Inovance H3U Series - Page 438

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6 Positioning and Interpolation G91G01: 2-axis linear relative position interpolation
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 0
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(start point)
Offset (100,50)
Y axis (Y1)
X axis(Y0)
Target position(end point 1)
Offset (100,100)
End point 2
Offset (0,-100)
End point 3
Offset (50, 0)
(0,0)
Segment 1Segment 2
Segment3
In the instruction, S1 and S2 indicate the target relative positions of x- and y-axes, such as (100,100) in the
preceding gure, When the interpolation instruction (G90G01 or G91G01) is used, supported are 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 at an offset (100K, 100K), that is, to the position (200K, 150K) at a combined frequency of 100 kHz.
Y0/Y1 are the pulse output ports, and Y10/Y11 are the pulse direction output ports.
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Note
1) When an interpolation instruction (G90G01, G91G01, G90G02, G91G02, G90G02, or
G91G03) is used, parameters, such as the acceleration/deceleration time, of the X-axis (Y0)
prevail.
2) The user may monitor the corresponding special register for checking current pulse position,
as shown in the following table.