Inovance H3U Series - Page 447

446
6
6 Positioning and InterpolationG91G02: 2-axis clockwise relative position arc interpolation
G91G02: 2-axis clockwise relative 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 relative position.
G91G02 S1 S2 S3 S4 S
D1 D2
Clockwise relative
position arc
interpolation
Applicable model:
H3U
S1
X pulse
count
Difference of the pulse output count of the target position
relative to that of the current position at the X-axis (Y0)
32-bit instruction
(29 steps)
G91G02:
Continuous
execution
S2
Y pulse
count
Difference of the pulse output count of the target position
relative to that of the current position at the y-axis (Y1)
S3
X center
coordinate
Difference of the pulse output count of the center
coordinate relative to that of 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 of 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 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 arc interpolation; and drive the servo
actuator to perform 2-axis arc interpolation with the given offset based on the current position. This
instruction is applicable only to the PLC of the transistor output type. Wherein:
S1 indicates the specied number of pulses output at the end point of the x-axis relative to the starting point
(offset). The range is –2,147,483,648 to +2,147,483,647. The "-" indicates the reverse direction.
S2 indicates the specied number of pulses output at the end point of the y-axis relative to the starting point