Changes for page 08 High-speed pulse output

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Details

Page properties

Title

...	...	@@ -1,1 +1,1 @@
1		-08 High-speed pulse output
	1	+20 High-speed pulse output

Parent

...	...	@@ -1,1 +1,1 @@
1		-PLC Editor2.WebHome
	1	+PLC Editor2.07 Basic instructions.WebHome

Content

...	...	@@ -986,21 +986,21 @@
986	986	**Content, range and data type**
987	987
988	988	(% class="table-bordered" %)
989		-|=(% scope="row" %)**Parameter**|=(% style="width: 618px;" %)**Content**|=(% style="width: 121px;" %)**Range**|=(% style="width: 132px;" %)**Data type**|=(% style="width: 118px;" %)**Data type (label)**
990		-|=(s1)|(% style="width:618px" %)The ON time or the device number storing the ON time|(% style="width:121px" %)0 to 32,767|(% style="width:132px" %)Signed BIN16|(% style="width:118px" %)ANY16_S
991		-|=(s2)|(% style="width:618px" %)Cycle or the device number storing the cycle|(% style="width:121px" %)1 to 32,767|(% style="width:132px" %)Signed BIN16|(% style="width:118px" %)ANY16_S
992		-|=(d)|(% style="width:618px" %)The channel number and device number that pulse outputs|(% style="width:121px" %)-|(% style="width:132px" %)Bit|(% style="width:118px" %)ANY_BOOL
	989	+|**Parameter**|(% style="width:702px" %)**Content**|(% style="width:183px" %)**Range**|**Data type**|**Data type (label)**
	990	+|(s1)|(% style="width:702px" %)The ON time or the device number storing the ON time|(% style="width:183px" %)0 to 32,767|Signed BIN16|ANY16_S
	991	+|(s2)|(% style="width:702px" %)Cycle or the device number storing the cycle|(% style="width:183px" %)1 to 32,767|Signed BIN16|ANY16_S
	992	+|(d)|(% style="width:702px" %)The channel number and device number that pulse outputs|(% style="width:183px" %)-|Bit|ANY_BOOL
993	993
994	994	**Device used**
995	995
996	996	(% class="table-bordered" %)
997		-|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="11" %)**Devices**|=**Offset modification**|=(((
	997	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="11" %)**Devices**|**Offset modification**|(((
998	998	**Pulse**
999	999
1000	1000	**extension**
1001	1001	)))
1002		-|=**Y**|=**KnX**|=**KnY**|=**KnM**|=**KnS**|=**T**|=**C**|=**D**|=**R**|=**K**|=**H**|=**[D]**|=**XXP**
1003		-|=(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
	1002	+|**Y**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
	1003	+|(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1004	1004	|Parameter 2| |●|●|●|●|●|●|●|●|●|●|●|
1005	1005	|Parameter 3|●| | | | | | | | | | | |
1006	1006
...	...	@@ -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)
	1014	+• 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)
	1016	+• 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
...	...	@@ -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
	1035	+|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
	1036	+|Percentage mode sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1037	1037
1038		-|=(% scope="row" style="width: 217px;" %)**Output shaft**|(% 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.
	1041	+|**Error code**|**Content**
	1042	+|4084H|The data input in the application instruction (s1) and (s2) exceed the specified range or (s1)>(s2)
	1043	+|4085H|The result output in the read application instruction (s1), (s2) and (d) exceed the device range
	1044	+|4088H|The same pulse output axis (d) is used and has been started.
1049	1049
1050	1050	**Example**
1051	1051
...	...	@@ -1052,16 +1052,16 @@
1052	1052	(% style="text-align:center" %)
1053	1053	[[image:08_html_3ed5f1836c38d129.png||class="img-thumbnail"]]
1054	1054
1055		-The waveform diagram is shown as below.
	1051	+The waveform diagram is shown as right.
1056	1056
1057	1057	(% style="text-align:center" %)
1058		-[[image:08_html_f38f59f98fdc96c0.png||height="174" width="477" class="img-thumbnail"]]
	1054	+[[image:08_html_f38f59f98fdc96c0.png||height="213" width="600" class="img-thumbnail"]]
1059	1059
1060		-= **PWM/PWM permil mode** =
	1056	+= **PWM/PWM perimeter mode** =
1061	1061
1062	1062	**PWM**
1063	1063
1064		-The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of permil mode is used to output to the output target specified in (d).
	1060	+The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of the millimetric ratio mode is used to output to the output target specified in (d).
1065	1065
1066	1066	-[PWM (s1) (s2) (d)]
1067	1067
...	...	@@ -1068,37 +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
	1067	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	1068	+|(s1)|Set output pulse duty cycle|0 to 1000|Signed BIN16|ANY16_S
	1069	+|(s2)|Set pulse output cycle|1 to 32767|Signed BIN16|ANY16_S
	1070	+|(d)|Pulse output channel number, device number|-|Bit|ANY_BOOL
1075	1075
1076	1076	**Device used**
1077	1077
1078	1078	(% class="table-bordered" %)
1079		-|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="11" %)**Devices**|=**Offset modification**|=(((
	1075	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="11" %)**Devices**|**Offset modification**|(((
1080	1080	**Pulse**
1081	1081
1082	1082	**extension**
1083	1083	)))
1084		-|=**Y**|=**KnX**|=**KnY**|=**KnM**|=**KnS**|=**T**|=**C**|=**D**|=**R**|=**K**|=**H**|=**[D]**|=**XXP**
1085		-|=(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
	1080	+|**Y**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
	1081	+|(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1086	1086	|Parameter 2| |●|●|●|●|●|●|●|●|●|●|●|
1087	1087	|Parameter 3|●| | | | | | | | | | | |
1088	1088
1089	1089	**Features**
1090	1090
1091		-The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of permil mode is used to output to the output target specified in (d).
	1087	+The period parameter (s2), the average equal division is 1000 equal divisions, (s1) is the pulse duty ratio, and the setting of the millimetric ratio mode is used to output to the output target specified in (d).
1092	1092
1093		-It is necessary to turn on the permil mode of the PWM instruction, and the corresponding related device:
	1089	+It is necessary to turn on the millimetric ratio mode of the PWM instruction, and the corresponding related device:
1094	1094
1095	1095	(% class="table-bordered" %)
1096		-|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1097		-|=Permil mode sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
	1092	+|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
	1093	+|Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1098	1098
1099	1099	Specify the output pulse duty ratio in (s1). (The setting range is 0 to 1000)
1100	1100
1101		-Specify the output pulse period in (s2). (The setting range is 1 to 32,767)
	1097	+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)
	1105	+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.
	1114	+1. About pulse output
1119	1119
	1116	+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.
	1117	+
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
	1123	+|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
	1124	+|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"]]
	1139	+[[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"]]
	1144	+[[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1151	1151
1152		-= **G90G01 Absolute position line interpolation instruction** =
	1146	+= {{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
...	...	@@ -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]]
	1211	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1218	1218
	1213	+(% style="text-align:center" %)
	1214	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1215	+
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**
	1224	+**{{id name="_Toc29603"/}}Example**
1228	1228
1229	1229	(% style="text-align:center" %)
1230		-[[image:image-20220921163523-1.jpeg||class="img-thumbnail"]]
	1227	+[[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** =
	1231	+= {{id name="_Ref31771"/}}**{{id name="_Toc17391"/}}{{id name="_Toc10640"/}}{{id name="_Toc32642"/}}G91G01 Relative position line interpolation instruction** =
1235	1235
1236		-**G91G01**
	1233	+{{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
...	...	@@ -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]]
	1294	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1298	1298
1299		-**Error Codes**
	1296	+(% style="text-align:center" %)
	1297	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1300	1300
	1299	+**{{id name="_Toc8461"/}}Error Codes**
	1300	+
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
...	...	@@ -1306,7 +1306,8 @@
1306	1306
1307	1307	**{{id name="_Toc16441"/}}Example**
1308	1308
1309		-[[image:image-20220921163600-2.png]]
	1309	+(% style="text-align:center" %)
	1310	+[[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
...	...	@@ -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]]
	1375	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1375	1375
1376		-**Error Codes**
	1377	+(% style="text-align:center" %)
	1378	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1377	1377
	1380	+ **Error Codes**
	1381	+
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
...	...	@@ -1390,7 +1390,7 @@
1390	1390	**{{id name="OLE_LINK268"/}}Example**
1391	1391
1392	1392	(% style="text-align:center" %)
1393		-[[image:image-20220921163619-3.png||class="img-thumbnail"]]
	1397	+[[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
...	...	@@ -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]]
	1466	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1463	1463
	1468	+(% style="text-align:center" %)
	1469	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1470	+
1464	1464	**Error Codes**
1465	1465
1466	1466	(% class="table-bordered" %)
...	...	@@ -1478,7 +1478,7 @@
1478	1478	**Example**{{id name="OLE_LINK22"/}}
1479	1479
1480	1480	(% style="text-align:center" %)
1481		-[[image:image-20220921163641-4.png||class="img-thumbnail"]]
	1488	+[[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
...	...	@@ -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]]
	1557	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1551	1551
	1559	+(% style="text-align:center" %)
	1560	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1561	+
1552	1552	**Error Codes**
1553	1553
1554	1554	(% class="table-bordered" %)
...	...	@@ -1566,7 +1566,7 @@
1566	1566	**Example**
1567	1567
1568	1568	(% style="text-align:center" %)
1569		-[[image:image-20220921163737-5.png||class="img-thumbnail"]]
	1579	+[[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
...	...	@@ -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]]
	1648	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1639	1639
	1650	+(% style="text-align:center" %)
	1651	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1652	+
1640	1640	**Error Codes**
1641	1641
1642	1642	(% class="table-bordered" %)
...	...	@@ -1654,7 +1654,7 @@
1654	1654	**Example**
1655	1655
1656	1656	(% style="text-align:center" %)
1657		-[[image:image-20220921163754-6.png]]
	1670	+[[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
...	...	@@ -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.)
	1718	+* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
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"]],,),,
	1738	+(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
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]]
	1745	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1733	1733
1734		-(9) Exact match pitch of screws (lead) K and Ze,,.,,
	1747	+(% style="text-align:center" %)
	1748	+[[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.
	1750	+(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
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.
	1752	+The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif||class="img-thumbnail"]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1739	1739
1740		-(% style="text-align:center" %)
1741		-[[image:image-20220921171411-3.png||height="62" width="312"]]
	1754	+The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
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).
	1756	+[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
1744	1744
	1758	+(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif" class="img-thumbnail"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
	1759	+
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）
...	...	@@ -1761,12 +1761,12 @@
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"]],, ,,)
	1779	+|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
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"]]
	1784	+[[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
...	...	@@ -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.)
	1832	+* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (relative positioning) of X axis , s1+2 is the target position (relative positioning) of Y axis, and s1+4 is the target position (relative positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
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.
	1852	+(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
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]]
	1859	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1847	1847
1848		-(9) Exact match pitch of screws (lead) K and Ze,,.,,
	1861	+(% style="text-align:center" %)
	1862	+[[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.
	1864	+(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
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.
	1866	+The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1853	1853
1854		-(% style="text-align:center" %)
1855		-[[image:image-20220921171703-8.png||height="58" width="291"]]
	1868	+The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
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),, ,,.
	1870	+[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
1858	1858
	1872	+(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
	1873	+
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）
...	...	@@ -1875,12 +1875,12 @@
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"]])
	1893	+|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1879	1879
1880	1880	**{{id name="_Toc28830"/}}Example**
1881	1881
1882	1882	(% style="text-align:center" %)
1883		-[[image:image-20220921163904-8.png]]
	1898	+[[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
...	...	@@ -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.)
	1946	+* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(The range is -2147483648 to +2147483647.)
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.
	1966	+(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
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]]
	1973	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1962	1962
1963		-(9) Exact match pitch of screws (lead) K and Ze
	1975	+(% style="text-align:center" %)
	1976	+[[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.
	1978	+(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
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.
	1980	+The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
1968	1968
1969		-(% style="text-align:center" %)
1970		-[[image:image-20220921171930-12.png||height="74" width="370"]]
	1982	+The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
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),, ,,).
	1984	+[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
1973	1973
	1986	+(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif" class="img-thumbnail"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif" class="img-thumbnail"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
	1987	+
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"]])
	2007	+|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
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"]]
	2012	+[[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** =
	2016	+= {{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.
	2080	+(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
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]]
	2087	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
2076	2076
2077		-(9) Exact match pitch of screws (lead) K and Ze
	2089	+(% style="text-align:center" %)
	2090	+[[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.
	2092	+(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] .,,
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.
	2094	+The start point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
2082	2082
2083		-(% style="text-align:center" %)
2084		-[[image:image-20220921172159-16.png||height="72" width="362"]]
	2096	+The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
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).
	2098	+[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
2087	2087
	2100	+(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the start point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
	2101	+
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"]],, ,,)
	2121	+|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
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"]]
	2126	+[[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

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