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6 Positioning and Interpolation G91G02: 2-axis clockwise relative position arc interpolation
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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.
Y0 Y1 Y2 Y3 Y4 Attribute
D8340 D8360 D8380 D8400 D8420
Current value register (PLS) (32-bit)
D8341 D8361 D8381 D8401 D8421
You can monitor the "pulse output stop ag bit" of special elements, and view the pulse output status. This
ag bit will be set during pulse output and will be automatically reset when pulse output is nished. See the
following table.
Y0 Y1 Y2 Y3 Y4 Attribute
M8340 M8360 M8380 M8400 M8420 Pulse output status
3) Only trapezoid acceleration/deceleration is supported.
4) The acceleration/deceleration time can be set separately, within the range 10 to 500 ms.
The maximum speed, base speed, acceleration/deceleration time, and other parameters of the high-
speed output axes can be set uniformly or separately for each axis. The separate setting ag bit (M8350,
M8370, M8390, M8410, or M8430. The default value is OFF) of special elements is used for setting and
distinguishing, as shown in the following table.
Y0 Y1 Y2 Y3 Y4 Attribute
M8350 M8370 M8390 M8410 M8430
[Positioning instruction] Enable the
separate setting of the acceleration/
deceleration time and modication
to the pulse
When the separate setting ag bit is set to OFF, the following registers are used for parameters of
corresponding axes:
Y0 Y1 Y2 Y3 Y4 Attribute
D8500/D8501 Maximum speed (Hz) (32-bit)
D8502 Base speed (Hz) (16-bit)
D8503 Acceleration/deceleration time (ms)
(16-bit)
When the separate setting ag bit is set to ON for an axis, the following registers are used for the parameter
of the axis. For other axes of which the separate setting ag bit is not set to ON, their original registers are
used.
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