Changes for page 08 High-speed pulse output

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Details

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Parent

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

Author

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

Content

...	...	@@ -1,5 +1,7 @@
1		-= {{id name="_Toc23711"/}}**ZRN/DZRN/Origin return** =
	1	+= **High-speed pulse output instruction** =
2	2
	3	+== {{id name="_Toc23711"/}}**ZRN/DZRN/Origin return** ==
	4	+
3	3	**ZRN/DZRN**
4	4
5	5	This instruction is to use the specified pulse speed and pulse output port to make the actuator move to the origin of action (DOG) when the PLC and the servo drive work together, until the origin signal meets the conditions.
...	...	@@ -9,33 +9,33 @@
9	9	**{{id name="OLE_LINK392"/}}Content, range and data type**
10	10
11	11	(% class="table-bordered" %)
12		-|**Parameter**|(% style="width:392px" %)**Content**|(% style="width:155px" %)**Range**|(% style="width:236px" %)**Data type**|(% style="width:204px" %)**Data type (label)**
13		-|(s1)|(% style="width:392px" %)The speed when the origin return starts|(% style="width:155px" %)(((
	14	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	15	+|(s1)|The speed when the origin return starts|(((
14	14	1 to 32767
15	15
16	16	1 to 200000
17		-)))|(% style="width:236px" %)Signed BIN16/Signed BIN32|(% style="width:204px" %)ANY16_S/ANY32_S
18		-|(s2)|(% style="width:392px" %)Crawl speed|(% style="width:155px" %)(((
	19	+)))|Signed BIN16/Signed BIN32|ANY16_S/ANY32_S
	20	+|(s2)|Crawl speed|(((
19	19	1 to 32767
20	20
21	21	1 to 200000
22		-)))|(% style="width:236px" %)Signed BIN16/Signed BIN32|(% style="width:204px" %)ANY16_S/ANY32_S
23		-|(s3)|(% style="width:392px" %)The device number of the input number of the near-point signal (DOG) to be input.|(% style="width:155px" %)-|(% style="width:236px" %)Bit|(% style="width:204px" %)ANY_BOOL
24		-|(d)|(% style="width:392px" %)The device number (Y) that outputs pulse|(% style="width:155px" %)-|(% style="width:236px" %)Bit|(% style="width:204px" %)ANY_BOOL
	24	+)))|Signed BIN16/Signed BIN32|ANY16_S/ANY32_S
	25	+|(s3)|The device number of the input number of the near-point signal (DOG) to be input.|-|Bit|ANY_BOOL
	26	+|(d)|The device number (Y) that outputs pulse|-|Bit|ANY_BOOL
25	25
26	26	**Device used**
27	27
28		-(% class="table-bordered" style="width:1049px" %)
29		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:133px" %)**Parameter**|(% colspan="14" style="width:617px" %)**Devices**|(% style="width:138px" %)**Offset modification**|(((
	30	+(% class="table-bordered" %)
	31	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="14" %)**Devices**|**Offset modification**|(((
30	30	**Pulse**
31	31
32	32	**extension**
33	33	)))
34		-|(% style="width:3px" %)**X**|**Y**|**M**|**S**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|(% style="width:75px" %)**H**|(% style="width:138px" %)**[D]**|**XXP**
35		-|(% rowspan="4" %)ZRN|(% style="width:133px" %)Parameter 1|(% style="width:3px" %) | | | |●|●|●|●|●|●|●|●|●|(% style="width:75px" %)●|(% style="width:138px" %)●|
36		-|(% style="width:133px" %)Parameter 2|(% style="width:3px" %) | | | |●|●|●|●|●|●|●|●|●|(% style="width:75px" %)●|(% style="width:138px" %)●|
37		-|(% style="width:133px" %)Parameter 3|(% style="width:3px" %)●|●|●|●| | | | | | | | | |(% style="width:75px" %) |(% style="width:138px" %) |
38		-|(% style="width:133px" %)Parameter 4|(% style="width:3px" %) |●| | | | | | | | | | | |(% style="width:75px" %) |(% style="width:138px" %) |
	36	+|**X**|**Y**|**M**|**S**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
	37	+|(% rowspan="4" %)ZRN|Parameter 1| | | | |●|●|●|●|●|●|●|●|●|●|●|
	38	+|Parameter 2| | | | |●|●|●|●|●|●|●|●|●|●|●|
	39	+|Parameter 3|●|●|●|●| | | | | | | | | | | |
	40	+|Parameter 4| |●| | | | | | | | | | | | | |
39	39
40	40	**Features**
41	41
...	...	@@ -44,7 +44,7 @@
44	44	.
45	45
46	46	(% style="text-align:center" %)
47		-[[image:08_html_abde218848583ae7.gif||height="352" width="700" class="img-thumbnail"]]
	49	+[[image:08_html_abde218848583ae7.gif||class="img-thumbnail" height="352" width="700"]]
48	48
49	49	• Specify the speed at the start of origin return in (s1). (It should be in the range of 1 to 200,000)
50	50
...	...	@@ -59,7 +59,7 @@
59	59	• The pulse frequency could be modified during operation.
60	60
61	61	(% style="text-align:center" %)
62		-[[image:1652679761818-564.png||height="409" width="800" class="img-thumbnail"]]
	64	+[[image:1652679761818-564.png||class="img-thumbnail" height="409" width="800"]]
63	63
64	64	**{{id name="OLE_LINK84"/}}✎Note:**
65	65
...	...	@@ -70,7 +70,7 @@
70	70	Please set the near-point DOG between the reverse limit 1 (LSR) and the forward limit 1 (LSF). When near-point DOG, reverse limit 1 (LSR), forward limit 1 (LSF) do not form the relationship shown in the figure below, the action may not be performed.
71	71
72	72	(% style="text-align:center" %)
73		-[[image:08_html_e424715fa5809765.png||height="129" width="800" class="img-thumbnail"]]
	75	+[[image:08_html_e424715fa5809765.png||class="img-thumbnail" height="129" width="800"]]
74	74
75	75	Please make the crawling speed slow enough. Since it does not decelerate to stop, if the crawling speed is too fast, the stop position will shift due to inertia.
76	76
...	...	@@ -85,11 +85,11 @@
85	85	**Example**
86	86
87	87	(% style="text-align:center" %)
88		-[[image:08_html_5398e9b5857a7283.png||height="366" width="700" class="img-thumbnail"]]
	90	+[[image:08_html_5398e9b5857a7283.png||class="img-thumbnail" height="366" width="700"]]
89	89
90	90	{{id name="OLE_LINK86"/}}Set Y1 as the output axis at a maximum speed of 200K, a offset speed of 500, and a acceleration/deceleration time of 100ms. Origin return is performed at the frequency of 200Khz, and it runs at a crawling speed after receiving the origin signal X0, and it stops after the X0 signal is reset.
91	91
92		-= {{id name="_Toc17090"/}}**{{id name="_Toc4613"/}}{{id name="_Toc28244"/}}DSZR/DDSZR/Origin return** =
	94	+== {{id name="_Toc17090"/}}**{{id name="_Toc4613"/}}{{id name="_Toc28244"/}}DSZR/DDSZR/Origin return** ==
93	93
94	94	**{{id name="OLE_LINK390"/}}DSZR/DDSZR**
95	95
...	...	@@ -100,35 +100,35 @@
100	100	**Content, range and data type**
101	101
102	102	(% class="table-bordered" %)
103		-|**Parameter**|(% style="width:457px" %)**Content**|(% style="width:124px" %)**Range**|(% style="width:226px" %)**Data type**|(% style="width:180px" %)**Data type (label)**
104		-|(s1)|(% style="width:457px" %)The speed when the origin return starts|(% style="width:124px" %)(((
	105	+|**Parameter**|**Content**|**Range**|**Data type**|**Data type (label)**
	106	+|(s1)|The speed when the origin return starts|(((
105	105	1 to 32767
106	106
107	107	1 to 200000
108		-)))|(% style="width:226px" %)Signed BIN16/Signed BIN32|(% style="width:180px" %)ANY16_S/ANY32_S
109		-|(s2)|(% style="width:457px" %)Crawling speed|(% style="width:124px" %)(((
	110	+)))|Signed BIN16/Signed BIN32|ANY16_S/ANY32_S
	111	+|(s2)|Crawling speed|(((
110	110	1 to 32767
111	111
112	112	1 to 200000
113		-)))|(% style="width:226px" %)Signed BIN16/Signed BIN32|(% style="width:180px" %)ANY16_S/ANY32_S
114		-|(s3)|(% style="width:457px" %)The device number of the input number of the near-point signal (DOG) to be input.|(% style="width:124px" %)-|(% style="width:226px" %)Bit|(% style="width:180px" %)ANY_BOOL
115		-|(d1)|(% style="width:457px" %)The device number (Y) that outputs pulse|(% style="width:124px" %)-|(% style="width:226px" %)Bit|(% style="width:180px" %)ANY_BOOL
116		-|(d2)|(% style="width:457px" %){{id name="OLE_LINK393"/}}Operation direction output port or bit variable|(% style="width:124px" %) |(% style="width:226px" %) |(% style="width:180px" %)
	115	+)))|Signed BIN16/Signed BIN32|ANY16_S/ANY32_S
	116	+|(s3)|The device number of the input number of the near-point signal (DOG) to be input.|-|Bit|ANY_BOOL
	117	+|(d1)|The device number (Y) that outputs pulse|-|Bit|ANY_BOOL
	118	+|(d2)|{{id name="OLE_LINK393"/}}Operation direction output port or bit variable| | |
117	117
118	118	**Device used**
119	119
120		-(% class="table-bordered" style="width:1022px" %)
121		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:133.641px" %)**Parameter**|(% colspan="15" style="width:630.359px" %)**Devices**|(% style="width:128px" %)**Offset modification**|(((
	122	+(% class="table-bordered" %)
	123	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="15" %)**Devices**|**Offset modification**|(((
122	122	**Pulse**
123	123
124	124	**extension**
125	125	)))
126		-|(% style="width:1px" %)**X**|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|(% style="width:76px" %)**H**|(% style="width:128px" %)**[D]**|**XXP**
127		-|(% rowspan="5" %)DSZR|(% style="width:133.641px" %)Parameter 1|(% style="width:1px" %) | | | | |●|●|●|●|●|●|●|●|●|(% style="width:76px" %)●|(% style="width:128px" %)●|
128		-|(% style="width:133.641px" %)Parameter 2|(% style="width:1px" %) | | | | |●|●|●|●|●|●|●|●|●|(% style="width:76px" %)●|(% style="width:128px" %)●|
129		-|(% style="width:133.641px" %)Parameter 3|(% style="width:1px" %)●|●|●|●| | | | | | | | | | |(% style="width:76px" %) |(% style="width:128px" %) |
130		-|(% style="width:133.641px" %)Parameter 4|(% style="width:1px" %) |●| | | | | | | | | | | | |(% style="width:76px" %) |(% style="width:128px" %) |
131		-|(% style="width:133.641px" %)Parameter 5|(% style="width:1px" %) |●|●|●|●| | | | | | | | | |(% style="width:76px" %) |(% style="width:128px" %) |
	128	+|**X**|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
	129	+|(% rowspan="5" %)DSZR|Parameter 1| | | | | |●|●|●|●|●|●|●|●|●|●|●|
	130	+|Parameter 2| | | | | |●|●|●|●|●|●|●|●|●|●|●|
	131	+|Parameter 3|●|●|●|●| | | | | | | | | | | | |
	132	+|Parameter 4| |●| | | | | | | | | | | | | | |
	133	+|Parameter 5| |●|●|●|●| | | | | | | | | | | |
132	132
133	133	**Features**
134	134
...	...	@@ -135,7 +135,7 @@
135	135	The instruction is that when the PLC works with the servo drive, it uses the specified pulse speed and pulse output port and the specified direction axis to move the actuator to the origin of the action (DOG) until the origin signal meets the conditions.
136	136
137	137	(% style="text-align:center" %)
138		-[[image:08_html_abde218848583ae7.gif||height="403" width="800" class="img-thumbnail"]]
	140	+[[image:08_html_abde218848583ae7.gif||class="img-thumbnail" height="403" width="800"]]
139	139
140	140	• Specify the speed at the start of origin return in (s1). (It should be in the range of 1 to 200000)
141	141
...	...	@@ -152,7 +152,7 @@
152	152	• The pulse frequency could be modified during operation.{{id name="OLE_LINK398"/}}
153	153
154	154	(% style="text-align:center" %)
155		-[[image:1652679890567-504.png||height="406" width="800" class="img-thumbnail"]]
	157	+[[image:1652679890567-504.png||class="img-thumbnail" height="406" width="800"]]
156	156
157	157	**✎Note:**
158	158
...	...	@@ -165,7 +165,7 @@
165	165	{{id name="OLE_LINK399"/}}
166	166
167	167	(% style="text-align:center" %)
168		-[[image:08_html_3152d1fc65e8de15.gif||height="128" width="900" class="img-thumbnail"]]
	170	+[[image:08_html_3152d1fc65e8de15.gif||class="img-thumbnail" height="128" width="900"]]
169	169
170	170	Please make the crawling speed slow enough. Since it does not decelerate to stop, if the crawling speed is too fast, the stop position will shift due to inertia.
171	171
...	...	@@ -184,7 +184,7 @@
184	184
185	185	Set Y1 as the output axis and Y10 as the direction axis at a maximum speed of 200K, a offset speed of 500, and a acceleration/deceleration time of 100ms. Origin return is performed at the frequency of 200Khz, and it runs at a crawling speed after receiving the origin signal X0, and it stops after the X0 signal is reset.
186	186
187		-= **{{id name="_Toc4674"/}}DVIT/DDVIT/16-bit data relative positioning** =
	189	+== **{{id name="_Toc4674"/}}DVIT/DDVIT/16-bit data relative positioning** ==
188	188
189	189	**DVIT/DDVIT**
190	190
...	...	@@ -221,17 +221,17 @@
221	221	**Device used**
222	222
223	223	(% class="table-bordered" %)
224		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:134.641px" %)**Parameter**|(% colspan="15" style="width:628.359px" %)**Devices**|(% style="width:129px" %)**Offset modification**|(((
	226	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="15" %)**Devices**|**Offset modification**|(((
225	225	**Pulse**
226	226
227	227	**extension**
228	228	)))
229		-|(% style="width:1px" %)**X**|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|(% style="width:75px" %)**H**|(% style="width:129px" %)**[D]**|**XXP**
230		-|(% rowspan="5" %)DVIT|(% style="width:134.641px" %)Parameter 1|(% style="width:1px" %) | | | | |●|●|●|●|●|●|●|●|●|(% style="width:75px" %)●|(% style="width:129px" %)●|
231		-|(% style="width:134.641px" %)Parameter 2|(% style="width:1px" %) | | | | |●|●|●|●|●|●|●|●|●|(% style="width:75px" %)●|(% style="width:129px" %)●|
232		-|(% style="width:134.641px" %)Parameter 3|(% style="width:1px" %) |●| | | | | | | | | | | | |(% style="width:75px" %) |(% style="width:129px" %) |
233		-|(% style="width:134.641px" %)Parameter 4|(% style="width:1px" %) |●|●|●|●| | | | | | | | | |(% style="width:75px" %) |(% style="width:129px" %) |
234		-|(% style="width:134.641px" %)Parameter 5|(% style="width:1px" %)●| |●|●| | | | | | | | | | |(% style="width:75px" %) |(% style="width:129px" %) |
	231	+|**X**|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
	232	+|(% rowspan="5" %)DVIT|Parameter 1| | | | | |●|●|●|●|●|●|●|●|●|●|●|
	233	+|Parameter 2| | | | | |●|●|●|●|●|●|●|●|●|●|●|
	234	+|Parameter 3| |●| | | | | | | | | | | | | | |
	235	+|Parameter 4| |●|●|●|●| | | | | | | | | | | |
	236	+|Parameter 5|●| |●|●| | | | | | | | | | | | |
235	235
236	236	**Features**
237	237
...	...	@@ -248,7 +248,7 @@
248	248	• Specify the bit device of the interrupt signal in (d3). Only the devices and general outputs specified in the parameters could be specified.
249	249
250	250	(% style="text-align:center" %)
251		-[[image:08_html_5f96163eb153efdb.gif||height="428" width="800" class="img-thumbnail"]]
	253	+[[image:08_html_5f96163eb153efdb.gif||class="img-thumbnail" height="428" width="800"]]
252	252
253	253	**✎Note:**
254	254
...	...	@@ -278,9 +278,9 @@
278	278	Set Y0 as the output axis and Y1 as the direction axis with the maximum speed of 200K, the offset speed of 500, and the acceleration/deceleration time of 100ms, and run at a frequency of 200,000, and send 200,000 pulses after receiving the X0 signal.
279	279
280	280	(% style="text-align:center" %)
281		-[[image:08_html_cbfdbddb08628e8c.gif||height="419" width="800" class="img-thumbnail"]]
	283	+[[image:08_html_cbfdbddb08628e8c.gif||class="img-thumbnail" height="419" width="800"]]
282	282
283		-= {{id name="_Toc22468"/}}**DRVI/DDRVI/Relative positioning** =
	285	+== {{id name="_Toc22468"/}}**DRVI/DDRVI/Relative positioning** ==
284	284
285	285	**DRVI/DDRVI**
286	286
...	...	@@ -331,17 +331,17 @@
331	331
332	332	**Device used**
333	333
334		-(% class="table-bordered" style="width:1046px" %)
335		-|(% rowspan="2" %)**Instruction**|(% rowspan="2" style="width:132.875px" %)**Parameter**|(% colspan="14" style="width:603.125px" %)**Devices**|(% style="width:125px" %)**Offset modification**|(((
	336	+(% class="table-bordered" %)
	337	+|(% rowspan="2" %)**Instruction**|(% rowspan="2" %)**Parameter**|(% colspan="14" %)**Devices**|**Offset modification**|(((
336	336	**Pulse**
337	337
338	338	**extension**
339	339	)))
340		-|(% style="width:1px" %)**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|(% style="width:79px" %)**H**|(% style="width:125px" %)**[D]**|**XXP**
341		-|(% rowspan="4" %)DRVI|(% style="width:132.875px" %)Parameter 1|(% style="width:1px" %) | | | |●|●|●|●|●|●|●|●|●|(% style="width:79px" %)●|(% style="width:125px" %)●|
342		-|(% style="width:132.875px" %)Parameter 2|(% style="width:1px" %) | | | |●|●|●|●|●|●|●|●|●|(% style="width:79px" %)●|(% style="width:125px" %)●|
343		-|(% style="width:132.875px" %)Parameter 3|(% style="width:1px" %)●| | | | | | | | | | | | |(% style="width:79px" %) |(% style="width:125px" %) |
344		-|(% style="width:132.875px" %)Parameter 4|(% style="width:1px" %)●|●|●|●| | | | | | | | | |(% style="width:79px" %) |(% style="width:125px" %) |
	342	+|**Y**|**M**|**S**|**D.b**|**KnX**|**KnY**|**KnM**|**KnS**|**T**|**C**|**D**|**R**|**K**|**H**|**[D]**|**XXP**
	343	+|(% rowspan="4" %)DRVI|Parameter 1| | | | |●|●|●|●|●|●|●|●|●|●|●|
	344	+|Parameter 2| | | | |●|●|●|●|●|●|●|●|●|●|●|
	345	+|Parameter 3|●| | | | | | | | | | | | | | |
	346	+|Parameter 4|●|●|●|●| | | | | | | | | | | |
345	345
346	346	**Features**
347	347
...	...	@@ -350,7 +350,7 @@
350	350	With the current stop position as the starting point, specify the movement direction and movement amount (relative address) for positioning.
351	351
352	352	(% style="text-align:center" %)
353		-[[image:08_html_9e2927d44c64e0be.gif||height="323" width="800" class="img-thumbnail"]]
	355	+[[image:08_html_9e2927d44c64e0be.gif||class="img-thumbnail" height="323" width="800"]]
354	354
355	355	• Specify the positioning address of the user unit with a relative address in (s1). (It should be in the range of -2147483647 to +2147483647)
356	356
...	...	@@ -363,7 +363,7 @@
363	363	• The pulse frequency and pulse position could be modified during the operation of this instruction.
364	364
365	365	(% style="text-align:center" %)
366		-[[image:08_html_50efa4160b140701.gif||height="418" width="800" class="img-thumbnail"]]
	368	+[[image:08_html_50efa4160b140701.gif||class="img-thumbnail" height="418" width="800"]]
367	367
368	368	**✎Note:**
369	369
...	...	@@ -384,7 +384,7 @@
384	384
385	385	{{id name="OLE_LINK91"/}}{{id name="OLE_LINK92"/}}Set Y0 as the output axis, and Y1 as the direction axis with the maximum speed in 200K, and the offset speed in 500, and the acceleration/deceleration time in 100ms. Send a high-speed pulse with acceleration and deceleration at a frequency of 200KHZ, and a pulse number of 200K.
386	386
387		-= {{id name="_Toc23478"/}}**{{id name="_Toc19438"/}}{{id name="_Toc5660"/}}DRVA/DDRVA/Absolute positioning** =
	389	+== {{id name="_Toc23478"/}}**{{id name="_Toc19438"/}}{{id name="_Toc5660"/}}DRVA/DDRVA/Absolute positioning** ==
388	388
389	389	**DRVA/DDRVA**
390	390
...	...	@@ -450,7 +450,7 @@
450	450	{{id name="OLE_LINK365"/}}
451	451
452	452	(% style="text-align:center" %)
453		-[[image:08_html_7a3c30baa77024fb.gif||height="311" width="800" class="img-thumbnail"]]
	455	+[[image:08_html_7a3c30baa77024fb.gif||class="img-thumbnail" height="311" width="800"]]
454	454
455	455	• Specify the positioning address of user unit with a absolute address in (s1). (It should be in the range of -2,147,483,647 to +2,147,483,647)
456	456
...	...	@@ -463,7 +463,7 @@
463	463	• The pulse frequency and pulse position could be modified during the operation of this instruction.
464	464
465	465	(% style="text-align:center" %)
466		-[[image:08_html_620f348d2565adf2.gif||height="411" width="800" class="img-thumbnail"]]
	468	+[[image:08_html_620f348d2565adf2.gif||class="img-thumbnail" height="411" width="800"]]
467	467
468	468	**✎Note:**
469	469
...	...	@@ -484,7 +484,7 @@
484	484
485	485	Set Y0 as the output axis, and Y1 as the direction axis with the maximum speed in 200K, and the offset speed in 500, and the acceleration/deceleration time in 100ms. Send a high-speed pulse with acceleration and deceleration at a frequency of 200KHZ, starting at the origin position and ending at 200,000
486	486
487		-= {{id name="_Toc21291"/}}**{{id name="_Toc21950"/}}{{id name="_Toc10018"/}}PLSR/DPLSR/Pulse output with acceleration and deceleration** =
	489	+== {{id name="_Toc21291"/}}**{{id name="_Toc21950"/}}{{id name="_Toc10018"/}}PLSR/DPLSR/Pulse output with acceleration and deceleration** ==
488	488
489	489	**PLSR/DPLSR**
490	490
...	...	@@ -564,7 +564,7 @@
564	564	• Specify the device that outputs pulses in (d). Only output devices (Y) with positioning parameters could be specified.
565	565
566	566	(% style="text-align:center" %)
567		-[[image:08_html_1b0fa8d702052193.gif||height="382" width="700" class="img-thumbnail"]]
	569	+[[image:08_html_1b0fa8d702052193.gif||class="img-thumbnail" height="382" width="700"]]
568	568
569	569	**✎Note:**
570	570
...	...	@@ -585,7 +585,7 @@
585	585
586	586	Set Y0 as the output axis at a maximum speed of 200K, and a offset speed of 500, and a acceleration/deceleration time of 100ms. Send a high-speed pulse with acceleration and deceleration at a frequency of 200KHZ, a pulse number of 200K.
587	587
588		-= {{id name="_Toc10313"/}}**{{id name="_Toc31417"/}}{{id name="_Toc9007"/}}PLSR2/Multi-speed positioning** =
	590	+== {{id name="_Toc10313"/}}**{{id name="_Toc31417"/}}{{id name="_Toc9007"/}}PLSR2/Multi-speed positioning** ==
589	589
590	590	**PLSR2**
591	591
...	...	@@ -738,7 +738,7 @@
738	738	The waveform diagram is as follows:
739	739
740	740	(% style="text-align:center" %)
741		-[[image:08_html_3117922fe2a20cac.gif||height="387" width="700" class="img-thumbnail"]]
	743	+[[image:08_html_3117922fe2a20cac.gif||class="img-thumbnail" height="387" width="700"]]
742	742
743	743	2) Waiting time
744	744
...	...	@@ -762,7 +762,7 @@
762	762	The waveform diagram is as follows:
763	763
764	764	(% style="text-align:center" %)
765		-[[image:08_html_6bc1d175fa4748a6.gif||height="372" width="700" class="img-thumbnail"]]
	767	+[[image:08_html_6bc1d175fa4748a6.gif||class="img-thumbnail" height="372" width="700"]]
766	766
767	767	3) Waiting signal
768	768
...	...	@@ -786,7 +786,7 @@
786	786	If the signal is received in advance, it will not decelerate to stop, but directly accelerate/decelerate to the specified speed of the next segment. (X2 low level is received during operation)
787	787
788	788	(% style="text-align:center" %)
789		-[[image:08_html_5599da81e80c2958.gif||height="413" width="700" class="img-thumbnail"]]
	791	+[[image:08_html_5599da81e80c2958.gif||class="img-thumbnail" height="413" width="700"]]
790	790
791	791	4)** **Trigger signal
792	792
...	...	@@ -812,7 +812,7 @@
812	812	The pulse waveform diagram is as follows:
813	813
814	814	(% style="text-align:center" %)
815		-[[image:08_html_a84e97c5590c3f71.gif||height="371" width="700" class="img-thumbnail"]]
	817	+[[image:08_html_a84e97c5590c3f71.gif||class="img-thumbnail" height="371" width="700"]]
816	816
817	817	If a signal is received in the acceleration section (deceleration section), it will directly accelerate (decelerate) in the current section to the next pulse frequency.
818	818
...	...	@@ -826,7 +826,7 @@
826	826	|(% style="width:127px" %)4085H|(% style="width:954px" %)The table parameter with the first address in the read application instruction (s) exceeds the device range, and the output result of the read parameter (s), (d1) and (d2) exceeds the device range
827	827	|(% style="width:127px" %)4088H|(% style="width:954px" %)The same pulse output axis (d1) is used and has been started.
828	828
829		-= {{id name="_Toc3904"/}}**{{id name="_Toc11943"/}}{{id name="_Toc18707"/}}PLSV/DPLSV/Variable speed operation** =
	831	+== {{id name="_Toc3904"/}}**{{id name="_Toc11943"/}}{{id name="_Toc18707"/}}PLSV/DPLSV/Variable speed operation** ==
830	830
831	831	**PLSV/DPLSV**
832	832
...	...	@@ -868,7 +868,7 @@
868	868	• The pulse frequency could be modified while the instruction is running.
869	869
870	870	(% style="text-align:center" %)
871		-[[image:08_html_2521cc1e50e799ab.gif||height="394" width="700" class="img-thumbnail"]]
	873	+[[image:08_html_2521cc1e50e799ab.gif||class="img-thumbnail" height="394" width="700"]]
872	872
873	873	**✎Note:**
874	874
...	...	@@ -896,9 +896,9 @@
896	896	The sending pulse is as follows:
897	897
898	898	(% style="text-align:center" %)
899		-[[image:08_html_ac71a602fee1445e.gif||height="387" width="700" class="img-thumbnail"]]
	901	+[[image:08_html_ac71a602fee1445e.gif||class="img-thumbnail" height="387" width="700"]]
900	900
901		-= {{id name="_Toc8609"/}}**{{id name="_Toc662"/}}{{id name="_Toc30652"/}}PLSY/DPLSY/Pulse output** =
	903	+== {{id name="_Toc8609"/}}**{{id name="_Toc662"/}}{{id name="_Toc30652"/}}PLSY/DPLSY/Pulse output** ==
902	902
903	903	**PLSY/DPLSY**
904	904
...	...	@@ -940,7 +940,7 @@
940	940	• The instruction pulse output has no acceleration/deceleration process.
941	941
942	942	(% style="text-align:center" %)
943		-[[image:08_html_2c248b954bdddae3.gif||height="356" width="700" class="img-thumbnail"]]
	945	+[[image:08_html_2c248b954bdddae3.gif||class="img-thumbnail" height="356" width="700"]]
944	944
945	945	**✎Note:**
946	946
...	...	@@ -964,7 +964,7 @@
964	964	[[image:08_html_ba12be0aaf3caf40.png||class="img-thumbnail"]]
965	965
966	966	(% style="text-align:center" %)
967		-[[image:08_html_97583e8621e6ae69.png||height="143" width="600" class="img-thumbnail"]]
	969	+[[image:08_html_97583e8621e6ae69.png||class="img-thumbnail" height="143" width="600"]]
968	968
969	969	**(2) Pulse output: positioning address (operand (n))> 0**
970	970
...	...	@@ -973,9 +973,9 @@
973	973	[[image:08_html_87bd5854f06006b0.png]]
974	974
975	975	(% style="text-align:center" %)
976		-[[image:08_html_97583e8621e6ae69.png||height="143" width="600" class="img-thumbnail"]]
	978	+[[image:08_html_97583e8621e6ae69.png||class="img-thumbnail" height="143" width="600"]]
977	977
978		-= {{id name="_Toc10375"/}}**{{id name="_Toc17757"/}}PWM/BIN 16-bit pulse output** =
	980	+== {{id name="_Toc10375"/}}**{{id name="_Toc17757"/}}PWM/BIN 16-bit pulse output** ==
979	979
980	980	**PWM**
981	981
...	...	@@ -1020,7 +1020,7 @@
1020	1020	• The pulse width and pulse period can be modified during pulse sending.
1021	1021
1022	1022	(% style="text-align:center" %)
1023		-[[image:08_html_b54cf8e0b0b86ddb.png||height="195" width="600" class="img-thumbnail"]]
	1025	+[[image:08_html_b54cf8e0b0b86ddb.png||class="img-thumbnail" height="195" width="600"]]
1024	1024	)))
1025	1025
1026	1026	**✎Note:**
...	...	@@ -1051,9 +1051,9 @@
1051	1051	The waveform diagram is shown as right.
1052	1052
1053	1053	(% style="text-align:center" %)
1054		-[[image:08_html_f38f59f98fdc96c0.png||height="213" width="600" class="img-thumbnail"]]
	1056	+[[image:08_html_f38f59f98fdc96c0.png||class="img-thumbnail" height="213" width="600"]]
1055	1055
1056		-= **PWM/PWM perimeter mode** =
	1058	+== **PWM/PWM perimeter mode** ==
1057	1057
1058	1058	**PWM**
1059	1059
...	...	@@ -1143,7 +1143,7 @@
1143	1143	(% style="text-align:center" %)
1144	1144	[[image:08_html_13acf8747e8703ff.png||class="img-thumbnail"]]
1145	1145
1146		-= **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** ==
1147	1147
1148	1148	**G90G01**
1149	1149
...	...	@@ -1183,7 +1183,7 @@
1183	1183	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.
1184	1184
1185	1185	(% style="text-align:center" %)
1186		-[[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"]]
1187	1187
1188	1188	* (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.
1189	1189
...	...	@@ -1221,16 +1221,16 @@
1221	1221	|4085H|The result output in the read application instruction (s1), (s2), (d1) and (d2) exceed the device range
1222	1222	|4088H|The same pulse output axis (d1) is used and has been started.
1223	1223
1224		-**Example**
	1226	+**{{id name="_Toc29603"/}}Example**
1225	1225
1226	1226	(% style="text-align:center" %)
1227		-[[image:image-20220921163523-1.jpeg||class="img-thumbnail"]]
	1229	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1228	1228
1229	1229	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.
1230	1230
1231		-= **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** ==
1232	1232
1233		-**G91G01**
	1235	+{{id name="OLE_LINK10"/}}{{id name="_Toc20742"/}}**G91G01**
1234	1234
1235	1235	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.
1236	1236
...	...	@@ -1268,7 +1268,7 @@
1268	1268	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.
1269	1269
1270	1270	(% style="text-align:center" %)
1271		-[[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"]]
1272	1272
1273	1273	* (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.
1274	1274
...	...	@@ -1306,11 +1306,12 @@
1306	1306
1307	1307	**{{id name="_Toc16441"/}}Example**
1308	1308
1309		-[[image:image-20220921163600-2.png]]
	1311	+(% style="text-align:center" %)
	1312	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1310	1310
1311	1311	{{id name="_Toc26903"/}}Set Y0 as the interpolation starting axis, Y5 as the direction starting axis, and the maximum speed is 2000, and the offset speed is 500, and the acceleration/deceleration time is 500ms. Send a relative position line interpolation output based on the relative position which is with acceleration and deceleration , and the incremental position is X (Y0) axis 100, Y (Y1) axis 100, and the pulse synthesis frequency is 1000.
1312	1312
1313		-= {{id name="_Ref31781"/}}**{{id name="_Toc27199"/}}{{id name="_Toc11517"/}}{{id name="_Toc20314"/}}{{id name="OLE_LINK11"/}}G90G02 Absolute position clockwise circular interpolation instruction** =
	1316	+== {{id name="_Ref31781"/}}**{{id name="_Toc27199"/}}{{id name="_Toc11517"/}}{{id name="_Toc20314"/}}{{id name="OLE_LINK11"/}}G90G02 Absolute position clockwise circular interpolation instruction** ==
1314	1314
1315	1315	**G90G02**
1316	1316
...	...	@@ -1348,7 +1348,7 @@
1348	1348	{{id name="OLE_LINK12"/}}This instruction outputs pulses according to the specified port, frequency and running direction, and performs 2-axis clockwise circular interpolation, and servo actuator performs clockwise circular interpolation to run to the target position point.
1349	1349
1350	1350	(% style="text-align:center" %)
1351		-[[image:08_html_ca40f9fe262dab7.jpg||height="482" width="800" class="img-thumbnail"]]
	1354	+[[image:08_html_ca40f9fe262dab7.jpg||class="img-thumbnail" height="482" width="800"]]
1352	1352
1353	1353	* (s1) is the starting address, and occupies 6 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis. The range is -2147483648 to +2147483647.
1354	1354	* Specify radius or center mode in (s2), and occupy 4 consecutive addresses. The center coordinate of s2+0 is in the difference value of the number of pulse output of X axis relative to the current position, or the number of the pulse of radius R. The center coordinate of s2+2 is in the difference value of the number of pulse output of Y axis relative to the current position. When using radius, the value must be 0X7FFF FFFF. The range is 1 to 141421.
...	...	@@ -1393,11 +1393,11 @@
1393	1393	**{{id name="OLE_LINK268"/}}Example**
1394	1394
1395	1395	(% style="text-align:center" %)
1396		-[[image:image-20220921163619-3.png||class="img-thumbnail"]]
	1399	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1397	1397
1398	1398	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.
1399	1399
1400		-= **G91G02 Relative position clockwise circular interpolation instruction** =
	1403	+== **G91G02 Relative position clockwise circular interpolation instruction** ==
1401	1401
1402	1402	**G91G02**
1403	1403
...	...	@@ -1439,7 +1439,7 @@
1439	1439	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.
1440	1440
1441	1441	(% style="text-align:center" %)
1442		-[[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"]]
1443	1443
1444	1444	* {{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.
1445	1445	* {{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.
...	...	@@ -1484,11 +1484,11 @@
1484	1484	**Example**{{id name="OLE_LINK22"/}}
1485	1485
1486	1486	(% style="text-align:center" %)
1487		-[[image:image-20220921163641-4.png||class="img-thumbnail"]]
	1490	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1488	1488
1489	1489	{{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.
1490	1490
1491		-= **G90G03 Absolute position counterclockwise circular interpolation instruction** =
	1494	+== **G90G03 Absolute position counterclockwise circular interpolation instruction** ==
1492	1492
1493	1493	G90G03
1494	1494
...	...	@@ -1530,7 +1530,7 @@
1530	1530	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.
1531	1531
1532	1532	(% style="text-align:center" %)
1533		-[[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"]]
1534	1534
1535	1535	* 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.
1536	1536	* 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.
...	...	@@ -1575,11 +1575,11 @@
1575	1575	**Example**
1576	1576
1577	1577	(% style="text-align:center" %)
1578		-[[image:image-20220921163737-5.png||class="img-thumbnail"]]
	1581	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1579	1579
1580	1580	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.
1581	1581
1582		-= {{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** ==
1583	1583
1584	1584	**G91G03**
1585	1585
...	...	@@ -1621,7 +1621,7 @@
1621	1621	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.
1622	1622
1623	1623	(% style="text-align:center" %)
1624		-[[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"]]
1625	1625
1626	1626	* 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.
1627	1627	* 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.
...	...	@@ -1666,11 +1666,11 @@
1666	1666	**Example**
1667	1667
1668	1668	(% style="text-align:center" %)
1669		-[[image:image-20220921163754-6.png]]
	1672	+[[image:08_html_c30d92ae8a2303e1.png||class="img-thumbnail"]]
1670	1670
1671	1671	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.
1672	1672
1673		-= {{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** ==
1674	1674
1675	1675	**G90G02H**
1676	1676
...	...	@@ -1714,7 +1714,7 @@
1714	1714	(% style="text-align:center" %)
1715	1715	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1716	1716
1717		-* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(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.)
1718	1718	* 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.
1719	1719
1720	1720	* 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.
...	...	@@ -1734,7 +1734,7 @@
1734	1734
1735	1735	(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.
1736	1736
1737		-(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from the starting point coordinate to the set end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
	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"]] ,,)
1738	1738
1739	1739	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1740	1740
...	...	@@ -1746,15 +1746,15 @@
1746	1746	(% style="text-align:center" %)
1747	1747	[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1748	1748
1749		-(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif"]],,[[image:08_html_26235c6907b42965.gif]] .,,
	1752	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1750	1750
1751		-The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif||class="img-thumbnail"]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
	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.
1752	1752
1753		-The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
	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.
1754	1754
1755		-[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
	1758	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1756	1756
1757		-(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
	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"]] ,,).
1758	1758
1759	1759	(% class="table-bordered" %)
1760	1760	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
...	...	@@ -1775,16 +1775,16 @@
1775	1775	|(% 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.
1776	1776	|(% 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)
1777	1777	|(% style="width:139px" %)4F99H|(% style="width:942px" %)Helical interpolation error, Z axis is 0.
1778		-|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
	1781	+|(% style="width:139px" %)4F9BH|(% style="width:942px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1779	1779
1780	1780	**{{id name="_Toc12418"/}}Example**
1781	1781
1782	1782	(% style="text-align:center" %)
1783		-[[image:image-20220921163843-7.png||class="img-thumbnail"]]
	1786	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1784	1784
1785	1785	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.
1786	1786
1787		-= {{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** ==
1788	1788
1789	1789	**G91G02H**
1790	1790
...	...	@@ -1828,7 +1828,7 @@
1828	1828	(% style="text-align:center" %)
1829	1829	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1830	1830
1831		-* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (relative positioning) of X axis , s1+2 is the target position (relative positioning) of Y axis, and s1+4 is the target position (relative positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(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.)
1832	1832	* 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.
1833	1833
1834	1834	* 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.
...	...	@@ -1848,7 +1848,7 @@
1848	1848
1849	1849	(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.
1850	1850
1851		-(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
	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"]] ,,)
1852	1852
1853	1853	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1854	1854
...	...	@@ -1860,15 +1860,15 @@
1860	1860	(% style="text-align:center" %)
1861	1861	[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1862	1862
1863		-(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif"]],,[[image:08_html_26235c6907b42965.gif]] .,,
	1866	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1864	1864
1865		-The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
	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.
1866	1866
1867		-The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
	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.
1868	1868
1869		-[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
	1872	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1870	1870
1871		-(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
	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]] ,,).
1872	1872
1873	1873	(% class="table-bordered" %)
1874	1874	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
...	...	@@ -1889,16 +1889,16 @@
1889	1889	|(% 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.
1890	1890	|(% 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)
1891	1891	|(% style="width:129px" %)4F99H|(% style="width:952px" %)Helical interpolation error, Z axis is 0.
1892		-|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
	1895	+|(% style="width:129px" %)4F9BH|(% style="width:952px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
1893	1893
1894	1894	**{{id name="_Toc28830"/}}Example**
1895	1895
1896	1896	(% style="text-align:center" %)
1897		-[[image:image-20220921163904-8.png]]
	1900	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
1898	1898
1899	1899	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.
1900	1900
1901		-= {{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** ==
1902	1902
1903	1903	**G90G03H**
1904	1904
...	...	@@ -1942,7 +1942,7 @@
1942	1942	(% style="text-align:center" %)
1943	1943	[[image:08_html_769e3269fb4c782e.png||class="img-thumbnail"]]
1944	1944
1945		-* (s1) is the starting address, and occupies 8 consecutive addresses. s1 is the target position (absolute positioning) of X axis , s1+2 is the target position (absolute positioning) of Y axis, and s1+4 is the target position (absolute positioning) of Z axis, and s1+6 is the lead range of Z axis. The lead range is[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_8d829d6ac7cb190d.gif?rev=1.1||alt="08_html_8d829d6ac7cb190d.gif"]],,[[image:08_html_8d829d6ac7cb190d.gif]] ,,.(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.)
1946	1946	* 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.
1947	1947
1948	1948	* 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.
...	...	@@ -1962,7 +1962,7 @@
1962	1962
1963	1963	(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.
1964	1964
1965		-(6) In helical interpolation R mode (radius mode): When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
	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"]] ,,)
1966	1966
1967	1967	(7) When using the interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
1968	1968
...	...	@@ -1974,15 +1974,15 @@
1974	1974	(% style="text-align:center" %)
1975	1975	[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
1976	1976
1977		-(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif"]],,[[image:08_html_26235c6907b42965.gif]] .,,
	1980	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
1978	1978
1979		-The starting point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
	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.
1980	1980
1981		-The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
	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.
1982	1982
1983		-[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
	1986	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
1984	1984
1985		-(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the starting point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
	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"]] ,,).
1986	1986
1987	1987	(% class="table-bordered" %)
1988	1988	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
...	...	@@ -2003,16 +2003,16 @@
2003	2003	|(% 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.
2004	2004	|(% 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)
2005	2005	|(% style="width:132px" %)4F99H|(% style="width:949px" %)Helical interpolation error, Z axis is 0.
2006		-|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
	2009	+|(% style="width:132px" %)4F9BH|(% style="width:949px" %)Lead setting exceeds the range. (Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2007	2007
2008	2008	**{{id name="_Toc18584"/}}Example**
2009	2009
2010	2010	(% style="text-align:center" %)
2011		-[[image:image-20220921163935-9.png||class="img-thumbnail"]]
	2014	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2012	2012
2013	2013	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.
2014	2014
2015		-= {{id name="_Ref31947"/}}**{{id name="_Toc5018"/}}{{id name="_Toc1347"/}}{{id name="_Toc26018"/}}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** ==
2016	2016
2017	2017	**G91G03H**
2018	2018
...	...	@@ -2076,7 +2076,7 @@
2076	2076
2077	2077	(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.
2078	2078
2079		-(6) In helical interpolation R mode (radius mode) : When the value of R is greater than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc less than or equal to 180 degrees. When the value of R is less than 0, it indicates that from starting point coordinate to the setting end point coordinate in the circular plane of XY is an arc greater than or equal to 180 degrees, and the actual passing angle is determined by the endpoint of Z axis and the lead K. ( If Ze=75, lead K=50, and the actual radian [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_16dfa306a6cd6123.gif?rev=1.1||alt="08_html_16dfa306a6cd6123.gif"]],,[[image:08_html_16dfa306a6cd6123.gif]] ,,)
	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"]] ,,)
2080	2080
2081	2081	(7) When using interpolation instruction, parameter settings (such as acceleration/deceleration time and so on) are subject to the X axis (Y0);
2082	2082
...	...	@@ -2088,15 +2088,15 @@
2088	2088	(% style="text-align:center" %)
2089	2089	[[image:08_html_6854958a7732277a.gif||class="img-thumbnail"]]
2090	2090
2091		-(9) Exact match pitch of screws (lead) K and [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif"]],,[[image:08_html_26235c6907b42965.gif]] .,,
	2094	+(9) Exact match pitch of screws (lead) K and ,,[[image:08_html_26235c6907b42965.gif||class="img-thumbnail"]] .,,
2092	2092
2093		-The start point coordinate of helical interpolation is [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_5aecdb267e93e1ef.gif?rev=1.1||alt="08_html_5aecdb267e93e1ef.gif"]],,[[image:08_html_5aecdb267e93e1ef.gif]] ,,, set the end point coordinate to [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_62eafa46570f5bd9.gif?rev=1.1||alt="08_html_62eafa46570f5bd9.gif"]],,[[image:08_html_62eafa46570f5bd9.gif]] ,,,the number of turns of helical interpolation [[image:08_html_f1878c8190771c9b.gif]] is determined by formula (1), and recalculate the end point coordinates of X axis and Y axis according to the number of turns of interpolation.
	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.
2094	2094
2095		-The final interpolation result is: make sure that lead is equal to K, and the end point of Z axis is equal to[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_26235c6907b42965.gif?rev=1.1||alt="08_html_26235c6907b42965.gif"]],,[[image:08_html_26235c6907b42965.gif]] ,,.The actual end point position of X and Y axes [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_812f611042b80df0.gif?rev=1.1||alt="08_html_812f611042b80df0.gif"]],,[[image:08_html_812f611042b80df0.gif]] ,,may not be equal to the set [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,, but it must pass through the set point [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_72a7340925bd2eea.gif?rev=1.1||alt="08_html_72a7340925bd2eea.gif"]],,[[image:08_html_72a7340925bd2eea.gif]] ,,in the whole circle.
	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.
2096	2096
2097		-[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif" class="img-thumbnail"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_d3f40984948fb2f1.gif?rev=1.1||alt="08_html_d3f40984948fb2f1.gif"]],,[[image:08_html_d3f40984948fb2f1.gif]] ,,(1)
	2100	+,,[[image:08_html_d3f40984948fb2f1.gif||class="img-thumbnail"]] ,,(1)
2098	2098
2099		-(10) In helical interpolation radius mode, the center distribution table of whole circle is as below. (For example: the start point coordinate [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_3ed96de3414e2c4d.gif?rev=1.1||alt="08_html_3ed96de3414e2c4d.gif"]],,[[image:08_html_3ed96de3414e2c4d.gif]] ,,,the end point coordinate[[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_a9e3b53d7dfa134a.gif?rev=1.1||alt="08_html_a9e3b53d7dfa134a.gif"]],,[[image:08_html_a9e3b53d7dfa134a.gif]] ,,).
	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]] ,,).
2100	2100
2101	2101	(% class="table-bordered" %)
2102	2102	|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**|**Helical interpolation direction**|**Radius value R**|**Coordinate of circle center**
...	...	@@ -2117,12 +2117,12 @@
2117	2117	|(% 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.
2118	2118	|(% 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)
2119	2119	|(% style="width:108px" %)4F99H|(% style="width:973px" %)Helical interpolation error, Z axis is 0.
2120		-|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead [[image:/bin/download/PLC%20Editor2/1%20User%20manual/2.1%20LX5V%20user%20manual/08/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]][[image:/bin/download/PLC%20Editor2/08%20High-speed%20pulse%20output/WebHome/08_html_63ad102f937fdad0.gif?rev=1.1||alt="08_html_63ad102f937fdad0.gif"]],,[[image:08_html_63ad102f937fdad0.gif]] ,,)
	2123	+|(% style="width:108px" %)4F9BH|(% style="width:973px" %)Lead setting exceeds the range.(Lead ,,[[image:08_html_63ad102f937fdad0.gif]] ,,)
2121	2121
2122	2122	**{{id name="_Toc11997"/}}Example**
2123	2123
2124	2124	(% style="text-align:center" %)
2125		-[[image:image-20220921163953-10.png]]
	2128	+[[image:08_html_61693f5f524ad69e.png||class="img-thumbnail"]]
2126	2126
2127	2127	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"/}}
2128	2128
...	...	@@ -2272,7 +2272,7 @@
2272	2272	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.
2273	2273
2274	2274	(% style="text-align:center" %)
2275		-[[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"]]
2276	2276
2277	2277	**(9) Not scanned**
2278	2278
...	...	@@ -2523,7 +2523,7 @@
2523	2523	[1: Stop immediately]: Stop immediately after receiving the stop signal without decelerating movement.
2524	2524
2525	2525	(% style="text-align:center" %)
2526		-[[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"]]
2527	2527
2528	2528	**(8) Direction delay**
2529	2529
...	...	@@ -2536,7 +2536,7 @@
2536	2536	|Direction delay|SD905|SD965|SD1025|SD1085|SD1145|SD1205|SD1265|SD1325
2537	2537
2538	2538	(% style="text-align:center" %)
2539		-[[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"]]
2540	2540
2541	2541	**(9) External start signal**
2542	2542
...	...	@@ -2568,12 +2568,12 @@
2568	2568	①Reachable frequency
2569	2569
2570	2570	(% style="text-align:center" %)
2571		-[[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"]]
2572	2572
2573	2573	②Unreachable frequency
2574	2574
2575	2575	(% style="text-align:center" %)
2576		-[[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"]]
2577	2577
2578	2578	2) Modify the number of pulses:
2579	2579
...	...	@@ -2580,12 +2580,12 @@
2580	2580	①Modify to the number of reachable pulses
2581	2581
2582	2582	(% style="text-align:center" %)
2583		-[[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"]]
2584	2584
2585	2585	②Modify to the number of unreachable pulses (only support instructions with direction. If there is no direction, stop pulse sending)
2586	2586
2587	2587	(% style="text-align:center" %)
2588		-[[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"]]
2589	2589
2590	2590	**{{id name="OLE_LINK371"/}}(12) The number of sent pulses is out of range**
2591	2591
...	...	@@ -2642,17 +2642,17 @@
2642	2642	Time-minute ladder acceleration and deceleration
2643	2643
2644	2644	(% style="text-align:center" %)
2645		-[[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"]]
2646	2646
2647	2647	Time-minute S-type acceleration and deceleration
2648	2648
2649	2649	(% style="text-align:center" %)
2650		-[[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"]]
2651	2651
2652	2652	The following figure shows the changes of each parameter
2653	2653
2654	2654	(% style="text-align:center" %)
2655		-[[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"]]
2656	2656
2657	2657	**✎Note: **When the frequency is modified during the operation, acceleration would accelerate again from zero. There will be discontinuous acceleration.
2658	2658

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