Inovance H3U Series - Page 433

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6
6 Positioning and InterpolationG90G01: 2-axis linear absolute position interpolation
The following table lists the absolute position current values.
Y0 Y1 Y2 Y3 Y4 Attribute
D8340 D8360 D8380 D8400 D8420
Current value register (PLS) (32-bit)
D8341 D8361 D8381 D8401 D8421
The numerical value of the current value register decreases in the reverse direction.
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S indicates the combined pulse output frequency of the specied x- and y-axes, ranging from 50
to 280,000 Hz. When the combined frequency is allocated to the x- and y-axes, the pulse output
frequency of each axis ranges from 50 to 200,000 Hz.
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D1 indicates the high-speed pulse output port. Only Y0 can be specied, and Y0/Y1 is occupied.
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D2 indicates the running direction of the output port or the bit variable. Only the Y port can be specied,
and two consecutive Y ports are occupied. If output is ON, it means running in the forward direction;
otherwise, it means running in the reverse direction.
When the instruction ow is OFF, the pulse output is decelerated to stop, and the execution complete ag
M8029 takes no action. After the instruction driving point switches to OFF, when the ag is ON during pulse
output, the ag is not driven again by the instruction.
The following gure shows a pulse output diagram.
Current position(startpoint)
(100,50)
Y axis(Y1)
X axis(Y0)
Target position(end point 1)
(200, 150)
End point 2
(200,50)
End point 3
(250,50)
(0,0)
Segment1 Segment2
Segment3
In the instruction, S1 and S2 indicate the target absolute positions of x- and y-axes, such as (200,150) in
the preceding gure above. When the interpolation instruction (G90G01 or G91G01) is used, the following
functions are supported: 2-axis interpolation (the rst segment in the preceding gure) and single-axis
positioning (the second and third segments in the preceding gure).
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Program example
Assume that the current position is (100K, 50K), which indicates linear interpolation from the current
position to (200K, 150K) at a combined frequency of 100 kHz. Y0 and Y1 are the pulse output ports, and
Y10 and Y11 are the pulse direction output ports.