Changes for page 08 High-speed pulse output

Summary

• Page properties (3 modified, 0 added, 0 removed)
• Attachments (0 modified, 0 added, 38 removed)
  • image-20220921163523-1.jpeg
  • image-20220921163600-2.png
  • image-20220921163619-3.png
  • image-20220921163641-4.png
  • image-20220921163737-5.png
  • image-20220921163754-6.png
  • image-20220921163843-7.png
  • image-20220921163904-8.png
  • image-20220921163935-9.png
  • image-20220921163953-10.png
  • image-20220921171331-1.png
  • image-20220921171348-2.png
  • image-20220921171411-3.png
  • image-20220921171433-4.png
  • image-20220921171529-5.png
  • image-20220921171628-6.png
  • image-20220921171639-7.png
  • image-20220921171703-8.png
  • image-20220921171735-9.png
  • image-20220921171807-10.png
  • image-20220921171852-11.png
  • image-20220921171930-12.png
  • image-20220921171956-13.png
  • image-20220921172054-14.png
  • image-20220921172134-15.png
  • image-20220921172159-16.png
  • image-20220921172255-17.png
  • image-20220921172410-1.png
  • image-20220921172417-2.png
  • image-20220921172437-3.png
  • image-20220921172524-4.png
  • image-20220921172550-5.png
  • image-20220921172606-6.png
  • image-20220921172617-7.png
  • image-20220921172637-8.png
  • image-20220921172651-9.png
  • image-20220921172744-10.png
  • image-20220921172803-11.png

Details

Page properties

Parent

...	...	@@ -1,1 +1,1 @@
1		-PLC Editor2.WebHome
	1	+PLC Editor2.1 User manual.2\.1 LX5V user manual.WebHome

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
...	...	@@ -221,17 +221,17 @@
221	221	**Device used**
222	222
223	223	(% class="table-bordered" %)
224		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:134.641px" %)**Parameter**|(% colspan="15" style="width:628.359px" %)**Devices**|(% style="width:129px" %)**Offset modification**|(((
	226	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="15" %)**Devices**|**Offset modification**|(((
225	225	**Pulse**
226	226
227	227	**extension**
228	228	)))
229		-|(% style="width:1px" %)**X**|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|(% style="width:75px" %)**H**|(% style="width:129px" %)**[D]**|**XXP**
230		-|(% rowspan="5" %)DVIT|(% style="width:134.641px" %)Parameter 1|(% style="width:1px" %) | | | | |●|●|●|●|●|●|●|●|●|(% style="width:75px" %)●|(% style="width:129px" %)●|
231		-|(% style="width:134.641px" %)Parameter 2|(% style="width:1px" %) | | | | |●|●|●|●|●|●|●|●|●|(% style="width:75px" %)●|(% style="width:129px" %)●|
232		-|(% style="width:134.641px" %)Parameter 3|(% style="width:1px" %) |●| | | | | | | | | | | | |(% style="width:75px" %) |(% style="width:129px" %) |
233		-|(% style="width:134.641px" %)Parameter 4|(% style="width:1px" %) |●|●|●|●| | | | | | | | | |(% style="width:75px" %) |(% style="width:129px" %) |
234		-|(% style="width:134.641px" %)Parameter 5|(% style="width:1px" %)●| |●|●| | | | | | | | | | |(% style="width:75px" %) |(% style="width:129px" %) |
	231	+|**X**|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
	232	+|(% rowspan="5" %)DVIT|Parameter 1| | | | | |●|●|●|●|●|●|●|●|●|●|●|
	233	+|Parameter 2| | | | | |●|●|●|●|●|●|●|●|●|●|●|
	234	+|Parameter 3| |●| | | | | | | | | | | | | | |
	235	+|Parameter 4| |●|●|●|●| | | | | | | | | | | |
	236	+|Parameter 5|●| |●|●| | | | | | | | | | | | |
235	235
236	236	**Features**
237	237
...	...	@@ -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
...	...	@@ -331,17 +331,17 @@
331	331
332	332	**Device used**
333	333
334		-(% class="table-bordered" style="width:1046px" %)
335		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:132.875px" %)**Parameter**|(% colspan="14" style="width:603.125px" %)**Devices**|(% style="width:125px" %)**Offset modification**|(((
	336	+(% class="table-bordered" %)
	337	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="14" %)**Devices**|**Offset modification**|(((
336	336	**Pulse**
337	337
338	338	**extension**
339	339	)))
340		-|(% style="width:1px" %)**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|(% style="width:79px" %)**H**|(% style="width:125px" %)**[D]**|**XXP**
341		-|(% rowspan="4" %)DRVI|(% style="width:132.875px" %)Parameter 1|(% style="width:1px" %) | | | |●|●|●|●|●|●|●|●|●|(% style="width:79px" %)●|(% style="width:125px" %)●|
342		-|(% style="width:132.875px" %)Parameter 2|(% style="width:1px" %) | | | |●|●|●|●|●|●|●|●|●|(% style="width:79px" %)●|(% style="width:125px" %)●|
343		-|(% style="width:132.875px" %)Parameter 3|(% style="width:1px" %)●| | | | | | | | | | | | |(% style="width:79px" %) |(% style="width:125px" %) |
344		-|(% style="width:132.875px" %)Parameter 4|(% style="width:1px" %)●|●|●|●| | | | | | | | | |(% style="width:79px" %) |(% style="width:125px" %) |
	342	+|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
	343	+|(% rowspan="4" %)DRVI|Parameter 1| | | | |●|●|●|●|●|●|●|●|●|●|●|
	344	+|Parameter 2| | | | |●|●|●|●|●|●|●|●|●|●|●|
	345	+|Parameter 3|●| | | | | | | | | | | | | | |
	346	+|Parameter 4|●|●|●|●| | | | | | | | | | | |
345	345
346	346	**Features**
347	347
...	...	@@ -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
...	...	@@ -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
	991	+|**Parameter**|(% style="width:702px" %)**Content**|(% style="width:183px" %)**Range**|**Data type**|**Data type (label)**
	992	+|(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
	993	+|(s2)|(% style="width:702px" %)Cycle or the device number storing the cycle|(% style="width:183px" %)1 to 32,767|Signed BIN16|ANY16_S
	994	+|(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**|=(((
	999	+|(% 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| |●|●|●|●|●|●|●|●|●|●|●|
	1004	+|**Y**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
	1005	+|(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1004	1004	|Parameter 2| |●|●|●|●|●|●|●|●|●|●|●|
1005	1005	|Parameter 3|●| | | | | | | | | | | |
1006	1006
...	...	@@ -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:**
...	...	@@ -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
	1037	+|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
	1038	+|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.
	1043	+|**Error code**|**Content**
	1044	+|4084H|The data input in the application instruction (s1) and (s2) exceed the specified range or (s1)>(s2)
	1045	+|4085H|The result output in the read application instruction (s1), (s2) and (d) exceed the device range
	1046	+|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.
	1053	+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"]]
	1056	+[[image:08_html_f38f59f98fdc96c0.png||class="img-thumbnail" height="213" width="600"]]
1059	1059
1060		-= **PWM/PWM permil mode** =
	1058	+== **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).
	1062	+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
	1069	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	1070	+|(s1)|Set output pulse duty cycle|0 to 1000|Signed BIN16|ANY16_S
	1071	+|(s2)|Set pulse output cycle|1 to 32767|Signed BIN16|ANY16_S
	1072	+|(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**|=(((
	1077	+|(% 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| |●|●|●|●|●|●|●|●|●|●|●|
	1082	+|**Y**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
	1083	+|(% 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).
	1089	+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:
	1091	+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		-|=Permil mode sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
	1094	+|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
	1095	+|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		-|=Permil mode sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
	1125	+|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
	1126	+|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" %)
...	...	@@ -1144,14 +1144,14 @@
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"]]
	1141	+[[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"]]
	1146	+[[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1153	1153
1154		-= **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** ==
1155	1155
1156	1156	**G90G01**
1157	1157
...	...	@@ -1191,7 +1191,7 @@
1191	1191	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.
1192	1192
1193	1193	(% style="text-align:center" %)
1194		-[[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"]]
1195	1195
1196	1196	* (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.
1197	1197
...	...	@@ -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]]
	1213	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1220	1220
	1215	+(% style="text-align:center" %)
	1216	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1217	+
1221	1221	**{{id name="_Toc32765"/}}Error Codes**
1222	1222
1223	1223	(% class="table-bordered" %)
...	...	@@ -1226,16 +1226,16 @@
1226	1226	|4085H|The result output in the read application instruction (s1), (s2), (d1) and (d2) exceed the device range
1227	1227	|4088H|The same pulse output axis (d1) is used and has been started.
1228	1228
1229		-**Example**
	1226	+**{{id name="_Toc29603"/}}Example**
1230	1230
1231	1231	(% style="text-align:center" %)
1232		-[[image:image-20220921163523-1.jpeg||class="img-thumbnail"]]
	1229	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1233	1233
1234	1234	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.
1235	1235
1236		-= **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** ==
1237	1237
1238		-**G91G01**
	1235	+{{id name="OLE_LINK10"/}}{{id name="_Toc20742"/}}**G91G01**
1239	1239
1240	1240	Execute 2 axis/3 axis line interpolation instruction in relative drive mode. The method of specifying the movement distance from the current position is also called incremental(relative) drive mode.
1241	1241
...	...	@@ -1273,7 +1273,7 @@
1273	1273	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.
1274	1274
1275	1275	(% style="text-align:center" %)
1276		-[[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"]]
1277	1277
1278	1278	* (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.
1279	1279
...	...	@@ -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]]
	1296	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1300	1300
1301		-**Error Codes**
	1298	+(% style="text-align:center" %)
	1299	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1302	1302
	1301	+**{{id name="_Toc8461"/}}Error Codes**
	1302	+
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
...	...	@@ -1308,11 +1308,12 @@
1308	1308
1309	1309	**{{id name="_Toc16441"/}}Example**
1310	1310
1311		-[[image:image-20220921163600-2.png]]
	1311	+(% style="text-align:center" %)
	1312	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1312	1312
1313	1313	{{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.
1314	1314
1315		-= {{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** ==
1316	1316
1317	1317	**G90G02**
1318	1318
...	...	@@ -1350,7 +1350,7 @@
1350	1350	{{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.
1351	1351
1352	1352	(% style="text-align:center" %)
1353		-[[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"]]
1354	1354
1355	1355	* (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.
1356	1356	* 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.
...	...	@@ -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]]
	1377	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1377	1377
1378		-**Error Codes**
	1379	+(% style="text-align:center" %)
	1380	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1379	1379
	1382	+ **Error Codes**
	1383	+
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
...	...	@@ -1392,11 +1392,11 @@
1392	1392	**{{id name="OLE_LINK268"/}}Example**
1393	1393
1394	1394	(% style="text-align:center" %)
1395		-[[image:image-20220921163619-3.png||class="img-thumbnail"]]
	1399	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1396	1396
1397	1397	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.
1398	1398
1399		-= **G91G02 Relative position clockwise circular interpolation instruction** =
	1403	+== **G91G02 Relative position clockwise circular interpolation instruction** ==
1400	1400
1401	1401	**G91G02**
1402	1402
...	...	@@ -1438,7 +1438,7 @@
1438	1438	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.
1439	1439
1440	1440	(% style="text-align:center" %)
1441		-[[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"]]
1442	1442
1443	1443	* {{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.
1444	1444	* {{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.
...	...	@@ -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]]
	1468	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1465	1465
	1470	+(% style="text-align:center" %)
	1471	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1472	+
1466	1466	**Error Codes**
1467	1467
1468	1468	(% class="table-bordered" %)
...	...	@@ -1480,11 +1480,11 @@
1480	1480	**Example**{{id name="OLE_LINK22"/}}
1481	1481
1482	1482	(% style="text-align:center" %)
1483		-[[image:image-20220921163641-4.png||class="img-thumbnail"]]
	1490	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1484	1484
1485	1485	{{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.
1486	1486
1487		-= **G90G03 Absolute position counterclockwise circular interpolation instruction** =
	1494	+== **G90G03 Absolute position counterclockwise circular interpolation instruction** ==
1488	1488
1489	1489	G90G03
1490	1490
...	...	@@ -1526,7 +1526,7 @@
1526	1526	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.
1527	1527
1528	1528	(% style="text-align:center" %)
1529		-[[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"]]
1530	1530
1531	1531	* 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.
1532	1532	* 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.
...	...	@@ -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]]
	1559	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1553	1553
	1561	+(% style="text-align:center" %)
	1562	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1563	+
1554	1554	**Error Codes**
1555	1555
1556	1556	(% class="table-bordered" %)
...	...	@@ -1568,11 +1568,11 @@
1568	1568	**Example**
1569	1569
1570	1570	(% style="text-align:center" %)
1571		-[[image:image-20220921163737-5.png||class="img-thumbnail"]]
	1581	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1572	1572
1573	1573	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.
1574	1574
1575		-= {{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** ==
1576	1576
1577	1577	**G91G03**
1578	1578
...	...	@@ -1614,7 +1614,7 @@
1614	1614	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.
1615	1615
1616	1616	(% style="text-align:center" %)
1617		-[[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"]]
1618	1618
1619	1619	* 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.
1620	1620	* 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.
...	...	@@ -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]]
	1650	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1641	1641
	1652	+(% style="text-align:center" %)
	1653	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1654	+
1642	1642	**Error Codes**
1643	1643
1644	1644	(% class="table-bordered" %)
...	...	@@ -1656,11 +1656,11 @@
1656	1656	**Example**
1657	1657
1658	1658	(% style="text-align:center" %)
1659		-[[image:image-20220921163754-6.png]]
	1672	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1660	1660
1661	1661	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.
1662	1662
1663		-= {{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** ==
1664	1664
1665	1665	**G90G02H**
1666	1666
...	...	@@ -1704,7 +1704,7 @@
1704	1704	(% style="text-align:center" %)
1705	1705	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1706	1706
1707		-* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is [[image:image-20220921171331-1.png||height="31" width="113"]],, ,,.(The range is -2147483648 to +2147483647.)
	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.)
1708	1708	* 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.
1709	1709
1710	1710	* 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.
...	...	@@ -1724,7 +1724,7 @@
1724	1724
1725	1725	(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.
1726	1726
1727		-(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. (If Ze=75, lead K=50, and the actual radian [[image:image-20220921171348-2.png||height="47" width="90"]],,),,
	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"]] ,,)
1728	1728
1729	1729	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1730	1730
...	...	@@ -1731,19 +1731,21 @@
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]]
	1747	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1735	1735
1736		-(9) Exact match pitch of screws (lead) K and Ze,,.,,
	1749	+(% style="text-align:center" %)
	1750	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1737	1737
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.
	1752	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1739	1739
1740		-The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to Ze,, ,,.The actual end point position of X and Y axes  (Xe',Ye') ,, ,,may not be equal to the set  (Xe,Ye), but it must pass through the set point (Xe,Ye), in the whole circle.
	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.
1741	1741
1742		-(% style="text-align:center" %)
1743		-[[image:image-20220921171411-3.png||height="62" width="312"]]
	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.
1744	1744
1745		-(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate (0,0,0), the end point coordinate (0,0,Ze).
	1758	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1746	1746
	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"]] ,,).
	1761	+
1747	1747	(% class="table-bordered" %)
1748	1748	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1749	1749	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1763,16 +1763,16 @@
1763	1763	|(% 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.
1764	1764	|(% 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)
1765	1765	|(% style="width:139px" %)4F99H|(% style="width:942px" %)Helical interpolation error, Z axis is 0.
1766		-|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead,, ,,[[image:image-20220921171529-5.png||height="32" width="69"]],, ,,)
	1781	+|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1767	1767
1768	1768	**{{id name="_Toc12418"/}}Example**
1769	1769
1770	1770	(% style="text-align:center" %)
1771		-[[image:image-20220921163843-7.png||class="img-thumbnail"]]
	1786	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1772	1772
1773	1773	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.
1774	1774
1775		-= {{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** ==
1776	1776
1777	1777	**G91G02H**
1778	1778
...	...	@@ -1816,7 +1816,7 @@
1816	1816	(% style="text-align:center" %)
1817	1817	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1818	1818
1819		-* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (relative positioning) of X axis , s1+2 is the target position (relative positioning) of Y axis, and s1+4 is the target position (relative positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is,, ,,[[image:image-20220921171628-6.png||height="29" width="106"]]. (The range is -2147483648 to +2147483647.)
	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.)
1820	1820	* 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.
1821	1821
1822	1822	* 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.
...	...	@@ -1836,28 +1836,28 @@
1836	1836
1837	1837	(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.
1838	1838
1839		-(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.
	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"]] ,,)
1840	1840
1841		-(If Ze=75, lead K=50, and the actual radian [[image:image-20220921171639-7.png||height="56" width="107"]],,),,
1842		-
1843	1843	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1844	1844
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
1850		-(9) Exact match pitch of screws (lead) K and Ze,,.,,
	1863	+(% style="text-align:center" %)
	1864	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1851	1851
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.
	1866	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1853	1853
1854		-The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to Ze,, ,,.The actual end point position of X and Y axes (Xe‘,Ye’) ,, ,,may not be equal to the set (Xe,Ye) ,, ,,, but it must pass through the set poin (Xe,Ye) ,, ,,in the whole circle.
	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.
1855	1855
1856		-(% style="text-align:center" %)
1857		-[[image:image-20220921171703-8.png||height="58" width="291"]]
	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.
1858	1858
1859		-(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate (0,0,0),, ,,,the end point coordinate (0,0,Ze),, ,,.
	1872	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1860	1860
	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]] ,,).
	1875	+
1861	1861	(% class="table-bordered" %)
1862	1862	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1863	1863	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1877,16 +1877,16 @@
1877	1877	|(% 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.
1878	1878	|(% 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)
1879	1879	|(% style="width:129px" %)4F99H|(% style="width:952px" %)Helical interpolation error, Z axis is 0.
1880		-|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead[[image:image-20220921171735-9.png||height="28" width="59"]])
	1895	+|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1881	1881
1882	1882	**{{id name="_Toc28830"/}}Example**
1883	1883
1884	1884	(% style="text-align:center" %)
1885		-[[image:image-20220921163904-8.png]]
	1900	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1886	1886
1887	1887	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.
1888	1888
1889		-= {{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** ==
1890	1890
1891	1891	**G90G03H**
1892	1892
...	...	@@ -1930,8 +1930,7 @@
1930	1930	(% style="text-align:center" %)
1931	1931	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1932	1932
1933		-* (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.
1934		-* The lead range is [[image:image-20220921171807-10.png||height="35" width="128"]]. (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.)
1935	1935	* 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.
1936	1936
1937	1937	* 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.
...	...	@@ -1951,28 +1951,28 @@
1951	1951
1952	1952	(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.
1953	1953
1954		-(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.
	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"]] ,,)
1955	1955
1956		-If Ze=75, lead K=50, and the actual radian(% style="font-size:10.5px" %) [[image:image-20220921171852-11.png||height="65" width="124"]]
1957		-
1958	1958	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1959	1959
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]]
	1975	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1964	1964
1965		-(9) Exact match pitch of screws (lead) K and Ze
	1977	+(% style="text-align:center" %)
	1978	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1966	1966
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.
	1980	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1968	1968
1969		-The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to Ze,, ,,.The actual end point position of X and Y axes (Xe',Ye'),, ,,may not be equal to the set (Xe,Ye),, ,,, but it must pass through the set point (Xe,Ye),, ,,in the whole circle.
	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.
1970	1970
1971		-(% style="text-align:center" %)
1972		-[[image:image-20220921171930-12.png||height="74" width="370"]]
	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.
1973	1973
1974		-(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate (0,0,0),, ,,,the end point coordinate (0,0,Ze),, ,,).
	1986	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1975	1975
	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"]] ,,).
	1989	+
1976	1976	(% class="table-bordered" %)
1977	1977	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1978	1978	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1992,16 +1992,16 @@
1992	1992	|(% 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.
1993	1993	|(% 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)
1994	1994	|(% style="width:132px" %)4F99H|(% style="width:949px" %)Helical interpolation error, Z axis is 0.
1995		-|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead [[image:image-20220921171956-13.png||height="29" width="61"]])
	2009	+|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1996	1996
1997	1997	**{{id name="_Toc18584"/}}Example**
1998	1998
1999	1999	(% style="text-align:center" %)
2000		-[[image:image-20220921163935-9.png||class="img-thumbnail"]]
	2014	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2001	2001
2002	2002	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.
2003	2003
2004		-= **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** ==
2005	2005
2006	2006	**G91G03H**
2007	2007
...	...	@@ -2065,28 +2065,28 @@
2065	2065
2066	2066	(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.
2067	2067
2068		-(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.
	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"]] ,,)
2069	2069
2070		-If Ze=75, lead K=50, and the actual radian [[image:image-20220921172134-15.png||height="68" width="130"]]
2071		-
2072	2072	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
2073	2073
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]]
	2089	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
2078	2078
2079		-(9) Exact match pitch of screws (lead) K and Ze
	2091	+(% style="text-align:center" %)
	2092	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
2080	2080
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.
	2094	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
2082	2082
2083		-The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to Ze,, ,,.The actual end point position of X and Y axes (Xe',Ye'),, ,,may not be equal to the set (Xe,Ye), but it must pass through the set point (Xe,Ye),, ,,in the whole circle.
	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.
2084	2084
2085		-(% style="text-align:center" %)
2086		-[[image:image-20220921172159-16.png||height="72" width="362"]]
	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.
2087	2087
2088		-(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the start point coordinate (0,0,0), the end point coordinate (0,0,Ze).
	2100	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
2089	2089
	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]] ,,).
	2103	+
2090	2090	(% class="table-bordered" %)
2091	2091	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
2092	2092	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -2106,12 +2106,12 @@
2106	2106	|(% 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.
2107	2107	|(% 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)
2108	2108	|(% style="width:108px" %)4F99H|(% style="width:973px" %)Helical interpolation error, Z axis is 0.
2109		-|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead [[image:image-20220921172255-17.png||height="29" width="62"]],, ,,)
	2123	+|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2110	2110
2111	2111	**{{id name="_Toc11997"/}}Example**
2112	2112
2113	2113	(% style="text-align:center" %)
2114		-[[image:image-20220921163953-10.png||class="img-thumbnail"]]
	2128	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2115	2115
2116	2116	Set Y0 as the interpolation starting axis, Y4 as the direction starting axis, and the maximum speed is 2000, and the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a relative position counterclockwise circular helical interpolation output based on the relative position with acceleration and deceleration, and the target position is X (Y0) axis 0, Y (Y1) axis 0 and Z (Y2) axis 5000, and the lead is 5000, and the radius is 5000 pulse in radius mode, and the synthesis frequency is 1000.{{id name="_Toc24071"/}}{{id name="_Toc17235"/}}{{id name="_Toc1369"/}}{{id name="_Toc21558"/}}{{id name="_Toc23998"/}}{{id name="_Toc21982"/}}{{id name="_Toc6785"/}}{{id name="_Toc22083"/}}{{id name="_Toc31780"/}}{{id name="_Toc5703"/}}
2117	2117
...	...	@@ -2261,7 +2261,7 @@
2261	2261	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.
2262	2262
2263	2263	(% style="text-align:center" %)
2264		-[[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"]]
2265	2265
2266	2266	**(9) Not scanned**
2267	2267
...	...	@@ -2512,7 +2512,7 @@
2512	2512	[1: Stop immediately]: Stop immediately after receiving the stop signal without decelerating movement.
2513	2513
2514	2514	(% style="text-align:center" %)
2515		-[[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"]]
2516	2516
2517	2517	**(8) Direction delay**
2518	2518
...	...	@@ -2525,7 +2525,7 @@
2525	2525	|Direction delay|SD905|SD965|SD1025|SD1085|SD1145|SD1205|SD1265|SD1325
2526	2526
2527	2527	(% style="text-align:center" %)
2528		-[[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"]]
2529	2529
2530	2530	**(9) External start signal**
2531	2531
...	...	@@ -2557,12 +2557,12 @@
2557	2557	①Reachable frequency
2558	2558
2559	2559	(% style="text-align:center" %)
2560		-[[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"]]
2561	2561
2562	2562	②Unreachable frequency
2563	2563
2564	2564	(% style="text-align:center" %)
2565		-[[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"]]
2566	2566
2567	2567	2) Modify the number of pulses:
2568	2568
...	...	@@ -2569,12 +2569,12 @@
2569	2569	①Modify to the number of reachable pulses
2570	2570
2571	2571	(% style="text-align:center" %)
2572		-[[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"]]
2573	2573
2574	2574	②Modify to the number of unreachable pulses (only support instructions with direction. If there is no direction, stop pulse sending)
2575	2575
2576	2576	(% style="text-align:center" %)
2577		-[[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"]]
2578	2578
2579	2579	**{{id name="OLE_LINK371"/}}(12) The number of sent pulses is out of range**
2580	2580
...	...	@@ -2631,17 +2631,17 @@
2631	2631	Time-minute ladder acceleration and deceleration
2632	2632
2633	2633	(% style="text-align:center" %)
2634		-[[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"]]
2635	2635
2636	2636	Time-minute S-type acceleration and deceleration
2637	2637
2638	2638	(% style="text-align:center" %)
2639		-[[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"]]
2640	2640
2641	2641	The following figure shows the changes of each parameter
2642	2642
2643	2643	(% style="text-align:center" %)
2644		-[[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"]]
2645	2645
2646	2646	**✎Note: **When the frequency is modified during the operation, acceleration would accelerate again from zero. There will be discontinuous acceleration.
2647	2647

image-20220921163523-1.jpeg

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-61.2 KB

Content

image-20220921163600-2.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-12.5 KB

Content

image-20220921163619-3.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-39.7 KB

Content

image-20220921163641-4.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-39.7 KB

Content

image-20220921163737-5.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-14.1 KB

Content

image-20220921163754-6.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-14.1 KB

Content

image-20220921163843-7.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-16.6 KB

Content

image-20220921163904-8.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-16.6 KB

Content

image-20220921163935-9.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-17.1 KB

Content

image-20220921163953-10.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-17.1 KB

Content

image-20220921171331-1.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-6.5 KB

Content

image-20220921171348-2.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-6.1 KB

Content

image-20220921171411-3.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-7.6 KB

Content

image-20220921171433-4.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-6.5 KB

Content

image-20220921171529-5.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-2.7 KB

Content

image-20220921171628-6.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-6.5 KB

Content

image-20220921171639-7.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-6.1 KB

Content

image-20220921171703-8.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-7.6 KB

Content

image-20220921171735-9.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-2.7 KB

Content

image-20220921171807-10.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-6.5 KB

Content

image-20220921171852-11.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-6.1 KB

Content

image-20220921171930-12.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-7.6 KB

Content

image-20220921171956-13.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-2.7 KB

Content

image-20220921172054-14.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-6.1 KB

Content

image-20220921172134-15.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-6.1 KB

Content

image-20220921172159-16.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-7.6 KB

Content

image-20220921172255-17.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-2.7 KB

Content

image-20220921172410-1.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-2.7 KB

Content

image-20220921172417-2.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-9.1 KB

Content

image-20220921172437-3.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-9.1 KB

Content

image-20220921172524-4.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-9.1 KB

Content

image-20220921172550-5.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-9.1 KB

Content

image-20220921172606-6.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-9.1 KB

Content

image-20220921172617-7.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-9.1 KB

Content

image-20220921172637-8.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-9.1 KB

Content

image-20220921172651-9.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-9.1 KB

Content

image-20220921172744-10.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-9.1 KB

Content

image-20220921172803-11.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Stone

Size

...	...	@@ -1,1 +1,0 @@
1		-9.1 KB

Content