="width: 217px;" %)**Output shaft**|=(% style="width: 105px;" %)**Y0**|=**Y1**|=**Y2**|=**Y3**|=**Y4**|=**Y5**|=**Y6**|=**Y7**
1039 -|=(% style="width: 217px;" %)PWM unit selection|(% style="width:105px" %)SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
1040 -|(% colspan="9" scope="row" %)Take Y0 as an example: When SM902 is OFF, the Y0 PWM output cycle and pulse width are in "ms"; When SM902 is ON, the Y0 PWM output cycle and pulse width are in "us".
1041 -
1042 1042  **Error code**
1043 1043  
1044 1044  (% class="table-bordered" %)
1045 -|=(% scope="row" %)**Error code**|=**Content**
1046 -|=4084H|The data input in the application instruction (s1) and (s2) exceed the specified range or (s1)>(s2)
1047 -|=4085H|The result output in the read application instruction (s1), (s2) and (d) exceed the device range
1048 -|=4088H|The same pulse output axis (d) is used and has been started.
1041 +|**Error code**|**Content**
1042 +|4084H|The data input in the application instruction (s1) and (s2) exceed the specified range or (s1)>(s2)
1043 +|4085H|The result output in the read application instruction (s1), (s2) and (d) exceed the device range
1044 +|4088H|The same pulse output axis (d) is used and has been started.
1049 1049  
1050 1050  **Example**
1051 1051  
... ... @@ -1052,16 +1052,16 @@
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 -= **PWM/PWM permil mode** =
1056 += **PWM/PWM perimeter 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 permil mode is used to output to the output target specified in (d).
1060 +The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of the millimetric ratio mode is used to output to the output target specified in (d).
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 -|=(% 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
1067 +|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
1068 +|(s1)|Set output pulse duty cycle|0 to 1000|Signed BIN16|ANY16_S
1069 +|(s2)|Set pulse output cycle|1 to 32767|Signed BIN16|ANY16_S
1070 +|(d)|Pulse output channel number, device number|-|Bit|ANY_BOOL
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**|=(((
1075 +|(% 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| |●|●|●|●|●|●|●|●|●|●|●|
1080 +|**Y**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
1081 +|(% 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 permil mode is used to output to the output target specified in (d).
1087 +The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of the millimetric ratio mode is used to output to the output target specified in (d).
1092 1092  
1093 -It is necessary to turn on the permil mode of the PWM instruction, and the corresponding related device:
1089 +It is necessary to turn on the millimetric ratio mode of the PWM instruction, and the corresponding related device:
1094 1094  
1095 1095  (% class="table-bordered" %)
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
1092 +|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1093 +|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  
... ... @@ -1124,13 +1124,9 @@
1124 1124  • Percentage mode flag
1125 1125  
1126 1126  (% class="table-bordered" %)
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
1123 +|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1124 +|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 -
1134 1134  **Error code**
1135 1135  
1136 1136  (% class="table-bordered" %)
... ... @@ -1144,12 +1144,12 @@
1144 1144  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;
1145 1145  
1146 1146  (% style="text-align:center" %)
1147 -[[image:08_html_ace0b444319fb8c4.png||height="155" width="905" class="img-thumbnail"]]
1139 +[[image:08_html_ace0b444319fb8c4.png||class="img-thumbnail"]]
1148 1148  
1149 1149  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:
1150 1150  
1151 1151  (% style="text-align:center" %)
1152 -[[image:08_html_13acf8747e8703ff.png||height="221" width="625" class="img-thumbnail"]]
1144 +[[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1153 1153  
1154 1154  = **G90G01 Absolute position line interpolation instruction** =
1155 1155  
... ... @@ -1216,8 +1216,11 @@
1216 1216  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:
1217 1217  
1218 1218  (% style="text-align:center" %)
1219 -[[image:image-20220921172417-2.png]]
1211 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1220 1220  
1213 +(% style="text-align:center" %)
1214 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1215 +
1221 1221  **{{id name="_Toc32765"/}}Error Codes**
1222 1222  
1223 1223  (% class="table-bordered" %)
... ... @@ -1296,10 +1296,13 @@
1296 1296  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:
1297 1297  
1298 1298  (% style="text-align:center" %)
1299 -[[image:image-20220921172437-3.png]]
1294 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1300 1300  
1301 -**Error Codes**
1296 +(% style="text-align:center" %)
1297 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1302 1302  
1299 +**{{id name="_Toc8461"/}}Error Codes**
1300 +
1303 1303  (% class="table-bordered" %)
1304 1304  |**Error Codes**|**Contents**
1305 1305  |4084H|The data input in the application instruction (s1) and (s2) exceed the specified range
... ... @@ -1373,10 +1373,13 @@
1373 1373  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:
1374 1374  
1375 1375  (% style="text-align:center" %)
1376 -[[image:image-20220921172524-4.png]]
1374 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1377 1377  
1378 -**Error Codes**
1376 +(% style="text-align:center" %)
1377 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1379 1379  
1379 + **Error Codes**
1380 +
1380 1380  (% class="table-bordered" %)
1381 1381  |(% style="width:134px" %)**Error Codes**|(% style="width:947px" %)**Contents**
1382 1382  |(% style="width:134px" %)4084H|(% style="width:947px" %)The data input in the application instruction (s1) and (s2) exceed the specified range
... ... @@ -1461,8 +1461,11 @@
1461 1461  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:
1462 1462  
1463 1463  (% style="text-align:center" %)
1464 -[[image:image-20220921172550-5.png]]
1465 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1465 1465  
1467 +(% style="text-align:center" %)
1468 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1469 +
1466 1466  **Error Codes**
1467 1467  
1468 1468  (% class="table-bordered" %)
... ... @@ -1549,8 +1549,11 @@
1549 1549  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:
1550 1550  
1551 1551  (% style="text-align:center" %)
1552 -[[image:image-20220921172606-6.png]]
1556 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1553 1553  
1558 +(% style="text-align:center" %)
1559 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1560 +
1554 1554  **Error Codes**
1555 1555  
1556 1556  (% class="table-bordered" %)
... ... @@ -1637,8 +1637,11 @@
1637 1637  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:
1638 1638  
1639 1639  (% style="text-align:center" %)
1640 -[[image:image-20220921172617-7.png]]
1647 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1641 1641  
1649 +(% style="text-align:center" %)
1650 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1651 +
1642 1642  **Error Codes**
1643 1643  
1644 1644  (% class="table-bordered" %)
... ... @@ -1731,8 +1731,11 @@
1731 1731  (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:
1732 1732  
1733 1733  (% style="text-align:center" %)
1734 -[[image:image-20220921172637-8.png]]
1744 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1735 1735  
1746 +(% style="text-align:center" %)
1747 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1748 +
1736 1736  (9) Exact match pitch of screws (lead) K and Ze,,.,,
1737 1737  
1738 1738  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.
... ... @@ -1845,8 +1845,11 @@
1845 1845  (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:
1846 1846  
1847 1847  (% style="text-align:center" %)
1848 -[[image:image-20220921172651-9.png]]
1861 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1849 1849  
1863 +(% style="text-align:center" %)
1864 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1865 +
1850 1850  (9) Exact match pitch of screws (lead) K and Ze,,.,,
1851 1851  
1852 1852  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.
... ... @@ -1960,8 +1960,11 @@
1960 1960  (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:
1961 1961  
1962 1962  (% style="text-align:center" %)
1963 -[[image:image-20220921172744-10.png]]
1979 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1964 1964  
1981 +(% style="text-align:center" %)
1982 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1983 +
1965 1965  (9) Exact match pitch of screws (lead) K and Ze
1966 1966  
1967 1967  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.
... ... @@ -2074,8 +2074,11 @@
2074 2074  (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:
2075 2075  
2076 2076  (% style="text-align:center" %)
2077 -[[image:image-20220921172803-11.png]]
2096 +[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
2078 2078  
2098 +(% style="text-align:center" %)
2099 +[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
2100 +
2079 2079  (9) Exact match pitch of screws (lead) K and Ze
2080 2080  
2081 2081  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.
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