Inovance H3U Series - Page 459

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6
6 Positioning and InterpolationG91G03: 2-axis counterclockwise relative position arc interpolation
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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 counterclockwise arc interpolation; and
drive the servo actuator to perform 2-axis counterclockwise 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:
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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.
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S2 indicates the specied number of pulses output at the end point of the y-axis relative to the starting
point (offset). The range is -2,147,483,648 to +2,147,483,647. The "-" indicates the reverse direction.
The number of pulses to be output is used as the position relative to the current value registers listed 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
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 R. 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 S1 = 0 and S2 =0, a complete
circle is generated.
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S3/S4 can be set either in IJ (center coordinate) mode or in 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 the 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 the 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 the R (radius)
mode, no complete circle can be generated.
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More than 20 pulses shall 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