Inovance H3U Series - 2-Axis Linear Relative Position

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6 Positioning and InterpolationG91G01: 2-axis linear relative position interpolation
G91G01: 2-axis linear relative position interpolation
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Overview
This instruction is used to output the set interpolation path at the set combined output frequency. The action
is based on the relative position.
G91G01 S1 S2 S D1 D2
2-axis linear relative
position interpolation
Applicable model:
H3U
S1 X pulse count
Difference of the pulse output count of the target position
relative to that in the current position at the x-axis (Y0)
32-bit instruction (21
steps)
G91G01; Continuous
execution
S2 Y pulse count
Difference of the pulse output count in the target position
relative to that in the current position at the y-axis (Y1)
S
Output
frequency
Combined output interpolation frequency
D1 Output port
High-speed pulse output port. Only Y0 can be specied, and
Y0/Y1 is occupied.
D2
Output
direction
Port in the pulse running direction
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Operands
Operand
Bit Element Word Element
System·User System·User Bit Designation Indexed Address Constant
Real
Number
S1 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S2 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
D1 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
D2 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
Note: The elements in gray background are supported.
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Functions and actions
This instruction is used to output a specied number of pulses at the specied frequency and in the
specied direction through the specied port; perform the 2-axis linear interpolation; and drive the servo
actuator to perform 2-axis linear interpolation with the given offset based on the current position. This
instruction is applicable only to the PLC of the transistor output type. Wherein:
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S1 indicates the specied number of pulses output at the x-axis (offset). The range is –2,147,483,648
to +2,147,483,647. The "-" indicates the reverse direction.
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S2 indicates the specied number of pulses output at the y-axis (offset). The range is –2,147,483,648
to +2,147,483,647. The "-" indicates the reverse direction.
The number of pulses to be output is used as the position relative to the current value registers listed in the
following table.
Y0 Y1 Y2 Y3 Y4 Attribute
D8340 D8360 D8380 D8400 D8420
Current value register (PLS) (32-bit)
D8341 D8361 D8381 D8401 D8421