Inovance H3U Series - G01 Linear Interpolation

534
7
7 Motion Control
G01: Linear interpolation
G01: Linear interpolation
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Overview
The G01 instruction is used to perform linear interpolation at up to three axes at the combined output
frequency.
G01 X_ Y_ Z_ F_ combination
Linear
interpolation
Applicable model:
H3U-PM
X X-axis position X axis target position
Y Y-axis position Y axis target position
Z Z-axis position Z axis target position
F
Combined
interpolation
speed
Combined interpolation output frequency
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Operands
Parameter Bit Element Word Element Immediate Operand
X M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Y M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Z M SM D DD DE R RR RE SD SDD SDE K KK H HH E
F M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Note: The elements in gray background are supported. The immediate operand type is not displayed. For
example, X100 indicates the X oating point 100.00.
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Functions and actions
Linear interpolation can be performed at up to three axes. The axis for which the F function word is omitted
inherits the running speed of the previous interpolation instruction.
Both the absolute position and relative position modes are supported.
The current position can be queried in special registers, for example, the 32-bit registers listed in the
following table.
X-axis Y-axis Z-axis Attribute
SD36 and SD37 SD136 and SD137 SD236 and SD237
Current position (PLS), only for display
purpose
SD40 and SD41 SD140 and SD141 SD240 and SD241
Current position (mechanical, oating
point), only for display purpose
D8340 and D8341 D8360 and D8361 D8380 and D8381 Current position (PLS)
The following gure shows a pulse output diagram.