546
7
7 Motion Control
G02: Clockwise arc interpolation; G03: Counterclockwise arc interpolation
X100 indicates 100 mm. After conversion, the number of pulses is 100 x 2000 x 1000/1000 = 200,000.
F60 indicates 60 mm/min. After conversion, the output frequency is 2000 Hz.
5) Only trapezoid acceleration/deceleration is supported.
6) 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 separately set for each axis.
X-axis Y-axis Z-axis Attribute
SD10 and SD11 SD110 and SD111 SD210 and SD211 Maximum speed (Vmax)
SD12 and SD13 SD112 and SD113 SD212 and SD213 Base speed (starting speed) (Vbias)
SD20 SD120 SD220 Acceleration time (Vacc)
SD21 SD121 SD221 Deceleration time (Vdec)
7) The actual minimum output frequency (that is, the minimum base output frequency) is
calculated according to the following formula:
Vset(Hz)
2×Tacc (ms)/1000
Vmin=
Program example
It indicates that, in relative position mode, a 60-degree arc (the data is obtained through calculation),
120-degree arc, 240-degree arc, and 300-degree arc are drawn clockwise relative to the current position
on the XY plane, and the arc radius is 1000 mm. A 60-degree arc (the data is obtained through calculation),
120-degree arc, 240-degree arc, and 300-degree arc are drawn counterclockwise, and the arc radius is
1000 mm. The interpolation speed inherits the previous speed.
It indicates that, in relative position mode, helix interpolation is performed on x-, y, and x-axes relative
to the current position on the YZ plane. YZ arc interpolation is performed. The end point relative to the
current position is (500 mm, 500 mm), and the center coordinate relative to the current position is (250 mm,
250 mm). Besides, interpolation is performed on the x-axis to the position 500 mm relative to the current
position. The interpolation speed is 6000 mm/min.
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