288
4
4 Instructions4.9.5 Communication Positioning
◆
Example
M2
Servo
emergency
stop bit
When M2 = 0, servo 1 disables emergency stop; when M2 = 1, servo 1 enables emergency stop. (The
internal emergency stop bit of the servo is driven.)
• This instruction can be executed only once for every axis.
AXISDRVA: Absolute axis positioning
◆
Overview
The AXISDRVA instruction implements absolute axis positioning based on CANlink.
AXISDRVA S1 S2 S3 S4 S5 S6
Absolute axis
positioning
Applicable model:
H3U
S1 Axis number Servo station number, in the range 1 to 16
16-bit instruction (13
steps)
AXISDRVA:
Continuous
execution
S2 Position Absolute position (which occupies two elements)
S3 Speed
Positioning speed (which occupies four elements and
cannot be the same for different instructions)
S4
Acceleration/
Deceleration
time
Acceleration/Deceleration time during positioning
S5 Complete ag Positioning complete ag
S6 Error ag Instruction error ag
◆
Operands
Operand
Bit Element Word Element
System·User System·User Bit Designation Indexed Address Constant
Real
Number
S1
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S2
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S3
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S4
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S5
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S6
X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
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