Inovance H3U Series - Page 454

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6 Positioning and Interpolation G90G03: 2-axis counterclockwise absolute position arc interpolation
S2 indicates the specied destination (absolute position) of the y-axis. The range is –2,147,483,648 to
+2,147,483,647. The "-" indicates the reverse direction.
The following table lists the absolute position current values.
Y0 Y1 Y2 Y3 Y4 Attribute
D8340 D8360 D8380 D8400 D8420
Current value register (PLS) (32-bit)
D8341 D8361 D8381 D8401 D8421
The numerical value of the current value register decreases in the reverse direction.
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S3 indicates the difference value of the pulse output count of the specied center coordinate relative
to that of the current position at the X-axis (Y0), or the pulse count of the radius. The range is
-2,147,483,648 to +2,147,483,647. The "-" indicates the reverse direction.
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S4 indicates the difference value 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. The range is
-2,147,483,648 to +2,147,483,647. The "-" indicates the reverse direction.
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S indicates the combined pulse output frequency of the specied x- and y-axes, ranging 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 output port or the bit variable. Only Y2 can be specied, and Y2/Y3
can be occupied.
Note:
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S1/S2 indicates the absolute position of the target position. The user needs to set an appropriate target
position so that the correct target circular path can be generated. When the specied target position of
axes X and Y equals to their current position, a complete circle is generated.
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S3/S4 can be set either in IJ (center coordinate) or R (radius) mode. If the S4 value is set to 0x7FFF
FFFF, it is in R (radius) mode; otherwise, it is in IJ (center coordinate) mode.
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In IJ (center coordinate) mode, no matter it is absolute position interpolation or relative position
interpolation, S3/S4 only indicates the difference (offset) of the central coordinate relative to the current
position on the x- and y-axes (Y0/Y1).
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In R (radius) mode, When the R value is larger than 0, it indicates an arc less than or equal to 180
degrees. When the R value is smaller than 0, it indicates an arc more than 180 degrees. In R (radius)
mode, no complete circle can be generated.
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More than 20 pulses must be output along the arc during arc interpolation; otherwise, an error is
returned.
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Up to 8,000,000 pulses can be output along the radius during arc interpolation.
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When an interpolation instruction (G90G01, G91G01, G90G02, G91G02, G90G02, or G91G03) is
used, parameters of Y0 such as the acceleration/deceleration time prevail.
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When the instruction ow switches to OFF during instruction execution , the system decelerates to
stop. The execution complete ag M8029 remains unchanged. After the instruction ow switches to
OFF, when the ag of pulse output is ON, the instruction is no longer driven by the instruction ow.
The following gure shows a pulse output diagram.