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Last modified by Mora Zhou on 2024/08/08 14:35
From version 28.1
edited by Jim
on 2023/02/09 14:03
Change comment: There is no comment for this version
To version 21.2
edited by Stone Wu
on 2022/09/26 10:09
Change comment: There is no comment for this version

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Author
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1 -XWiki.Jim
1 +XWiki.Stone
Content
... ... @@ -447,8 +447,11 @@
447 447  
448 448  This instruction uses absolute drive to perform single-speed positioning. The specified positioning address adopts the absolute method, and the specified position (absolute address) is used for positioning based on the origin.
449 449  
450 - [[image:3q3.png]]
450 +{{id name="OLE_LINK365"/}}
451 451  
452 +(% style="text-align:center" %)
453 +[[image:08_html_7a3c30baa77024fb.gif||height="311" width="800" class="img-thumbnail"]]
454 +
452 452  • 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)
453 453  
454 454  • Specify the instruction speed of user unit in (s2). (It should be in the range of 1 to 200,000)
... ... @@ -1008,9 +1008,9 @@
1008 1008  • Output the ON time specified in (s1) and the cycle pulse specified in (s2) to the output destination specified in (d).
1009 1009  
1010 1010  (((
1011 -• 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)
1012 1012  
1013 -• 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)
1014 1014  
1015 1015  • Specify the device that outputs pulses in (d). Only Y devices with positioning parameters can be specified.
1016 1016  
... ... @@ -1029,10 +1029,10 @@
1029 1029  **Related device**
1030 1030  
1031 1031  (% class="table-bordered" %)
1032 -|=(% 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**
1035 +|=(% scope="row" style="width: 233px;" %)**Output shaft**|=(% style="width: 81px;" %)**Y0**|=(% style="width: 104px;" %)**Y1**|=(% style="width: 111px;" %)**Y2**|=(% style="width: 107px;" %)**Y3**|=(% style="width: 108px;" %)**Y4**|=(% style="width: 108px;" %)**Y5**|=(% style="width: 115px;" %)**Y6**|=**Y7**
1033 1033  |=(% 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
1034 1034  
1035 -|=(% 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**
1038 +|=(% scope="row" style="width: 217px;" %)**Output shaft**|=(% style="width: 105px;" %)**Y0**|=**Y1**|=**Y2**|=**Y3**|=**Y4**|=**Y5**|=**Y6**|=**Y7**
1036 1036  |=(% style="width: 217px;" %)PWM unit selection|(% style="width:105px" %)SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
1037 1037  |(% 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".
1038 1038  
... ... @@ -1065,21 +1065,21 @@
1065 1065  **Content, range and data type**
1066 1066  
1067 1067  (% class="table-bordered" %)
1068 -|=(% scope="row" %)**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (label)**
1069 -|=(s1)|Set output pulse duty cycle|0 to 1000|Signed BIN16|ANY16_S
1070 -|=(s2)|Set pulse output cycle|1 to 32767|Signed BIN16|ANY16_S
1071 -|=(d)|Pulse output channel number, device number|-|Bit|ANY_BOOL
1071 +|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
1072 +|(s1)|Set output pulse duty cycle|0 to 1000|Signed BIN16|ANY16_S
1073 +|(s2)|Set pulse output cycle|1 to 32767|Signed BIN16|ANY16_S
1074 +|(d)|Pulse output channel number, device number|-|Bit|ANY_BOOL
1072 1072  
1073 1073  **Device used**
1074 1074  
1075 1075  (% class="table-bordered" %)
1076 -|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="11" %)**Devices**|=**Offset modification**|=(((
1079 +|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="11" %)**Devices**|**Offset modification**|(((
1077 1077  **Pulse**
1078 1078  
1079 1079  **extension**
1080 1080  )))
1081 -|=**Y**|=**KnX**|=**KnY**|=**KnM**|=**KnS**|=**T**|=**C**|=**D**|=**R**|=**K**|=**H**|=**[D]**|=**XXP**
1082 -|=(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1084 +|**Y**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
1085 +|(% rowspan="3" %)PWM|Parameter 1| |●|●|●|●|●|●|●|●|●|●|●|
1083 1083  |Parameter 2| |●|●|●|●|●|●|●|●|●|●|●|
1084 1084  |Parameter 3|●| | | | | | | | | | | |
1085 1085  
... ... @@ -1090,12 +1090,12 @@
1090 1090  It is necessary to turn on the permil mode of the PWM instruction, and the corresponding related device:
1091 1091  
1092 1092  (% class="table-bordered" %)
1093 -|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1094 -|=Permil mode sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1096 +|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1097 +|Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1095 1095  
1096 1096  Specify the output pulse duty ratio in (s1). (The setting range is 0 to 1000)
1097 1097  
1098 -Specify the output pulse period in (s2). (The setting range is 1 to 32,767)
1101 +Specify the output pulse period in (s2). (The setting range is 1 to 32,767ms)
1099 1099  
1100 1100  Specify the device that outputs the pulse in (d). Only Y devices with positioning parameters can be specified.
1101 1101  
... ... @@ -1103,7 +1103,7 @@
1103 1103  
1104 1104  High level time (ms) = set cycle time (ms) x duty cycle / 1000
1105 1105  
1106 -Low level time (ms) = period (ms) - high level time (ms)
1109 +Low level time (ms) = period (ms)-high level time (ms)
1107 1107  
1108 1108  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.
1109 1109  
... ... @@ -1112,20 +1112,18 @@
1112 1112  **✎Note:**
1113 1113  
1114 1114  1. Please be careful not to overlap with other control devices.
1115 -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.
1118 +1. About pulse output
1116 1116  
1120 +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.
1121 +
1117 1117  **Related device**
1118 1118  
1119 -• Permil mode flag
1124 +• Percentage mode flag
1120 1120  
1121 1121  (% class="table-bordered" %)
1122 -|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1123 -|=Permil mode sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1127 +|**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1128 +|Percentage Mode Sign|SM897|SM957|SM1017|SM1077|SM1137|SM1197|SM1257|SM1317
1124 1124  
1125 -|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1126 -|=PWM unit selection|SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
1127 -|(% 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".
1128 -
1129 1129  **Error code**
1130 1130  
1131 1131  (% class="table-bordered" %)
... ... @@ -1139,12 +1139,12 @@
1139 1139  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;
1140 1140  
1141 1141  (% style="text-align:center" %)
1142 -[[image:08_html_ace0b444319fb8c4.png||height="155" width="905" class="img-thumbnail"]]
1143 +[[image:08_html_ace0b444319fb8c4.png||class="img-thumbnail"]]
1143 1143  
1144 1144  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:
1145 1145  
1146 1146  (% style="text-align:center" %)
1147 -[[image:08_html_13acf8747e8703ff.png||height="221" width="625" class="img-thumbnail"]]
1148 +[[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1148 1148  
1149 1149  = **G90G01 Absolute position line interpolation instruction** =
1150 1150  
... ... @@ -2609,9 +2609,9 @@
2609 2609  
2610 2610  **C.**When the parameter is 0, Ladder acceleration and deceleration(calculate the pulse frequency one by one) mode is adopted.
2611 2611  
2612 -{{id name="OLE_LINK373"/}}{{id name="OLE_LINK374"/}}**D.**When the parameter is 1, Time-division T-type acceleration and deceleration is adopted.
2613 +{{id name="OLE_LINK373"/}}{{id name="OLE_LINK374"/}}**D.**When the parameter is 1, Time-minute ladder acceleration and deceleration is adopted.
2613 2613  
2614 -**E.**When the parameter is 2, Time-division S-type acceleration and deceleration is adopted.
2615 +**E.**When the parameter is 2, Time-minute s-type acceleration and deceleration is adopted.
2615 2615  
2616 2616  **{{id name="OLE_LINK378"/}}(15) Time-minute acceleration and deceleration parameter**
2617 2617  
3q3.png
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