Inovance H3U Series - Page 441

440
6
6 Positioning and InterpolationG90G02: 2-axis clockwise absolute position arc interpolation
G90G02: 2-axis clockwise absolute position arc interpolation
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Overview
This instruction is used to output the set clockwise arc interpolation path at the set combined output
frequency. The action is based on the absolute position.
G90G02 S1 S2 S3 S4 S
D1 D2
Clockwise absolute
position arc
interpolation
Applicable model:
H3U
S1
X pulse
count
Absolute value of the target position on the x-axis (Y0)
32-bit instruction (29
steps)
G90G02: Continuous
execution
S2
Y pulse
count
Absolute value of the target position on the y-axis (Y1)
S3
X center
coordinate
Difference of the pulse output count of the center coordinate
relative to that in the current position at the x-axis (Y0), or
the pulse count of the radius (R)
S4
Y center
coordinate
Difference of the pulse output count of the center coordinate
relative to that in the current position at the y-axis (Y1). If S3
indicates R, S4 must be 0x7FFF FFFF.
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
Pulse running direction port. Only Y2 can be specied, and
Y2/Y3 can be occupied.
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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
S3 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S4 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 pulses at the specied frequency and in the specied direction through
the specied port; perform 2-axis clockwise arc interpolation; and drive the servo actuator to move to the