1. First, select the plane number. For plane settings, please refer to "Plane System Settings". If the plane system is not enabled, it will not function properly;

2. Choose the unit for the parameter of this instruction, which can be millimeters (mm) or pulses (pls), corresponding to the commands LINEF and LINEI, respectively. It is recommended that users use millimeters as the unit for the parameter, which is practical and does not require conversion, making it less prone to errors;

3. The X-axis endpoint coordinates and Y-axis endpoint coordinates are the endpoint positions of a straight line, which can be input as K/D type parameters. When using the D register to input parameters, the endpoint coordinates are assigned to the D register using the MOVD or MOVF instruction, depending on whether the interpolation instruction is LINEI or LINEF type;

4. Relative/absolute coordinates. If selected as relative coordinates, the endpoint coordinates set will be the offset based on the current point. If it is an absolute coordinate, the endpoint coordinate represents the absolute position relative to the origin, as shown in the relative/absolute diagram;

5. Acceleration time and deceleration time can be directly set as a constant K or as a D register. When initializing the instruction, the value in the D register is read once as the acceleration/deceleration time. The acceleration/deceleration time can only be assigned using MOV, which is a 16 bit integer in milliseconds. Due to the interpolation cycle of the algorithm, if the acceleration and deceleration time is too short and the pulse frequency jumps too much, it cannot achieve the acceleration and deceleration effect. Interpolation acceleration and deceleration are asymmetric S-shaped acceleration and deceleration, and the acceleration and deceleration segments are controlled by the duration of acceleration and deceleration, as shown in the asymmetric S-shaped acceleration and deceleration diagram.

6. The speed represents the composite speed of XY axis, and the speed parameter can be set as K or D. If it is set as a constant K, the linear speed cannot be adjusted. If it is set as D register, when the value of D register changes, the speed will also change accordingly, which can realize real-time speed regulation. During acceleration and deceleration, adjust the speed parameter, and the speed change will be adjusted immediately after the acceleration and deceleration. However, it should be noted that whether to use MOVD or MOVF to assign speed to the D register depends on whether the interpolation instruction type is LINEI or LINEF. When the unit is set to pulse pls, the speed unit is pls/s, and MOVD is used to assign the speed. Conversely, MOVF is used. If the X-axis and Y-axis pulse equivalents set by the planar system are not equal, the true velocity is calculated based on the X-axis pulse equivalent by default. When the acceleration, deceleration, and speed parameters do not meet the above legal relationship, the system will automatically reduce the speed parameters to make them legal. The adjustment method refers to the illegal S-shaped adjustment chart.

图1 LINE command image

图2 Relative/Absolute Diagram

图3 Asymmetric S-shaped acceleration and deceleration diagram

图4 Illegal S-shaped adjustment chart

1. For high-speed pulse output, it is designed for external high-speed devices. To count the pulses, only the high-speed pulse input counter can be used, and internal counters or Y edge changes cannot be used for counting. When used as a high-speed output, it cannot be used as a regular output port;

2. The OFF time of transistors has the characteristic of being prolonged under light loads. So, when responsiveness is required, please design a load resistor to increase the load current when the load is lighter;

3. The pulse accumulation count registers (D8140~D8158) are important registers that can be read and written. When a new value is written, the count will be added or subtracted based on the new value;

4. Due to the directional output of the pulse in this instruction, the pulse accumulation count registers (D8140~D8158) count according to the direction;

5. When outputting high-speed pulses, the values in the pulse accumulation count registers (D8140~D8158) are discontinuous and constantly changing. When used for judgment, please use size comparison instead of equal judgment;

6. Do not set the acceleration and deceleration time too small, otherwise there will be no acceleration and deceleration effect;

When the unit is set to pulse pls, the speed unit is pls/s. If the X-axis and Y-axis pulse equivalents set by the planar system are not equal, the true speed is calculated by default based on the X-axis pulse equivalent;

7. The pulse is sending a flag, for example, M8134 only represents whether Y0 is outputting a pulse. If it is necessary to detect whether a straight line is running, the sending flag of both axes needs to be connected in parallel, as shown in the example;

8. The target point coordinates should not coincide with the current point coordinates;

9. When the pulse command is used to output port Y, the Y port cannot be used for other purposes, that is, ordinary commands cannot perform ON or OFF operations on the Y port anymore.

10. If the frequency of multiple pulse pulses exceeds 200K, a pull-up resistor needs to be added to the pulse output port to ensure that the pulse waveform is not distorted. The pull-up voltage is 24V, and the recommended pull-up resistor is 1K.