Changes for page 08 High-speed pulse output

Summary

• Page properties (3 modified, 0 added, 0 removed)
• Attachments (0 modified, 0 added, 39 removed)
  • 3q3.png
  • image-20220921163523-1.jpeg
  • image-20220921163600-2.png
  • image-20220921163619-3.png
  • image-20220921163641-4.png
  • image-20220921163737-5.png
  • image-20220921163754-6.png
  • image-20220921163843-7.png
  • image-20220921163904-8.png
  • image-20220921163935-9.png
  • image-20220921163953-10.png
  • image-20220921171331-1.png
  • image-20220921171348-2.png
  • image-20220921171411-3.png
  • image-20220921171433-4.png
  • image-20220921171529-5.png
  • image-20220921171628-6.png
  • image-20220921171639-7.png
  • image-20220921171703-8.png
  • image-20220921171735-9.png
  • image-20220921171807-10.png
  • image-20220921171852-11.png
  • image-20220921171930-12.png
  • image-20220921171956-13.png
  • image-20220921172054-14.png
  • image-20220921172134-15.png
  • image-20220921172159-16.png
  • image-20220921172255-17.png
  • image-20220921172410-1.png
  • image-20220921172417-2.png
  • image-20220921172437-3.png
  • image-20220921172524-4.png
  • image-20220921172550-5.png
  • image-20220921172606-6.png
  • image-20220921172617-7.png
  • image-20220921172637-8.png
  • image-20220921172651-9.png
  • image-20220921172744-10.png
  • image-20220921172803-11.png

Details

Page properties

Parent

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

Author

...	...	@@ -1,1 +1,1 @@
1		-XWiki.DevinChen
	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
...	...	@@ -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]]
	452	+{{id name="OLE_LINK365"/}}
451	451
	454	+(% style="text-align:center" %)
	455	+[[image:08_html_7a3c30baa77024fb.gif||class="img-thumbnail" height="311" width="800"]]
	456	+
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)
...	...	@@ -460,7 +460,7 @@
460	460	• The pulse frequency and pulse position could be modified during the operation of this instruction.
461	461
462	462	(% style="text-align:center" %)
463		-[[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"]]
464	464
465	465	**✎Note:**
466	466
...	...	@@ -481,7 +481,7 @@
481	481
482	482	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
483	483
484		-= {{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** ==
485	485
486	486	**PLSR/DPLSR**
487	487
...	...	@@ -561,7 +561,7 @@
561	561	• Specify the device that outputs pulses in (d). Only output devices (Y) with positioning parameters could be specified.
562	562
563	563	(% style="text-align:center" %)
564		-[[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"]]
565	565
566	566	**✎Note:**
567	567
...	...	@@ -582,7 +582,7 @@
582	582
583	583	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.
584	584
585		-= {{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** ==
586	586
587	587	**PLSR2**
588	588
...	...	@@ -735,7 +735,7 @@
735	735	The waveform diagram is as follows:
736	736
737	737	(% style="text-align:center" %)
738		-[[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"]]
739	739
740	740	2) Waiting time
741	741
...	...	@@ -759,7 +759,7 @@
759	759	The waveform diagram is as follows:
760	760
761	761	(% style="text-align:center" %)
762		-[[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"]]
763	763
764	764	3) Waiting signal
765	765
...	...	@@ -783,7 +783,7 @@
783	783	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)
784	784
785	785	(% style="text-align:center" %)
786		-[[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"]]
787	787
788	788	4)** **Trigger signal
789	789
...	...	@@ -809,7 +809,7 @@
809	809	The pulse waveform diagram is as follows:
810	810
811	811	(% style="text-align:center" %)
812		-[[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"]]
813	813
814	814	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.
815	815
...	...	@@ -823,7 +823,7 @@
823	823	|(% 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
824	824	|(% style="width:127px" %)4088H|(% style="width:954px" %)The same pulse output axis (d1) is used and has been started.
825	825
826		-= {{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** ==
827	827
828	828	**PLSV/DPLSV**
829	829
...	...	@@ -865,7 +865,7 @@
865	865	• The pulse frequency could be modified while the instruction is running.
866	866
867	867	(% style="text-align:center" %)
868		-[[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"]]
869	869
870	870	**✎Note:**
871	871
...	...	@@ -893,9 +893,9 @@
893	893	The sending pulse is as follows:
894	894
895	895	(% style="text-align:center" %)
896		-[[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"]]
897	897
898		-= {{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** ==
899	899
900	900	**PLSY/DPLSY**
901	901
...	...	@@ -937,7 +937,7 @@
937	937	• The instruction pulse output has no acceleration/deceleration process.
938	938
939	939	(% style="text-align:center" %)
940		-[[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"]]
941	941
942	942	**✎Note:**
943	943
...	...	@@ -961,7 +961,7 @@
961	961	[[image:08_html_ba12be0aaf3caf40.png||class="img-thumbnail"]]
962	962
963	963	(% style="text-align:center" %)
964		-[[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"]]
965	965
966	966	**(2) Pulse output: positioning address (operand (n))> 0**
967	967
...	...	@@ -970,9 +970,9 @@
970	970	[[image:08_html_87bd5854f06006b0.png]]
971	971
972	972	(% style="text-align:center" %)
973		-[[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"]]
974	974
975		-= {{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** ==
976	976
977	977	**PWM**
978	978
...	...	@@ -983,21 +983,21 @@
983	983	**Content, range and data type**
984	984
985	985	(% class="table-bordered" %)
986		-|=(% scope="row" %)**Parameter**|=(% style="width: 618px;" %)**Content**|=(% style="width: 121px;" %)**Range**|=(% style="width: 132px;" %)**Data type**|=(% style="width: 118px;" %)**Data type (label)**
987		-|=(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
988		-|=(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
989		-|=(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
990	990
991	991	**Device used**
992	992
993	993	(% class="table-bordered" %)
994		-|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="11" %)**Devices**|=**Offset modification**|=(((
	999	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="11" %)**Devices**|**Offset modification**|(((
995	995	**Pulse**
996	996
997	997	**extension**
998	998	)))
999		-|=**Y**|=**KnX**|=**KnY**|=**KnM**|=**KnS**|=**T**|=**C**|=**D**|=**R**|=**K**|=**H**|=**[D]**|=**XXP**
1000		-|=(% 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| |●|●|●|●|●|●|●|●|●|●|●|
1001	1001	|Parameter 2| |●|●|●|●|●|●|●|●|●|●|●|
1002	1002	|Parameter 3|●| | | | | | | | | | | |
1003	1003
...	...	@@ -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)
	1016	+• 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)
	1018	+• 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
...	...	@@ -1017,7 +1017,7 @@
1017	1017	• The pulse width and pulse period can be modified during pulse sending.
1018	1018
1019	1019	(% style="text-align:center" %)
1020		-[[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"]]
1021	1021	)))
1022	1022
1023	1023	**✎Note:**
...	...	@@ -1025,28 +1025,20 @@
1025	1025	1. Please do not duplicate device used for other controls.
1026	1026	1. Set pulse width and cycle time. Please set the value of pulse width (s1) and period (s2) as (s1)≤(s2).
1027	1027	1. About pulse output: This instruction is executed in interrupt mode. When the instruction power flow is OFF, the output stops, and (s1) and (s2) could be modified when the PWM instruction is executed. If it is modified to an incorrect parameter, the sending of PWM pulse will be stopped.
1028		-1. Support 16 PWM outputs, Y0~~Y7, Y10~~Y17.
1029		-1. When Y10~~Y17 is used for output, the permil mode is invalid. (PLC Editor2 V2.3.1 or above supports Y10~~Y17 PWM output.)
1030		-1. The resolution of Y0~~Y7 is 1us, and the resolution of Y10~~Y17 is 100us.
1031		-1. The output period and pulse width of Y10~~Y17 are measured in milliseconds (ms).
1032	1032
1033	1033	**Related device**
1034	1034
1035	1035	(% class="table-bordered" %)
1036		-|=(% 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**
1037		-|=(% 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
1038	1038
1039		-|=(% 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**
1040		-|=(% style="width: 217px;" %)PWM unit selection|(% style="width:105px" %)SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
1041		-|(% 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".
1042		-
1043	1043	**Error code**
1044	1044
1045	1045	(% class="table-bordered" %)
1046		-|=(% scope="row" %)**Error code**|=**Content**
1047		-|=4084H|The data input in the application instruction (s1) and (s2) exceed the specified range or (s1)>(s2)
1048		-|=4085H|The result output in the read application instruction (s1), (s2) and (d) exceed the device range
1049		-|=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.
1050	1050
1051	1051	**Example**
1052	1052
...	...	@@ -1053,16 +1053,16 @@
1053	1053	(% style="text-align:center" %)
1054	1054	[[image:08_html_3ed5f1836c38d129.png||class="img-thumbnail"]]
1055	1055
1056		-The waveform diagram is shown as below.
	1053	+The waveform diagram is shown as right.
1057	1057
1058	1058	(% style="text-align:center" %)
1059		-[[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"]]
1060	1060
1061		-= **PWM/PWM permil mode** =
	1058	+== **PWM/PWM perimeter mode** ==
1062	1062
1063	1063	**PWM**
1064	1064
1065		-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).
1066	1066
1067	1067	-[PWM (s1) (s2) (d)]
1068	1068
...	...	@@ -1069,37 +1069,37 @@
1069	1069	**Content, range and data type**
1070	1070
1071	1071	(% class="table-bordered" %)
1072		-|=(% scope="row" %)**Parameter**|=**Content**|=**Range**|=**Data type**|=**Data type (label)**
1073		-|=(s1)|Set output pulse duty cycle|0 to 1000|Signed BIN16|ANY16_S
1074		-|=(s2)|Set pulse output cycle|1 to 32767|Signed BIN16|ANY16_S
1075		-|=(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
1076	1076
1077	1077	**Device used**
1078	1078
1079	1079	(% class="table-bordered" %)
1080		-|=(% rowspan="2" %)**Instruction**|=(% rowspan="2" %)**Parameter**|=(% colspan="11" %)**Devices**|=**Offset modification**|=(((
	1077	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="11" %)**Devices**|**Offset modification**|(((
1081	1081	**Pulse**
1082	1082
1083	1083	**extension**
1084	1084	)))
1085		-|=**Y**|=**KnX**|=**KnY**|=**KnM**|=**KnS**|=**T**|=**C**|=**D**|=**R**|=**K**|=**H**|=**[D]**|=**XXP**
1086		-|=(% 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| |●|●|●|●|●|●|●|●|●|●|●|
1087	1087	|Parameter 2| |●|●|●|●|●|●|●|●|●|●|●|
1088	1088	|Parameter 3|●| | | | | | | | | | | |
1089	1089
1090	1090	**Features**
1091	1091
1092		-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).
1093	1093
1094		-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:
1095	1095
1096	1096	(% class="table-bordered" %)
1097		-|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1098		-|=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
1099	1099
1100	1100	Specify the output pulse duty ratio in (s1). (The setting range is 0 to 1000)
1101	1101
1102		-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)
1103	1103
1104	1104	Specify the device that outputs the pulse in (d). Only Y devices with positioning parameters can be specified.
1105	1105
...	...	@@ -1107,7 +1107,7 @@
1107	1107
1108	1108	High level time (ms) = set cycle time (ms) x duty cycle / 1000
1109	1109
1110		-Low level time (ms) = period (ms) - high level time (ms)
	1107	+Low level time (ms) = period (ms)-high level time (ms)
1111	1111
1112	1112	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.
1113	1113
...	...	@@ -1116,20 +1116,18 @@
1116	1116	**✎Note:**
1117	1117
1118	1118	1. Please be careful not to overlap with other control devices.
1119		-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
1120	1120
	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	+
1121	1121	**Related device**
1122	1122
1123		-• Permil mode flag
	1122	+• Percentage mode flag
1124	1124
1125	1125	(% class="table-bordered" %)
1126		-|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1127		-|=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
1128	1128
1129		-|=(% scope="row" %)**Output shaft**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
1130		-|=PWM unit selection|SM902|SM962|SM1022|SM1082|SM1142|SM1202|SM1262|SM1322
1131		-|(% 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".
1132		-
1133	1133	**Error code**
1134	1134
1135	1135	(% class="table-bordered" %)
...	...	@@ -1143,14 +1143,14 @@
1143	1143	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;
1144	1144
1145	1145	(% style="text-align:center" %)
1146		-[[image:08_html_ace0b444319fb8c4.png||height="155" width="905" class="img-thumbnail"]]
	1141	+[[image:08_html_ace0b444319fb8c4.png||class="img-thumbnail"]]
1147	1147
1148	1148	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:
1149	1149
1150	1150	(% style="text-align:center" %)
1151		-[[image:08_html_13acf8747e8703ff.png||height="221" width="625" class="img-thumbnail"]]
	1146	+[[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1152	1152
1153		-= **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** ==
1154	1154
1155	1155	**G90G01**
1156	1156
...	...	@@ -1190,7 +1190,7 @@
1190	1190	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.
1191	1191
1192	1192	(% style="text-align:center" %)
1193		-[[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"]]
1194	1194
1195	1195	* (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.
1196	1196
...	...	@@ -1215,8 +1215,11 @@
1215	1215	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:
1216	1216
1217	1217	(% style="text-align:center" %)
1218		-[[image:image-20220921172417-2.png]]
	1213	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1219	1219
	1215	+(% style="text-align:center" %)
	1216	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1217	+
1220	1220	**{{id name="_Toc32765"/}}Error Codes**
1221	1221
1222	1222	(% class="table-bordered" %)
...	...	@@ -1225,16 +1225,16 @@
1225	1225	|4085H|The result output in the read application instruction (s1), (s2), (d1) and (d2) exceed the device range
1226	1226	|4088H|The same pulse output axis (d1) is used and has been started.
1227	1227
1228		-**Example**
	1226	+**{{id name="_Toc29603"/}}Example**
1229	1229
1230	1230	(% style="text-align:center" %)
1231		-[[image:image-20220921163523-1.jpeg||class="img-thumbnail"]]
	1229	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1232	1232
1233	1233	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.
1234	1234
1235		-= **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** ==
1236	1236
1237		-**G91G01**
	1235	+{{id name="OLE_LINK10"/}}{{id name="_Toc20742"/}}**G91G01**
1238	1238
1239	1239	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.
1240	1240
...	...	@@ -1272,7 +1272,7 @@
1272	1272	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.
1273	1273
1274	1274	(% style="text-align:center" %)
1275		-[[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"]]
1276	1276
1277	1277	* (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.
1278	1278
...	...	@@ -1295,10 +1295,13 @@
1295	1295	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:
1296	1296
1297	1297	(% style="text-align:center" %)
1298		-[[image:image-20220921172437-3.png]]
	1296	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1299	1299
1300		-**Error Codes**
	1298	+(% style="text-align:center" %)
	1299	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1301	1301
	1301	+**{{id name="_Toc8461"/}}Error Codes**
	1302	+
1302	1302	(% class="table-bordered" %)
1303	1303	|**Error Codes**|**Contents**
1304	1304	|4084H|The data input in the application instruction (s1) and (s2) exceed the specified range
...	...	@@ -1307,11 +1307,12 @@
1307	1307
1308	1308	**{{id name="_Toc16441"/}}Example**
1309	1309
1310		-[[image:image-20220921163600-2.png]]
	1311	+(% style="text-align:center" %)
	1312	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1311	1311
1312	1312	{{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.
1313	1313
1314		-= {{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** ==
1315	1315
1316	1316	**G90G02**
1317	1317
...	...	@@ -1349,7 +1349,7 @@
1349	1349	{{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.
1350	1350
1351	1351	(% style="text-align:center" %)
1352		-[[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"]]
1353	1353
1354	1354	* (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.
1355	1355	* 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.
...	...	@@ -1372,10 +1372,13 @@
1372	1372	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:
1373	1373
1374	1374	(% style="text-align:center" %)
1375		-[[image:image-20220921172524-4.png]]
	1377	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1376	1376
1377		-**Error Codes**
	1379	+(% style="text-align:center" %)
	1380	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1378	1378
	1382	+ **Error Codes**
	1383	+
1379	1379	(% class="table-bordered" %)
1380	1380	|(% style="width:134px" %)**Error Codes**|(% style="width:947px" %)**Contents**
1381	1381	|(% style="width:134px" %)4084H|(% style="width:947px" %)The data input in the application instruction (s1) and (s2) exceed the specified range
...	...	@@ -1391,11 +1391,11 @@
1391	1391	**{{id name="OLE_LINK268"/}}Example**
1392	1392
1393	1393	(% style="text-align:center" %)
1394		-[[image:image-20220921163619-3.png||class="img-thumbnail"]]
	1399	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1395	1395
1396	1396	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.
1397	1397
1398		-= **G91G02 Relative position clockwise circular interpolation instruction** =
	1403	+== **G91G02 Relative position clockwise circular interpolation instruction** ==
1399	1399
1400	1400	**G91G02**
1401	1401
...	...	@@ -1437,7 +1437,7 @@
1437	1437	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.
1438	1438
1439	1439	(% style="text-align:center" %)
1440		-[[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"]]
1441	1441
1442	1442	* {{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.
1443	1443	* {{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.
...	...	@@ -1460,8 +1460,11 @@
1460	1460	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:
1461	1461
1462	1462	(% style="text-align:center" %)
1463		-[[image:image-20220921172550-5.png]]
	1468	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1464	1464
	1470	+(% style="text-align:center" %)
	1471	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1472	+
1465	1465	**Error Codes**
1466	1466
1467	1467	(% class="table-bordered" %)
...	...	@@ -1479,11 +1479,11 @@
1479	1479	**Example**{{id name="OLE_LINK22"/}}
1480	1480
1481	1481	(% style="text-align:center" %)
1482		-[[image:image-20220921163641-4.png||class="img-thumbnail"]]
	1490	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1483	1483
1484	1484	{{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.
1485	1485
1486		-= **G90G03 Absolute position counterclockwise circular interpolation instruction** =
	1494	+== **G90G03 Absolute position counterclockwise circular interpolation instruction** ==
1487	1487
1488	1488	G90G03
1489	1489
...	...	@@ -1525,7 +1525,7 @@
1525	1525	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.
1526	1526
1527	1527	(% style="text-align:center" %)
1528		-[[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"]]
1529	1529
1530	1530	* 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.
1531	1531	* 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.
...	...	@@ -1548,8 +1548,11 @@
1548	1548	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:
1549	1549
1550	1550	(% style="text-align:center" %)
1551		-[[image:image-20220921172606-6.png]]
	1559	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1552	1552
	1561	+(% style="text-align:center" %)
	1562	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1563	+
1553	1553	**Error Codes**
1554	1554
1555	1555	(% class="table-bordered" %)
...	...	@@ -1567,11 +1567,11 @@
1567	1567	**Example**
1568	1568
1569	1569	(% style="text-align:center" %)
1570		-[[image:image-20220921163737-5.png||class="img-thumbnail"]]
	1581	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1571	1571
1572	1572	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.
1573	1573
1574		-= {{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** ==
1575	1575
1576	1576	**G91G03**
1577	1577
...	...	@@ -1613,7 +1613,7 @@
1613	1613	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.
1614	1614
1615	1615	(% style="text-align:center" %)
1616		-[[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"]]
1617	1617
1618	1618	* 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.
1619	1619	* 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.
...	...	@@ -1636,8 +1636,11 @@
1636	1636	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:
1637	1637
1638	1638	(% style="text-align:center" %)
1639		-[[image:image-20220921172617-7.png]]
	1650	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1640	1640
	1652	+(% style="text-align:center" %)
	1653	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
	1654	+
1641	1641	**Error Codes**
1642	1642
1643	1643	(% class="table-bordered" %)
...	...	@@ -1655,11 +1655,11 @@
1655	1655	**Example**
1656	1656
1657	1657	(% style="text-align:center" %)
1658		-[[image:image-20220921163754-6.png]]
	1672	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1659	1659
1660	1660	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.
1661	1661
1662		-= {{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** ==
1663	1663
1664	1664	**G90G02H**
1665	1665
...	...	@@ -1703,7 +1703,7 @@
1703	1703	(% style="text-align:center" %)
1704	1704	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1705	1705
1706		-* (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.)
1707	1707	* 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.
1708	1708
1709	1709	* 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.
...	...	@@ -1723,7 +1723,7 @@
1723	1723
1724	1724	(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.
1725	1725
1726		-(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"]] ,,)
1727	1727
1728	1728	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1729	1729
...	...	@@ -1730,19 +1730,21 @@
1730	1730	(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:
1731	1731
1732	1732	(% style="text-align:center" %)
1733		-[[image:image-20220921172637-8.png]]
	1747	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1734	1734
1735		-(9) Exact match pitch of screws (lead) K and Ze,,.,,
	1749	+(% style="text-align:center" %)
	1750	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1736	1736
1737		-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"]] .,,
1738	1738
1739		-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.
1740	1740
1741		-(% style="text-align:center" %)
1742		-[[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.
1743	1743
1744		-(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)
1745	1745
	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	+
1746	1746	(% class="table-bordered" %)
1747	1747	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1748	1748	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1762,16 +1762,16 @@
1762	1762	|(% 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.
1763	1763	|(% 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)
1764	1764	|(% style="width:139px" %)4F99H|(% style="width:942px" %)Helical interpolation error, Z axis is 0.
1765		-|(% 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]] ,,)
1766	1766
1767	1767	**{{id name="_Toc12418"/}}Example**
1768	1768
1769	1769	(% style="text-align:center" %)
1770		-[[image:image-20220921163843-7.png||class="img-thumbnail"]]
	1786	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1771	1771
1772	1772	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.
1773	1773
1774		-= {{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** ==
1775	1775
1776	1776	**G91G02H**
1777	1777
...	...	@@ -1815,7 +1815,7 @@
1815	1815	(% style="text-align:center" %)
1816	1816	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1817	1817
1818		-* (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.)
1819	1819	* 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.
1820	1820
1821	1821	* 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.
...	...	@@ -1835,28 +1835,28 @@
1835	1835
1836	1836	(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.
1837	1837
1838		-(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"]] ,,)
1839	1839
1840		-(If Ze=75, lead K=50, and the actual radian [[image:image-20220921171639-7.png||height="56" width="107"]],,),,
1841		-
1842	1842	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1843	1843
1844	1844	(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:
1845	1845
1846	1846	(% style="text-align:center" %)
1847		-[[image:image-20220921172651-9.png]]
	1861	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1848	1848
1849		-(9) Exact match pitch of screws (lead) K and Ze,,.,,
	1863	+(% style="text-align:center" %)
	1864	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1850	1850
1851		-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"]] .,,
1852	1852
1853		-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.
1854	1854
1855		-(% style="text-align:center" %)
1856		-[[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.
1857	1857
1858		-(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)
1859	1859
	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	+
1860	1860	(% class="table-bordered" %)
1861	1861	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1862	1862	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1876,16 +1876,16 @@
1876	1876	|(% 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.
1877	1877	|(% 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)
1878	1878	|(% style="width:129px" %)4F99H|(% style="width:952px" %)Helical interpolation error, Z axis is 0.
1879		-|(% 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]] ,,)
1880	1880
1881	1881	**{{id name="_Toc28830"/}}Example**
1882	1882
1883	1883	(% style="text-align:center" %)
1884		-[[image:image-20220921163904-8.png]]
	1900	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1885	1885
1886	1886	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.
1887	1887
1888		-= {{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** ==
1889	1889
1890	1890	**G90G03H**
1891	1891
...	...	@@ -1929,8 +1929,7 @@
1929	1929	(% style="text-align:center" %)
1930	1930	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1931	1931
1932		-* (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.
1933		-* 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.)
1934	1934	* 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.
1935	1935
1936	1936	* 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.
...	...	@@ -1950,28 +1950,28 @@
1950	1950
1951	1951	(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.
1952	1952
1953		-(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"]] ,,)
1954	1954
1955		-If Ze=75, lead K=50, and the actual radian(% style="font-size:10.5px" %) [[image:image-20220921171852-11.png||height="65" width="124"]]
1956		-
1957	1957	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1958	1958
1959	1959	(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:
1960	1960
1961	1961	(% style="text-align:center" %)
1962		-[[image:image-20220921172744-10.png]]
	1975	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
1963	1963
1964		-(9) Exact match pitch of screws (lead) K and Ze
	1977	+(% style="text-align:center" %)
	1978	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1965	1965
1966		-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"]] .,,
1967	1967
1968		-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.
1969	1969
1970		-(% style="text-align:center" %)
1971		-[[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.
1972	1972
1973		-(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)
1974	1974
	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	+
1975	1975	(% class="table-bordered" %)
1976	1976	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
1977	1977	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -1991,16 +1991,16 @@
1991	1991	|(% 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.
1992	1992	|(% 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)
1993	1993	|(% style="width:132px" %)4F99H|(% style="width:949px" %)Helical interpolation error, Z axis is 0.
1994		-|(% 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]] ,,)
1995	1995
1996	1996	**{{id name="_Toc18584"/}}Example**
1997	1997
1998	1998	(% style="text-align:center" %)
1999		-[[image:image-20220921163935-9.png||class="img-thumbnail"]]
	2014	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2000	2000
2001	2001	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.
2002	2002
2003		-= **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** ==
2004	2004
2005	2005	**G91G03H**
2006	2006
...	...	@@ -2064,28 +2064,28 @@
2064	2064
2065	2065	(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.
2066	2066
2067		-(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"]] ,,)
2068	2068
2069		-If Ze=75, lead K=50, and the actual radian [[image:image-20220921172134-15.png||height="68" width="130"]]
2070		-
2071	2071	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
2072	2072
2073	2073	(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:
2074	2074
2075	2075	(% style="text-align:center" %)
2076		-[[image:image-20220921172803-11.png]]
	2089	+[[image:08_html_6f6668df922f7274.gif||class="img-thumbnail"]]
2077	2077
2078		-(9) Exact match pitch of screws (lead) K and Ze
	2091	+(% style="text-align:center" %)
	2092	+[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
2079	2079
2080		-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"]] .,,
2081	2081
2082		-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.
2083	2083
2084		-(% style="text-align:center" %)
2085		-[[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.
2086	2086
2087		-(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)
2088	2088
	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	+
2089	2089	(% class="table-bordered" %)
2090	2090	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
2091	2091	|(% rowspan="2" %)Clockwise circular|R > 0|(0，R）|(% rowspan="2" %)Counterclockwise circular|R > 0|（0，-R）
...	...	@@ -2105,12 +2105,12 @@
2105	2105	|(% 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.
2106	2106	|(% 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)
2107	2107	|(% style="width:108px" %)4F99H|(% style="width:973px" %)Helical interpolation error, Z axis is 0.
2108		-|(% 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]] ,,)
2109	2109
2110	2110	**{{id name="_Toc11997"/}}Example**
2111	2111
2112	2112	(% style="text-align:center" %)
2113		-[[image:image-20220921163953-10.png||class="img-thumbnail"]]
	2128	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2114	2114
2115	2115	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"/}}
2116	2116
...	...	@@ -2260,7 +2260,7 @@
2260	2260	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.
2261	2261
2262	2262	(% style="text-align:center" %)
2263		-[[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"]]
2264	2264
2265	2265	**(9) Not scanned**
2266	2266
...	...	@@ -2511,7 +2511,7 @@
2511	2511	[1: Stop immediately]: Stop immediately after receiving the stop signal without decelerating movement.
2512	2512
2513	2513	(% style="text-align:center" %)
2514		-[[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"]]
2515	2515
2516	2516	**(8) Direction delay**
2517	2517
...	...	@@ -2524,7 +2524,7 @@
2524	2524	|Direction delay|SD905|SD965|SD1025|SD1085|SD1145|SD1205|SD1265|SD1325
2525	2525
2526	2526	(% style="text-align:center" %)
2527		-[[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"]]
2528	2528
2529	2529	**(9) External start signal**
2530	2530
...	...	@@ -2556,12 +2556,12 @@
2556	2556	①Reachable frequency
2557	2557
2558	2558	(% style="text-align:center" %)
2559		-[[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"]]
2560	2560
2561	2561	②Unreachable frequency
2562	2562
2563	2563	(% style="text-align:center" %)
2564		-[[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"]]
2565	2565
2566	2566	2) Modify the number of pulses:
2567	2567
...	...	@@ -2568,12 +2568,12 @@
2568	2568	①Modify to the number of reachable pulses
2569	2569
2570	2570	(% style="text-align:center" %)
2571		-[[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"]]
2572	2572
2573	2573	②Modify to the number of unreachable pulses (only support instructions with direction. If there is no direction, stop pulse sending)
2574	2574
2575	2575	(% style="text-align:center" %)
2576		-[[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"]]
2577	2577
2578	2578	**{{id name="OLE_LINK371"/}}(12) The number of sent pulses is out of range**
2579	2579
...	...	@@ -2613,34 +2613,34 @@
2613	2613
2614	2614	**C.**When the parameter is 0, Ladder acceleration and deceleration(calculate the pulse frequency one by one) mode is adopted.
2615	2615
2616		-{{id name="OLE_LINK373"/}}{{id name="OLE_LINK374"/}}**D.**When the parameter is 1, Time-division T-type acceleration and deceleration is adopted.
	2631	+{{id name="OLE_LINK373"/}}{{id name="OLE_LINK374"/}}**D.**When the parameter is 1, Time-minute ladder acceleration and deceleration is adopted.
2617	2617
2618		-**E.**When the parameter is 2, Time-division S-type acceleration and deceleration is adopted.
	2633	+**E.**When the parameter is 2, Time-minute s-type acceleration and deceleration is adopted.
2619	2619
2620		-**{{id name="OLE_LINK378"/}}(15) **Time-division** acceleration and deceleration parameter**
	2635	+**{{id name="OLE_LINK378"/}}(15) Time-minute acceleration and deceleration parameter**
2621	2621
2622	2622	(% class="table-bordered" %)
2623	2623	|**Output axis**|**Y0**|**Y1**|**Y2**|**Y3**|**Y4**|**Y5**|**Y6**|**Y7**
2624		-|Time-division intervals|SD912|SD972|SD1032|SD1092|SD1152|SD1212|SD1272|SD1332
	2639	+|Time-minute intervals|SD912|SD972|SD1032|SD1092|SD1152|SD1212|SD1272|SD1332
2625	2625
2626		-Time-division intervals:
	2641	+Time-minute intervals:
2627	2627
2628		-{{id name="OLE_LINK377"/}}{{id name="OLE_LINK379"/}}This parameter is time interval of Time-division acceleration and deceleration. The unit is 100us. The value range is 10 to1000.When the value is less than 10, the value is 10. When the value is greater than 1000, the value is 1000.
	2643	+{{id name="OLE_LINK377"/}}{{id name="OLE_LINK379"/}}This parameter is time interval of time-minute acceleration and deceleration. The unit is 100us. The value range is 10 to1000.When the value is less than 10, the value is 10. When the value is greater than 1000, the value is 1000.
2629	2629
2630		-Time-division T-type acceleration and deceleration
	2645	+Time-minute ladder acceleration and deceleration
2631	2631
2632	2632	(% style="text-align:center" %)
2633		-[[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"]]
2634	2634
2635		-Time-division S-type acceleration and deceleration
	2650	+Time-minute S-type acceleration and deceleration
2636	2636
2637	2637	(% style="text-align:center" %)
2638		-[[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"]]
2639	2639
2640	2640	The following figure shows the changes of each parameter
2641	2641
2642	2642	(% style="text-align:center" %)
2643		-[[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"]]
2644	2644
2645	2645	**✎Note: **When the frequency is modified during the operation, acceleration would accelerate again from zero. There will be discontinuous acceleration.
2646	2646

3q3.png

Author

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

Size

...	...	@@ -1,1 +1,0 @@
1		-22.0 KB

Content

image-20220921163523-1.jpeg

Author

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

Size

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

Content

image-20220921163600-2.png

Author

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

Size

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

Content

image-20220921163619-3.png

Author

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

Size

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

Content

image-20220921163641-4.png

Author

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

Size

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

Content

image-20220921163737-5.png

Author

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

Size

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

Content

image-20220921163754-6.png

Author

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

Size

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

Content

image-20220921163843-7.png

Author

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

Size

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

Content

image-20220921163904-8.png

Author

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

Size

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

Content

image-20220921163935-9.png

Author

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

Size

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

Content

image-20220921163953-10.png

Author

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

Size

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

Content

image-20220921171331-1.png

Author

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

Size

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

Content

image-20220921171348-2.png

Author

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

Size

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

Content

image-20220921171411-3.png

Author

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

Size

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

Content

image-20220921171433-4.png

Author

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

Size

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

Content

image-20220921171529-5.png

Author

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

Size

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

Content

image-20220921171628-6.png

Author

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

Size

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

Content

image-20220921171639-7.png

Author

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

Size

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

Content

image-20220921171703-8.png

Author

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

Size

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

Content

image-20220921171735-9.png

Author

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

Size

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

Content

image-20220921171807-10.png

Author

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

Size

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

Content

image-20220921171852-11.png

Author

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

Size

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

Content

image-20220921171930-12.png

Author

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

Size

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

Content

image-20220921171956-13.png

Author

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

Size

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

Content

image-20220921172054-14.png

Author

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

Size

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

Content

image-20220921172134-15.png

Author

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

Size

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

Content

image-20220921172159-16.png

Author

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

Size

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

Content

image-20220921172255-17.png

Author

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

Size

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

Content

image-20220921172410-1.png

Author

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

Size

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

Content

image-20220921172417-2.png

Author

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

Size

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

Content

image-20220921172437-3.png

Author

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

Size

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

Content

image-20220921172524-4.png

Author

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

Size

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

Content

image-20220921172550-5.png

Author

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

Size

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

Content

image-20220921172606-6.png

Author

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

Size

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

Content

image-20220921172617-7.png

Author

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

Size

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

Content

image-20220921172637-8.png

Author

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

Size

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

Content

image-20220921172651-9.png

Author

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

Size

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

Content

image-20220921172744-10.png

Author

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

Size

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

Content

image-20220921172803-11.png

Author

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

Size

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

Content