Changes for page 08 High-speed pulse output

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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
...	...	@@ -1011,9 +1011,9 @@
1011	1011	• Output the ON time specified in (s1) and the cycle pulse specified in (s2) to the output destination specified in (d).
1012	1012
1013	1013	(((
1014		-• Specify the output pulse width in (s1). (The setting range is 0 to 32,767)
	1016	+• Specify the output pulse width in (s1). (The setting range is 0 to 32,767ms)
1015	1015
1016		-• Specify the output pulse period in (s2). (The setting range is 1 to 32,767)
	1018	+• Specify the output pulse period in (s2). (The setting range is 1 to 32,767ms)
1017	1017
1018	1018	• Specify the device that outputs pulses in (d). Only Y devices with positioning parameters can be specified.
1019	1019
...	...	@@ -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**|(% scope="col" style="width:81px" %)**Y0**|(% scope="col" style="width:104px" %)**Y1**|(% scope="col" style="width:111px" %)**Y2**|(% scope="col" style="width:107px" %)**Y3**|(% scope="col" style="width:108px" %)**Y4**|(% scope="col" style="width:108px" %)**Y5**|(% scope="col" style="width:115px" %)**Y6**|(% scope="col" %)**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**|(% scope="col" style="width:105px" %)**Y0**|(% scope="col" %)**Y1**|(% scope="col" %)**Y2**|(% scope="col" %)**Y3**|(% scope="col" %)**Y4**|(% scope="col" %)**Y5**|(% scope="col" %)**Y6**|(% scope="col" %)**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
...	...	@@ -1068,37 +1068,37 @@
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
1101		-Specify the output pulse period in (s2). (The setting range is 1 to 32,767)
	1099	+Specify the output pulse period in (s2). (The setting range is 1 to 32,767ms)
1102	1102
1103	1103	Specify the device that outputs the pulse in (d). Only Y devices with positioning parameters can be specified.
1104	1104
...	...	@@ -1106,7 +1106,7 @@
1106	1106
1107	1107	High level time (ms) = set cycle time (ms) x duty cycle / 1000
1108	1108
1109		-Low level time (ms) = period (ms) - high level time (ms)
	1107	+Low level time (ms) = period (ms)-high level time (ms)
1110	1110
1111	1111	That is, 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; If it is set to 900, the output will be high for 90ms and low for 10ms. The fractional part of the calculated pulse output time is output by rounding.
1112	1112
...	...	@@ -1115,20 +1115,18 @@
1115	1115	**✎Note:**
1116	1116
1117	1117	1. Please be careful not to overlap with other control devices.
1118		-1. About pulse output: This instruction is executed in interrupt mode. When the instruction power flow is OFF, the output stops. (s1) and (s2) can be changed when the PWM instruction is executed. If it is modified to an incorrect parameter, the sending of PWM pulse will be stopped.
	1116	+1. About pulse output
1119	1119
	1118	+This instruction is executed in interrupt mode. When the instruction power flow is OFF, the output stops. (s1) and (s2) can be changed when the PWM instruction is executed. If it is modified to an incorrect parameter, the sending of PWM pulse will be stopped.
	1119	+
1120	1120	**Related device**
1121	1121
1122	1122	• Percentage mode flag
1123	1123
1124	1124	(% class="table-bordered" %)
1125		-|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1126		-|=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
1127	1127
1128		-|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1129		-|=PWM unit selection|SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
1130		-|(% 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".
1131		-
1132	1132	**Error code**
1133	1133
1134	1134	(% class="table-bordered" %)
...	...	@@ -1142,14 +1142,14 @@
1142	1142	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;
1143	1143
1144	1144	(% style="text-align:center" %)
1145		-[[image:08_html_ace0b444319fb8c4.png||height="155" width="905" class="img-thumbnail"]]
	1141	+[[image:08_html_ace0b444319fb8c4.png||class="img-thumbnail"]]
1146	1146
1147	1147	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:
1148	1148
1149	1149	(% style="text-align:center" %)
1150		-[[image:08_html_13acf8747e8703ff.png||height="221" width="625" class="img-thumbnail"]]
	1146	+[[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1151	1151
1152		-= **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** ==
1153	1153
1154	1154	**G90G01**
1155	1155
...	...	@@ -1189,7 +1189,7 @@
1189	1189	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.
1190	1190
1191	1191	(% style="text-align:center" %)
1192		-[[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"]]
1193	1193
1194	1194	* (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.
1195	1195
...	...	@@ -1214,8 +1214,11 @@
1214	1214	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:
1215	1215
1216	1216	(% style="text-align:center" %)
1217		-[[image:image-20220921172417-2.png]]
	1213	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1218	1218
	1215	+(% style="text-align:center" %)
	1216	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1217	+
1219	1219	**{{id name="_Toc32765"/}}Error Codes**
1220	1220
1221	1221	(% class="table-bordered" %)
...	...	@@ -1224,16 +1224,16 @@
1224	1224	|4085H|The result output in the read application instruction (s1), (s2), (d1) and (d2) exceed the device range
1225	1225	|4088H|The same pulse output axis (d1) is used and has been started.
1226	1226
1227		-**Example**
	1226	+**{{id name="_Toc29603"/}}Example**
1228	1228
1229	1229	(% style="text-align:center" %)
1230		-[[image:image-20220921163523-1.jpeg||class="img-thumbnail"]]
	1229	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1231	1231
1232	1232	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.
1233	1233
1234		-= **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** ==
1235	1235
1236		-**G91G01**
	1235	+{{id name="OLE_LINK10"/}}{{id name="_Toc20742"/}}**G91G01**
1237	1237
1238	1238	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.
1239	1239
...	...	@@ -1271,7 +1271,7 @@
1271	1271	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.
1272	1272
1273	1273	(% style="text-align:center" %)
1274		-[[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"]]
1275	1275
1276	1276	* (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.
1277	1277
...	...	@@ -1294,10 +1294,13 @@
1294	1294	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:
1295	1295
1296	1296	(% style="text-align:center" %)
1297		-[[image:image-20220921172437-3.png]]
	1296	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1298	1298
1299		-**Error Codes**
	1298	+(% style="text-align:center" %)
	1299	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1300	1300
	1301	+**{{id name="_Toc8461"/}}Error Codes**
	1302	+
1301	1301	(% class="table-bordered" %)
1302	1302	|**Error Codes**|**Contents**
1303	1303	|4084H|The data input in the application instruction (s1) and (s2) exceed the specified range
...	...	@@ -1306,11 +1306,12 @@
1306	1306
1307	1307	**{{id name="_Toc16441"/}}Example**
1308	1308
1309		-[[image:image-20220921163600-2.png]]
	1311	+(% style="text-align:center" %)
	1312	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1310	1310
1311	1311	{{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.
1312	1312
1313		-= {{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** ==
1314	1314
1315	1315	**G90G02**
1316	1316
...	...	@@ -1348,7 +1348,7 @@
1348	1348	{{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.
1349	1349
1350	1350	(% style="text-align:center" %)
1351		-[[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"]]
1352	1352
1353	1353	* (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.
1354	1354	* 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.
...	...	@@ -1371,10 +1371,13 @@
1371	1371	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:
1372	1372
1373	1373	(% style="text-align:center" %)
1374		-[[image:image-20220921172524-4.png]]
	1377	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1375	1375
1376		-**Error Codes**
	1379	+(% style="text-align:center" %)
	1380	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1377	1377
	1382	+ **Error Codes**
	1383	+
1378	1378	(% class="table-bordered" %)
1379	1379	|(% style="width:134px" %)**Error Codes**|(% style="width:947px" %)**Contents**
1380	1380	|(% style="width:134px" %)4084H|(% style="width:947px" %)The data input in the application instruction (s1) and (s2) exceed the specified range
...	...	@@ -1390,11 +1390,11 @@
1390	1390	**{{id name="OLE_LINK268"/}}Example**
1391	1391
1392	1392	(% style="text-align:center" %)
1393		-[[image:image-20220921163619-3.png||class="img-thumbnail"]]
	1399	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1394	1394
1395	1395	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.
1396	1396
1397		-= **G91G02 Relative position clockwise circular interpolation instruction** =
	1403	+== **G91G02 Relative position clockwise circular interpolation instruction** ==
1398	1398
1399	1399	**G91G02**
1400	1400
...	...	@@ -1436,7 +1436,7 @@
1436	1436	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.
1437	1437
1438	1438	(% style="text-align:center" %)
1439		-[[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"]]
1440	1440
1441	1441	* {{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.
1442	1442	* {{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.
...	...	@@ -1459,8 +1459,11 @@
1459	1459	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:
1460	1460
1461	1461	(% style="text-align:center" %)
1462		-[[image:image-20220921172550-5.png]]
	1468	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1463	1463
	1470	+(% style="text-align:center" %)
	1471	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1472	+
1464	1464	**Error Codes**
1465	1465
1466	1466	(% class="table-bordered" %)
...	...	@@ -1478,11 +1478,11 @@
1478	1478	**Example**{{id name="OLE_LINK22"/}}
1479	1479
1480	1480	(% style="text-align:center" %)
1481		-[[image:image-20220921163641-4.png||class="img-thumbnail"]]
	1490	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1482	1482
1483	1483	{{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.
1484	1484
1485		-= **G90G03 Absolute position counterclockwise circular interpolation instruction** =
	1494	+== **G90G03 Absolute position counterclockwise circular interpolation instruction** ==
1486	1486
1487	1487	G90G03
1488	1488
...	...	@@ -1524,7 +1524,7 @@
1524	1524	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.
1525	1525
1526	1526	(% style="text-align:center" %)
1527		-[[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"]]
1528	1528
1529	1529	* 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.
1530	1530	* 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.
...	...	@@ -1547,8 +1547,11 @@
1547	1547	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:
1548	1548
1549	1549	(% style="text-align:center" %)
1550		-[[image:image-20220921172606-6.png]]
	1559	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1551	1551
	1561	+(% style="text-align:center" %)
	1562	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1563	+
1552	1552	**Error Codes**
1553	1553
1554	1554	(% class="table-bordered" %)
...	...	@@ -1566,11 +1566,11 @@
1566	1566	**Example**
1567	1567
1568	1568	(% style="text-align:center" %)
1569		-[[image:image-20220921163737-5.png||class="img-thumbnail"]]
	1581	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1570	1570
1571	1571	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.
1572	1572
1573		-= {{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** ==
1574	1574
1575	1575	**G91G03**
1576	1576
...	...	@@ -1612,7 +1612,7 @@
1612	1612	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.
1613	1613
1614	1614	(% style="text-align:center" %)
1615		-[[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"]]
1616	1616
1617	1617	* 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.
1618	1618	* 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.
...	...	@@ -1635,8 +1635,11 @@
1635	1635	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:
1636	1636
1637	1637	(% style="text-align:center" %)
1638		-[[image:image-20220921172617-7.png]]
	1650	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1639	1639
	1652	+(% style="text-align:center" %)
	1653	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1654	+
1640	1640	**Error Codes**
1641	1641
1642	1642	(% class="table-bordered" %)
...	...	@@ -1654,11 +1654,11 @@
1654	1654	**Example**
1655	1655
1656	1656	(% style="text-align:center" %)
1657		-[[image:image-20220921163754-6.png]]
	1672	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1658	1658
1659	1659	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.
1660	1660
1661		-= {{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** ==
1662	1662
1663	1663	**G90G02H**
1664	1664
...	...	@@ -1702,7 +1702,7 @@
1702	1702	(% style="text-align:center" %)
1703	1703	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1704	1704
1705		-* (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.)
1706	1706	* 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.
1707	1707
1708	1708	* 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.
...	...	@@ -1722,7 +1722,7 @@
1722	1722
1723	1723	(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.
1724	1724
1725		-(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"]] ,,)
1726	1726
1727	1727	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1728	1728
...	...	@@ -1729,19 +1729,21 @@
1729	1729	(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:
1730	1730
1731	1731	(% style="text-align:center" %)
1732		-[[image:image-20220921172637-8.png]]
	1747	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1733	1733
1734		-(9) Exact match pitch of screws (lead) K and Ze,,.,,
	1749	+(% style="text-align:center" %)
	1750	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1735	1735
1736		-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"]] .,,
1737	1737
1738		-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.
1739	1739
1740		-(% style="text-align:center" %)
1741		-[[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.
1742	1742
1743		-(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)
1744	1744
	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	+
1745	1745	(% class="table-bordered" %)
1746	1746	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1747	1747	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1761,16 +1761,16 @@
1761	1761	|(% 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.
1762	1762	|(% 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)
1763	1763	|(% style="width:139px" %)4F99H|(% style="width:942px" %)Helical interpolation error, Z axis is 0.
1764		-|(% 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]] ,,)
1765	1765
1766	1766	**{{id name="_Toc12418"/}}Example**
1767	1767
1768	1768	(% style="text-align:center" %)
1769		-[[image:image-20220921163843-7.png||class="img-thumbnail"]]
	1786	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1770	1770
1771	1771	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.
1772	1772
1773		-= {{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** ==
1774	1774
1775	1775	**G91G02H**
1776	1776
...	...	@@ -1814,7 +1814,7 @@
1814	1814	(% style="text-align:center" %)
1815	1815	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1816	1816
1817		-* (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.)
1818	1818	* 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.
1819	1819
1820	1820	* 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.
...	...	@@ -1834,28 +1834,28 @@
1834	1834
1835	1835	(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.
1836	1836
1837		-(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"]] ,,)
1838	1838
1839		-(If Ze=75, lead K=50, and the actual radian [[image:image-20220921171639-7.png||height="56" width="107"]],,),,
1840		-
1841	1841	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1842	1842
1843	1843	(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:
1844	1844
1845	1845	(% style="text-align:center" %)
1846		-[[image:image-20220921172651-9.png]]
	1861	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1847	1847
1848		-(9) Exact match pitch of screws (lead) K and Ze,,.,,
	1863	+(% style="text-align:center" %)
	1864	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1849	1849
1850		-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"]] .,,
1851	1851
1852		-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.
1853	1853
1854		-(% style="text-align:center" %)
1855		-[[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.
1856	1856
1857		-(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)
1858	1858
	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	+
1859	1859	(% class="table-bordered" %)
1860	1860	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1861	1861	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1875,16 +1875,16 @@
1875	1875	|(% 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.
1876	1876	|(% 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)
1877	1877	|(% style="width:129px" %)4F99H|(% style="width:952px" %)Helical interpolation error, Z axis is 0.
1878		-|(% 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]] ,,)
1879	1879
1880	1880	**{{id name="_Toc28830"/}}Example**
1881	1881
1882	1882	(% style="text-align:center" %)
1883		-[[image:image-20220921163904-8.png]]
	1900	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1884	1884
1885	1885	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.
1886	1886
1887		-= {{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** ==
1888	1888
1889	1889	**G90G03H**
1890	1890
...	...	@@ -1928,8 +1928,7 @@
1928	1928	(% style="text-align:center" %)
1929	1929	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1930	1930
1931		-* (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.
1932		-* 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.)
1933	1933	* 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.
1934	1934
1935	1935	* 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.
...	...	@@ -1949,28 +1949,28 @@
1949	1949
1950	1950	(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.
1951	1951
1952		-(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"]] ,,)
1953	1953
1954		-If Ze=75, lead K=50, and the actual radian(% style="font-size:10.5px" %) [[image:image-20220921171852-11.png||height="65" width="124"]]
1955		-
1956	1956	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1957	1957
1958	1958	(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:
1959	1959
1960	1960	(% style="text-align:center" %)
1961		-[[image:image-20220921172744-10.png]]
	1975	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1962	1962
1963		-(9) Exact match pitch of screws (lead) K and Ze
	1977	+(% style="text-align:center" %)
	1978	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1964	1964
1965		-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"]] .,,
1966	1966
1967		-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.
1968	1968
1969		-(% style="text-align:center" %)
1970		-[[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.
1971	1971
1972		-(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)
1973	1973
	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	+
1974	1974	(% class="table-bordered" %)
1975	1975	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1976	1976	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1990,16 +1990,16 @@
1990	1990	|(% 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.
1991	1991	|(% 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)
1992	1992	|(% style="width:132px" %)4F99H|(% style="width:949px" %)Helical interpolation error, Z axis is 0.
1993		-|(% 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]] ,,)
1994	1994
1995	1995	**{{id name="_Toc18584"/}}Example**
1996	1996
1997	1997	(% style="text-align:center" %)
1998		-[[image:image-20220921163935-9.png||class="img-thumbnail"]]
	2014	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1999	1999
2000	2000	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.
2001	2001
2002		-= **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** ==
2003	2003
2004	2004	**G91G03H**
2005	2005
...	...	@@ -2063,28 +2063,28 @@
2063	2063
2064	2064	(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.
2065	2065
2066		-(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"]] ,,)
2067	2067
2068		-If Ze=75, lead K=50, and the actual radian [[image:image-20220921172134-15.png||height="68" width="130"]]
2069		-
2070	2070	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
2071	2071
2072	2072	(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:
2073	2073
2074	2074	(% style="text-align:center" %)
2075		-[[image:image-20220921172803-11.png]]
	2089	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
2076	2076
2077		-(9) Exact match pitch of screws (lead) K and Ze
	2091	+(% style="text-align:center" %)
	2092	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
2078	2078
2079		-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"]] .,,
2080	2080
2081		-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.
2082	2082
2083		-(% style="text-align:center" %)
2084		-[[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.
2085	2085
2086		-(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)
2087	2087
	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	+
2088	2088	(% class="table-bordered" %)
2089	2089	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
2090	2090	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -2104,12 +2104,12 @@
2104	2104	|(% 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.
2105	2105	|(% 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)
2106	2106	|(% style="width:108px" %)4F99H|(% style="width:973px" %)Helical interpolation error, Z axis is 0.
2107		-|(% 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]] ,,)
2108	2108
2109	2109	**{{id name="_Toc11997"/}}Example**
2110	2110
2111	2111	(% style="text-align:center" %)
2112		-[[image:image-20220921163953-10.png||class="img-thumbnail"]]
	2128	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2113	2113
2114	2114	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"/}}
2115	2115
...	...	@@ -2259,7 +2259,7 @@
2259	2259	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.
2260	2260
2261	2261	(% style="text-align:center" %)
2262		-[[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"]]
2263	2263
2264	2264	**(9) Not scanned**
2265	2265
...	...	@@ -2510,7 +2510,7 @@
2510	2510	[1: Stop immediately]: Stop immediately after receiving the stop signal without decelerating movement.
2511	2511
2512	2512	(% style="text-align:center" %)
2513		-[[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"]]
2514	2514
2515	2515	**(8) Direction delay**
2516	2516
...	...	@@ -2523,7 +2523,7 @@
2523	2523	|Direction delay|SD905|SD965|SD1025|SD1085|SD1145|SD1205|SD1265|SD1325
2524	2524
2525	2525	(% style="text-align:center" %)
2526		-[[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"]]
2527	2527
2528	2528	**(9) External start signal**
2529	2529
...	...	@@ -2555,12 +2555,12 @@
2555	2555	①Reachable frequency
2556	2556
2557	2557	(% style="text-align:center" %)
2558		-[[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"]]
2559	2559
2560	2560	②Unreachable frequency
2561	2561
2562	2562	(% style="text-align:center" %)
2563		-[[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"]]
2564	2564
2565	2565	2) Modify the number of pulses:
2566	2566
...	...	@@ -2567,12 +2567,12 @@
2567	2567	①Modify to the number of reachable pulses
2568	2568
2569	2569	(% style="text-align:center" %)
2570		-[[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"]]
2571	2571
2572	2572	②Modify to the number of unreachable pulses (only support instructions with direction. If there is no direction, stop pulse sending)
2573	2573
2574	2574	(% style="text-align:center" %)
2575		-[[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"]]
2576	2576
2577	2577	**{{id name="OLE_LINK371"/}}(12) The number of sent pulses is out of range**
2578	2578
...	...	@@ -2629,17 +2629,17 @@
2629	2629	Time-minute ladder acceleration and deceleration
2630	2630
2631	2631	(% style="text-align:center" %)
2632		-[[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"]]
2633	2633
2634	2634	Time-minute S-type acceleration and deceleration
2635	2635
2636	2636	(% style="text-align:center" %)
2637		-[[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"]]
2638	2638
2639	2639	The following figure shows the changes of each parameter
2640	2640
2641	2641	(% style="text-align:center" %)
2642		-[[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"]]
2643	2643
2644	2644	**✎Note: **When the frequency is modified during the operation, acceleration would accelerate again from zero. There will be discontinuous acceleration.
2645	2645

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